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.cpp@5:0a0315f0f34e, 2012-09-12 (annotated)

Committer:
gltest26
Date:
Wed Sep 12 22:56:04 2012 +0000
Revision:
5:0a0315f0f34e
Parent:
4:155c44407af5
Child:
6:a7ad6046824c
Made byte ordering and sign extending portable.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gltest26 1:9bef044f45ad 1 /**
gltest26 4:155c44407af5 2 * @file ITG3200.cpp
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 1:9bef044f45ad 30 *
gltest26 1:9bef044f45ad 31 * Datasheet:
gltest26 1:9bef044f45ad 32 *
gltest26 1:9bef044f45ad 33 * http://invensense.com/mems/gyro/documents/PS-ITG-3200-00-01.4.pdf
gltest26 1:9bef044f45ad 34 */
gltest26 1:9bef044f45ad 35
gltest26 1:9bef044f45ad 36 #include "ITG3200.h"
gltest26 1:9bef044f45ad 37
gltest26 1:9bef044f45ad 38 ITG3200::ITG3200(PinName sda, PinName scl) : i2c_(sda, scl) {
gltest26 1:9bef044f45ad 39
gltest26 3:eea9733ca427 40 offset[0] = offset[1] = offset[2] = 0;
gltest26 3:eea9733ca427 41
gltest26 1:9bef044f45ad 42 //400kHz, fast mode.
gltest26 1:9bef044f45ad 43 i2c_.frequency(400000);
gltest26 1:9bef044f45ad 44
gltest26 1:9bef044f45ad 45 //Set FS_SEL to 0x03 for proper operation.
gltest26 1:9bef044f45ad 46 //See datasheet for details.
gltest26 1:9bef044f45ad 47 char tx[2];
gltest26 1:9bef044f45ad 48 tx[0] = DLPF_FS_REG;
gltest26 1:9bef044f45ad 49 //FS_SEL bits sit in bits 4 and 3 of DLPF_FS register.
gltest26 1:9bef044f45ad 50 tx[1] = 0x03 << 3;
gltest26 1:9bef044f45ad 51
gltest26 1:9bef044f45ad 52 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
gltest26 1:9bef044f45ad 53
gltest26 1:9bef044f45ad 54 }
gltest26 1:9bef044f45ad 55
gltest26 1:9bef044f45ad 56 char ITG3200::getWhoAmI(void){
gltest26 1:9bef044f45ad 57
gltest26 1:9bef044f45ad 58 //WhoAmI Register address.
gltest26 1:9bef044f45ad 59 char tx = WHO_AM_I_REG;
gltest26 1:9bef044f45ad 60 char rx;
gltest26 1:9bef044f45ad 61
gltest26 1:9bef044f45ad 62 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
gltest26 1:9bef044f45ad 63
gltest26 1:9bef044f45ad 64 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
gltest26 1:9bef044f45ad 65
gltest26 1:9bef044f45ad 66 return rx;
gltest26 1:9bef044f45ad 67
gltest26 1:9bef044f45ad 68 }
gltest26 1:9bef044f45ad 69
gltest26 1:9bef044f45ad 70 void ITG3200::setWhoAmI(char address){
gltest26 1:9bef044f45ad 71
gltest26 1:9bef044f45ad 72 char tx[2];
gltest26 1:9bef044f45ad 73 tx[0] = WHO_AM_I_REG;
gltest26 1:9bef044f45ad 74 tx[1] = address;
gltest26 1:9bef044f45ad 75
