Diff: ITG3200.h

Revision:

0:13648b72bdf8

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ITG3200.h	Mon Nov 17 11:05:55 2014 +0000
@@ -0,0 +1,170 @@
+/**
+ * @author Larry Littlefield http://kb7kmo.blogspot.com
+ * lots of copping
+ * Ported from Pololu L3G4200D library for Arduino by
+ * @author Michael Shimniok http://bot-thoughts.com
+ * @author Uwe Gartmann
+ * @author Used ITG3200 library developed Aaron Berk as template
+ *
+ * @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"
+
+/** Interface library for the ITG3200 3-axis gyro
+ *
+ * Ported from Pololu L3G4200D library for Arduino by
+ * Michael Shimniok http://bot-thoughts.com
+ * Then ported to ITG3200 by
+ * Larry Littlefield http://kb7kmo.blogspot.com
+ *
+ * testing target: NUCLEO-F401RE
+ * The reason for port is to make compatable calls so it can replace the 
+ * L3G4200D library in the renamed HK10DOK sensor library
+ * new lib name is IMU10DOF
+ * 
+ * @code
+ * #include "mbed.h"
+ * #include "ITG3200.h"
+ * ITG3200 gyro(p28, p27);
+ * ...
+ * int g[3];
+ * gyro.read(g);
+ * @endcode
+ */typedef char byte;
+/**
+ * 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
+
+/**
+ * ITG-3200 triple axis digital gyroscope.
+ */
+
+class ITG3200
+{
+    public:
+        /** Create a new ITG3200 I2C interface
+         * @param sda is the pin for the I2C SDA line
+         * @param scl is the pin for the I2C SCL line
+         */
+        ITG3200(PinName sda, PinName scl);
+        
+        /** Read gyro values
+         * @param g Array containing x, y, and z gyro values
+         * @return g Array containing x, y, and z gyro values
+         */
+        void init(void);
+        
+        void status(byte *s); // read first 4 status registers of ITG3200 into passed array
+        
+        /** Read gyro values
+         * @param g Array containing x, y, and z gyro values
+         * modifies the g Array containing x, y, and z gyro values
+         */
+        void read(int *g);
+        
+        /** Read3 gyro values as integers
+         * @param int x, y, and z gyro values
+         * modifies the int x, y, and z gyro values
+         */
+        void read3(int x, int y, int z);
+        
+        /** Reads 
+         * @parm unsigned int totSamples with 
+         * @parm unsigned int sampleDelayMS
+         * then saves the calculated offsetsto private variables
+         */
+        void zeroCalibrate(unsigned int totSamples, unsigned int sampleDelayMS);
+        
+        /** calls read with an array pointer, adds offsets to modify the array
+         * x,y,z will contain calibrated integer values from the sensor
+         */
+        void readRawCal(int *_GyroXYZ);
+        
+        /** calls readRawCal multiplies gains to modify the array
+         */
+        void readFin(float *_GyroXYZ); // includes gain and offset
+        
+    private:
+        volatile float gains[3]; 
+        volatile int offsets[3];
+        volatile float polarities[3];
+        
+        void setGains(float _Xgain, float _Ygain, float _Zgain);
+        void setOffsets(int _Xoffset, int _Yoffset, int _Zoffset);
+        void setRevPolarity(bool _Xpol, bool _Ypol, bool _Zpol);  // true = Reversed  false = default
+    
+    
+        byte data[6];
+        int _rates[3];
+        I2C _device;
+        void writeReg(byte reg, byte value);
+        byte readReg(byte reg);
+        void enableDefault(void);
+};
+
+#endif /* ITG3200_H */