Modified getOffset for calibrating Thermal Drift coefficients.
Fork of ITG3200 by
Modified to make getOffset() function easier to use.
ITG3200.cpp@7:43b936a53b64, 2012-09-29 (annotated)
- Committer:
- gltest26
- Date:
- Sat Sep 29 14:34:17 2012 +0000
- Revision:
- 7:43b936a53b64
- Parent:
- 6:a7ad6046824c
- Child:
- 8:ac0365ab3cef
Added a new constructor to accept an external I2C interface object.; Added options to return values not zero adjusted.;
Who changed what in which revision?
User | Revision | Line number | New 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 | 7:43b936a53b64 | 38 | ITG3200::ITG3200(PinName sda, PinName scl, bool fastmode) : calibSamples(0), i2c_(sda, scl){ |
gltest26 | 1:9bef044f45ad | 39 | |
gltest26 | 3:eea9733ca427 | 40 | offset[0] = offset[1] = offset[2] = 0; |
gltest26 | 3:eea9733ca427 | 41 | |
gltest26 | 7:43b936a53b64 | 42 | if(fastmode){ |
gltest26 | 7:43b936a53b64 | 43 | //400kHz, fast mode. |
gltest26 | 7:43b936a53b64 | 44 | i2c_.frequency(400000); |
gltest26 | 7:43b936a53b64 | 45 | } |
gltest26 | 7:43b936a53b64 | 46 | else |
gltest26 | 7:43b936a53b64 | 47 | i2c_.frequency(100000); |
gltest26 | 1:9bef044f45ad | 48 | |
gltest26 | 1:9bef044f45ad | 49 | //Set FS_SEL to 0x03 for proper operation. |
gltest26 | 1:9bef044f45ad | 50 | //See datasheet for details. |
gltest26 | 1:9bef044f45ad | 51 | char tx[2]; |
gltest26 | 1:9bef044f45ad | 52 | tx[0] = DLPF_FS_REG; |
gltest26 | 1:9bef044f45ad | 53 | //FS_SEL bits sit in bits 4 and 3 of DLPF_FS register. |
gltest26 | 1:9bef044f45ad | 54 | tx[1] = 0x03 << 3; |
gltest26 | 1:9bef044f45ad | 55 | |
gltest26 | 1:9bef044f45ad | 56 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2); |
gltest26 | 1:9bef044f45ad | 57 | |
gltest26 | 1:9bef044f45ad | 58 | } |
gltest26 | 1:9bef044f45ad | 59 | |
gltest26 | 1:9bef044f45ad | 60 | char ITG3200::getWhoAmI(void){ |
gltest26 | 1:9bef044f45ad | 61 | |
gltest26 | 1:9bef044f45ad | 62 | //WhoAmI Register address. |
gltest26 | 1:9bef044f45ad | 63 | char tx = WHO_AM_I_REG; |
gltest26 | 1:9bef044f45ad | 64 | char rx; |
gltest26 | 1:9bef044f45ad | 65 | |
gltest26 | 1:9bef044f45ad | 66 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
gltest26 | 1:9bef044f45ad | 67 | |
gltest26 | 1:9bef044f45ad | 68 | i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1); |
gltest26 | 1:9bef044f45ad | 69 | |
gltest26 | 1:9bef044f45ad | 70 | return rx; |
gltest26 | 1:9bef044f45ad | 71 | |
gltest26 | 1:9bef044f45ad | 72 | } |
gltest26 | 1:9bef044f45ad | 73 | |
gltest26 | 1:9bef044f45ad | 74 | void ITG3200::setWhoAmI(char address){ |
gltest26 | 1:9bef044f45ad | 75 | |
gltest26 | 1:9bef044f45ad | 76 | char tx[2]; |
gltest26 | 1:9bef044f45ad | 77 | tx[0] = WHO_AM_I_REG; |
gltest26 | 1:9bef044f45ad | 78 | tx[1] = address; |
gltest26 | 1:9bef044f45ad | 79 | |
gltest26 | 1:9bef044f45ad | 80 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2); |
gltest26 | 1:9bef044f45ad | 81 | |
gltest26 | 1:9bef044f45ad | 82 | } |
gltest26 | 1:9bef044f45ad | 83 | |
gltest26 | 1:9bef044f45ad | 84 | char ITG3200::getSampleRateDivider(void){ |
gltest26 | 1:9bef044f45ad | 85 | |
gltest26 | 1:9bef044f45ad | 86 | char tx = SMPLRT_DIV_REG; |
gltest26 | 1:9bef044f45ad | 87 | char rx; |
gltest26 | 1:9bef044f45ad | 88 | |
