Tyler Weaver
Modified getOffset for calibrating Thermal Drift coefficients.
Fork of
ITG3200
by 
James Watanabe
Modified to make getOffset() function easier to use.
Revision 1:9bef044f45ad, committed 2012-09-11
- Comitter:
- gltest26
- Date:
- Tue Sep 11 16:56:23 2012 +0000
- Parent:
- 0:b098d99dd81e
- Child:
- 2:f44a902ba081
- Commit message:
- 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.
Changed in this revision
| ITG3200.cpp | Show annotated file Show diff for this revision Revisions of this file |
| ITG3200.h | Show annotated file Show diff for this revision Revisions of this file |
--- a/ITG3200.cpp Mon Sep 06 13:49:59 2010 +0000
+++ b/ITG3200.cpp Tue Sep 11 16:56:23 2012 +0000
@@ -1,280 +1,297 @@
-/**
- * @author Aaron Berk
- *
- * @section LICENSE
- *
- * Copyright (c) 2010 ARM Limited
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- *
- * @section DESCRIPTION
- *
- * ITG-3200 triple axis, digital interface, gyroscope.
- *
- * Datasheet:
- *
- * http://invensense.com/mems/gyro/documents/PS-ITG-3200-00-01.4.pdf
- */
-
-/**
- * Includes
- */
-#include "ITG3200.h"
-
-ITG3200::ITG3200(PinName sda, PinName scl) : i2c_(sda, scl) {
-
- //400kHz, fast mode.
- i2c_.frequency(400000);
-
- //Set FS_SEL to 0x03 for proper operation.
- //See datasheet for details.
- char tx[2];
- tx[0] = DLPF_FS_REG;
- //FS_SEL bits sit in bits 4 and 3 of DLPF_FS register.
- tx[1] = 0x03 << 3;
-
- i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
-
-}
-
-char ITG3200::getWhoAmI(void){
-
- //WhoAmI Register address.
- char tx = WHO_AM_I_REG;
- char rx;
-
- i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
-
- i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
-
- return rx;
-
-}
-
-void ITG3200::setWhoAmI(char address){
-
- char tx[2];
- tx[0] = WHO_AM_I_REG;
- tx[1] = address;
-
- i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
-
-}
-
-char ITG3200::getSampleRateDivider(void){
-
- char tx = SMPLRT_DIV_REG;
- char rx;
-
- i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
-
- i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
-
- return rx;
-
-}
-
-void ITG3200::setSampleRateDivider(char divider){
-
- char tx[2];
- tx[0] = SMPLRT_DIV_REG;
- tx[1] = divider;
-
- i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
-
-}
-
-int ITG3200::getInternalSampleRate(void){
-
- char tx = DLPF_FS_REG;
- char rx;
-
- i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
-
- i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
-
- //DLPF_CFG == 0 -> sample rate = 8kHz.
- if(rx == 0){
- return 8;
- }
- //DLPF_CFG = 1..7 -> sample rate = 1kHz.
- else if(rx >= 1 && rx <= 7){
- return 1;
- }
- //DLPF_CFG = anything else -> something's wrong!
- else{
- return -1;
- }
-
-}
-
-void ITG3200::setLpBandwidth(char bandwidth){
-
- char tx[2];
- tx[0] = DLPF_FS_REG;
- //Bits 4,3 are required to be 0x03 for proper operation.
- tx[1] = bandwidth | (0x03 << 3);
-
- i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
-
-}
-
-char ITG3200::getInterruptConfiguration(void){
-
- char tx = INT_CFG_REG;
- char rx;
-
- i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
-
- i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
-
- return rx;
-
-}
-
-void ITG3200::setInterruptConfiguration(char config){
-
- char tx[2];
- tx[0] = INT_CFG_REG;
- tx[1] = config;
-
- i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
-
-}
-
-bool ITG3200::isPllReady(void){
-
- char tx = INT_STATUS;
- char rx;
-
- i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
-
- i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
-
- //ITG_RDY bit is bit 4 of INT_STATUS register.
- if(rx & 0x04){
- return true;
- }
- else{
- return false;
- }
-
-}
-
-bool ITG3200::isRawDataReady(void){
-
- char tx = INT_STATUS;
- char rx;
-
- i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
-
- i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
-
- //RAW_DATA_RDY bit is bit 1 of INT_STATUS register.
