Tyler Weaver / ITG3200

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Dependents:   9Dof_unit_testing

Fork of ITG3200 by James Watanabe

ITG3200.cpp@14:e4bf80188ba7, 2012-11-07 (annotated)

Committer:
tylerjw
Date:
Wed Nov 07 00:11:47 2012 +0000
Revision:
14:e4bf80188ba7
Parent:
13:e886466d7d67
Child:
15:e61fe4b74daa
Set calibrate function to run at 50Hz

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gltest26 1:9bef044f45ad 1 /**
gltest26 4:155c44407af5 2 * @file ITG3200.cpp
tylerjw 11:9a354f34d8e3 3 * @author Tyler Weaver
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 *
tylerjw 11:9a354f34d8e3 29 * Modified version of Aaron Berk's library.
gltest26 1:9bef044f45ad 30 * ITG-3200 triple axis, digital interface, gyroscope.
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 #include "ITG3200.h"
gltest26 8:ac0365ab3cef 38 #include <new>
gltest26 1:9bef044f45ad 39
tylerjw 11:9a354f34d8e3 40 ITG3200::ITG3200(PinName sda, PinName scl, bool fastmode) : calibSamples(0), i2c_(*reinterpret_cast<I2C*>(i2cRaw))
tylerjw 11:9a354f34d8e3 41 {
gltest26 8:ac0365ab3cef 42 // Placement new to avoid additional heap memory allocation.
gltest26 8:ac0365ab3cef 43 new(i2cRaw) I2C(sda, scl);
gltest26 1:9bef044f45ad 44
tylerjw 14:e4bf80188ba7 45 offset[0] = offset[1] = offset[2] = 0.0;
gltest26 3:eea9733ca427 46
tylerjw 11:9a354f34d8e3 47 if(fastmode) {
gltest26 7:43b936a53b64 48 //400kHz, fast mode.
gltest26 7:43b936a53b64 49 i2c_.frequency(400000);
tylerjw 11:9a354f34d8e3 50 } else
gltest26 7:43b936a53b64 51 i2c_.frequency(100000);
tylerjw 11:9a354f34d8e3 52 }
tylerjw 11:9a354f34d8e3 53
tylerjw 11:9a354f34d8e3 54 ITG3200::~ITG3200()
tylerjw 11:9a354f34d8e3 55 {
gltest26 8:ac0365ab3cef 56 // If the I2C object is initialized in the buffer in this object, call destructor of it.
gltest26 8:ac0365ab3cef 57 if(&i2c_ == reinterpret_cast<I2C*>(&i2cRaw))
gltest26 8:ac0365ab3cef 58 reinterpret_cast<I2C*>(&i2cRaw)->~I2C();
gltest26 8:ac0365ab3cef 59 }
gltest26 8:ac0365ab3cef 60
tylerjw 11:9a354f34d8e3 61 void ITG3200::init()
tylerjw 11:9a354f34d8e3 62 {
gltest26 1:9bef044f45ad 63 //Set FS_SEL to 0x03 for proper operation.
gltest26 1:9bef044f45ad 64 //See datasheet for details.
gltest26 1:9bef044f45ad 65 char tx[2];
tylerjw 14:e4bf80188ba7 66
tylerjw 14:e4bf80188ba7 67 // Power up reset defaults
tylerjw 14:e4bf80188ba7 68 tx[0] = 0x3E; // Power management
tylerjw 14:e4bf80188ba7 69 tx[1] = 0x80; // ?