gltest26 1:9bef044f45ad 76 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
gltest26 1:9bef044f45ad 77
gltest26 1:9bef044f45ad 78 }
gltest26 1:9bef044f45ad 79
gltest26 1:9bef044f45ad 80 char ITG3200::getSampleRateDivider(void){
gltest26 1:9bef044f45ad 81
gltest26 1:9bef044f45ad 82 char tx = SMPLRT_DIV_REG;
gltest26 1:9bef044f45ad 83 char rx;
gltest26 1:9bef044f45ad 84
gltest26 1:9bef044f45ad 85 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
gltest26 1:9bef044f45ad 86
gltest26 1:9bef044f45ad 87 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
gltest26 1:9bef044f45ad 88
gltest26 1:9bef044f45ad 89 return rx;
gltest26 1:9bef044f45ad 90
gltest26 1:9bef044f45ad 91 }
gltest26 1:9bef044f45ad 92
gltest26 1:9bef044f45ad 93 void ITG3200::setSampleRateDivider(char divider){
gltest26 1:9bef044f45ad 94
gltest26 1:9bef044f45ad 95 char tx[2];
gltest26 1:9bef044f45ad 96 tx[0] = SMPLRT_DIV_REG;
gltest26 1:9bef044f45ad 97 tx[1] = divider;
gltest26 1:9bef044f45ad 98
gltest26 1:9bef044f45ad 99 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
gltest26 1:9bef044f45ad 100
gltest26 1:9bef044f45ad 101 }
gltest26 1:9bef044f45ad 102
gltest26 1:9bef044f45ad 103 int ITG3200::getInternalSampleRate(void){
gltest26 1:9bef044f45ad 104
gltest26 1:9bef044f45ad 105 char tx = DLPF_FS_REG;
gltest26 1:9bef044f45ad 106 char rx;
gltest26 1:9bef044f45ad 107
gltest26 1:9bef044f45ad 108 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
gltest26 1:9bef044f45ad 109
gltest26 1:9bef044f45ad 110 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
gltest26 1:9bef044f45ad 111
gltest26 1:9bef044f45ad 112 //DLPF_CFG == 0 -> sample rate = 8kHz.
gltest26 1:9bef044f45ad 113 if(rx == 0){
gltest26 1:9bef044f45ad 114 return 8;
gltest26 1:9bef044f45ad 115 }
gltest26 1:9bef044f45ad 116 //DLPF_CFG = 1..7 -> sample rate = 1kHz.
gltest26 1:9bef044f45ad 117 else if(rx >= 1 && rx <= 7){
gltest26 1:9bef044f45ad 118 return 1;
gltest26 1:9bef044f45ad 119 }
gltest26 1:9bef044f45ad 120 //DLPF_CFG = anything else -> something's wrong!
gltest26 1:9bef044f45ad 121 else{
gltest26 1:9bef044f45ad 122 return -1;
gltest26 1:9bef044f45ad 123 }
gltest26 1:9bef044f45ad 124
gltest26 1:9bef044f45ad 125 }
gltest26 1:9bef044f45ad 126
gltest26 1:9bef044f45ad 127 void ITG3200::setLpBandwidth(char bandwidth){
gltest26 1:9bef044f45ad 128
gltest26 1:9bef044f45ad 129 char tx[2];
gltest26 1:9bef044f45ad 130 tx[0] = DLPF_FS_REG;
gltest26 1:9bef044f45ad 131 //Bits 4,3 are required to be 0x03 for proper operation.
