hige dura / Mbed 2 deprecated 9DOF_SensorStick

SparkFun_9DOF_SensorStick

Dependencies:   FatFileSystem mbed

Fork of 9DOF_SensorStick by hige dura

ITG3200.cpp@5:12e37af16f2e, 2012-09-03 (annotated)

Committer:
higedura
Date:
Mon Sep 03 03:44:13 2012 +0000
Revision:
5:12e37af16f2e
Parent:
0:80d32420bc63 
update

Who changed what in which revision?

UserRevisionLine numberNew contents of line
higedura 0:80d32420bc63 1 /**
higedura 0:80d32420bc63 2 * @author Aaron Berk
higedura 0:80d32420bc63 3 *
higedura 0:80d32420bc63 4 * @section LICENSE
higedura 0:80d32420bc63 5 *
higedura 0:80d32420bc63 6 * Copyright (c) 2010 ARM Limited
higedura 0:80d32420bc63 7 *
higedura 0:80d32420bc63 8 * Permission is hereby granted, free of charge, to any person obtaining a copy
higedura 0:80d32420bc63 9 * of this software and associated documentation files (the "Software"), to deal
higedura 0:80d32420bc63 10 * in the Software without restriction, including without limitation the rights
higedura 0:80d32420bc63 11 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
higedura 0:80d32420bc63 12 * copies of the Software, and to permit persons to whom the Software is
higedura 0:80d32420bc63 13 * furnished to do so, subject to the following conditions:
higedura 0:80d32420bc63 14 *
higedura 0:80d32420bc63 15 * The above copyright notice and this permission notice shall be included in
higedura 0:80d32420bc63 16 * all copies or substantial portions of the Software.
higedura 0:80d32420bc63 17 *
higedura 0:80d32420bc63 18 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
higedura 0:80d32420bc63 19 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
higedura 0:80d32420bc63 20 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
higedura 0:80d32420bc63 21 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
higedura 0:80d32420bc63 22 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
higedura 0:80d32420bc63 23 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
higedura 0:80d32420bc63 24 * THE SOFTWARE.
higedura 0:80d32420bc63 25 *
higedura 0:80d32420bc63 26 * @section DESCRIPTION
higedura 0:80d32420bc63 27 *
higedura 0:80d32420bc63 28 * ITG-3200 triple axis, digital interface, gyroscope.
higedura 0:80d32420bc63 29 *
higedura 0:80d32420bc63 30 * Datasheet:
higedura 0:80d32420bc63 31 *
higedura 0:80d32420bc63 32 * http://invensense.com/mems/gyro/documents/PS-ITG-3200-00-01.4.pdf
higedura 0:80d32420bc63 33 */
higedura 0:80d32420bc63 34
higedura 0:80d32420bc63 35 /**
higedura 0:80d32420bc63 36 * Includes
higedura 0:80d32420bc63 37 */
higedura 0:80d32420bc63 38 #include "ITG3200.h"
higedura 0:80d32420bc63 39
higedura 0:80d32420bc63 40 ITG3200::ITG3200(PinName sda, PinName scl) : i2c_(sda, scl) {
higedura 0:80d32420bc63 41
higedura 0:80d32420bc63 42 //400kHz, fast mode.
higedura 0:80d32420bc63 43 i2c_.frequency(400000);
higedura 0:80d32420bc63 44
higedura 0:80d32420bc63 45 //Set FS_SEL to 0x03 for proper operation.
higedura 0:80d32420bc63 46 //See datasheet for details.
higedura 0:80d32420bc63 47 char tx[2];
higedura 0:80d32420bc63 48 tx[0] = DLPF_FS_REG;
higedura 0:80d32420bc63 49 //FS_SEL bits sit in bits 4 and 3 of DLPF_FS register.
higedura 0:80d32420bc63 50 tx[1] = 0x03 << 3;
higedura 0:80d32420bc63 51
higedura 0:80d32420bc63 52 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
higedura 0:80d32420bc63 53