- if(rx & 0x01){
- return true;
- }
- else{
- return false;
- }
-
-}
-
-float ITG3200::getTemperature(void){
-
- char tx = TEMP_OUT_H_REG;
- char rx[2];
-
- i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
-
- i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2);
-
- int16_t temperature = ((int) rx[0] << 8) | ((int) rx[1]);
- //Offset = -35 degrees, 13200 counts. 280 counts/degrees C.
- return 35.0 + ((temperature + 13200)/280.0);
-
-}
-
-int ITG3200::getGyroX(void){
-
- char tx = GYRO_XOUT_H_REG;
- char rx[2];
-
- i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
-
- i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2);
-
- int16_t output = ((int) rx[0] << 8) | ((int) rx[1]);
-
- return output;
-
-}
-
-int ITG3200::getGyroY(void){
-
- char tx = GYRO_YOUT_H_REG;
- char rx[2];
-
- i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
-
- i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2);
-
- int16_t output = ((int) rx[0] << 8) | ((int) rx[1]);
-
- return output;
-
-}
-
-int ITG3200::getGyroZ(void){
-
- char tx = GYRO_ZOUT_H_REG;
- char rx[2];
-
- i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
-
- i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2);
-
- int16_t output = ((int) rx[0] << 8) | ((int) rx[1]);
-
- return output;
-
-}
-
-char ITG3200::getPowerManagement(void){
-
- char tx = PWR_MGM_REG;
- char rx;
-
- i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
-
- i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
-
- return rx;
-
-}
-
-void ITG3200::setPowerManagement(char config){
-
- char tx[2];
- tx[0] = PWR_MGM_REG;
- tx[1] = config;
-
- i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
-
-}
+/**
+ * @author Aaron Berk
+ *
+ * @section LICENSE
+ *
+ * Copyright (c) 2010 ARM Limited
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ *
+ * @section DESCRIPTION
+ *
+ * ITG-3200 triple axis, digital interface, gyroscope.
+ *
+ * Datasheet:
+ *
+ * http://invensense.com/mems/gyro/documents/PS-ITG-3200-00-01.4.pdf
+ */
+
+/**
+ * Includes
+ */
+#include "ITG3200.h"
+
+ITG3200::ITG3200(PinName sda, PinName scl) : i2c_(sda, scl) {
+
+ //400kHz, fast mode.
+ i2c_.frequency(400000);
+
+ //Set FS_SEL to 0x03 for proper operation.
+ //See datasheet for details.
+ char tx[2];
+ tx[0] = DLPF_FS_REG;
+ //FS_SEL bits sit in bits 4 and 3 of DLPF_FS register.
+ tx[1] = 0x03 << 3;
+
+ i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
+
+}
+
+char ITG3200::getWhoAmI(void){
+
+ //WhoAmI Register address.
+ char tx = WHO_AM_I_REG;
+ char rx;
+
+ i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
+
+ i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
+
+ return rx;
+
+}
+
+void ITG3200::setWhoAmI(char address){
+
+ char tx[2];
+ tx[0] = WHO_AM_I_REG;
+ tx[1] = address;
+
+ i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
+
+}
+
+char ITG3200::getSampleRateDivider(void){
+
+ char tx = SMPLRT_DIV_REG;
+ char rx;
+
+ i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
+
+ i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
+
+ return rx;
+
+}
+
+void ITG3200::setSampleRateDivider(char divider){
+
+ char tx[2];
+ tx[0] = SMPLRT_DIV_REG;
+ tx[1] = divider;
+
+ i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
+
+}
+
+int ITG3200::getInternalSampleRate(void){
+
+ char tx = DLPF_FS_REG;
+ char rx;
+
+ i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
+
+ i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
+
+ //DLPF_CFG == 0 -> sample rate = 8kHz.
+ if(rx == 0){
+ return 8;
+ }
+ //DLPF_CFG = 1..7 -> sample rate = 1kHz.
+ else if(rx >= 1 && rx <= 7){
+ return 1;
+ }
+ //DLPF_CFG = anything else -> something's wrong!
+ else{
+ return -1;
+ }
+
+}
+
+void ITG3200::setLpBandwidth(char bandwidth){
+
+ char tx[2];
+ tx[0] = DLPF_FS_REG;
+ //Bits 4,3 are required to be 0x03 for proper operation.