tylerjw 14:e4bf80188ba7 70 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
tylerjw 14:e4bf80188ba7 71 wait_ms(5);
tylerjw 14:e4bf80188ba7 72
tylerjw 14:e4bf80188ba7 73 // Select full-scale range of the gyro sensors
tylerjw 14:e4bf80188ba7 74 // Set LP filter bandwidth to 42Hz
tylerjw 14:e4bf80188ba7 75 tx[0] = 0x16; //
tylerjw 14:e4bf80188ba7 76 tx[1] = 0x1B; // DLPF_CFG = 3, FS_SEL = 3
gltest26 1:9bef044f45ad 77 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
tylerjw 14:e4bf80188ba7 78 wait_ms(5);
tylerjw 12:d624e9c6dae7 79
tylerjw 14:e4bf80188ba7 80 // set sample rate to 50 Hz
tylerjw 14:e4bf80188ba7 81 tx[0] = 0x15; //
tylerjw 14:e4bf80188ba7 82 tx[1] = 0x0A; // SMPLRT_DIV = 10 (50Hz)
tylerjw 14:e4bf80188ba7 83 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
tylerjw 14:e4bf80188ba7 84 wait_ms(5);
tylerjw 14:e4bf80188ba7 85
tylerjw 14:e4bf80188ba7 86 // Set clock to PLL with z gyro reference
tylerjw 14:e4bf80188ba7 87 tx[0] = 0x3E;
tylerjw 14:e4bf80188ba7 88 tx[1] = 0x00;
tylerjw 14:e4bf80188ba7 89 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
tylerjw 14:e4bf80188ba7 90 wait_ms(5);
tylerjw 14:e4bf80188ba7 91 /*
tylerjw 12:d624e9c6dae7 92 const float offset[3] = {99.5, -45.0, -29.7}; // taken from itg3200.xls curve fit test
tylerjw 12:d624e9c6dae7 93 const float slope[3] = {-1.05, 0.95, 0.47};
gltest26 1:9bef044f45ad 94
tylerjw 12:d624e9c6dae7 95 setCalibrationCurve(offset, slope);
tylerjw 14:e4bf80188ba7 96 */
gltest26 1:9bef044f45ad 97 }
gltest26 1:9bef044f45ad 98
tylerjw 11:9a354f34d8e3 99 void ITG3200::setCalibrationCurve(const float offset[3], const float slope[3])
tylerjw 11:9a354f34d8e3 100 {
tylerjw 11:9a354f34d8e3 101 if(offset) {
gltest26 9:05396b551a9a 102 for(int i = 0; i < 3; i++)
gltest26 9:05396b551a9a 103 this->foffset[i] = offset[i];
gltest26 9:05396b551a9a 104 }
tylerjw 11:9a354f34d8e3 105 if(slope) {
gltest26 9:05396b551a9a 106 for(int i = 0; i < 3; i++)
gltest26 9:05396b551a9a 107 this->slope[i] = slope[i];
gltest26 9:05396b551a9a 108 }
gltest26 9:05396b551a9a 109 }
gltest26 9:05396b551a9a 110
tylerjw 11:9a354f34d8e3 111 char ITG3200::getWhoAmI(void)
tylerjw 11:9a354f34d8e3 112 {
gltest26 1:9bef044f45ad 113
gltest26 1:9bef044f45ad 114 //WhoAmI Register address.
gltest26 1:9bef044f45ad 115 char tx = WHO_AM_I_REG;
gltest26 1:9bef044f45ad 116 char rx;
gltest26 1:9bef044f45ad 117
tylerjw 11:9a354f34d8e3 118 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
gltest26 1:9bef044f45ad 119
gltest26 1:9bef044f45ad 120 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
gltest26 1:9bef044f45ad 121
gltest26 1:9bef044f45ad 122 return rx;
gltest26 1:9bef044f45ad 123
gltest26 1:9bef044f45ad 124 }
gltest26 1:9bef044f45ad 125
tylerjw 11:9a354f34d8e3 126 void ITG3200::setWhoAmI(char address)
tylerjw 11:9a354f34d8e3 127 {
tylerjw 11:9a354f34d8e3 128
tylerjw 11:9a354f34d8e3 129 char tx[2];
tylerjw 11:9a354f34d8e3 130 tx[0] = WHO_AM_I_REG;
tylerjw 11:9a354f34d8e3 131 tx[1] = address;
tylerjw 11:9a354f34d8e3 132
tylerjw 11:9a354f34d8e3 133 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
tylerjw 11:9a354f34d8e3 134
tylerjw 11:9a354f34d8e3 135 }
tylerjw 11:9a354f34d8e3 136
tylerjw 11:9a354f34d8e3 137 char ITG3200::getSampleRateDivider(void)
tylerjw 11:9a354f34d8e3 138 {
tylerjw 11:9a354f34d8e3 139
tylerjw 11:9a354f34d8e3 140 char tx = SMPLRT_DIV_REG;
tylerjw 11:9a354f34d8e3 141 char rx;
tylerjw 11:9a354f34d8e3 142
tylerjw 11:9a354f34d8e3 143 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
tylerjw 11:9a354f34d8e3 144
tylerjw 11:9a354f34d8e3 145 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
tylerjw 11:9a354f34d8e3 146
tylerjw 11:9a354f34d8e3 147 return rx;
tylerjw 11:9a354f34d8e3 148
tylerjw 11:9a354f34d8e3 149 }
tylerjw 11:9a354f34d8e3 150
tylerjw 11:9a354f34d8e3 151 void ITG3200::setSampleRateDivider(char divider)
tylerjw 11:9a354f34d8e3 152 {
gltest26 1:9bef044f45ad 153
gltest26 1:9bef044f45ad 154 char tx[2];
gltest26 1:9bef044f45ad 155 tx[0] = SMPLRT_DIV_REG;
gltest26 1:9bef044f45ad 156 tx[1] = divider;
gltest26 1:9bef044f45ad 157
gltest26 1:9bef044f45ad 158 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
gltest26 1:9bef044f45ad 159
gltest26 1:9bef044f45ad 160 }
gltest26 1:9bef044f45ad 161
tylerjw 11:9a354f34d8e3 162 int ITG3200::getInternalSampleRate(void)
tylerjw 11:9a354f34d8e3 163 {
gltest26 1:9bef044f45ad 164
gltest26 1:9bef044f45ad 165 char tx = DLPF_FS_REG;
gltest26 1:9bef044f45ad 166 char rx;
tylerjw 11:9a354f34d8e3 167
gltest26 1:9bef044f45ad 168 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
tylerjw 11:9a354f34d8e3 169
gltest26 1:9bef044f45ad 170 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
tylerjw 11:9a354f34d8e3 171
gltest26 1:9bef044f45ad 172 //DLPF_CFG == 0 -> sample rate = 8kHz.