higedura 0:80d32420bc63 54 }
higedura 0:80d32420bc63 55
higedura 0:80d32420bc63 56 char ITG3200::getWhoAmI(void){
higedura 0:80d32420bc63 57
higedura 0:80d32420bc63 58 //WhoAmI Register address.
higedura 0:80d32420bc63 59 char tx = WHO_AM_I_REG;
higedura 0:80d32420bc63 60 char rx;
higedura 0:80d32420bc63 61
higedura 0:80d32420bc63 62 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
higedura 0:80d32420bc63 63
higedura 0:80d32420bc63 64 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
higedura 0:80d32420bc63 65
higedura 0:80d32420bc63 66 return rx;
higedura 0:80d32420bc63 67
higedura 0:80d32420bc63 68 }
higedura 0:80d32420bc63 69
higedura 0:80d32420bc63 70 void ITG3200::setWhoAmI(char address){
higedura 0:80d32420bc63 71
higedura 0:80d32420bc63 72 char tx[2];
higedura 0:80d32420bc63 73 tx[0] = WHO_AM_I_REG;
higedura 0:80d32420bc63 74 tx[1] = address;
higedura 0:80d32420bc63 75
higedura 0:80d32420bc63 76 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
higedura 0:80d32420bc63 77
higedura 0:80d32420bc63 78 }
higedura 0:80d32420bc63 79
higedura 0:80d32420bc63 80 char ITG3200::getSampleRateDivider(void){
higedura 0:80d32420bc63 81
higedura 0:80d32420bc63 82 char tx = SMPLRT_DIV_REG;
higedura 0:80d32420bc63 83 char rx;
higedura 0:80d32420bc63 84
higedura 0:80d32420bc63 85 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
higedura 0:80d32420bc63 86
higedura 0:80d32420bc63 87 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
higedura 0:80d32420bc63 88
higedura 0:80d32420bc63 89 return rx;
higedura 0:80d32420bc63 90
higedura 0:80d32420bc63 91 }
higedura 0:80d32420bc63 92
higedura 0:80d32420bc63 93 void ITG3200::setSampleRateDivider(char divider){
higedura 0:80d32420bc63 94
higedura 0:80d32420bc63 95 char tx[2];
higedura 0:80d32420bc63 96 tx[0] = SMPLRT_DIV_REG;
higedura 0:80d32420bc63 97 tx[1] = divider;
higedura 0:80d32420bc63 98
higedura 0:80d32420bc63 99 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
higedura 0:80d32420bc63 100
higedura 0:80d32420bc63 101 }
higedura 0:80d32420bc63 102
higedura 0:80d32420bc63 103 int ITG3200::getInternalSampleRate(void){
higedura 0:80d32420bc63 104
higedura 0:80d32420bc63 105 char tx = DLPF_FS_REG;
higedura 0:80d32420bc63 106 char rx;
higedura 0:80d32420bc63 107
higedura 0:80d32420bc63 108 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
higedura 0:80d32420bc63 109
higedura 0:80d32420bc63 110 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
higedura 0:80d32420bc63 111
higedura 0:80d32420bc63 112 //DLPF_CFG == 0 -> sample rate = 8kHz.
higedura 0:80d32420bc63 113 if(rx == 0){
higedura 0:80d32420bc63 114 return 8;
higedura 0:80d32420bc63 115 }
higedura 0:80d32420bc63 116 //DLPF_CFG = 1..7 -> sample rate = 1kHz.
higedura 0:80d32420bc63 117 else if(rx >= 1 && rx <= 7){
higedura 0:80d32420bc63 118 return 1;
higedura 0:80d32420bc63 119 }
higedura 0:80d32420bc63 120 //DLPF_CFG = anything else -> something's wrong!
higedura 0:80d32420bc63 121 else{
higedura 0:80d32420bc63 122 return -1;
higedura 0:80d32420bc63 123 }
higedura 0:80d32420bc63 124
higedura 0:80d32420bc63 125 }
higedura 0:80d32420bc63 126
higedura 0:80d32420bc63 127 void ITG3200::setLpBandwidth(char bandwidth){
higedura 0:80d32420bc63 128
higedura 0:80d32420bc63 129 char tx[2];
higedura 0:80d32420bc63 130 tx[0] = DLPF_FS_REG;
