Tyler Weaver / ITG3200

Modified getOffset for calibrating Thermal Drift coefficients.

Dependents:   9Dof_unit_testing

Fork of ITG3200 by James Watanabe

Modified to make getOffset() function easier to use.

ITG3200.h@9:05396b551a9a, 2012-10-02 (annotated)

Committer:
gltest26
Date:
Tue Oct 02 18:04:13 2012 +0000
Revision:
9:05396b551a9a
Parent:
8:ac0365ab3cef
Child:
10:33a9ed8e8988
Added support for calibration curve on chip temperature.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gltest26 1:9bef044f45ad 1 /**
gltest26 3:eea9733ca427 2 * @file ITG3200.h
gltest26 1:9bef044f45ad 3 * @author Aaron Berk
gltest26 1:9bef044f45ad 4 *
gltest26 1:9bef044f45ad 5 * @section LICENSE
gltest26 1:9bef044f45ad 6 *
gltest26 1:9bef044f45ad 7 * Copyright (c) 2010 ARM Limited
gltest26 1:9bef044f45ad 8 *
gltest26 1:9bef044f45ad 9 * Permission is hereby granted, free of charge, to any person obtaining a copy
gltest26 1:9bef044f45ad 10 * of this software and associated documentation files (the "Software"), to deal
gltest26 1:9bef044f45ad 11 * in the Software without restriction, including without limitation the rights
gltest26 1:9bef044f45ad 12 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
gltest26 1:9bef044f45ad 13 * copies of the Software, and to permit persons to whom the Software is
gltest26 1:9bef044f45ad 14 * furnished to do so, subject to the following conditions:
gltest26 1:9bef044f45ad 15 *
gltest26 1:9bef044f45ad 16 * The above copyright notice and this permission notice shall be included in
gltest26 1:9bef044f45ad 17 * all copies or substantial portions of the Software.
gltest26 1:9bef044f45ad 18 *
gltest26 1:9bef044f45ad 19 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
gltest26 1:9bef044f45ad 20 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
gltest26 1:9bef044f45ad 21 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
gltest26 1:9bef044f45ad 22 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
gltest26 1:9bef044f45ad 23 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
gltest26 1:9bef044f45ad 24 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
gltest26 1:9bef044f45ad 25 * THE SOFTWARE.
gltest26 1:9bef044f45ad 26 *
gltest26 1:9bef044f45ad 27 * @section DESCRIPTION
gltest26 1:9bef044f45ad 28 *
gltest26 1:9bef044f45ad 29 * ITG-3200 triple axis, digital interface, gyroscope.
gltest26 3:eea9733ca427 30 * Forked from Aaron Berk's work.
gltest26 1:9bef044f45ad 31 *
gltest26 1:9bef044f45ad 32 * Datasheet:
gltest26 1:9bef044f45ad 33 *
gltest26 1:9bef044f45ad 34 * http://invensense.com/mems/gyro/documents/PS-ITG-3200-00-01.4.pdf
gltest26 1:9bef044f45ad 35 */
gltest26 1:9bef044f45ad 36
gltest26 1:9bef044f45ad 37 #ifndef ITG3200_H
gltest26 1:9bef044f45ad 38 #define ITG3200_H
gltest26 1:9bef044f45ad 39
gltest26 3:eea9733ca427 40 /*
gltest26 1:9bef044f45ad 41 * Includes
gltest26 1:9bef044f45ad 42 */
gltest26 1:9bef044f45ad 43 #include "mbed.h"
gltest26 1:9bef044f45ad 44
gltest26 3:eea9733ca427 45 /*
gltest26 1:9bef044f45ad 46 * Defines
gltest26 1:9bef044f45ad 47 */
gltest26 1:9bef044f45ad 48 #define ITG3200_I2C_ADDRESS 0x68 //7-bit address.
