Forked from Aaron Berk's ITG3200 driver class library, customized for my specific application using 9DoF-Stick by Sparkfun.
Fork of ITG3200 by
ITG3200.cpp
00001 /** 00002 * @file ITG3200.cpp 00003 * @author Aaron Berk 00004 * 00005 * @section LICENSE 00006 * 00007 * Copyright (c) 2010 ARM Limited 00008 * 00009 * Permission is hereby granted, free of charge, to any person obtaining a copy 00010 * of this software and associated documentation files (the "Software"), to deal 00011 * in the Software without restriction, including without limitation the rights 00012 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 00013 * copies of the Software, and to permit persons to whom the Software is 00014 * furnished to do so, subject to the following conditions: 00015 * 00016 * The above copyright notice and this permission notice shall be included in 00017 * all copies or substantial portions of the Software. 00018 * 00019 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 00020 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 00021 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 00022 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 00023 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 00024 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN 00025 * THE SOFTWARE. 00026 * 00027 * @section DESCRIPTION 00028 * 00029 * ITG-3200 triple axis, digital interface, gyroscope. 00030 * 00031 * Datasheet: 00032 * 00033 * http://invensense.com/mems/gyro/documents/PS-ITG-3200-00-01.4.pdf 00034 */ 00035 00036 #include "ITG3200.h " 00037 #include <new> 00038 00039 ITG3200::ITG3200(PinName sda, PinName scl, bool fastmode) : calibSamples(0), i2c_(*reinterpret_cast<I2C*>(i2cRaw)){ 00040 // Placement new to avoid additional heap memory allocation. 00041 new(i2cRaw) I2C(sda, scl); 00042 00043 offset[0] = offset[1] = offset[2] = 0; 00044 00045 if(fastmode){ 00046 //400kHz, fast mode. 00047 i2c_.frequency(400000); 00048 } 00049 else 00050 i2c_.frequency(100000); 00051 } 00052 00053 ITG3200::~ITG3200(){ 00054 // If the I2C object is initialized in the buffer in this object, call destructor of it. 00055 if(&i2c_ == reinterpret_cast<I2C*>(&i2cRaw)) 00056 reinterpret_cast<I2C*>(&i2cRaw)->~I2C(); 00057 } 00058 00059 void ITG3200::init(){ 00060 //Set FS_SEL to 0x03 for proper operation. 00061 //See datasheet for details. 00062 char tx[2]; 00063 tx[0] = DLPF_FS_REG; 00064 //FS_SEL bits sit in bits 4 and 3 of DLPF_FS register. 00065 tx[1] = 0x03 << 3; 00066 00067 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2); 00068 00069 } 00070 00071 void ITG3200::setCalibrationCurve(const float offset[3], const float slope[3]){ 00072 if(offset){ 00073 for(int i = 0; i < 3; i++) 00074 this->foffset[i] = offset[i]; 00075 } 00076 if(slope){ 00077 for(int i = 0; i < 3; i++) 00078 this->slope[i] = slope[i]; 00079 } 00080 } 00081 00082 char ITG3200::getWhoAmI(void){ 00083 00084 //WhoAmI Register address. 00085 char tx = WHO_AM_I_REG; 00086 char rx; 00087 00088 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1); 00089 00090 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1); 00091 00092 return rx; 00093 00094 } 00095 00096 void ITG3200::setWhoAmI(char address){ 00097 00098 char tx[2]; 00099 tx[0] = WHO_AM_I_REG; 00100 tx[1] = address; 00101 00102 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2); 00103 00104 } 00105 00106 char ITG3200::getSampleRateDivider(void){ 00107 00108 char tx = SMPLRT_DIV_REG; 00109 char rx; 00110 00111 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1); 00112 00113 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1); 00114 00115 return rx; 00116 00117 } 00118 00119 void ITG3200::setSampleRateDivider(char divider){ 00120 00121 char tx[2]; 00122 tx[0] = SMPLRT_DIV_REG; 00123 tx[1] = divider; 00124 00125 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2); 00126 00127 } 00128 00129 int ITG3200::getInternalSampleRate(void){ 00130 00131 char tx = DLPF_FS_REG; 00132 char rx; 00133 00134 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1); 00135 00136 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1); 00137 00138 //DLPF_CFG == 0 -> sample rate = 8kHz. 00139 if(rx == 0){ 00140 return 8; 00141 } 00142 //DLPF_CFG = 1..7 -> sample rate = 1kHz. 00143 else if(rx >= 1 && rx <= 7){ 00144 return 1; 00145 } 00146 //DLPF_CFG = anything else -> something's wrong! 