+ tx[1] = bandwidth | (0x03 << 3);
+
+ i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
+
+}
+
+char ITG3200::getInterruptConfiguration(void){
+
+ char tx = INT_CFG_REG;
+ char rx;
+
+ i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
+
+ i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
+
+ return rx;
+
+}
+
+void ITG3200::setInterruptConfiguration(char config){
+
+ char tx[2];
+ tx[0] = INT_CFG_REG;
+ tx[1] = config;
+
+ i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
+
+}
+
+bool ITG3200::isPllReady(void){
+
+ char tx = INT_STATUS;
+ char rx;
+
+ i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
+
+ i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
+
+ //ITG_RDY bit is bit 4 of INT_STATUS register.
+ if(rx & 0x04){
+ return true;
+ }
+ else{
+ return false;
+ }
+
+}
+
+bool ITG3200::isRawDataReady(void){
+
+ char tx = INT_STATUS;
+ char rx;
+
+ i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
+
+ i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
+
+ //RAW_DATA_RDY bit is bit 1 of INT_STATUS register.
+ if(rx & 0x01){
+ return true;
+ }
+ else{
+ return false;
+ }
+
+}
+
+int ITG3200::getRawTemperature(void){
+
+ char tx = TEMP_OUT_H_REG;
+ char rx[2];
+
+ i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
+
+ i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2);
+
+ return int16_t((uint16_t(rx[0]) << 8) | uint16_t(rx[1]));
+
+}
+
+float ITG3200::getTemperature(){
+ //Offset = -35 degrees, 13200 counts. 280 counts/degrees C.
+ return 35.0 + ((getRawTemperature() + 13200)/280.0);
+
+}
+
+int ITG3200::getGyroX(void){
+
+ char tx = GYRO_XOUT_H_REG;
+ char rx[2];
+
+ i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
+
+ i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2);
+
+ int16_t output = ((int) rx[0] << 8) | ((int) rx[1]);
+
+ return output;
+
+}
+
+int ITG3200::getGyroY(void){
+
+ char tx = GYRO_YOUT_H_REG;
+ char rx[2];
+
+ i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
+
+ i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2);
+
+ int16_t output = ((int) rx[0] << 8) | ((int) rx[1]);
+
+ return output;
+
+}
+
+int ITG3200::getGyroZ(void){
+
+ char tx = GYRO_ZOUT_H_REG;
+ char rx[2];
+
+ i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
+
+ i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2);
+
+ int16_t output = ((int) rx[0] << 8) | ((int) rx[1]);
+
+ return output;
+
+}
+
+void ITG3200::getGyroXYZ(int readings[3]){
+
+ char tx = GYRO_XOUT_H_REG;
+ char rx[2];
+
+ i2c_.write(I2C_ADDRESS, &tx, 1);
+
+ i2c_.read(I2C_ADDRESS, rx, 6);
+
+ for(int i = 0; i < 3; i++)
+ readings[i] = int16_t((int) rx[i * 2 + 0] << 8) | ((int) rx[i * 2 + 1]);
+}
+
+char ITG3200::getPowerManagement(void){
+
+ char tx = PWR_MGM_REG;
+ char rx;
+
+ i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
+
+ i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
+
+ return rx;
+
+}
+
+void ITG3200::setPowerManagement(char config){
+
+ char tx[2];
+ tx[0] = PWR_MGM_REG;
+ tx[1] = config;
+
+ i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
+
+}
--- a/ITG3200.h Mon Sep 06 13:49:59 2010 +0000
+++ b/ITG3200.h Tue Sep 11 16:56:23 2012 +0000
@@ -1,339 +1,391 @@
-/**
- * @author Aaron Berk
- *
- * @section LICENSE
- *
- * Copyright (c) 2010 ARM Limited
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- *
- * @section DESCRIPTION
- *
- * ITG-3200 triple axis, digital interface, gyroscope.
- *
- * Datasheet:
- *
- * http://invensense.com/mems/gyro/documents/PS-ITG-3200-00-01.4.pdf
- */
-
-#ifndef ITG3200_H
-#define ITG3200_H
-
-/**
- * Includes
- */
-#include "mbed.h"
-
-/**
- * Defines
- */
-#define ITG3200_I2C_ADDRESS 0x69 //7-bit address.