gltest26 1:9bef044f45ad 49
gltest26 1:9bef044f45ad 50 //-----------
gltest26 1:9bef044f45ad 51 // Registers
gltest26 1:9bef044f45ad 52 //-----------
gltest26 1:9bef044f45ad 53 #define WHO_AM_I_REG 0x00
gltest26 1:9bef044f45ad 54 #define SMPLRT_DIV_REG 0x15
gltest26 1:9bef044f45ad 55 #define DLPF_FS_REG 0x16
gltest26 1:9bef044f45ad 56 #define INT_CFG_REG 0x17
gltest26 1:9bef044f45ad 57 #define INT_STATUS 0x1A
gltest26 1:9bef044f45ad 58 #define TEMP_OUT_H_REG 0x1B
gltest26 1:9bef044f45ad 59 #define TEMP_OUT_L_REG 0x1C
gltest26 1:9bef044f45ad 60 #define GYRO_XOUT_H_REG 0x1D
gltest26 1:9bef044f45ad 61 #define GYRO_XOUT_L_REG 0x1E
gltest26 1:9bef044f45ad 62 #define GYRO_YOUT_H_REG 0x1F
gltest26 1:9bef044f45ad 63 #define GYRO_YOUT_L_REG 0x20
gltest26 1:9bef044f45ad 64 #define GYRO_ZOUT_H_REG 0x21
gltest26 1:9bef044f45ad 65 #define GYRO_ZOUT_L_REG 0x22
gltest26 1:9bef044f45ad 66 #define PWR_MGM_REG 0x3E
gltest26 1:9bef044f45ad 67
gltest26 1:9bef044f45ad 68 //----------------------------
gltest26 1:9bef044f45ad 69 // Low Pass Filter Bandwidths
gltest26 1:9bef044f45ad 70 //----------------------------
gltest26 1:9bef044f45ad 71 #define LPFBW_256HZ 0x00
gltest26 1:9bef044f45ad 72 #define LPFBW_188HZ 0x01
gltest26 1:9bef044f45ad 73 #define LPFBW_98HZ 0x02
gltest26 1:9bef044f45ad 74 #define LPFBW_42HZ 0x03
gltest26 1:9bef044f45ad 75 #define LPFBW_20HZ 0x04
gltest26 1:9bef044f45ad 76 #define LPFBW_10HZ 0x05
gltest26 1:9bef044f45ad 77 #define LPFBW_5HZ 0x06
gltest26 1:9bef044f45ad 78
gltest26 1:9bef044f45ad 79 // Utility
gltest26 1:9bef044f45ad 80 #ifndef M_PI
gltest26 1:9bef044f45ad 81 #define M_PI 3.1415926535897932384626433832795
gltest26 1:9bef044f45ad 82 #endif
gltest26 1:9bef044f45ad 83
gltest26 1:9bef044f45ad 84 /**
gltest26 1:9bef044f45ad 85 * ITG-3200 triple axis digital gyroscope.
gltest26 1:9bef044f45ad 86 */
gltest26 1:9bef044f45ad 87 class ITG3200 {
gltest26 1:9bef044f45ad 88
gltest26 1:9bef044f45ad 89 public:
gltest26 1:9bef044f45ad 90
gltest26 3:eea9733ca427 91 /**
gltest26 3:eea9733ca427 92 * The I2C address that can be passed directly to i2c object (it's already shifted 1 bit left).
gltest26 3:eea9733ca427 93 *
gltest26 3:eea9733ca427 94 * You don't need to manually set or clear the LSB when calling I2C::read() or I2C::write(),
gltest26 3:eea9733ca427 95 * the library takes care of it. We just always clear the LSB.
gltest26 3:eea9733ca427 96 */
gltest26 1:9bef044f45ad 97 static const int I2C_ADDRESS = 0xD0;
gltest26 9:05396b551a9a 98
gltest26 9:05396b551a9a 99 /**
gltest26 9:05396b551a9a 100 * @brief Zero offset correction mode that can be specified when calling getGyroXYZ().
gltest26 9:05396b551a9a 101 *
gltest26 9:05396b551a9a 102 * The device has a major drift in readings depending on ambient temperature.
gltest26 9:05396b551a9a 103 * You can measure the temperature with built-in thermometer to correct it, but you
gltest26 9:05396b551a9a 104 * must have calibration curves for each axes to do so.
gltest26 9:05396b551a9a 105 * Here are the options on how to correct the drift.
gltest26 9:05396b551a9a 106 */
gltest26 9:05396b551a9a 107 enum Correction{
gltest26 9:05396b551a9a 108 NoCorrection, ///< Do not correct zero offset at all; You would have trouble integrating the values to obtain rotation.
gltest26 9:05396b551a9a 109 OffsetCorrection, ///< Correct the outputs with single-point zero adjust.
gltest26 9:05396b551a9a 110 Calibration, ///< Use calibration curve (actually lines) to correct the outputs. You must provide coefficients with setCalibrationCurve().
gltest26 9:05396b551a9a 111 Num_Correction
gltest26 9:05396b551a9a 112 };
gltest26 1:9bef044f45ad 113
gltest26 1:9bef044f45ad 114 /**
gltest26 1:9bef044f45ad 115 * Constructor.
gltest26 1:9bef044f45ad 116 *
gltest26 1:9bef044f45ad 117 * Sets FS_SEL to 0x03 for proper opertaion.
gltest26 1:9bef044f45ad 118 *
gltest26 1:9bef044f45ad 119 * @param sda - mbed pin to use for the SDA I2C line.
gltest26 1:9bef044f45ad 120 * @param scl - mbed pin to use for the SCL I2C line.
gltest26 7:43b936a53b64 121 * @param fastmode Sets the internal I2C interface to use 400kHz clock.
gltest26 1:9bef044f45ad 122 */
gltest26 7:43b936a53b64 123 ITG3200(PinName sda, PinName scl, bool fastmode = false);
gltest26 8:ac0365ab3cef 124
gltest26 8:ac0365ab3cef 125 /**
gltest26 8:ac0365ab3cef 126 * Constructor that accepts external i2c interface object.
gltest26 8:ac0365ab3cef 127 *
gltest26 8:ac0365ab3cef 128 * @param i2c The I2C interface object to use.
