Larry Littlefield / IMU10DOF

IMU 10dof MEMS from DR Robot adapted from HK10DOF Changed gyro to ITG3200

Fork of HK10DOF by Aloïs Wolff

WARNING: This project is not complete, but this library seems ok so far.

I have the module DFRobotics.com 10DOF MEMS IMU. I wanted a concise module for resolving direction and movement.

I found HK10DOF library (http://developer.mbed.org/users/pommzorz/code/HK10DOF/) with quaternions. But it used a different gyro. So I modified that code to use the same higher level calls but use the ITG3200 low level calls.

ITG3200.cpp@4:c4db4e2ffdd7, 2014-11-18 (annotated)

Committer:
svkatielee
Date:
Tue Nov 18 06:28:56 2014 +0000
Revision:
4:c4db4e2ffdd7
Changed gyro sensor to ITG3200

Who changed what in which revision?

UserRevisionLine numberNew contents of line
svkatielee 4:c4db4e2ffdd7 1 /**
svkatielee 4:c4db4e2ffdd7 2 * Copyright (c) 2011 Pololu Corporation. For more information, see
svkatielee 4:c4db4e2ffdd7 3 *
svkatielee 4:c4db4e2ffdd7 4 * http://www.pololu.com/
svkatielee 4:c4db4e2ffdd7 5 * http://forum.pololu.com/
svkatielee 4:c4db4e2ffdd7 6 *
svkatielee 4:c4db4e2ffdd7 7 * Permission is hereby granted, free of charge, to any person
svkatielee 4:c4db4e2ffdd7 8 * obtaining a copy of this software and associated documentation
svkatielee 4:c4db4e2ffdd7 9 * files (the "Software"), to deal in the Software without
svkatielee 4:c4db4e2ffdd7 10 * restriction, including without limitation the rights to use,
svkatielee 4:c4db4e2ffdd7 11 * copy, modify, merge, publish, distribute, sublicense, and/or sell
svkatielee 4:c4db4e2ffdd7 12 * copies of the Software, and to permit persons to whom the
svkatielee 4:c4db4e2ffdd7 13 * Software is furnished to do so, subject to the following
svkatielee 4:c4db4e2ffdd7 14 * conditions:
svkatielee 4:c4db4e2ffdd7 15 *
svkatielee 4:c4db4e2ffdd7 16 * The above copyright notice and this permission notice shall be
svkatielee 4:c4db4e2ffdd7 17 * included in all copies or substantial portions of the Software.
svkatielee 4:c4db4e2ffdd7 18 *
svkatielee 4:c4db4e2ffdd7 19 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
svkatielee 4:c4db4e2ffdd7 20 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
svkatielee 4:c4db4e2ffdd7 21 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
svkatielee 4:c4db4e2ffdd7 22 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
svkatielee 4:c4db4e2ffdd7 23 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
svkatielee 4:c4db4e2ffdd7 24 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
svkatielee 4:c4db4e2ffdd7 25 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
svkatielee 4:c4db4e2ffdd7 26 * OTHER DEALINGS IN THE SOFTWARE.
svkatielee 4:c4db4e2ffdd7 27 */
svkatielee 4:c4db4e2ffdd7 28
svkatielee 4:c4db4e2ffdd7 29 #include "mbed.h"
svkatielee 4:c4db4e2ffdd7 30 #include "ITG3200.h"
svkatielee 4:c4db4e2ffdd7 31 #include <math.h>