gltest26 1:9bef044f45ad 132 tx[1] = bandwidth | (0x03 << 3);
gltest26 1:9bef044f45ad 133
gltest26 1:9bef044f45ad 134 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
gltest26 1:9bef044f45ad 135
gltest26 1:9bef044f45ad 136 }
gltest26 1:9bef044f45ad 137
gltest26 1:9bef044f45ad 138 char ITG3200::getInterruptConfiguration(void){
gltest26 1:9bef044f45ad 139
gltest26 1:9bef044f45ad 140 char tx = INT_CFG_REG;
gltest26 1:9bef044f45ad 141 char rx;
gltest26 1:9bef044f45ad 142
gltest26 1:9bef044f45ad 143 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
gltest26 1:9bef044f45ad 144
gltest26 1:9bef044f45ad 145 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
gltest26 1:9bef044f45ad 146
gltest26 1:9bef044f45ad 147 return rx;
gltest26 1:9bef044f45ad 148
gltest26 1:9bef044f45ad 149 }
gltest26 1:9bef044f45ad 150
gltest26 1:9bef044f45ad 151 void ITG3200::setInterruptConfiguration(char config){
gltest26 1:9bef044f45ad 152
gltest26 1:9bef044f45ad 153 char tx[2];
gltest26 1:9bef044f45ad 154 tx[0] = INT_CFG_REG;
gltest26 1:9bef044f45ad 155 tx[1] = config;
gltest26 1:9bef044f45ad 156
gltest26 1:9bef044f45ad 157 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
gltest26 1:9bef044f45ad 158
gltest26 1:9bef044f45ad 159 }
gltest26 1:9bef044f45ad 160
gltest26 1:9bef044f45ad 161 bool ITG3200::isPllReady(void){
gltest26 1:9bef044f45ad 162
gltest26 1:9bef044f45ad 163 char tx = INT_STATUS;
gltest26 1:9bef044f45ad 164 char rx;
gltest26 1:9bef044f45ad 165
gltest26 1:9bef044f45ad 166 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
gltest26 1:9bef044f45ad 167
gltest26 1:9bef044f45ad 168 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
gltest26 1:9bef044f45ad 169
gltest26 1:9bef044f45ad 170 //ITG_RDY bit is bit 4 of INT_STATUS register.
gltest26 1:9bef044f45ad 171 if(rx & 0x04){
gltest26 1:9bef044f45ad 172 return true;
gltest26 1:9bef044f45ad 173 }
gltest26 1:9bef044f45ad 174 else{
gltest26 1:9bef044f45ad 175 return false;
gltest26 1:9bef044f45ad 176 }
gltest26 1:9bef044f45ad 177
gltest26 1:9bef044f45ad 178 }
gltest26 1:9bef044f45ad 179
gltest26 1:9bef044f45ad 180 bool ITG3200::isRawDataReady(void){
gltest26 1:9bef044f45ad 181
gltest26 1:9bef044f45ad 182 char tx = INT_STATUS;
gltest26 1:9bef044f45ad 183 char rx;
gltest26 1:9bef044f45ad 184
gltest26 1:9bef044f45ad 185 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
gltest26 1:9bef044f45ad 186
gltest26 1:9bef044f45ad 187 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
gltest26 1:9bef044f45ad 188
gltest26 1:9bef044f45ad 189 //RAW_DATA_RDY bit is bit 1 of INT_STATUS register.
gltest26 1:9bef044f45ad 190 if(rx & 0x01){
gltest26 1:9bef044f45ad 191 return true;
gltest26 1:9bef044f45ad 192 }
gltest26 1:9bef044f45ad 193 else{
gltest26 1:9bef044f45ad 194 return false;
gltest26 1:9bef044f45ad 195 }
gltest26 1:9bef044f45ad 196
gltest26 1:9bef044f45ad 197 }
gltest26 1:9bef044f45ad 198
gltest26 4:155c44407af5 199 int ITG3200::getWord(int regi){
gltest26 1:9bef044f45ad 200
gltest26 4:155c44407af5 201 char tx = regi;
gltest26 1:9bef044f45ad 202 char rx[2];
gltest26 1:9bef044f45ad 203
gltest26 2:f44a902ba081 204 i2c_.write(I2C_ADDRESS, &tx, 1);
gltest26 2:f44a902ba081 205
gltest26 2:f44a902ba081 206 i2c_.read(I2C_ADDRESS, rx, 2);
gltest26 1:9bef044f45ad 207
gltest26 5:0a0315f0f34e 208 return swapExtend(rx);
gltest26 1:9bef044f45ad 209 }
gltest26 1:9bef044f45ad 210
gltest26 1:9bef044f45ad 211 float ITG3200::getTemperature(){
gltest26 1:9bef044f45ad 212 //Offset = -35 degrees, 13200 counts. 280 counts/degrees C.