tylerjw 11:9a354f34d8e3 173 if(rx == 0) {
gltest26 1:9bef044f45ad 174 return 8;
tylerjw 11:9a354f34d8e3 175 }
gltest26 1:9bef044f45ad 176 //DLPF_CFG = 1..7 -> sample rate = 1kHz.
tylerjw 11:9a354f34d8e3 177 else if(rx >= 1 && rx <= 7) {
gltest26 1:9bef044f45ad 178 return 1;
gltest26 1:9bef044f45ad 179 }
gltest26 1:9bef044f45ad 180 //DLPF_CFG = anything else -> something's wrong!
tylerjw 11:9a354f34d8e3 181 else {
gltest26 1:9bef044f45ad 182 return -1;
gltest26 1:9bef044f45ad 183 }
tylerjw 11:9a354f34d8e3 184
gltest26 1:9bef044f45ad 185 }
gltest26 1:9bef044f45ad 186
tylerjw 11:9a354f34d8e3 187 void ITG3200::setLpBandwidth(char bandwidth)
tylerjw 11:9a354f34d8e3 188 {
gltest26 1:9bef044f45ad 189
gltest26 1:9bef044f45ad 190 char tx[2];
gltest26 1:9bef044f45ad 191 tx[0] = DLPF_FS_REG;
gltest26 1:9bef044f45ad 192 //Bits 4,3 are required to be 0x03 for proper operation.
gltest26 1:9bef044f45ad 193 tx[1] = bandwidth | (0x03 << 3);
tylerjw 11:9a354f34d8e3 194
gltest26 1:9bef044f45ad 195 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
gltest26 1:9bef044f45ad 196
gltest26 1:9bef044f45ad 197 }
gltest26 1:9bef044f45ad 198
tylerjw 11:9a354f34d8e3 199 char ITG3200::getInterruptConfiguration(void)
tylerjw 11:9a354f34d8e3 200 {
gltest26 1:9bef044f45ad 201
gltest26 1:9bef044f45ad 202 char tx = INT_CFG_REG;
gltest26 1:9bef044f45ad 203 char rx;
tylerjw 11:9a354f34d8e3 204
gltest26 1:9bef044f45ad 205 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
tylerjw 11:9a354f34d8e3 206
gltest26 1:9bef044f45ad 207 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
tylerjw 11:9a354f34d8e3 208
gltest26 1:9bef044f45ad 209 return rx;
gltest26 1:9bef044f45ad 210
gltest26 1:9bef044f45ad 211 }
gltest26 1:9bef044f45ad 212
tylerjw 11:9a354f34d8e3 213 void ITG3200::setInterruptConfiguration(char config)
tylerjw 11:9a354f34d8e3 214 {
gltest26 1:9bef044f45ad 215
gltest26 1:9bef044f45ad 216 char tx[2];
gltest26 1:9bef044f45ad 217 tx[0] = INT_CFG_REG;
gltest26 1:9bef044f45ad 218 tx[1] = config;
tylerjw 11:9a354f34d8e3 219
gltest26 1:9bef044f45ad 220 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
gltest26 1:9bef044f45ad 221
gltest26 1:9bef044f45ad 222 }
gltest26 1:9bef044f45ad 223
tylerjw 11:9a354f34d8e3 224 bool ITG3200::isPllReady(void)
tylerjw 11:9a354f34d8e3 225 {
gltest26 1:9bef044f45ad 226
gltest26 1:9bef044f45ad 227 char tx = INT_STATUS;
gltest26 1:9bef044f45ad 228 char rx;
tylerjw 11:9a354f34d8e3 229
gltest26 1:9bef044f45ad 230 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
tylerjw 11:9a354f34d8e3 231
gltest26 1:9bef044f45ad 232 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
tylerjw 11:9a354f34d8e3 233
gltest26 1:9bef044f45ad 234 //ITG_RDY bit is bit 4 of INT_STATUS register.