svkatielee 4:c4db4e2ffdd7 32
svkatielee 4:c4db4e2ffdd7 33 // Defines ////////////////////////////////////////////////////////////////
svkatielee 4:c4db4e2ffdd7 34
svkatielee 4:c4db4e2ffdd7 35 // The Arduino two-wire interface uses a 7-bit number for the address,
svkatielee 4:c4db4e2ffdd7 36 // and sets the last bit correctly based on reads and writes
svkatielee 4:c4db4e2ffdd7 37 // mbed I2C libraries take the 7-bit address shifted left 1 bit
svkatielee 4:c4db4e2ffdd7 38 // #define GYR_ADDRESS (0xD2 >> 1)
svkatielee 4:c4db4e2ffdd7 39 #define GYR_ADDRESS (0x68 << 1) //ITG3200
svkatielee 4:c4db4e2ffdd7 40
svkatielee 4:c4db4e2ffdd7 41 // Public Methods //////////////////////////////////////////////////////////////
svkatielee 4:c4db4e2ffdd7 42
svkatielee 4:c4db4e2ffdd7 43 // Constructor
svkatielee 4:c4db4e2ffdd7 44 ITG3200::ITG3200(PinName sda, PinName scl):
svkatielee 4:c4db4e2ffdd7 45 _device(sda, scl)
svkatielee 4:c4db4e2ffdd7 46 {
svkatielee 4:c4db4e2ffdd7 47 _device.frequency(50000);
svkatielee 4:c4db4e2ffdd7 48
svkatielee 4:c4db4e2ffdd7 49 //Set FS_SEL to 0x03 for proper operation.
svkatielee 4:c4db4e2ffdd7 50 writeReg(SMPLRT_DIV_REG, 0x07); // samplr rte 1000hz 7sample low pass filter
svkatielee 4:c4db4e2ffdd7 51 writeReg(DLPF_FS_REG, 0x03 << 3);
svkatielee 4:c4db4e2ffdd7 52 // writeReg(L3G4200D_CTRL_REG4, 0x20); // 2000 dps full scale default for ITG3200
svkatielee 4:c4db4e2ffdd7 53 writeReg(PWR_MGM_REG, 0x01); // CLK_SEL to x gyro
svkatielee 4:c4db4e2ffdd7 54
svkatielee 4:c4db4e2ffdd7 55 setGains(2.0,2.0,2.0);
svkatielee 4:c4db4e2ffdd7 56 setOffsets(0.0,0.0,0.0);
svkatielee 4:c4db4e2ffdd7 57
svkatielee 4:c4db4e2ffdd7 58 }
svkatielee 4:c4db4e2ffdd7 59
svkatielee 4:c4db4e2ffdd7 60 // Initialize gyro again
svkatielee 4:c4db4e2ffdd7 61 void ITG3200::init(void)
svkatielee 4:c4db4e2ffdd7 62 {
svkatielee 4:c4db4e2ffdd7 63 //Set FS_SEL to 0x03 for proper operation.
svkatielee 4:c4db4e2ffdd7 64 writeReg(SMPLRT_DIV_REG, 0x07); // samplr rte 1000hz 7sample low pass filter
svkatielee 4:c4db4e2ffdd7 65 writeReg(DLPF_FS_REG, 0x03 << 3);
svkatielee 4:c4db4e2ffdd7 66 // writeReg(L3G4200D_CTRL_REG4, 0x20); // 2000 dps full scale default for ITG3200
svkatielee 4:c4db4e2ffdd7 67 writeReg(PWR_MGM_REG, 0x01); // CLK_SEL to x gyro
svkatielee 4:c4db4e2ffdd7 68
svkatielee 4:c4db4e2ffdd7 69 // initialize varaibles
svkatielee 4:c4db4e2ffdd7 70 setRevPolarity(false, false, false);
svkatielee 4:c4db4e2ffdd7 71 setGains(1.0,1.0,1.0);
svkatielee 4:c4db4e2ffdd7 72 setOffsets(0.0,0.0,0.0);
svkatielee 4:c4db4e2ffdd7 73 }
svkatielee 4:c4db4e2ffdd7 74
svkatielee 4:c4db4e2ffdd7 75 // read status registers of ITG3200
svkatielee 4:c4db4e2ffdd7 76 void ITG3200::status(byte *s)
svkatielee 4:c4db4e2ffdd7 77 {
svkatielee 4:c4db4e2ffdd7 78 s[0]=readReg(WHO_AM_I_REG);
svkatielee 4:c4db4e2ffdd7 79 s[1]=readReg(SMPLRT_DIV_REG);