gltest26 1:9bef044f45ad 213 return 35.0 + ((getRawTemperature() + 13200)/280.0);
gltest26 1:9bef044f45ad 214
gltest26 1:9bef044f45ad 215 }
gltest26 1:9bef044f45ad 216
gltest26 3:eea9733ca427 217 void ITG3200::getRawGyroXYZ(int readings[3]){
gltest26 1:9bef044f45ad 218
gltest26 1:9bef044f45ad 219 char tx = GYRO_XOUT_H_REG;
gltest26 1:9bef044f45ad 220 char rx[2];
gltest26 1:9bef044f45ad 221
gltest26 1:9bef044f45ad 222 i2c_.write(I2C_ADDRESS, &tx, 1);
gltest26 1:9bef044f45ad 223
gltest26 1:9bef044f45ad 224 i2c_.read(I2C_ADDRESS, rx, 6);
gltest26 1:9bef044f45ad 225
gltest26 1:9bef044f45ad 226 for(int i = 0; i < 3; i++)
gltest26 5:0a0315f0f34e 227 readings[i] = swapExtend(&rx[i * 2]);
gltest26 1:9bef044f45ad 228 }
gltest26 1:9bef044f45ad 229
gltest26 1:9bef044f45ad 230 char ITG3200::getPowerManagement(void){
gltest26 1:9bef044f45ad 231
gltest26 1:9bef044f45ad 232 char tx = PWR_MGM_REG;
gltest26 1:9bef044f45ad 233 char rx;
gltest26 1:9bef044f45ad 234
gltest26 1:9bef044f45ad 235 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
gltest26 1:9bef044f45ad 236
gltest26 1:9bef044f45ad 237 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
gltest26 1:9bef044f45ad 238
gltest26 1:9bef044f45ad 239 return rx;
gltest26 1:9bef044f45ad 240
gltest26 1:9bef044f45ad 241 }
gltest26 1:9bef044f45ad 242
gltest26 1:9bef044f45ad 243 void ITG3200::setPowerManagement(char config){
gltest26 1:9bef044f45ad 244
gltest26 1:9bef044f45ad 245 char tx[2];
gltest26 1:9bef044f45ad 246 tx[0] = PWR_MGM_REG;
gltest26 1:9bef044f45ad 247 tx[1] = config;
gltest26 1:9bef044f45ad 248
gltest26 1:9bef044f45ad 249 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
gltest26 1:9bef044f45ad 250
gltest26 1:9bef044f45ad 251 }
gltest26 3:eea9733ca427 252
gltest26 3:eea9733ca427 253 void ITG3200::calibrate(double time){
gltest26 3:eea9733ca427 254 static const double deltaTime = 0.002;
gltest26 3:eea9733ca427 255 long sum[3] = {0};
gltest26 3:eea9733ca427 256 int sumCount = 0;
gltest26 3:eea9733ca427 257 for(; 0 < time; time -= deltaTime){
gltest26 3:eea9733ca427 258 int gyro[3];
gltest26 3:eea9733ca427 259 getGyroXYZ(gyro);
gltest26 3:eea9733ca427 260 for(int i = 0; i < 3; i++)
gltest26 3:eea9733ca427 261 sum[i] += gyro[i];
gltest26 3:eea9733ca427 262 sumCount++;
gltest26 3:eea9733ca427 263 }
gltest26 3:eea9733ca427 264
gltest26 3:eea9733ca427 265 // Avoid zero division
gltest26 3:eea9733ca427 266 if(0 < sumCount){
gltest26 3:eea9733ca427 267 for(int i = 0; i < 3; i++)
gltest26 3:eea9733ca427 268 offset[i] = sum[i] / sumCount;
gltest26 3:eea9733ca427 269 }
gltest26 3:eea9733ca427 270 }