gltest26 8:ac0365ab3cef 129 */
gltest26 8:ac0365ab3cef 130 ITG3200(I2C &i2c) : i2c_(i2c){
gltest26 8:ac0365ab3cef 131 init();
gltest26 8:ac0365ab3cef 132 }
gltest26 8:ac0365ab3cef 133
gltest26 8:ac0365ab3cef 134 ~ITG3200();
gltest26 8:ac0365ab3cef 135
gltest26 8:ac0365ab3cef 136 void init();
gltest26 9:05396b551a9a 137
gltest26 9:05396b551a9a 138 /**
gltest26 9:05396b551a9a 139 * Sets calibration curve parameters.
gltest26 9:05396b551a9a 140 *
gltest26 9:05396b551a9a 141 * @param offset An array holding calibration curve offsets (0th-order coefficient) for each axis, must have 3 elements.
gltest26 9:05396b551a9a 142 * @param slope An array holding calibration curve slopes (1st-order coefficient) for each axis, must have 3 elements.
gltest26 9:05396b551a9a 143 */
gltest26 9:05396b551a9a 144 void setCalibrationCurve(const float offset[3], const float slope[3]);
gltest26 1:9bef044f45ad 145
gltest26 1:9bef044f45ad 146 /**
gltest26 1:9bef044f45ad 147 * Get the identity of the device.
gltest26 1:9bef044f45ad 148 *
gltest26 1:9bef044f45ad 149 * @return The contents of the Who Am I register which contains the I2C
gltest26 1:9bef044f45ad 150 * address of the device.
gltest26 1:9bef044f45ad 151 */
gltest26 1:9bef044f45ad 152 char getWhoAmI(void);
gltest26 1:9bef044f45ad 153
gltest26 1:9bef044f45ad 154 /**
gltest26 1:9bef044f45ad 155 * Set the address of the device.
gltest26 1:9bef044f45ad 156 *
gltest26 1:9bef044f45ad 157 * @param address The I2C slave address to write to the Who Am I register
gltest26 1:9bef044f45ad 158 * on the device.
gltest26 1:9bef044f45ad 159 */
gltest26 1:9bef044f45ad 160 void setWhoAmI(char address);
gltest26 1:9bef044f45ad 161
gltest26 1:9bef044f45ad 162 /**
gltest26 1:9bef044f45ad 163 * Get the sample rate divider.
gltest26 1:9bef044f45ad 164 *
gltest26 1:9bef044f45ad 165 * @return The sample rate divider as a number from 0-255.
gltest26 1:9bef044f45ad 166 */
gltest26 1:9bef044f45ad 167 char getSampleRateDivider(void);
gltest26 1:9bef044f45ad 168
gltest26 1:9bef044f45ad 169 /**
gltest26 1:9bef044f45ad 170 * Set the sample rate divider.
gltest26 1:9bef044f45ad 171 *
gltest26 1:9bef044f45ad 172 * Fsample = Finternal / (divider + 1), where Finternal = 1kHz or 8kHz,
gltest26 1:9bef044f45ad 173 * as decidied by the DLPF_FS register.
gltest26 1:9bef044f45ad 174 *
gltest26 1:9bef044f45ad 175 * @param The sample rate divider as a number from 0-255.
gltest26 1:9bef044f45ad 176 */
gltest26 1:9bef044f45ad 177 void setSampleRateDivider(char divider);
gltest26 1:9bef044f45ad 178
gltest26 1:9bef044f45ad 179 /**
gltest26 1:9bef044f45ad 180 * Get the internal sample rate.
gltest26 1:9bef044f45ad 181 *
gltest26 1:9bef044f45ad 182 * @return The internal sample rate in kHz - either 1 or 8.
gltest26 1:9bef044f45ad 183 */
gltest26 1:9bef044f45ad 184 int getInternalSampleRate(void);
gltest26 1:9bef044f45ad 185
gltest26 1:9bef044f45ad 186 /**
gltest26 1:9bef044f45ad 187 * Set the low pass filter bandwidth.
gltest26 1:9bef044f45ad 188 *
gltest26 1:9bef044f45ad 189 * Also used to set the internal sample rate.
gltest26 1:9bef044f45ad 190 * Pass the #define bandwidth codes as a parameter.
gltest26 1:9bef044f45ad 191 *
gltest26 1:9bef044f45ad 192 * 256Hz -> 8kHz internal sample rate.
gltest26 1:9bef044f45ad 193 * Everything else -> 1kHz internal rate.
gltest26 1:9bef044f45ad 194 *
gltest26 1:9bef044f45ad 195 * @param bandwidth Low pass filter bandwidth code
gltest26 1:9bef044f45ad 196 */
gltest26 1:9bef044f45ad 197 void setLpBandwidth(char bandwidth);
gltest26 1:9bef044f45ad 198
gltest26 1:9bef044f45ad 199 /**
gltest26 1:9bef044f45ad 200 * Get the interrupt configuration.
