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@1:9bef044f45ad, 2012-09-11 (annotated)

Committer:
gltest26
Date:
Tue Sep 11 16:56:23 2012 +0000
Revision:
1:9bef044f45ad
Parent:
0:b098d99dd81e
Child:
2:f44a902ba081
Added getRawTemperature(), getGyroXYZ(), getGyroXYZDegrees() and getGyroXYZRadians(). Also adapted the I2C address to 9DoF-Stick's ITG3200. For some reason, diff is indicating the whole file is altered.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gltest26 1:9bef044f45ad 1 /**
gltest26 1:9bef044f45ad 2 * @author Aaron Berk
gltest26 1:9bef044f45ad 3 *
gltest26 1:9bef044f45ad 4 * @section LICENSE
gltest26 1:9bef044f45ad 5 *
gltest26 1:9bef044f45ad 6 * Copyright (c) 2010 ARM Limited
gltest26 1:9bef044f45ad 7 *
gltest26 1:9bef044f45ad 8 * Permission is hereby granted, free of charge, to any person obtaining a copy
gltest26 1:9bef044f45ad 9 * of this software and associated documentation files (the "Software"), to deal
gltest26 1:9bef044f45ad 10 * in the Software without restriction, including without limitation the rights
gltest26 1:9bef044f45ad 11 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
gltest26 1:9bef044f45ad 12 * copies of the Software, and to permit persons to whom the Software is
gltest26 1:9bef044f45ad 13 * furnished to do so, subject to the following conditions:
gltest26 1:9bef044f45ad 14 *
gltest26 1:9bef044f45ad 15 * The above copyright notice and this permission notice shall be included in
gltest26 1:9bef044f45ad 16 * all copies or substantial portions of the Software.
gltest26 1:9bef044f45ad 17 *
gltest26 1:9bef044f45ad 18 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
gltest26 1:9bef044f45ad 19 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
gltest26 1:9bef044f45ad 20 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
gltest26 1:9bef044f45ad 21 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
gltest26 1:9bef044f45ad 22 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
gltest26 1:9bef044f45ad 23 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
gltest26 1:9bef044f45ad 24 * THE SOFTWARE.
gltest26 1:9bef044f45ad 25 *
gltest26 1:9bef044f45ad 26 * @section DESCRIPTION
gltest26 1:9bef044f45ad 27 *
gltest26 1:9bef044f45ad 28 * ITG-3200 triple axis, digital interface, gyroscope.
gltest26 1:9bef044f45ad 29 *
gltest26 1:9bef044f45ad 30 * Datasheet:
gltest26 1:9bef044f45ad 31 *
gltest26 1:9bef044f45ad 32 * http://invensense.com/mems/gyro/documents/PS-ITG-3200-00-01.4.pdf
gltest26 1:9bef044f45ad 33 */
gltest26 1:9bef044f45ad 34
gltest26 1:9bef044f45ad 35 /**
gltest26 1:9bef044f45ad 36 * Includes
gltest26 1:9bef044f45ad 37 */
gltest26 1:9bef044f45ad 38 #include "ITG3200.h"
gltest26 1:9bef044f45ad 39
gltest26 1:9bef044f45ad 40 ITG3200::ITG3200(PinName sda, PinName scl) : i2c_(sda, scl) {
gltest26 1:9bef044f45ad 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 1:9bef044f45ad 199 int ITG3200::getRawTemperature(void){
gltest26 1:9bef044f45ad 200
gltest26 1:9bef044f45ad 201 char tx = TEMP_OUT_H_REG;
gltest26 1:9bef044f45ad 202 char rx[2];
gltest26 1:9bef044f45ad 203
gltest26 1:9bef044f45ad 204 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
gltest26 1:9bef044f45ad 205
gltest26 1:9bef044f45ad 206 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2);
gltest26 1:9bef044f45ad 207
gltest26 1:9bef044f45ad 208 return int16_t((uint16_t(rx[0]) << 8) | uint16_t(rx[1]));
gltest26 1:9bef044f45ad 209
gltest26 1:9bef044f45ad 210 }
gltest26 1:9bef044f45ad 211
gltest26 1:9bef044f45ad 212 float ITG3200::getTemperature(){
gltest26 1:9bef044f45ad 213 //Offset = -35 degrees, 13200 counts. 280 counts/degrees C.