higedura 0:80d32420bc63 131 //Bits 4,3 are required to be 0x03 for proper operation.
higedura 0:80d32420bc63 132 tx[1] = bandwidth | (0x03 << 3);
higedura 0:80d32420bc63 133
higedura 0:80d32420bc63 134 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
higedura 0:80d32420bc63 135
higedura 0:80d32420bc63 136 }
higedura 0:80d32420bc63 137
higedura 0:80d32420bc63 138 char ITG3200::getInterruptConfiguration(void){
higedura 0:80d32420bc63 139
higedura 0:80d32420bc63 140 char tx = INT_CFG_REG;
higedura 0:80d32420bc63 141 char rx;
higedura 0:80d32420bc63 142
higedura 0:80d32420bc63 143 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
higedura 0:80d32420bc63 144
higedura 0:80d32420bc63 145 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
higedura 0:80d32420bc63 146
higedura 0:80d32420bc63 147 return rx;
higedura 0:80d32420bc63 148
higedura 0:80d32420bc63 149 }
higedura 0:80d32420bc63 150
higedura 0:80d32420bc63 151 void ITG3200::setInterruptConfiguration(char config){
higedura 0:80d32420bc63 152
higedura 0:80d32420bc63 153 char tx[2];
higedura 0:80d32420bc63 154 tx[0] = INT_CFG_REG;
higedura 0:80d32420bc63 155 tx[1] = config;
higedura 0:80d32420bc63 156
higedura 0:80d32420bc63 157 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
higedura 0:80d32420bc63 158
higedura 0:80d32420bc63 159 }
higedura 0:80d32420bc63 160
higedura 0:80d32420bc63 161 bool ITG3200::isPllReady(void){
higedura 0:80d32420bc63 162
higedura 0:80d32420bc63 163 char tx = INT_STATUS;
higedura 0:80d32420bc63 164 char rx;
higedura 0:80d32420bc63 165
higedura 0:80d32420bc63 166 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
higedura 0:80d32420bc63 167
higedura 0:80d32420bc63 168 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
higedura 0:80d32420bc63 169
higedura 0:80d32420bc63 170 //ITG_RDY bit is bit 4 of INT_STATUS register.
higedura 0:80d32420bc63 171 if(rx & 0x04){
higedura 0:80d32420bc63 172 return true;
higedura 0:80d32420bc63 173 }
higedura 0:80d32420bc63 174 else{
higedura 0:80d32420bc63 175 return false;
higedura 0:80d32420bc63 176 }
higedura 0:80d32420bc63 177
higedura 0:80d32420bc63 178 }
higedura 0:80d32420bc63 179
higedura 0:80d32420bc63 180 bool ITG3200::isRawDataReady(void){
higedura 0:80d32420bc63 181
higedura 0:80d32420bc63 182 char tx = INT_STATUS;
higedura 0:80d32420bc63 183 char rx;
higedura 0:80d32420bc63 184
higedura 0:80d32420bc63 185 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
higedura 0:80d32420bc63 186
higedura 0:80d32420bc63 187 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
higedura 0:80d32420bc63 188
higedura 0:80d32420bc63 189 //RAW_DATA_RDY bit is bit 1 of INT_STATUS register.
higedura 0:80d32420bc63 190 if(rx & 0x01){
higedura 0:80d32420bc63 191 return true;
higedura 0:80d32420bc63 192 }
higedura 0:80d32420bc63 193 else{
higedura 0:80d32420bc63 194 return false;
higedura 0:80d32420bc63 195 }
higedura 0:80d32420bc63 196
higedura 0:80d32420bc63 197 }
higedura 0:80d32420bc63 198
higedura 0:80d32420bc63 199 float ITG3200::getTemperature(void){
higedura 0:80d32420bc63 200
higedura 0:80d32420bc63 201 char tx = TEMP_OUT_H_REG;
higedura 0:80d32420bc63 202 char rx[2];
higedura 0:80d32420bc63 203
higedura 0:80d32420bc63 204 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
higedura 0:80d32420bc63 205
higedura 0:80d32420bc63 206 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2);