gltest26 1:9bef044f45ad 201 *
gltest26 1:9bef044f45ad 202 * See datasheet for register contents details.
gltest26 1:9bef044f45ad 203 *
gltest26 1:9bef044f45ad 204 * 7 6 5 4
gltest26 1:9bef044f45ad 205 * +------+------+--------------+------------------+
gltest26 1:9bef044f45ad 206 * | ACTL | OPEN | LATCH_INT_EN | INT_ANYRD_2CLEAR |
gltest26 1:9bef044f45ad 207 * +------+------+--------------+------------------+
gltest26 1:9bef044f45ad 208 *
gltest26 1:9bef044f45ad 209 * 3 2 1 0
gltest26 1:9bef044f45ad 210 * +---+------------+------------+---+
gltest26 1:9bef044f45ad 211 * | 0 | ITG_RDY_EN | RAW_RDY_EN | 0 |
gltest26 1:9bef044f45ad 212 * +---+------------+------------+---+
gltest26 1:9bef044f45ad 213 *
gltest26 1:9bef044f45ad 214 * ACTL Logic level for INT output pin; 1 = active low, 0 = active high.
gltest26 1:9bef044f45ad 215 * OPEN Drive type for INT output pin; 1 = open drain, 0 = push-pull.
gltest26 1:9bef044f45ad 216 * LATCH_INT_EN Latch mode; 1 = latch until interrupt is cleared,
gltest26 1:9bef044f45ad 217 * 0 = 50us pulse.
gltest26 1:9bef044f45ad 218 * INT_ANYRD_2CLEAR Latch clear method; 1 = any register read,
gltest26 1:9bef044f45ad 219 * 0 = status register read only.
gltest26 1:9bef044f45ad 220 * ITG_RDY_EN Enable interrupt when device is ready,
gltest26 1:9bef044f45ad 221 * (PLL ready after changing clock source).
gltest26 1:9bef044f45ad 222 * RAW_RDY_EN Enable interrupt when data is available.
gltest26 1:9bef044f45ad 223 * 0 Bits 1 and 3 of the INT_CFG register should be zero.
gltest26 1:9bef044f45ad 224 *
gltest26 1:9bef044f45ad 225 * @return the contents of the INT_CFG register.
gltest26 1:9bef044f45ad 226 */
gltest26 1:9bef044f45ad 227 char getInterruptConfiguration(void);
gltest26 1:9bef044f45ad 228
gltest26 1:9bef044f45ad 229 /**
gltest26 1:9bef044f45ad 230 * Set the interrupt configuration.
gltest26 1:9bef044f45ad 231 *
gltest26 1:9bef044f45ad 232 * See datasheet for configuration byte details.
gltest26 1:9bef044f45ad 233 *
gltest26 1:9bef044f45ad 234 * 7 6 5 4
gltest26 1:9bef044f45ad 235 * +------+------+--------------+------------------+
gltest26 1:9bef044f45ad 236 * | ACTL | OPEN | LATCH_INT_EN | INT_ANYRD_2CLEAR |
gltest26 1:9bef044f45ad 237 * +------+------+--------------+------------------+
gltest26 1:9bef044f45ad 238 *
gltest26 1:9bef044f45ad 239 * 3 2 1 0
gltest26 1:9bef044f45ad 240 * +---+------------+------------+---+
gltest26 1:9bef044f45ad 241 * | 0 | ITG_RDY_EN | RAW_RDY_EN | 0 |
gltest26 1:9bef044f45ad 242 * +---+------------+------------+---+
gltest26 1:9bef044f45ad 243 *
gltest26 1:9bef044f45ad 244 * ACTL Logic level for INT output pin; 1 = active low, 0 = active high.
gltest26 1:9bef044f45ad 245 * OPEN Drive type for INT output pin; 1 = open drain, 0 = push-pull.
gltest26 1:9bef044f45ad 246 * LATCH_INT_EN Latch mode; 1 = latch until interrupt is cleared,
gltest26 1:9bef044f45ad 247 * 0 = 50us pulse.
gltest26 1:9bef044f45ad 248 * INT_ANYRD_2CLEAR Latch clear method; 1 = any register read,
gltest26 1:9bef044f45ad 249 * 0 = status register read only.
gltest26 1:9bef044f45ad 250 * ITG_RDY_EN Enable interrupt when device is ready,
gltest26 1:9bef044f45ad 251 * (PLL ready after changing clock source).
gltest26 1:9bef044f45ad 252 * RAW_RDY_EN Enable interrupt when data is available.
gltest26 1:9bef044f45ad 253 * 0 Bits 1 and 3 of the INT_CFG register should be zero.
gltest26 1:9bef044f45ad 254 *
gltest26 1:9bef044f45ad 255 * @param config Configuration byte to write to INT_CFG register.
gltest26 1:9bef044f45ad 256 */
gltest26 1:9bef044f45ad 257 void setInterruptConfiguration(char config);
gltest26 1:9bef044f45ad 258
gltest26 1:9bef044f45ad 259 /**
gltest26 1:9bef044f45ad 260 * Check the ITG_RDY bit of the INT_STATUS register.