-
-//-----------
-// Registers
-//-----------
-#define WHO_AM_I_REG 0x00
-#define SMPLRT_DIV_REG 0x15
-#define DLPF_FS_REG 0x16
-#define INT_CFG_REG 0x17
-#define INT_STATUS 0x1A
-#define TEMP_OUT_H_REG 0x1B
-#define TEMP_OUT_L_REG 0x1C
-#define GYRO_XOUT_H_REG 0x1D
-#define GYRO_XOUT_L_REG 0x1E
-#define GYRO_YOUT_H_REG 0x1F
-#define GYRO_YOUT_L_REG 0x20
-#define GYRO_ZOUT_H_REG 0x21
-#define GYRO_ZOUT_L_REG 0x22
-#define PWR_MGM_REG 0x3E
-
-//----------------------------
-// Low Pass Filter Bandwidths
-//----------------------------
-#define LPFBW_256HZ 0x00
-#define LPFBW_188HZ 0x01
-#define LPFBW_98HZ 0x02
-#define LPFBW_42HZ 0x03
-#define LPFBW_20HZ 0x04
-#define LPFBW_10HZ 0x05
-#define LPFBW_5HZ 0x06
-
-/**
- * ITG-3200 triple axis digital gyroscope.
- */
-class ITG3200 {
-
-public:
-
- /**
- * Constructor.
- *
- * Sets FS_SEL to 0x03 for proper opertaion.
- *
- * @param sda - mbed pin to use for the SDA I2C line.
- * @param scl - mbed pin to use for the SCL I2C line.
- */
- ITG3200(PinName sda, PinName scl);
-
- /**
- * Get the identity of the device.
- *
- * @return The contents of the Who Am I register which contains the I2C
- * address of the device.
- */
- char getWhoAmI(void);
-
- /**
- * Set the address of the device.
- *
- * @param address The I2C slave address to write to the Who Am I register
- * on the device.
- */
- void setWhoAmI(char address);
-
- /**
- * Get the sample rate divider.
- *
- * @return The sample rate divider as a number from 0-255.
- */
- char getSampleRateDivider(void);
-
- /**
- * Set the sample rate divider.
- *
- * Fsample = Finternal / (divider + 1), where Finternal = 1kHz or 8kHz,
- * as decidied by the DLPF_FS register.
- *
- * @param The sample rate divider as a number from 0-255.
- */
- void setSampleRateDivider(char divider);
-
- /**
- * Get the internal sample rate.
- *
- * @return The internal sample rate in kHz - either 1 or 8.
- */
- int getInternalSampleRate(void);
-
- /**
- * Set the low pass filter bandwidth.
- *
- * Also used to set the internal sample rate.
- * Pass the #define bandwidth codes as a parameter.
- *
- * 256Hz -> 8kHz internal sample rate.
- * Everything else -> 1kHz internal rate.
- *
- * @param bandwidth Low pass filter bandwidth code
- */
- void setLpBandwidth(char bandwidth);
-
- /**
- * Get the interrupt configuration.
- *
- * See datasheet for register contents details.
- *
- * 7 6 5 4
- * +------+------+--------------+------------------+
- * | ACTL | OPEN | LATCH_INT_EN | INT_ANYRD_2CLEAR |
- * +------+------+--------------+------------------+
- *
- * 3 2 1 0
- * +---+------------+------------+---+
- * | 0 | ITG_RDY_EN | RAW_RDY_EN | 0 |
- * +---+------------+------------+---+
- *
- * ACTL Logic level for INT output pin; 1 = active low, 0 = active high.
- * OPEN Drive type for INT output pin; 1 = open drain, 0 = push-pull.
- * LATCH_INT_EN Latch mode; 1 = latch until interrupt is cleared,
- * 0 = 50us pulse.
- * INT_ANYRD_2CLEAR Latch clear method; 1 = any register read,
- * 0 = status register read only.
- * ITG_RDY_EN Enable interrupt when device is ready,
- * (PLL ready after changing clock source).
- * RAW_RDY_EN Enable interrupt when data is available.
- * 0 Bits 1 and 3 of the INT_CFG register should be zero.
- *
- * @return the contents of the INT_CFG register.
- */
- char getInterruptConfiguration(void);
-
- /**
- * Set the interrupt configuration.
- *
- * See datasheet for configuration byte details.
- *
- * 7 6 5 4
- * +------+------+--------------+------------------+
- * | ACTL | OPEN | LATCH_INT_EN | INT_ANYRD_2CLEAR |
- * +------+------+--------------+------------------+
- *
- * 3 2 1 0
- * +---+------------+------------+---+
- * | 0 | ITG_RDY_EN | RAW_RDY_EN | 0 |
- * +---+------------+------------+---+
- *
- * ACTL Logic level for INT output pin; 1 = active low, 0 = active high.
- * OPEN Drive type for INT output pin; 1 = open drain, 0 = push-pull.