svkatielee 4:c4db4e2ffdd7 80 s[2]=readReg(DLPF_FS_REG);
svkatielee 4:c4db4e2ffdd7 81 s[3]=readReg(PWR_MGM_REG);
svkatielee 4:c4db4e2ffdd7 82 }
svkatielee 4:c4db4e2ffdd7 83
svkatielee 4:c4db4e2ffdd7 84 // Writes a gyro register
svkatielee 4:c4db4e2ffdd7 85 void ITG3200::writeReg(byte reg, byte value)
svkatielee 4:c4db4e2ffdd7 86 {
svkatielee 4:c4db4e2ffdd7 87 data[0] = reg;
svkatielee 4:c4db4e2ffdd7 88 data[1] = value;
svkatielee 4:c4db4e2ffdd7 89
svkatielee 4:c4db4e2ffdd7 90 _device.write(GYR_ADDRESS, data, 2);
svkatielee 4:c4db4e2ffdd7 91 }
svkatielee 4:c4db4e2ffdd7 92
svkatielee 4:c4db4e2ffdd7 93 // Reads a gyro register
svkatielee 4:c4db4e2ffdd7 94 byte ITG3200::readReg(byte reg)
svkatielee 4:c4db4e2ffdd7 95 {
svkatielee 4:c4db4e2ffdd7 96 byte value = 0;
svkatielee 4:c4db4e2ffdd7 97
svkatielee 4:c4db4e2ffdd7 98 _device.write(GYR_ADDRESS, &reg, 1);
svkatielee 4:c4db4e2ffdd7 99 _device.read(GYR_ADDRESS, &value, 1);
svkatielee 4:c4db4e2ffdd7 100
svkatielee 4:c4db4e2ffdd7 101 return value;
svkatielee 4:c4db4e2ffdd7 102 }
svkatielee 4:c4db4e2ffdd7 103
svkatielee 4:c4db4e2ffdd7 104 void ITG3200::setGains(float _Xgain, float _Ygain, float _Zgain) {
svkatielee 4:c4db4e2ffdd7 105 gains[0] = _Xgain;
svkatielee 4:c4db4e2ffdd7 106 gains[1] = _Ygain;
svkatielee 4:c4db4e2ffdd7 107 gains[2] = _Zgain;
svkatielee 4:c4db4e2ffdd7 108 }
svkatielee 4:c4db4e2ffdd7 109
svkatielee 4:c4db4e2ffdd7 110 void ITG3200::setOffsets(int _Xoffset, int _Yoffset, int _Zoffset) {
svkatielee 4:c4db4e2ffdd7 111 offsets[0] = _Xoffset;
svkatielee 4:c4db4e2ffdd7 112 offsets[1] = _Yoffset;
svkatielee 4:c4db4e2ffdd7 113 offsets[2] = _Zoffset;
svkatielee 4:c4db4e2ffdd7 114 }
svkatielee 4:c4db4e2ffdd7 115
svkatielee 4:c4db4e2ffdd7 116 void ITG3200::setRevPolarity(bool _Xpol, bool _Ypol, bool _Zpol) {
svkatielee 4:c4db4e2ffdd7 117 polarities[0] = _Xpol ? -1 : 1;
svkatielee 4:c4db4e2ffdd7 118 polarities[1] = _Ypol ? -1 : 1;
svkatielee 4:c4db4e2ffdd7 119 polarities[2] = _Zpol ? -1 : 1;
svkatielee 4:c4db4e2ffdd7 120 }
svkatielee 4:c4db4e2ffdd7 121
svkatielee 4:c4db4e2ffdd7 122
svkatielee 4:c4db4e2ffdd7 123 void ITG3200::zeroCalibrate(unsigned int totSamples, unsigned int sampleDelayMS) {
svkatielee 4:c4db4e2ffdd7 124 int xyz[3];
svkatielee 4:c4db4e2ffdd7 125 float tmpOffsets[] = {0,0,0};
svkatielee 4:c4db4e2ffdd7 126
svkatielee 4:c4db4e2ffdd7 127 for (unsigned int i = 0;i < totSamples;i++){
svkatielee 4:c4db4e2ffdd7 128 wait_ms(sampleDelayMS);
svkatielee 4:c4db4e2ffdd7 129 read(xyz);
svkatielee 4:c4db4e2ffdd7 130 tmpOffsets[0] += xyz[0];
svkatielee 4:c4db4e2ffdd7 131 tmpOffsets[1] += xyz[1];
svkatielee 4:c4db4e2ffdd7 132 tmpOffsets[2] += xyz[2];
svkatielee 4:c4db4e2ffdd7 133 }
svkatielee 4:c4db4e2ffdd7 134 setOffsets(-tmpOffsets[0] / totSamples, -tmpOffsets[1] / totSamples, -tmpOffsets[2] / totSamples);
svkatielee 4:c4db4e2ffdd7 135 }
svkatielee 4:c4db4e2ffdd7 136
svkatielee 4:c4db4e2ffdd7 137