gltest26 1:9bef044f45ad 261 *
gltest26 1:9bef044f45ad 262 * @return True if the ITG_RDY bit is set, corresponding to PLL ready,
gltest26 1:9bef044f45ad 263 * false if the ITG_RDY bit is not set, corresponding to PLL not
gltest26 1:9bef044f45ad 264 * ready.
gltest26 1:9bef044f45ad 265 */
gltest26 1:9bef044f45ad 266 bool isPllReady(void);
gltest26 1:9bef044f45ad 267
gltest26 1:9bef044f45ad 268 /**
gltest26 1:9bef044f45ad 269 * Check the RAW_DATA_RDY bit of the INT_STATUS register.
gltest26 1:9bef044f45ad 270 *
gltest26 1:9bef044f45ad 271 * @return True if the RAW_DATA_RDY bit is set, corresponding to new data
gltest26 1:9bef044f45ad 272 * in the sensor registers, false if the RAW_DATA_RDY bit is not
gltest26 1:9bef044f45ad 273 * set, corresponding to no new data yet in the sensor registers.
gltest26 1:9bef044f45ad 274 */
gltest26 1:9bef044f45ad 275 bool isRawDataReady(void);
gltest26 1:9bef044f45ad 276
gltest26 1:9bef044f45ad 277 /**
gltest26 1:9bef044f45ad 278 * Get the temperature in raw format.
gltest26 1:9bef044f45ad 279 *
gltest26 1:9bef044f45ad 280 * @return The temperature in raw 16bit integer.
gltest26 1:9bef044f45ad 281 */
gltest26 4:155c44407af5 282 int getRawTemperature(void){ return getWord(TEMP_OUT_H_REG); }
gltest26 1:9bef044f45ad 283
gltest26 1:9bef044f45ad 284 /**
gltest26 1:9bef044f45ad 285 * Get the temperature of the device.
gltest26 1:9bef044f45ad 286 *
gltest26 1:9bef044f45ad 287 * @return The temperature in degrees celsius.
gltest26 1:9bef044f45ad 288 */
gltest26 1:9bef044f45ad 289 float getTemperature(void);
gltest26 1:9bef044f45ad 290
gltest26 1:9bef044f45ad 291 /**
gltest26 1:9bef044f45ad 292 * Get the output for the x-axis gyroscope.
gltest26 1:9bef044f45ad 293 *
gltest26 1:9bef044f45ad 294 * Typical sensitivity is 14.375 LSB/(degrees/sec).
gltest26 1:9bef044f45ad 295 *
gltest26 1:9bef044f45ad 296 * @return The output on the x-axis in raw ADC counts.
gltest26 1:9bef044f45ad 297 */
gltest26 4:155c44407af5 298 int getGyroX(void){ return getWord(GYRO_XOUT_H_REG); }
gltest26 1:9bef044f45ad 299
gltest26 1:9bef044f45ad 300 /**
gltest26 1:9bef044f45ad 301 * Get the output for the y-axis gyroscope.
gltest26 1:9bef044f45ad 302 *
gltest26 1:9bef044f45ad 303 * Typical sensitivity is 14.375 LSB/(degrees/sec).
gltest26 1:9bef044f45ad 304 *
gltest26 1:9bef044f45ad 305 * @return The output on the y-axis in raw ADC counts.
gltest26 1:9bef044f45ad 306 */
gltest26 4:155c44407af5 307 int getGyroY(void){ return getWord(GYRO_YOUT_H_REG); }
gltest26 1:9bef044f45ad 308
gltest26 1:9bef044f45ad 309 /**
gltest26 1:9bef044f45ad 310 * Get the output on the z-axis gyroscope.
gltest26 1:9bef044f45ad 311 *
gltest26 1:9bef044f45ad 312 * Typical sensitivity is 14.375 LSB/(degrees/sec).
gltest26 1:9bef044f45ad 313 *
gltest26 1:9bef044f45ad 314 * @return The output on the z-axis in raw ADC counts.
gltest26 1:9bef044f45ad 315 */
gltest26 4:155c44407af5 316 int getGyroZ(void){ return getWord(GYRO_ZOUT_H_REG); }
gltest26 1:9bef044f45ad 317
gltest26 1:9bef044f45ad 318 /**
gltest26 1:9bef044f45ad 319 * Burst read the outputs on the x,y,z-axis gyroscope.
gltest26 1:9bef044f45ad 320 *
gltest26 1:9bef044f45ad 321 * Typical sensitivity is 14.375 LSB/(degrees/sec).
gltest26 1:9bef044f45ad 322 *
gltest26 1:9bef044f45ad 323 * @param readings The output buffer array that has at least 3 length.
gltest26 9:05396b551a9a 324 * @param corr Correction method for returned values.
gltest26 1:9bef044f45ad 325 */
gltest26 9:05396b551a9a 326 void getGyroXYZ(int readings[3], Correction corr = OffsetCorrection);
gltest26 1:9bef044f45ad 327
gltest26 1:9bef044f45ad 328 /**
gltest26 1:9bef044f45ad 329 * Burst read the outputs on the x,y,z-axis gyroscope and convert them into degrees per second.