- * LATCH_INT_EN Latch mode; 1 = latch until interrupt is cleared,
- * 0 = 50us pulse.
- * INT_ANYRD_2CLEAR Latch clear method; 1 = any register read,
- * 0 = status register read only.
- * ITG_RDY_EN Enable interrupt when device is ready,
- * (PLL ready after changing clock source).
- * RAW_RDY_EN Enable interrupt when data is available.
- * 0 Bits 1 and 3 of the INT_CFG register should be zero.
- *
- * @param config Configuration byte to write to INT_CFG register.
- */
- void setInterruptConfiguration(char config);
-
- /**
- * Check the ITG_RDY bit of the INT_STATUS register.
- *
- * @return True if the ITG_RDY bit is set, corresponding to PLL ready,
- * false if the ITG_RDY bit is not set, corresponding to PLL not
- * ready.
- */
- bool isPllReady(void);
-
- /**
- * Check the RAW_DATA_RDY bit of the INT_STATUS register.
- *
- * @return True if the RAW_DATA_RDY bit is set, corresponding to new data
- * in the sensor registers, false if the RAW_DATA_RDY bit is not
- * set, corresponding to no new data yet in the sensor registers.
- */
- bool isRawDataReady(void);
-
- /**
- * Get the temperature of the device.
- *
- * @return The temperature in degrees celsius.
- */
- float getTemperature(void);
-
- /**
- * Get the output for the x-axis gyroscope.
- *
- * Typical sensitivity is 14.375 LSB/(degrees/sec).
- *
- * @return The output on the x-axis in raw ADC counts.
- */
- int getGyroX(void);
-
- /**
- * Get the output for the y-axis gyroscope.
- *
- * Typical sensitivity is 14.375 LSB/(degrees/sec).
- *
- * @return The output on the y-axis in raw ADC counts.
- */
- int getGyroY(void);
-
- /**
- * Get the output on the z-axis gyroscope.
- *
- * Typical sensitivity is 14.375 LSB/(degrees/sec).
- *
- * @return The output on the z-axis in raw ADC counts.
- */
- int getGyroZ(void);
-
- /**
- * Get the power management configuration.
- *
- * See the datasheet for register contents details.
- *
- * 7 6 5 4
- * +---------+-------+---------+---------+
- * | H_RESET | SLEEP | STBY_XG | STBY_YG |
- * +---------+-------+---------+---------+
- *
- * 3 2 1 0
- * +---------+----------+----------+----------+
- * | STBY_ZG | CLK_SEL2 | CLK_SEL1 | CLK_SEL0 |
- * +---------+----------+----------+----------+
- *
- * H_RESET Reset device and internal registers to the power-up-default settings.
- * SLEEP Enable low power sleep mode.
- * STBY_XG Put gyro X in standby mode (1=standby, 0=normal).
- * STBY_YG Put gyro Y in standby mode (1=standby, 0=normal).
- * STBY_ZG Put gyro Z in standby mode (1=standby, 0=normal).
- * CLK_SEL Select device clock source:
- *
- * CLK_SEL | Clock Source
- * --------+--------------
- * 0 Internal oscillator
- * 1 PLL with X Gyro reference
- * 2 PLL with Y Gyro reference
- * 3 PLL with Z Gyro reference
- * 4 PLL with external 32.768kHz reference
- * 5 PLL with external 19.2MHz reference
- * 6 Reserved
- * 7 Reserved
- *
- * @return The contents of the PWR_MGM register.
- */
- char getPowerManagement(void);
-
- /**
- * Set power management configuration.
- *
- * See the datasheet for configuration byte details
- *
- * 7 6 5 4
- * +---------+-------+---------+---------+
- * | H_RESET | SLEEP | STBY_XG | STBY_YG |
- * +---------+-------+---------+---------+
- *
- * 3 2 1 0
- * +---------+----------+----------+----------+
- * | STBY_ZG | CLK_SEL2 | CLK_SEL1 | CLK_SEL0 |
- * +---------+----------+----------+----------+
- *
- * H_RESET Reset device and internal registers to the power-up-default settings.
- * SLEEP Enable low power sleep mode.
- * STBY_XG Put gyro X in standby mode (1=standby, 0=normal).
- * STBY_YG Put gyro Y in standby mode (1=standby, 0=normal).
- * STBY_ZG Put gyro Z in standby mode (1=standby, 0=normal).