svkatielee 4:c4db4e2ffdd7 138 // Reads the 3 gyro channels and stores them in vector g
svkatielee 4:c4db4e2ffdd7 139 void ITG3200::read(int *g)
svkatielee 4:c4db4e2ffdd7 140 {
svkatielee 4:c4db4e2ffdd7 141 // assert the MSB of the address to get the gyro
svkatielee 4:c4db4e2ffdd7 142 // to do slave-transmit subaddress updating. (ITG default)
svkatielee 4:c4db4e2ffdd7 143 data[0] = GYRO_XOUT_H_REG;
svkatielee 4:c4db4e2ffdd7 144 _device.write(GYR_ADDRESS, data, 1);
svkatielee 4:c4db4e2ffdd7 145
svkatielee 4:c4db4e2ffdd7 146 // Wire.requestFrom(GYR_ADDRESS, 6);
svkatielee 4:c4db4e2ffdd7 147 // while (Wire.available() < 6);
svkatielee 4:c4db4e2ffdd7 148
svkatielee 4:c4db4e2ffdd7 149 _device.read(GYR_ADDRESS, data, 6);
svkatielee 4:c4db4e2ffdd7 150
svkatielee 4:c4db4e2ffdd7 151 uint8_t xha = data[0];
svkatielee 4:c4db4e2ffdd7 152 uint8_t xla = data[1];
svkatielee 4:c4db4e2ffdd7 153 uint8_t yha = data[2];
svkatielee 4:c4db4e2ffdd7 154 uint8_t yla = data[3];
svkatielee 4:c4db4e2ffdd7 155 uint8_t zha = data[4];
svkatielee 4:c4db4e2ffdd7 156 uint8_t zla = data[5];
svkatielee 4:c4db4e2ffdd7 157
svkatielee 4:c4db4e2ffdd7 158 g[0] = (short) (yha << 8 | yla);
svkatielee 4:c4db4e2ffdd7 159 g[1] = (short) (xha << 8 | xla);
svkatielee 4:c4db4e2ffdd7 160 g[2] = (short) (zha << 8 | zla);
svkatielee 4:c4db4e2ffdd7 161 }
svkatielee 4:c4db4e2ffdd7 162
svkatielee 4:c4db4e2ffdd7 163 void ITG3200::readRawCal(int *_GyroXYZ) {
svkatielee 4:c4db4e2ffdd7 164 read(_GyroXYZ);
svkatielee 4:c4db4e2ffdd7 165 _GyroXYZ[0] += offsets[0];
svkatielee 4:c4db4e2ffdd7 166 _GyroXYZ[1] += offsets[1];
svkatielee 4:c4db4e2ffdd7 167 _GyroXYZ[2] += offsets[2];
svkatielee 4:c4db4e2ffdd7 168 }
svkatielee 4:c4db4e2ffdd7 169
svkatielee 4:c4db4e2ffdd7 170
svkatielee 4:c4db4e2ffdd7 171
svkatielee 4:c4db4e2ffdd7 172 void ITG3200::read3(int x, int y, int z) {
svkatielee 4:c4db4e2ffdd7 173 int* r2;
svkatielee 4:c4db4e2ffdd7 174 //readings[0]=0;
svkatielee 4:c4db4e2ffdd7 175 //readings[1]=0;
svkatielee 4:c4db4e2ffdd7 176 //readings[2]=0;
svkatielee 4:c4db4e2ffdd7 177 read(r2);
svkatielee 4:c4db4e2ffdd7 178
svkatielee 4:c4db4e2ffdd7 179 x = r2[0];
svkatielee 4:c4db4e2ffdd7 180 y = r2[1];
svkatielee 4:c4db4e2ffdd7 181 z = r2[2];
svkatielee 4:c4db4e2ffdd7 182 }
svkatielee 4:c4db4e2ffdd7 183
svkatielee 4:c4db4e2ffdd7 184 void ITG3200::readFin(float *_GyroXYZ){
svkatielee 4:c4db4e2ffdd7 185 int xyz[3];
svkatielee 4:c4db4e2ffdd7 186
svkatielee 4:c4db4e2ffdd7 187 readRawCal(xyz); // x,y,z will contain calibrated integer values from the sensor
svkatielee 4:c4db4e2ffdd7 188 _GyroXYZ[0] = (float)(xyz[0]) / (14.375 * polarities[0] * gains[0]);
svkatielee 4:c4db4e2ffdd7 189 _GyroXYZ[1] = (float)(xyz[1]) / (14.375 * polarities[1] * gains[1]);
svkatielee 4:c4db4e2ffdd7 190 _GyroXYZ[2] = (float)(xyz[2]) / (14.375 * polarities[2] * gains[2]);
svkatielee 4:c4db4e2ffdd7 191 }