tylerjw 11:9a354f34d8e3 235 if(rx & 0x04) {
gltest26 1:9bef044f45ad 236 return true;
tylerjw 11:9a354f34d8e3 237 } else {
gltest26 1:9bef044f45ad 238 return false;
gltest26 1:9bef044f45ad 239 }
tylerjw 11:9a354f34d8e3 240
gltest26 1:9bef044f45ad 241 }
gltest26 1:9bef044f45ad 242
tylerjw 11:9a354f34d8e3 243 bool ITG3200::isRawDataReady(void)
tylerjw 11:9a354f34d8e3 244 {
gltest26 1:9bef044f45ad 245
gltest26 1:9bef044f45ad 246 char tx = INT_STATUS;
gltest26 1:9bef044f45ad 247 char rx;
tylerjw 11:9a354f34d8e3 248
gltest26 1:9bef044f45ad 249 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
tylerjw 11:9a354f34d8e3 250
gltest26 1:9bef044f45ad 251 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
tylerjw 11:9a354f34d8e3 252
gltest26 1:9bef044f45ad 253 //RAW_DATA_RDY bit is bit 1 of INT_STATUS register.
tylerjw 11:9a354f34d8e3 254 if(rx & 0x01) {
gltest26 1:9bef044f45ad 255 return true;
tylerjw 11:9a354f34d8e3 256 } else {
gltest26 1:9bef044f45ad 257 return false;
gltest26 1:9bef044f45ad 258 }
tylerjw 11:9a354f34d8e3 259
gltest26 1:9bef044f45ad 260 }
gltest26 1:9bef044f45ad 261
tylerjw 11:9a354f34d8e3 262 int ITG3200::getWord(int regi)
tylerjw 11:9a354f34d8e3 263 {
gltest26 1:9bef044f45ad 264
gltest26 4:155c44407af5 265 char tx = regi;
gltest26 1:9bef044f45ad 266 char rx[2];
tylerjw 11:9a354f34d8e3 267
gltest26 2:f44a902ba081 268 i2c_.write(I2C_ADDRESS, &tx, 1);
tylerjw 11:9a354f34d8e3 269
gltest26 2:f44a902ba081 270 i2c_.read(I2C_ADDRESS, rx, 2);
tylerjw 11:9a354f34d8e3 271
gltest26 5:0a0315f0f34e 272 return swapExtend(rx);
gltest26 1:9bef044f45ad 273 }
gltest26 1:9bef044f45ad 274
tylerjw 11:9a354f34d8e3 275 float ITG3200::getTemperature()
tylerjw 11:9a354f34d8e3 276 {
gltest26 1:9bef044f45ad 277 //Offset = -35 degrees, 13200 counts. 280 counts/degrees C.
gltest26 1:9bef044f45ad 278 return 35.0 + ((getRawTemperature() + 13200)/280.0);
tylerjw 11:9a354f34d8e3 279
gltest26 1:9bef044f45ad 280 }
gltest26 1:9bef044f45ad 281
tylerjw 13:e886466d7d67 282 void ITG3200::getRawXYZ(int16_t readings[3])
tylerjw 11:9a354f34d8e3 283 {
gltest26 1:9bef044f45ad 284
gltest26 1:9bef044f45ad 285 char tx = GYRO_XOUT_H_REG;
gltest26 1:9bef044f45ad 286 char rx[2];
tylerjw 11:9a354f34d8e3 287
gltest26 1:9bef044f45ad 288 i2c_.write(I2C_ADDRESS, &tx, 1);
tylerjw 11:9a354f34d8e3 289
gltest26 1:9bef044f45ad 290 i2c_.read(I2C_ADDRESS, rx, 6);
tylerjw 11:9a354f34d8e3 291
gltest26 1:9bef044f45ad 292 for(int i = 0; i < 3; i++)
gltest26 5:0a0315f0f34e 293 readings[i] = swapExtend(&rx[i * 2]);
gltest26 1:9bef044f45ad 294 }
gltest26 1:9bef044f45ad 295
tylerjw 12:d624e9c6dae7 296 void ITG3200::getXYZ(int16_t readings[3], Correction corr)
tylerjw 11:9a354f34d8e3 297 {
tylerjw 12:d624e9c6dae7 298 getRawXYZ(readings);
tylerjw 11:9a354f34d8e3 299 switch(corr) {
tylerjw 11:9a354f34d8e3 300 case OffsetCorrection:
tylerjw 11:9a354f34d8e3 301 for(int i = 0; i < 3; i++)