- * CLK_SEL Select device clock source:
- *
- * CLK_SEL | Clock Source
- * --------+--------------
- * 0 Internal oscillator
- * 1 PLL with X Gyro reference
- * 2 PLL with Y Gyro reference
- * 3 PLL with Z Gyro reference
- * 4 PLL with external 32.768kHz reference
- * 5 PLL with external 19.2MHz reference
- * 6 Reserved
- * 7 Reserved
- *
- * @param config The configuration byte to write to the PWR_MGM register.
- */
- void setPowerManagement(char config);
-
-private:
-
- I2C i2c_;
-
-};
-
-#endif /* ITG3200_H */
+/**
+ * @author Aaron Berk
+ *
+ * @section LICENSE
+ *
+ * Copyright (c) 2010 ARM Limited
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ *
+ * @section DESCRIPTION
+ *
+ * ITG-3200 triple axis, digital interface, gyroscope.
+ *
+ * Datasheet:
+ *
+ * http://invensense.com/mems/gyro/documents/PS-ITG-3200-00-01.4.pdf
+ */
+
+#ifndef ITG3200_H
+#define ITG3200_H
+
+/**
+ * Includes
+ */
+#include "mbed.h"
+
+/**
+ * Defines
+ */
+#define ITG3200_I2C_ADDRESS 0x68 //7-bit address.
+
+//-----------
+// Registers
+//-----------
+#define WHO_AM_I_REG 0x00
+#define SMPLRT_DIV_REG 0x15
+#define DLPF_FS_REG 0x16
+#define INT_CFG_REG 0x17
+#define INT_STATUS 0x1A
+#define TEMP_OUT_H_REG 0x1B
+#define TEMP_OUT_L_REG 0x1C
+#define GYRO_XOUT_H_REG 0x1D
+#define GYRO_XOUT_L_REG 0x1E
+#define GYRO_YOUT_H_REG 0x1F
+#define GYRO_YOUT_L_REG 0x20
+#define GYRO_ZOUT_H_REG 0x21
+#define GYRO_ZOUT_L_REG 0x22
+#define PWR_MGM_REG 0x3E
+
+//----------------------------
+// Low Pass Filter Bandwidths
+//----------------------------
+#define LPFBW_256HZ 0x00
+#define LPFBW_188HZ 0x01
+#define LPFBW_98HZ 0x02
+#define LPFBW_42HZ 0x03
+#define LPFBW_20HZ 0x04
+#define LPFBW_10HZ 0x05
+#define LPFBW_5HZ 0x06
+
+// Utility
+#ifndef M_PI
+#define M_PI 3.1415926535897932384626433832795
+#endif
+
+/**
+ * ITG-3200 triple axis digital gyroscope.
+ */
+class ITG3200 {
+
+public:
+
+ static const int I2C_ADDRESS = 0xD0;
+
+ /**
+ * Constructor.
+ *
+ * Sets FS_SEL to 0x03 for proper opertaion.
+ *
+ * @param sda - mbed pin to use for the SDA I2C line.
+ * @param scl - mbed pin to use for the SCL I2C line.
+ */
+ ITG3200(PinName sda, PinName scl);
+
+ /**
+ * Get the identity of the device.
+ *
+ * @return The contents of the Who Am I register which contains the I2C
+ * address of the device.
+ */
+ char getWhoAmI(void);
+
+ /**
+ * Set the address of the device.
+ *
+ * @param address The I2C slave address to write to the Who Am I register
+ * on the device.
+ */
+ void setWhoAmI(char address);
+
+ /**
+ * Get the sample rate divider.
+ *
+ * @return The sample rate divider as a number from 0-255.
+ */
+ char getSampleRateDivider(void);
+
+ /**
+ * Set the sample rate divider.
+ *
+ * Fsample = Finternal / (divider + 1), where Finternal = 1kHz or 8kHz,
+ * as decidied by the DLPF_FS register.
+ *
+ * @param The sample rate divider as a number from 0-255.
+ */
+ void setSampleRateDivider(char divider);
+
+ /**
+ * Get the internal sample rate.
+ *
+ * @return The internal sample rate in kHz - either 1 or 8.
+ */
+ int getInternalSampleRate(void);
+
+ /**
+ * Set the low pass filter bandwidth.
+ *
+ * Also used to set the internal sample rate.
+ * Pass the #define bandwidth codes as a parameter.
+ *
+ * 256Hz -> 8kHz internal sample rate.
+ * Everything else -> 1kHz internal rate.
+ *
+ * @param bandwidth Low pass filter bandwidth code
+ */
+ void setLpBandwidth(char bandwidth);
+
+ /**
+ * Get the interrupt configuration.