gltest26 1:9bef044f45ad 330 *
gltest26 1:9bef044f45ad 331 * @param readings The output buffer array that has at least 3 length.
gltest26 9:05396b551a9a 332 * @param corr Correction method for returned values.
gltest26 1:9bef044f45ad 333 */
gltest26 9:05396b551a9a 334 void getGyroXYZDegrees(double readings[3], Correction corr = OffsetCorrection);
gltest26 1:9bef044f45ad 335
gltest26 1:9bef044f45ad 336 /**
gltest26 1:9bef044f45ad 337 * Burst read the outputs on the x,y,z-axis gyroscope and convert them into degrees per second.
gltest26 1:9bef044f45ad 338 *
gltest26 1:9bef044f45ad 339 * @param readings The output buffer array that has at least 3 length.
gltest26 9:05396b551a9a 340 * @param corr Correction method for returned values.
gltest26 1:9bef044f45ad 341 */
gltest26 9:05396b551a9a 342 void getGyroXYZRadians(double readings[3], Correction corr = OffsetCorrection);
gltest26 1:9bef044f45ad 343
gltest26 1:9bef044f45ad 344 /**
gltest26 1:9bef044f45ad 345 * Get the power management configuration.
gltest26 1:9bef044f45ad 346 *
gltest26 1:9bef044f45ad 347 * See the datasheet for register contents details.
gltest26 1:9bef044f45ad 348 *
gltest26 1:9bef044f45ad 349 * 7 6 5 4
gltest26 1:9bef044f45ad 350 * +---------+-------+---------+---------+
gltest26 1:9bef044f45ad 351 * | H_RESET | SLEEP | STBY_XG | STBY_YG |
gltest26 1:9bef044f45ad 352 * +---------+-------+---------+---------+
gltest26 1:9bef044f45ad 353 *
gltest26 1:9bef044f45ad 354 * 3 2 1 0
gltest26 1:9bef044f45ad 355 * +---------+----------+----------+----------+
gltest26 1:9bef044f45ad 356 * | STBY_ZG | CLK_SEL2 | CLK_SEL1 | CLK_SEL0 |
gltest26 1:9bef044f45ad 357 * +---------+----------+----------+----------+
gltest26 1:9bef044f45ad 358 *
gltest26 1:9bef044f45ad 359 * H_RESET Reset device and internal registers to the power-up-default settings.
gltest26 1:9bef044f45ad 360 * SLEEP Enable low power sleep mode.
gltest26 1:9bef044f45ad 361 * STBY_XG Put gyro X in standby mode (1=standby, 0=normal).
gltest26 1:9bef044f45ad 362 * STBY_YG Put gyro Y in standby mode (1=standby, 0=normal).
gltest26 1:9bef044f45ad 363 * STBY_ZG Put gyro Z in standby mode (1=standby, 0=normal).
gltest26 1:9bef044f45ad 364 * CLK_SEL Select device clock source:
gltest26 1:9bef044f45ad 365 *
gltest26 1:9bef044f45ad 366 * CLK_SEL | Clock Source
gltest26 1:9bef044f45ad 367 * --------+--------------
gltest26 1:9bef044f45ad 368 * 0 Internal oscillator
gltest26 1:9bef044f45ad 369 * 1 PLL with X Gyro reference
gltest26 1:9bef044f45ad 370 * 2 PLL with Y Gyro reference
gltest26 1:9bef044f45ad 371 * 3 PLL with Z Gyro reference
gltest26 1:9bef044f45ad 372 * 4 PLL with external 32.768kHz reference
gltest26 1:9bef044f45ad 373 * 5 PLL with external 19.2MHz reference
gltest26 1:9bef044f45ad 374 * 6 Reserved
gltest26 1:9bef044f45ad 375 * 7 Reserved
gltest26 1:9bef044f45ad 376 *
gltest26 1:9bef044f45ad 377 * @return The contents of the PWR_MGM register.
gltest26 1:9bef044f45ad 378 */
gltest26 1:9bef044f45ad 379 char getPowerManagement(void);
gltest26 1:9bef044f45ad 380
gltest26 1:9bef044f45ad 381 /**
gltest26 1:9bef044f45ad 382 * Set power management configuration.
gltest26 1:9bef044f45ad 383 *
gltest26 1:9bef044f45ad 384 * See the datasheet for configuration byte details
gltest26 1:9bef044f45ad 385 *
gltest26 1:9bef044f45ad 386 * 7 6 5 4
gltest26 1:9bef044f45ad 387 * +---------+-------+---------+---------+
gltest26 1:9bef044f45ad 388 * | H_RESET | SLEEP | STBY_XG | STBY_YG |
gltest26 1:9bef044f45ad 389 * +---------+-------+---------+---------+
gltest26 1:9bef044f45ad 390 *
gltest26 1:9bef044f45ad 391 * 3 2 1 0
gltest26 1:9bef044f45ad 392 * +---------+----------+----------+----------+
gltest26 1:9bef044f45ad 393 * | STBY_ZG | CLK_SEL2 | CLK_SEL1 | CLK_SEL0 |
gltest26 1:9bef044f45ad 394 * +---------+----------+----------+----------+
gltest26 1:9bef044f45ad 395 *
gltest26 1:9bef044f45ad 396 * H_RESET Reset device and internal registers to the power-up-default settings.