00147 else{ 00148 return -1; 00149 } 00150 00151 } 00152 00153 void ITG3200::setLpBandwidth(char bandwidth){ 00154 00155 char tx[2]; 00156 tx[0] = DLPF_FS_REG; 00157 //Bits 4,3 are required to be 0x03 for proper operation. 00158 tx[1] = bandwidth | (0x03 << 3); 00159 00160 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2); 00161 00162 } 00163 00164 char ITG3200::getInterruptConfiguration(void){ 00165 00166 char tx = INT_CFG_REG; 00167 char rx; 00168 00169 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1); 00170 00171 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1); 00172 00173 return rx; 00174 00175 } 00176 00177 void ITG3200::setInterruptConfiguration(char config){ 00178 00179 char tx[2]; 00180 tx[0] = INT_CFG_REG; 00181 tx[1] = config; 00182 00183 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2); 00184 00185 } 00186 00187 bool ITG3200::isPllReady(void){ 00188 00189 char tx = INT_STATUS; 00190 char rx; 00191 00192 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1); 00193 00194 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1); 00195 00196 //ITG_RDY bit is bit 4 of INT_STATUS register. 00197 if(rx & 0x04){ 00198 return true; 00199 } 00200 else{ 00201 return false; 00202 } 00203 00204 } 00205 00206 bool ITG3200::isRawDataReady(void){ 00207 00208 char tx = INT_STATUS; 00209 char rx; 00210 00211 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1); 00212 00213 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1); 00214 00215 //RAW_DATA_RDY bit is bit 1 of INT_STATUS register. 00216 if(rx & 0x01){ 00217 return true; 00218 } 00219 else{ 00220 return false; 00221 } 00222 00223 } 00224 00225 int ITG3200::getWord(int regi){ 00226 00227 char tx = regi; 00228 char rx[2]; 00229 00230 i2c_.write(I2C_ADDRESS, &tx, 1); 00231 00232 i2c_.read(I2C_ADDRESS, rx, 2); 00233 00234 return swapExtend(rx); 00235 } 00236 00237 float ITG3200::getTemperature(){ 00238 //Offset = -35 degrees, 13200 counts. 280 counts/degrees C. 00239 return 35.0 + ((getRawTemperature() + 13200)/280.0); 00240 00241 } 00242 00243 void ITG3200::getRawGyroXYZ(int readings[3]){ 00244 00245 char tx = GYRO_XOUT_H_REG; 00246 char rx[2]; 00247 00248 i2c_.write(I2C_ADDRESS, &tx, 1); 00249 00250 i2c_.read(I2C_ADDRESS, rx, 6); 00251 00252 for(int i = 0; i < 3; i++) 00253 readings[i] = swapExtend(&rx[i * 2]); 00254 } 00255 00256 void ITG3200::getGyroXYZ(int readings[3], Correction corr){ 00257 getRawGyroXYZ(readings); 00258 switch(corr){ 00259 case OffsetCorrection: 00260 for(int i = 0; i < 3; i++) 00261 readings[i] -= offset[i]; 00262 break; 00263 case Calibration: 00264 { 00265 float temp = getTemperature(); 00266 for(int i = 0; i < 3; i++) 00267 readings[i] -= slope[i] * temp + foffset[i]; 00268 } 00269 break; 00270 } 00271 } 00272 00273 00274 char ITG3200::getPowerManagement(void){ 00275 00276 char tx = PWR_MGM_REG; 00277 char rx; 00278 00279 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1); 00280 00281 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1); 00282 00283 return rx; 00284 00285 } 00286 00287 void ITG3200::setPowerManagement(char config){ 00288 00289 char tx[2]; 00290 tx[0] = PWR_MGM_REG; 00291 tx[1] = config; 00292 00293 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2); 00294 00295 } 00296 00297 void ITG3200::calibrate(double time){ 00298 long sum[3] = {0}; 00299 int sumCount = 0; 00300 Timer t; 00301 t.start(); 00302 while(t.read() < time){ 00303 int gyro[3]; 00304 getRawGyroXYZ(gyro); 00305 for(int i = 0; i < 3; i++) 00306 sum[i] += gyro[i]; 00307 sumCount++; 00308 } 00309 t.stop(); 00310 00311 // Avoid zero division 00312 if(0 < sumCount){ 00313 for(int i = 0; i < 3; i++) 00314 offset[i] = sum[i] / sumCount; 00315 // Update member variable only if successful 00316 calibSamples = sumCount; 00317 } 00318 }
Generated on Wed Jul 20 2022 11:54:17 by 1.7.2