+ *
+ * See datasheet for register contents details.
+ *
+ * 7 6 5 4
+ * +------+------+--------------+------------------+
+ * | ACTL | OPEN | LATCH_INT_EN | INT_ANYRD_2CLEAR |
+ * +------+------+--------------+------------------+
+ *
+ * 3 2 1 0
+ * +---+------------+------------+---+
+ * | 0 | ITG_RDY_EN | RAW_RDY_EN | 0 |
+ * +---+------------+------------+---+
+ *
+ * ACTL Logic level for INT output pin; 1 = active low, 0 = active high.
+ * OPEN Drive type for INT output pin; 1 = open drain, 0 = push-pull.
+ * LATCH_INT_EN Latch mode; 1 = latch until interrupt is cleared,
+ * 0 = 50us pulse.
+ * INT_ANYRD_2CLEAR Latch clear method; 1 = any register read,
+ * 0 = status register read only.
+ * ITG_RDY_EN Enable interrupt when device is ready,
+ * (PLL ready after changing clock source).
+ * RAW_RDY_EN Enable interrupt when data is available.
+ * 0 Bits 1 and 3 of the INT_CFG register should be zero.
+ *
+ * @return the contents of the INT_CFG register.
+ */
+ char getInterruptConfiguration(void);
+
+ /**
+ * Set the interrupt configuration.
+ *
+ * See datasheet for configuration byte details.
+ *
+ * 7 6 5 4
+ * +------+------+--------------+------------------+
+ * | ACTL | OPEN | LATCH_INT_EN | INT_ANYRD_2CLEAR |
+ * +------+------+--------------+------------------+
+ *
+ * 3 2 1 0
+ * +---+------------+------------+---+
+ * | 0 | ITG_RDY_EN | RAW_RDY_EN | 0 |
+ * +---+------------+------------+---+
+ *
+ * ACTL Logic level for INT output pin; 1 = active low, 0 = active high.
+ * OPEN Drive type for INT output pin; 1 = open drain, 0 = push-pull.
+ * LATCH_INT_EN Latch mode; 1 = latch until interrupt is cleared,
+ * 0 = 50us pulse.
+ * INT_ANYRD_2CLEAR Latch clear method; 1 = any register read,
+ * 0 = status register read only.
+ * ITG_RDY_EN Enable interrupt when device is ready,
+ * (PLL ready after changing clock source).
+ * RAW_RDY_EN Enable interrupt when data is available.
+ * 0 Bits 1 and 3 of the INT_CFG register should be zero.
+ *
+ * @param config Configuration byte to write to INT_CFG register.
+ */
+ void setInterruptConfiguration(char config);
+
+ /**
+ * Check the ITG_RDY bit of the INT_STATUS register.
+ *
+ * @return True if the ITG_RDY bit is set, corresponding to PLL ready,
+ * false if the ITG_RDY bit is not set, corresponding to PLL not
+ * ready.
+ */
+ bool isPllReady(void);
+
+ /**
+ * Check the RAW_DATA_RDY bit of the INT_STATUS register.
+ *
+ * @return True if the RAW_DATA_RDY bit is set, corresponding to new data
+ * in the sensor registers, false if the RAW_DATA_RDY bit is not
+ * set, corresponding to no new data yet in the sensor registers.
+ */
+ bool isRawDataReady(void);
+
+ /**
+ * Get the temperature in raw format.
+ *
+ * @return The temperature in raw 16bit integer.
+ */
+ int getRawTemperature(void);
+
+ /**
+ * Get the temperature of the device.
+ *
+ * @return The temperature in degrees celsius.
+ */
+ float getTemperature(void);
+
+ /**
+ * Get the output for the x-axis gyroscope.
+ *
+ * Typical sensitivity is 14.375 LSB/(degrees/sec).
+ *
+ * @return The output on the x-axis in raw ADC counts.
+ */
+ int getGyroX(void);
+
+ /**
+ * Get the output for the y-axis gyroscope.
+ *
+ * Typical sensitivity is 14.375 LSB/(degrees/sec).
+ *
+ * @return The output on the y-axis in raw ADC counts.
+ */
+ int getGyroY(void);
+
+ /**
+ * Get the output on the z-axis gyroscope.
+ *
+ * Typical sensitivity is 14.375 LSB/(degrees/sec).
+ *
+ * @return The output on the z-axis in raw ADC counts.