gltest26 1:9bef044f45ad 397 * SLEEP Enable low power sleep mode.
gltest26 1:9bef044f45ad 398 * STBY_XG Put gyro X in standby mode (1=standby, 0=normal).
gltest26 1:9bef044f45ad 399 * STBY_YG Put gyro Y in standby mode (1=standby, 0=normal).
gltest26 1:9bef044f45ad 400 * STBY_ZG Put gyro Z in standby mode (1=standby, 0=normal).
gltest26 1:9bef044f45ad 401 * CLK_SEL Select device clock source:
gltest26 1:9bef044f45ad 402 *
gltest26 1:9bef044f45ad 403 * CLK_SEL | Clock Source
gltest26 1:9bef044f45ad 404 * --------+--------------
gltest26 1:9bef044f45ad 405 * 0 Internal oscillator
gltest26 1:9bef044f45ad 406 * 1 PLL with X Gyro reference
gltest26 1:9bef044f45ad 407 * 2 PLL with Y Gyro reference
gltest26 1:9bef044f45ad 408 * 3 PLL with Z Gyro reference
gltest26 1:9bef044f45ad 409 * 4 PLL with external 32.768kHz reference
gltest26 1:9bef044f45ad 410 * 5 PLL with external 19.2MHz reference
gltest26 1:9bef044f45ad 411 * 6 Reserved
gltest26 1:9bef044f45ad 412 * 7 Reserved
gltest26 1:9bef044f45ad 413 *
gltest26 1:9bef044f45ad 414 * @param config The configuration byte to write to the PWR_MGM register.
gltest26 1:9bef044f45ad 415 */
gltest26 1:9bef044f45ad 416 void setPowerManagement(char config);
gltest26 3:eea9733ca427 417
gltest26 3:eea9733ca427 418 /**
gltest26 3:eea9733ca427 419 * Calibrate the sensor drift by sampling zero offset.
gltest26 3:eea9733ca427 420 *
gltest26 3:eea9733ca427 421 * Be sure to keep the sensor stationary while sampling offset.
gltest26 3:eea9733ca427 422 *
gltest26 3:eea9733ca427 423 * Once this function is invoked, following getGyroXYZ*() functions return
gltest26 3:eea9733ca427 424 * corrected values.
gltest26 3:eea9733ca427 425 *
gltest26 3:eea9733ca427 426 * If the drift value changes over time, you can call this function once in a while
gltest26 3:eea9733ca427 427 * to follow it. But don't forget to fix the sensor while calibrating!
gltest26 3:eea9733ca427 428 *
gltest26 3:eea9733ca427 429 * @param time The time span to sample and average offset.
gltest26 3:eea9733ca427 430 * Sampling rate is limited, so giving long time to calibrate will improve
gltest26 3:eea9733ca427 431 * correction quality.
gltest26 3:eea9733ca427 432 */
gltest26 3:eea9733ca427 433 void calibrate(double time);
gltest26 6:a7ad6046824c 434
gltest26 6:a7ad6046824c 435 long getCalibrationSamples()const{
gltest26 6:a7ad6046824c 436 return calibSamples;
gltest26 6:a7ad6046824c 437 }
gltest26 3:eea9733ca427 438
gltest26 7:43b936a53b64 439 /**
gltest26 7:43b936a53b64 440 * Returns the I2C object that this object is using for communication.
gltest26 7:43b936a53b64 441 */
gltest26 7:43b936a53b64 442 I2C &getI2C(){
gltest26 7:43b936a53b64 443 return i2c_;
gltest26 7:43b936a53b64 444 }
gltest26 7:43b936a53b64 445
gltest26 7:43b936a53b64 446 /**
gltest26 7:43b936a53b64 447 * Returns internal offset values for zero adjusting. Returned pointer is pointing an array of 3 elements.
gltest26 7:43b936a53b64 448 */
gltest26 7:43b936a53b64 449 const int *getOffset()const{
gltest26 7:43b936a53b64 450 return offset;
gltest26 7:43b936a53b64 451 }
gltest26 7:43b936a53b64 452
gltest26 3:eea9733ca427 453 protected:
gltest26 4:155c44407af5 454
gltest26 4:155c44407af5 455 /**
gltest26 4:155c44407af5 456 * Reads a word (2 bytes) from the sensor via I2C bus.
gltest26 4:155c44407af5 457 *
gltest26 4:155c44407af5 458 * The queried value is assumed big-endian, 2's complement value.
