Revision 12:d624e9c6dae7, committed 2012-11-06

Comitter:

tylerjw

Date:

Tue Nov 06 17:31:49 2012 +0000

Parent:

11:9a354f34d8e3

Child:

13:e886466d7d67

Commit message:

getGyro commands replaced with get

Changed in this revision

--- a/ITG3200.cpp	Wed Oct 31 15:42:01 2012 +0000
+++ b/ITG3200.cpp	Tue Nov 06 17:31:49 2012 +0000
@@ -68,7 +68,12 @@
     tx[1] = 0x03 << 3;
 
     i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
+    
+    const float offset[3] = {99.5, -45.0, -29.7}; // taken from itg3200.xls curve fit test
+    const float slope[3] = {-1.05, 0.95, 0.47};
 
+    setCalibrationCurve(offset, slope);
+    setLpBandwidth(LPFBW_5HZ); // lowest rate low-pass filter
 }
 
 void ITG3200::setCalibrationCurve(const float offset[3], const float slope[3])
@@ -254,7 +259,7 @@
 
 }
 
-void ITG3200::getRawGyroXYZ(int readings[3])
+void ITG3200::getRawXYZ(int readings[3])
 {
 
     char tx = GYRO_XOUT_H_REG;
@@ -268,9 +273,9 @@
         readings[i] = swapExtend(&rx[i * 2]);
 }
 
-void ITG3200::getGyroXYZ(int readings[3], Correction corr)
+void ITG3200::getXYZ(int16_t readings[3], Correction corr)
 {
-    getRawGyroXYZ(readings);
+    getRawXYZ(readings);
     switch(corr) {
         case OffsetCorrection:
             for(int i = 0; i < 3; i++)
@@ -319,7 +324,7 @@
     t.start();
     while(t.read() < time) {
         int gyro[3];
-        getRawGyroXYZ(gyro);
+        getRawXYZ(gyro);
         for(int i = 0; i < 3; i++)
             sum[i] += gyro[i];
         sumCount++;

--- a/ITG3200.h	Wed Oct 31 15:42:01 2012 +0000
+++ b/ITG3200.h	Tue Nov 06 17:31:49 2012 +0000
@@ -98,7 +98,7 @@
     static const int I2C_ADDRESS = 0xD0;
     
     /**
-     * @brief Zero offset correction mode that can be specified when calling getGyroXYZ().
+     * @brief Zero offset correction mode that can be specified when calling getXYZ().
      *
      * The device has a major drift in readings depending on ambient temperature.
      * You can measure the temperature with built-in thermometer to correct it, but you
@@ -296,7 +296,7 @@
      *
      * @return The output on the x-axis in raw ADC counts.
      */
-    int getGyroX(void){ return getWord(GYRO_XOUT_H_REG); }
+    int getX(void){ return getWord(GYRO_XOUT_H_REG); }
 
     /**
      * Get the output for the y-axis gyroscope.
@@ -305,7 +305,7 @@
      *
      * @return The output on the y-axis in raw ADC counts.
      */
-    int getGyroY(void){ return getWord(GYRO_YOUT_H_REG); }
+    int getY(void){ return getWord(GYRO_YOUT_H_REG); }
 
     /**
      * Get the output on the z-axis gyroscope.
@@ -314,7 +314,7 @@
      * 
      * @return The output on the z-axis in raw ADC counts.
      */
-    int getGyroZ(void){ return getWord(GYRO_ZOUT_H_REG); }
+    int getZ(void){ return getWord(GYRO_ZOUT_H_REG); }
 
     /**
      * Burst read the outputs on the x,y,z-axis gyroscope.
@@ -324,7 +324,7 @@
      * @param readings The output buffer array that has at least 3 length.
      * @param corr Correction method for returned values.
      */
-    void getGyroXYZ(int readings[3], Correction corr = OffsetCorrection);
+    void getXYZ(int16_t readings[3], Correction corr = OffsetCorrection);
 
     /**
      * Burst read the outputs on the x,y,z-axis gyroscope and convert them into degrees per second.
@@ -332,7 +332,7 @@
      * @param readings The output buffer array that has at least 3 length.
      * @param corr Correction method for returned values.
      */
-    void getGyroXYZDegrees(double readings[3], Correction corr = OffsetCorrection);
+    void getXYZDegrees(double readings[3], Correction corr = OffsetCorrection);
 
     /**
      * Burst read the outputs on the x,y,z-axis gyroscope and convert them into degrees per second.
@@ -340,7 +340,7 @@
      * @param readings The output buffer array that has at least 3 length.
      * @param corr Correction method for returned values.
      */
-    void getGyroXYZRadians(double readings[3], Correction corr = OffsetCorrection);
+    void getXYZRadians(double readings[3], Correction corr = OffsetCorrection);
 
     /**
      * Get the power management configuration.
@@ -421,7 +421,7 @@
      *
      * Be sure to keep the sensor stationary while sampling offset.
      *
-     * Once this function is invoked, following getGyroXYZ*() functions return
+     * Once this function is invoked, following getXYZ*() functions return
      * corrected values.
      *
      * If the drift value changes over time, you can call this function once in a while
@@ -461,7 +461,7 @@
      *
      * The queried value is assumed big-endian, 2's complement value.
      *
-     * This protected function is added because we shouldn't write getGyroX(), getGyroY() and getGyroZ()
+     * This protected function is added because we shouldn't write getX(), getY() and getZ()
      * independently, but collect common codes.
      *
      * @param regi Register address to be read.
@@ -474,7 +474,7 @@
      * Protected for the time being, although there could be cases that raw values are
      * appreciated by the user.
      */
-    void getRawGyroXYZ(int readings[3]);
+    void getRawXYZ(int readings[3]);
 
     /**
      * Offset values that will be subtracted from output.
@@ -516,16 +516,16 @@
 };
 
 
-inline void ITG3200::getGyroXYZDegrees(double readings[3], Correction corr){
+inline void ITG3200::getXYZDegrees(double readings[3], Correction corr){
     int intData[3];
-    getGyroXYZ(intData, corr);
+    getXYZ(intData, corr);
     for(int i = 0; i < 3; i++)
         readings[i] = intData[i] * 2000. / 32767.;
 }
 
-inline void ITG3200::getGyroXYZRadians(double readings[3], Correction corr){
+inline void ITG3200::getXYZRadians(double readings[3], Correction corr){
     int intData[3];
-    getGyroXYZ(intData, corr);
+    getXYZ(intData, corr);
     for(int i = 0; i < 3; i++)
         readings[i] = intData[i] * 2000. / 32767. * 2. * M_PI / 360.;
 }