gltest26 | 1:9bef044f45ad | 89 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
gltest26 | 1:9bef044f45ad | 90 | |
gltest26 | 1:9bef044f45ad | 91 | i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1); |
gltest26 | 1:9bef044f45ad | 92 | |
gltest26 | 1:9bef044f45ad | 93 | return rx; |
gltest26 | 1:9bef044f45ad | 94 | |
gltest26 | 1:9bef044f45ad | 95 | } |
gltest26 | 1:9bef044f45ad | 96 | |
gltest26 | 1:9bef044f45ad | 97 | void ITG3200::setSampleRateDivider(char divider){ |
gltest26 | 1:9bef044f45ad | 98 | |
gltest26 | 1:9bef044f45ad | 99 | char tx[2]; |
gltest26 | 1:9bef044f45ad | 100 | tx[0] = SMPLRT_DIV_REG; |
gltest26 | 1:9bef044f45ad | 101 | tx[1] = divider; |
gltest26 | 1:9bef044f45ad | 102 | |
gltest26 | 1:9bef044f45ad | 103 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2); |
gltest26 | 1:9bef044f45ad | 104 | |
gltest26 | 1:9bef044f45ad | 105 | } |
gltest26 | 1:9bef044f45ad | 106 | |
gltest26 | 1:9bef044f45ad | 107 | int ITG3200::getInternalSampleRate(void){ |
gltest26 | 1:9bef044f45ad | 108 | |
gltest26 | 1:9bef044f45ad | 109 | char tx = DLPF_FS_REG; |
gltest26 | 1:9bef044f45ad | 110 | char rx; |
gltest26 | 1:9bef044f45ad | 111 | |
gltest26 | 1:9bef044f45ad | 112 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
gltest26 | 1:9bef044f45ad | 113 | |
gltest26 | 1:9bef044f45ad | 114 | i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1); |
gltest26 | 1:9bef044f45ad | 115 | |
gltest26 | 1:9bef044f45ad | 116 | //DLPF_CFG == 0 -> sample rate = 8kHz. |
gltest26 | 1:9bef044f45ad | 117 | if(rx == 0){ |
gltest26 | 1:9bef044f45ad | 118 | return 8; |
gltest26 | 1:9bef044f45ad | 119 | } |
gltest26 | 1:9bef044f45ad | 120 | //DLPF_CFG = 1..7 -> sample rate = 1kHz. |
gltest26 | 1:9bef044f45ad | 121 | else if(rx >= 1 && rx <= 7){ |
gltest26 | 1:9bef044f45ad | 122 | return 1; |
gltest26 | 1:9bef044f45ad | 123 | } |
gltest26 | 1:9bef044f45ad | 124 | //DLPF_CFG = anything else -> something's wrong! |
gltest26 | 1:9bef044f45ad | 125 | else{ |
gltest26 | 1:9bef044f45ad | 126 | return -1; |
gltest26 | 1:9bef044f45ad | 127 | } |
gltest26 | 1:9bef044f45ad | 128 | |
gltest26 | 1:9bef044f45ad | 129 | } |
gltest26 | 1:9bef044f45ad | 130 | |
gltest26 | 1:9bef044f45ad | 131 | void ITG3200::setLpBandwidth(char bandwidth){ |
gltest26 | 1:9bef044f45ad | 132 | |
gltest26 | 1:9bef044f45ad | 133 | char tx[2]; |
gltest26 | 1:9bef044f45ad | 134 | tx[0] = DLPF_FS_REG; |
gltest26 | 1:9bef044f45ad | 135 | //Bits 4,3 are required to be 0x03 for proper operation. |
gltest26 | 1:9bef044f45ad | 136 | tx[1] = bandwidth | (0x03 << 3); |
gltest26 | 1:9bef044f45ad | 137 | |
gltest26 | 1:9bef044f45ad | 138 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2); |
gltest26 | 1:9bef044f45ad | 139 | |
gltest26 | 1:9bef044f45ad | 140 | } |
gltest26 | 1:9bef044f45ad | 141 | |
gltest26 | 1:9bef044f45ad | 142 | char ITG3200::getInterruptConfiguration(void){ |
gltest26 | 1:9bef044f45ad | 143 | |
gltest26 | 1:9bef044f45ad | 144 | char tx = INT_CFG_REG; |
gltest26 | 1:9bef044f45ad | 145 | char rx; |
gltest26 | 1:9bef044f45ad | 146 | |
gltest26 | 1:9bef044f45ad | 147 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
gltest26 | 1:9bef044f45ad | 148 | |
gltest26 | 1:9bef044f45ad | 149 | i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1); |
gltest26 | 1:9bef044f45ad | 150 | |