gltest26 1:9bef044f45ad 214 return 35.0 + ((getRawTemperature() + 13200)/280.0);
gltest26 1:9bef044f45ad 215
gltest26 1:9bef044f45ad 216 }
gltest26 1:9bef044f45ad 217
gltest26 1:9bef044f45ad 218 int ITG3200::getGyroX(void){
gltest26 1:9bef044f45ad 219
gltest26 1:9bef044f45ad 220 char tx = GYRO_XOUT_H_REG;
gltest26 1:9bef044f45ad 221 char rx[2];
gltest26 1:9bef044f45ad 222
gltest26 1:9bef044f45ad 223 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
gltest26 1:9bef044f45ad 224
gltest26 1:9bef044f45ad 225 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2);
gltest26 1:9bef044f45ad 226
gltest26 1:9bef044f45ad 227 int16_t output = ((int) rx[0] << 8) | ((int) rx[1]);
gltest26 1:9bef044f45ad 228
gltest26 1:9bef044f45ad 229 return output;
gltest26 1:9bef044f45ad 230
gltest26 1:9bef044f45ad 231 }
gltest26 1:9bef044f45ad 232
gltest26 1:9bef044f45ad 233 int ITG3200::getGyroY(void){
gltest26 1:9bef044f45ad 234
gltest26 1:9bef044f45ad 235 char tx = GYRO_YOUT_H_REG;
gltest26 1:9bef044f45ad 236 char rx[2];
gltest26 1:9bef044f45ad 237
gltest26 1:9bef044f45ad 238 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
gltest26 1:9bef044f45ad 239
gltest26 1:9bef044f45ad 240 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2);
gltest26 1:9bef044f45ad 241
gltest26 1:9bef044f45ad 242 int16_t output = ((int) rx[0] << 8) | ((int) rx[1]);
gltest26 1:9bef044f45ad 243
gltest26 1:9bef044f45ad 244 return output;
gltest26 1:9bef044f45ad 245
gltest26 1:9bef044f45ad 246 }
gltest26 1:9bef044f45ad 247
gltest26 1:9bef044f45ad 248 int ITG3200::getGyroZ(void){
gltest26 1:9bef044f45ad 249
gltest26 1:9bef044f45ad 250 char tx = GYRO_ZOUT_H_REG;
gltest26 1:9bef044f45ad 251 char rx[2];
gltest26 1:9bef044f45ad 252
gltest26 1:9bef044f45ad 253 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
gltest26 1:9bef044f45ad 254
gltest26 1:9bef044f45ad 255 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2);
gltest26 1:9bef044f45ad 256
gltest26 1:9bef044f45ad 257 int16_t output = ((int) rx[0] << 8) | ((int) rx[1]);
gltest26 1:9bef044f45ad 258
gltest26 1:9bef044f45ad 259 return output;
gltest26 1:9bef044f45ad 260
gltest26 1:9bef044f45ad 261 }
gltest26 1:9bef044f45ad 262
gltest26 1:9bef044f45ad 263 void ITG3200::getGyroXYZ(int readings[3]){
gltest26 1:9bef044f45ad 264
gltest26 1:9bef044f45ad 265 char tx = GYRO_XOUT_H_REG;
gltest26 1:9bef044f45ad 266 char rx[2];
gltest26 1:9bef044f45ad 267
gltest26 1:9bef044f45ad 268 i2c_.write(I2C_ADDRESS, &tx, 1);
gltest26 1:9bef044f45ad 269
gltest26 1:9bef044f45ad 270 i2c_.read(I2C_ADDRESS, rx, 6);
gltest26 1:9bef044f45ad 271
gltest26 1:9bef044f45ad 272 for(int i = 0; i < 3; i++)
gltest26 1:9bef044f45ad 273 readings[i] = int16_t((int) rx[i * 2 + 0] << 8) | ((int) rx[i * 2 + 1]);
gltest26 1:9bef044f45ad 274 }
gltest26 1:9bef044f45ad 275
gltest26 1:9bef044f45ad 276 char ITG3200::getPowerManagement(void){
gltest26 1:9bef044f45ad 277
gltest26 1:9bef044f45ad 278 char tx = PWR_MGM_REG;
gltest26 1:9bef044f45ad 279 char rx;
gltest26 1:9bef044f45ad 280
gltest26 1:9bef044f45ad 281 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
gltest26 1:9bef044f45ad 282
gltest26 1:9bef044f45ad 283 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
gltest26 1:9bef044f45ad 284
gltest26 1:9bef044f45ad 285 return rx;
gltest26 1:9bef044f45ad 286
gltest26 1:9bef044f45ad 287 }
gltest26 1:9bef044f45ad 288
gltest26 1:9bef044f45ad 289 void ITG3200::setPowerManagement(char config){
gltest26 1:9bef044f45ad 290
gltest26 1:9bef044f45ad 291 char tx[2];
gltest26 1:9bef044f45ad 292 tx[0] = PWR_MGM_REG;
gltest26 1:9bef044f45ad 293 tx[1] = config;
gltest26 1:9bef044f45ad 294
gltest26 1:9bef044f45ad 295 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
gltest26 1:9bef044f45ad 296
gltest26 1:9bef044f45ad 297 }