tylerjw 14:e4bf80188ba7 302 readings[i] -= static_cast<int16_t>(offset[i]);
tylerjw 11:9a354f34d8e3 303 break;
tylerjw 11:9a354f34d8e3 304 case Calibration: {
gltest26 9:05396b551a9a 305 float temp = getTemperature();
gltest26 9:05396b551a9a 306 for(int i = 0; i < 3; i++)
gltest26 9:05396b551a9a 307 readings[i] -= slope[i] * temp + foffset[i];
gltest26 9:05396b551a9a 308 }
gltest26 9:05396b551a9a 309 break;
gltest26 9:05396b551a9a 310 }
gltest26 9:05396b551a9a 311 }
gltest26 9:05396b551a9a 312
gltest26 9:05396b551a9a 313
tylerjw 11:9a354f34d8e3 314 char ITG3200::getPowerManagement(void)
tylerjw 11:9a354f34d8e3 315 {
gltest26 1:9bef044f45ad 316
gltest26 1:9bef044f45ad 317 char tx = PWR_MGM_REG;
gltest26 1:9bef044f45ad 318 char rx;
tylerjw 11:9a354f34d8e3 319
gltest26 1:9bef044f45ad 320 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
tylerjw 11:9a354f34d8e3 321
gltest26 1:9bef044f45ad 322 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
tylerjw 11:9a354f34d8e3 323
gltest26 1:9bef044f45ad 324 return rx;
gltest26 1:9bef044f45ad 325
gltest26 1:9bef044f45ad 326 }
gltest26 1:9bef044f45ad 327
tylerjw 11:9a354f34d8e3 328 void ITG3200::setPowerManagement(char config)
tylerjw 11:9a354f34d8e3 329 {
gltest26 1:9bef044f45ad 330
gltest26 1:9bef044f45ad 331 char tx[2];
gltest26 1:9bef044f45ad 332 tx[0] = PWR_MGM_REG;
gltest26 1:9bef044f45ad 333 tx[1] = config;
gltest26 1:9bef044f45ad 334
gltest26 1:9bef044f45ad 335 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
gltest26 1:9bef044f45ad 336
gltest26 1:9bef044f45ad 337 }
gltest26 3:eea9733ca427 338
tylerjw 11:9a354f34d8e3 339 void ITG3200::calibrate(double time)
tylerjw 11:9a354f34d8e3 340 {
gltest26 3:eea9733ca427 341 long sum[3] = {0};
gltest26 3:eea9733ca427 342 int sumCount = 0;
gltest26 6:a7ad6046824c 343 Timer t;
gltest26 6:a7ad6046824c 344 t.start();
tylerjw 14:e4bf80188ba7 345 float start_time;
tylerjw 14:e4bf80188ba7 346 float period = 1.0 / 50.0; // 50Hz
tylerjw 14:e4bf80188ba7 347
tylerjw 11:9a354f34d8e3 348 while(t.read() < time) {
tylerjw 14:e4bf80188ba7 349 start_time = t.read();
tylerjw 13:e886466d7d67 350 int16_t gyro[3];
tylerjw 12:d624e9c6dae7 351 getRawXYZ(gyro);
gltest26 3:eea9733ca427 352 for(int i = 0; i < 3; i++)
gltest26 3:eea9733ca427 353 sum[i] += gyro[i];
gltest26 3:eea9733ca427 354 sumCount++;
tylerjw 14:e4bf80188ba7 355 wait(period - (t.read()-start_time));
gltest26 3:eea9733ca427 356 }
gltest26 6:a7ad6046824c 357 t.stop();
gltest26 6:a7ad6046824c 358
gltest26 3:eea9733ca427 359 // Avoid zero division
tylerjw 11:9a354f34d8e3 360 if(0 < sumCount) {
gltest26 3:eea9733ca427 361 for(int i = 0; i < 3; i++)
tylerjw 14:e4bf80188ba7 362 offset[i] = (double)sum[i] / (double)sumCount;
gltest26 6:a7ad6046824c 363 // Update member variable only if successful
gltest26 6:a7ad6046824c 364 calibSamples = sumCount;
gltest26 3:eea9733ca427 365 }
gltest26 3:eea9733ca427 366 }