gltest26 | 1:9bef044f45ad | 151 | return rx; |
gltest26 | 1:9bef044f45ad | 152 | |
gltest26 | 1:9bef044f45ad | 153 | } |
gltest26 | 1:9bef044f45ad | 154 | |
gltest26 | 1:9bef044f45ad | 155 | void ITG3200::setInterruptConfiguration(char config){ |
gltest26 | 1:9bef044f45ad | 156 | |
gltest26 | 1:9bef044f45ad | 157 | char tx[2]; |
gltest26 | 1:9bef044f45ad | 158 | tx[0] = INT_CFG_REG; |
gltest26 | 1:9bef044f45ad | 159 | tx[1] = config; |
gltest26 | 1:9bef044f45ad | 160 | |
gltest26 | 1:9bef044f45ad | 161 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2); |
gltest26 | 1:9bef044f45ad | 162 | |
gltest26 | 1:9bef044f45ad | 163 | } |
gltest26 | 1:9bef044f45ad | 164 | |
gltest26 | 1:9bef044f45ad | 165 | bool ITG3200::isPllReady(void){ |
gltest26 | 1:9bef044f45ad | 166 | |
gltest26 | 1:9bef044f45ad | 167 | char tx = INT_STATUS; |
gltest26 | 1:9bef044f45ad | 168 | char rx; |
gltest26 | 1:9bef044f45ad | 169 | |
gltest26 | 1:9bef044f45ad | 170 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
gltest26 | 1:9bef044f45ad | 171 | |
gltest26 | 1:9bef044f45ad | 172 | i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1); |
gltest26 | 1:9bef044f45ad | 173 | |
gltest26 | 1:9bef044f45ad | 174 | //ITG_RDY bit is bit 4 of INT_STATUS register. |
gltest26 | 1:9bef044f45ad | 175 | if(rx & 0x04){ |
gltest26 | 1:9bef044f45ad | 176 | return true; |
gltest26 | 1:9bef044f45ad | 177 | } |
gltest26 | 1:9bef044f45ad | 178 | else{ |
gltest26 | 1:9bef044f45ad | 179 | return false; |
gltest26 | 1:9bef044f45ad | 180 | } |
gltest26 | 1:9bef044f45ad | 181 | |
gltest26 | 1:9bef044f45ad | 182 | } |
gltest26 | 1:9bef044f45ad | 183 | |
gltest26 | 1:9bef044f45ad | 184 | bool ITG3200::isRawDataReady(void){ |
gltest26 | 1:9bef044f45ad | 185 | |
gltest26 | 1:9bef044f45ad | 186 | char tx = INT_STATUS; |
gltest26 | 1:9bef044f45ad | 187 | char rx; |
gltest26 | 1:9bef044f45ad | 188 | |
gltest26 | 1:9bef044f45ad | 189 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
gltest26 | 1:9bef044f45ad | 190 | |
gltest26 | 1:9bef044f45ad | 191 | i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1); |
gltest26 | 1:9bef044f45ad | 192 | |
gltest26 | 1:9bef044f45ad | 193 | //RAW_DATA_RDY bit is bit 1 of INT_STATUS register. |
gltest26 | 1:9bef044f45ad | 194 | if(rx & 0x01){ |
gltest26 | 1:9bef044f45ad | 195 | return true; |
gltest26 | 1:9bef044f45ad | 196 | } |
gltest26 | 1:9bef044f45ad | 197 | else{ |
gltest26 | 1:9bef044f45ad | 198 | return false; |
gltest26 | 1:9bef044f45ad | 199 | } |
gltest26 | 1:9bef044f45ad | 200 | |
gltest26 | 1:9bef044f45ad | 201 | } |
gltest26 | 1:9bef044f45ad | 202 | |
gltest26 | 4:155c44407af5 | 203 | int ITG3200::getWord(int regi){ |
gltest26 | 1:9bef044f45ad | 204 | |
gltest26 | 4:155c44407af5 | 205 | char tx = regi; |
gltest26 | 1:9bef044f45ad | 206 | char rx[2]; |
gltest26 | 1:9bef044f45ad | 207 | |
gltest26 | 2:f44a902ba081 | 208 | i2c_.write(I2C_ADDRESS, &tx, 1); |
gltest26 | 2:f44a902ba081 | 209 | |
gltest26 | 2:f44a902ba081 | 210 | i2c_.read(I2C_ADDRESS, rx, 2); |
gltest26 | 1:9bef044f45ad | 211 | |
gltest26 | 5:0a0315f0f34e | 212 | return swapExtend(rx); |
gltest26 | 1:9bef044f45ad | 213 | } |
gltest26 | 1:9bef044f45ad | 214 | |
gltest26 | 1:9bef044f45ad | 215 | float ITG3200::getTemperature(){ |
gltest26 | 1:9bef044f45ad | 216 | //Offset = -35 degrees, 13200 counts. 280 counts/degrees C. |