higedura 0:80d32420bc63 207
higedura 0:80d32420bc63 208 int16_t temperature = ((int) rx[0] << 8) | ((int) rx[1]);
higedura 0:80d32420bc63 209 //Offset = -35 degrees, 13200 counts. 280 counts/degrees C.
higedura 0:80d32420bc63 210 return 35.0 + ((temperature + 13200)/280.0);
higedura 0:80d32420bc63 211
higedura 0:80d32420bc63 212 }
higedura 0:80d32420bc63 213
higedura 0:80d32420bc63 214 int ITG3200::getGyroX(void){
higedura 0:80d32420bc63 215
higedura 0:80d32420bc63 216 char tx = GYRO_XOUT_H_REG;
higedura 0:80d32420bc63 217 char rx[2];
higedura 0:80d32420bc63 218
higedura 0:80d32420bc63 219 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
higedura 0:80d32420bc63 220
higedura 0:80d32420bc63 221 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2);
higedura 0:80d32420bc63 222
higedura 0:80d32420bc63 223 int16_t output = ((int) rx[0] << 8) | ((int) rx[1]);
higedura 0:80d32420bc63 224
higedura 0:80d32420bc63 225 return output;
higedura 0:80d32420bc63 226
higedura 0:80d32420bc63 227 }
higedura 0:80d32420bc63 228
higedura 0:80d32420bc63 229 int ITG3200::getGyroY(void){
higedura 0:80d32420bc63 230
higedura 0:80d32420bc63 231 char tx = GYRO_YOUT_H_REG;
higedura 0:80d32420bc63 232 char rx[2];
higedura 0:80d32420bc63 233
higedura 0:80d32420bc63 234 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
higedura 0:80d32420bc63 235
higedura 0:80d32420bc63 236 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2);
higedura 0:80d32420bc63 237
higedura 0:80d32420bc63 238 int16_t output = ((int) rx[0] << 8) | ((int) rx[1]);
higedura 0:80d32420bc63 239
higedura 0:80d32420bc63 240 return output;
higedura 0:80d32420bc63 241
higedura 0:80d32420bc63 242 }
higedura 0:80d32420bc63 243
higedura 0:80d32420bc63 244 int ITG3200::getGyroZ(void){
higedura 0:80d32420bc63 245
higedura 0:80d32420bc63 246 char tx = GYRO_ZOUT_H_REG;
higedura 0:80d32420bc63 247 char rx[2];
higedura 0:80d32420bc63 248
higedura 0:80d32420bc63 249 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
higedura 0:80d32420bc63 250
higedura 0:80d32420bc63 251 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2);
higedura 0:80d32420bc63 252
higedura 0:80d32420bc63 253 int16_t output = ((int) rx[0] << 8) | ((int) rx[1]);
higedura 0:80d32420bc63 254
higedura 0:80d32420bc63 255 return output;
higedura 0:80d32420bc63 256
higedura 0:80d32420bc63 257 }
higedura 0:80d32420bc63 258
higedura 0:80d32420bc63 259 char ITG3200::getPowerManagement(void){
higedura 0:80d32420bc63 260
higedura 0:80d32420bc63 261 char tx = PWR_MGM_REG;
higedura 0:80d32420bc63 262 char rx;
higedura 0:80d32420bc63 263
higedura 0:80d32420bc63 264 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
higedura 0:80d32420bc63 265
higedura 0:80d32420bc63 266 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
higedura 0:80d32420bc63 267
higedura 0:80d32420bc63 268 return rx;
higedura 0:80d32420bc63 269
higedura 0:80d32420bc63 270 }
higedura 0:80d32420bc63 271
higedura 0:80d32420bc63 272 void ITG3200::setPowerManagement(char config){
higedura 0:80d32420bc63 273
higedura 0:80d32420bc63 274 char tx[2];
higedura 0:80d32420bc63 275 tx[0] = PWR_MGM_REG;
higedura 0:80d32420bc63 276 tx[1] = config;
higedura 0:80d32420bc63 277
higedura 0:80d32420bc63 278 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
higedura 0:80d32420bc63 279
higedura 0:80d32420bc63 280 }