gltest26 4:155c44407af5 459 *
gltest26 4:155c44407af5 460 * This protected function is added because we shouldn't write getGyroX(), getGyroY() and getGyroZ()
gltest26 4:155c44407af5 461 * independently, but collect common codes.
gltest26 4:155c44407af5 462 *
gltest26 4:155c44407af5 463 * @param regi Register address to be read.
gltest26 4:155c44407af5 464 */
gltest26 4:155c44407af5 465 int getWord(int regi);
gltest26 4:155c44407af5 466
gltest26 3:eea9733ca427 467 /**
gltest26 3:eea9733ca427 468 * An internal method to acquire gyro sensor readings before calibration correction.
gltest26 3:eea9733ca427 469 *
gltest26 3:eea9733ca427 470 * Protected for the time being, although there could be cases that raw values are
gltest26 3:eea9733ca427 471 * appreciated by the user.
gltest26 3:eea9733ca427 472 */
gltest26 3:eea9733ca427 473 void getRawGyroXYZ(int readings[3]);
gltest26 3:eea9733ca427 474
gltest26 3:eea9733ca427 475 /**
gltest26 3:eea9733ca427 476 * Offset values that will be subtracted from output.
gltest26 3:eea9733ca427 477 *
gltest26 3:eea9733ca427 478 * TODO: temperature drift calibration
gltest26 3:eea9733ca427 479 */
gltest26 3:eea9733ca427 480 int offset[3];
gltest26 6:a7ad6046824c 481
gltest26 9:05396b551a9a 482 float foffset[3];
gltest26 9:05396b551a9a 483 float slope[3];
gltest26 9:05396b551a9a 484
gltest26 6:a7ad6046824c 485 long calibSamples;
gltest26 7:43b936a53b64 486
gltest26 1:9bef044f45ad 487 private:
gltest26 1:9bef044f45ad 488
gltest26 8:ac0365ab3cef 489 I2C &i2c_;
gltest26 8:ac0365ab3cef 490
gltest26 8:ac0365ab3cef 491 /**
gltest26 8:ac0365ab3cef 492 * The raw buffer for allocating I2C object in its own without heap memory.
gltest26 8:ac0365ab3cef 493 */
gltest26 8:ac0365ab3cef 494 char i2cRaw[sizeof(I2C)];
gltest26 1:9bef044f45ad 495
gltest26 5:0a0315f0f34e 496 /**
gltest26 5:0a0315f0f34e 497 * Converts big-endian 2's complement byte pair to native byte order of
gltest26 5:0a0315f0f34e 498 * the CPU and then sign extend it to the CPU's register size.
gltest26 5:0a0315f0f34e 499 *
gltest26 5:0a0315f0f34e 500 * Implemented here to make the compiler inline expand it.
gltest26 5:0a0315f0f34e 501 */
gltest26 5:0a0315f0f34e 502 int swapExtend(const char rx[2]){
gltest26 5:0a0315f0f34e 503 // Readings are expressed in 16bit 2's complement, so we must first
gltest26 5:0a0315f0f34e 504 // concatenate two bytes to make a word and sign extend it to obtain
gltest26 5:0a0315f0f34e 505 // correct negative values.
gltest26 5:0a0315f0f34e 506 // ARMCC compiles char as unsigned, which means no sign extension is
gltest26 5:0a0315f0f34e 507 // performed during bitwise operations to chars. But we should make sure
gltest26 5:0a0315f0f34e 508 // that lower byte won't extend its sign past upper byte for other
gltest26 5:0a0315f0f34e 509 // compilers if we want to keep it portable.
gltest26 5:0a0315f0f34e 510 return int16_t(((unsigned char)rx[0] << 8) | (unsigned char)rx[1]);
gltest26 5:0a0315f0f34e 511 }
gltest26 1:9bef044f45ad 512 };
gltest26 1:9bef044f45ad 513
gltest26 1:9bef044f45ad 514
gltest26 9:05396b551a9a 515 inline void ITG3200::getGyroXYZDegrees(double readings[3], Correction corr){
gltest26 1:9bef044f45ad 516 int intData[3];
gltest26 9:05396b551a9a 517 getGyroXYZ(intData, corr);
gltest26 1:9bef044f45ad 518 for(int i = 0; i < 3; i++)
gltest26 1:9bef044f45ad 519 readings[i] = intData[i] * 2000. / 32767.;
gltest26 1:9bef044f45ad 520 }
gltest26 1:9bef044f45ad 521
gltest26 9:05396b551a9a 522 inline void ITG3200::getGyroXYZRadians(double readings[3], Correction corr){
gltest26 1:9bef044f45ad 523 int intData[3];
gltest26 9:05396b551a9a 524 getGyroXYZ(intData, corr);
gltest26 1:9bef044f45ad 525 for(int i = 0; i < 3; i++)
gltest26 1:9bef044f45ad 526 readings[i] = intData[i] * 2000. / 32767. * 2. * M_PI / 360.;
gltest26 1:9bef044f45ad 527 }
gltest26 1:9bef044f45ad 528
gltest26 1:9bef044f45ad 529 #endif /* ITG3200_H */