gltest26 | 1:9bef044f45ad | 217 | return 35.0 + ((getRawTemperature() + 13200)/280.0); |
gltest26 | 1:9bef044f45ad | 218 | |
gltest26 | 1:9bef044f45ad | 219 | } |
gltest26 | 1:9bef044f45ad | 220 | |
gltest26 | 3:eea9733ca427 | 221 | void ITG3200::getRawGyroXYZ(int readings[3]){ |
gltest26 | 1:9bef044f45ad | 222 | |
gltest26 | 1:9bef044f45ad | 223 | char tx = GYRO_XOUT_H_REG; |
gltest26 | 1:9bef044f45ad | 224 | char rx[2]; |
gltest26 | 1:9bef044f45ad | 225 | |
gltest26 | 1:9bef044f45ad | 226 | i2c_.write(I2C_ADDRESS, &tx, 1); |
gltest26 | 1:9bef044f45ad | 227 | |
gltest26 | 1:9bef044f45ad | 228 | i2c_.read(I2C_ADDRESS, rx, 6); |
gltest26 | 1:9bef044f45ad | 229 | |
gltest26 | 1:9bef044f45ad | 230 | for(int i = 0; i < 3; i++) |
gltest26 | 5:0a0315f0f34e | 231 | readings[i] = swapExtend(&rx[i * 2]); |
gltest26 | 1:9bef044f45ad | 232 | } |
gltest26 | 1:9bef044f45ad | 233 | |
gltest26 | 1:9bef044f45ad | 234 | char ITG3200::getPowerManagement(void){ |
gltest26 | 1:9bef044f45ad | 235 | |
gltest26 | 1:9bef044f45ad | 236 | char tx = PWR_MGM_REG; |
gltest26 | 1:9bef044f45ad | 237 | char rx; |
gltest26 | 1:9bef044f45ad | 238 | |
gltest26 | 1:9bef044f45ad | 239 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
gltest26 | 1:9bef044f45ad | 240 | |
gltest26 | 1:9bef044f45ad | 241 | i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1); |
gltest26 | 1:9bef044f45ad | 242 | |
gltest26 | 1:9bef044f45ad | 243 | return rx; |
gltest26 | 1:9bef044f45ad | 244 | |
gltest26 | 1:9bef044f45ad | 245 | } |
gltest26 | 1:9bef044f45ad | 246 | |
gltest26 | 1:9bef044f45ad | 247 | void ITG3200::setPowerManagement(char config){ |
gltest26 | 1:9bef044f45ad | 248 | |
gltest26 | 1:9bef044f45ad | 249 | char tx[2]; |
gltest26 | 1:9bef044f45ad | 250 | tx[0] = PWR_MGM_REG; |
gltest26 | 1:9bef044f45ad | 251 | tx[1] = config; |
gltest26 | 1:9bef044f45ad | 252 | |
gltest26 | 1:9bef044f45ad | 253 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2); |
gltest26 | 1:9bef044f45ad | 254 | |
gltest26 | 1:9bef044f45ad | 255 | } |
gltest26 | 3:eea9733ca427 | 256 | |
gltest26 | 3:eea9733ca427 | 257 | void ITG3200::calibrate(double time){ |
gltest26 | 3:eea9733ca427 | 258 | long sum[3] = {0}; |
gltest26 | 3:eea9733ca427 | 259 | int sumCount = 0; |
gltest26 | 6:a7ad6046824c | 260 | Timer t; |
gltest26 | 6:a7ad6046824c | 261 | t.start(); |
gltest26 | 6:a7ad6046824c | 262 | while(t.read() < time){ |
gltest26 | 3:eea9733ca427 | 263 | int gyro[3]; |
gltest26 | 6:a7ad6046824c | 264 | getRawGyroXYZ(gyro); |
gltest26 | 3:eea9733ca427 | 265 | for(int i = 0; i < 3; i++) |
gltest26 | 3:eea9733ca427 | 266 | sum[i] += gyro[i]; |
gltest26 | 3:eea9733ca427 | 267 | sumCount++; |
gltest26 | 3:eea9733ca427 | 268 | } |
gltest26 | 6:a7ad6046824c | 269 | t.stop(); |
gltest26 | 6:a7ad6046824c | 270 | |
gltest26 | 3:eea9733ca427 | 271 | // Avoid zero division |
gltest26 | 3:eea9733ca427 | 272 | if(0 < sumCount){ |
gltest26 | 3:eea9733ca427 | 273 | for(int i = 0; i < 3; i++) |
gltest26 | 3:eea9733ca427 | 274 | offset[i] = sum[i] / sumCount; |
gltest26 | 6:a7ad6046824c | 275 | // Update member variable only if successful |
gltest26 | 6:a7ad6046824c | 276 | calibSamples = sumCount; |
gltest26 | 3:eea9733ca427 | 277 | } |
gltest26 | 3:eea9733ca427 | 278 | } |