+ */
+ int getGyroZ(void);
+
+ /**
+ * Burst read the outputs on the x,y,z-axis gyroscope.
+ *
+ * Typical sensitivity is 14.375 LSB/(degrees/sec).
+ *
+ * @param readings The output buffer array that has at least 3 length.
+ */
+ void getGyroXYZ(int readings[3]);
+
+ /**
+ * Burst read the outputs on the x,y,z-axis gyroscope and convert them into degrees per second.
+ *
+ * @param readings The output buffer array that has at least 3 length.
+ */
+ void getGyroXYZDegrees(double readings[3]);
+
+ /**
+ * Burst read the outputs on the x,y,z-axis gyroscope and convert them into degrees per second.
+ *
+ * @param readings The output buffer array that has at least 3 length.
+ */
+ void getGyroXYZRadians(double readings[3]);
+
+ /**
+ * Get the power management configuration.
+ *
+ * See the datasheet for register contents details.
+ *
+ * 7 6 5 4
+ * +---------+-------+---------+---------+
+ * | H_RESET | SLEEP | STBY_XG | STBY_YG |
+ * +---------+-------+---------+---------+
+ *
+ * 3 2 1 0
+ * +---------+----------+----------+----------+
+ * | STBY_ZG | CLK_SEL2 | CLK_SEL1 | CLK_SEL0 |
+ * +---------+----------+----------+----------+
+ *
+ * H_RESET Reset device and internal registers to the power-up-default settings.
+ * SLEEP Enable low power sleep mode.
+ * STBY_XG Put gyro X in standby mode (1=standby, 0=normal).
+ * STBY_YG Put gyro Y in standby mode (1=standby, 0=normal).
+ * STBY_ZG Put gyro Z in standby mode (1=standby, 0=normal).
+ * CLK_SEL Select device clock source:
+ *
+ * CLK_SEL | Clock Source
+ * --------+--------------
+ * 0 Internal oscillator
+ * 1 PLL with X Gyro reference
+ * 2 PLL with Y Gyro reference
+ * 3 PLL with Z Gyro reference
+ * 4 PLL with external 32.768kHz reference
+ * 5 PLL with external 19.2MHz reference
+ * 6 Reserved
+ * 7 Reserved
+ *
+ * @return The contents of the PWR_MGM register.
+ */
+ char getPowerManagement(void);
+
+ /**
+ * Set power management configuration.
+ *
+ * See the datasheet for configuration byte details
+ *
+ * 7 6 5 4
+ * +---------+-------+---------+---------+
+ * | H_RESET | SLEEP | STBY_XG | STBY_YG |
+ * +---------+-------+---------+---------+
+ *
+ * 3 2 1 0
+ * +---------+----------+----------+----------+
+ * | STBY_ZG | CLK_SEL2 | CLK_SEL1 | CLK_SEL0 |
+ * +---------+----------+----------+----------+
+ *
+ * H_RESET Reset device and internal registers to the power-up-default settings.
+ * SLEEP Enable low power sleep mode.
+ * STBY_XG Put gyro X in standby mode (1=standby, 0=normal).
+ * STBY_YG Put gyro Y in standby mode (1=standby, 0=normal).
+ * STBY_ZG Put gyro Z in standby mode (1=standby, 0=normal).
+ * CLK_SEL Select device clock source:
+ *
+ * CLK_SEL | Clock Source
+ * --------+--------------
+ * 0 Internal oscillator
+ * 1 PLL with X Gyro reference
+ * 2 PLL with Y Gyro reference
+ * 3 PLL with Z Gyro reference
+ * 4 PLL with external 32.768kHz reference
+ * 5 PLL with external 19.2MHz reference
+ * 6 Reserved
+ * 7 Reserved
+ *
+ * @param config The configuration byte to write to the PWR_MGM register.
+ */
+ void setPowerManagement(char config);
+
+private:
+
+ I2C i2c_;
+
+};
+
+
+inline void ITG3200::getGyroXYZDegrees(double readings[3]){
+ int intData[3];
+ getGyroXYZ(intData);
+ for(int i = 0; i < 3; i++)
+ readings[i] = intData[i] * 2000. / 32767.;
+}
+
+inline void ITG3200::getGyroXYZRadians(double readings[3]){
+ int intData[3];
+ getGyroXYZ(intData);
+ for(int i = 0; i < 3; i++)
+ readings[i] = intData[i] * 2000. / 32767. * 2. * M_PI / 360.;
+}
+
+#endif /* ITG3200_H */