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@8:ac0365ab3cef, 2012-10-02 (annotated)

Committer:
gltest26
Date:
Tue Oct 02 17:09:20 2012 +0000
Revision:
8:ac0365ab3cef
Parent:
7:43b936a53b64
Child:
9:05396b551a9a
Added a new constructor to accept an external I2C interface object.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gltest26 1:9bef044f45ad 1 /**
gltest26 4:155c44407af5 2 * @file ITG3200.cpp
gltest26 1:9bef044f45ad 3 * @author Aaron Berk
gltest26 1:9bef044f45ad 4 *
gltest26 1:9bef044f45ad 5 * @section LICENSE
gltest26 1:9bef044f45ad 6 *
gltest26 1:9bef044f45ad 7 * Copyright (c) 2010 ARM Limited
gltest26 1:9bef044f45ad 8 *
gltest26 1:9bef044f45ad 9 * Permission is hereby granted, free of charge, to any person obtaining a copy
gltest26 1:9bef044f45ad 10 * of this software and associated documentation files (the "Software"), to deal
gltest26 1:9bef044f45ad 11 * in the Software without restriction, including without limitation the rights
gltest26 1:9bef044f45ad 12 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
gltest26 1:9bef044f45ad 13 * copies of the Software, and to permit persons to whom the Software is
gltest26 1:9bef044f45ad 14 * furnished to do so, subject to the following conditions:
gltest26 1:9bef044f45ad 15 *
gltest26 1:9bef044f45ad 16 * The above copyright notice and this permission notice shall be included in
gltest26 1:9bef044f45ad 17 * all copies or substantial portions of the Software.
gltest26 1:9bef044f45ad 18 *
gltest26 1:9bef044f45ad 19 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
gltest26 1:9bef044f45ad 20 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
gltest26 1:9bef044f45ad 21 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
gltest26 1:9bef044f45ad 22 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
gltest26 1:9bef044f45ad 23 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
gltest26 1:9bef044f45ad 24 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
gltest26 1:9bef044f45ad 25 * THE SOFTWARE.
gltest26 1:9bef044f45ad 26 *
gltest26 1:9bef044f45ad 27 * @section DESCRIPTION
gltest26 1:9bef044f45ad 28 *
gltest26 1:9bef044f45ad 29 * ITG-3200 triple axis, digital interface, gyroscope.
gltest26 1:9bef044f45ad 30 *
gltest26 1:9bef044f45ad 31 * Datasheet:
gltest26 1:9bef044f45ad 32 *
gltest26 1:9bef044f45ad 33 * http://invensense.com/mems/gyro/documents/PS-ITG-3200-00-01.4.pdf
gltest26 1:9bef044f45ad 34 */
gltest26 1:9bef044f45ad 35
gltest26 1:9bef044f45ad 36 #include "ITG3200.h"
gltest26 8:ac0365ab3cef 37 #include <new>
gltest26 1:9bef044f45ad 38
gltest26 8:ac0365ab3cef 39 ITG3200::ITG3200(PinName sda, PinName scl, bool fastmode) : calibSamples(0), i2c_(*reinterpret_cast<I2C*>(i2cRaw)){
gltest26 8:ac0365ab3cef 40 // Placement new to avoid additional heap memory allocation.
gltest26 8:ac0365ab3cef 41 new(i2cRaw) I2C(sda, scl);
gltest26 1:9bef044f45ad 42
gltest26 3:eea9733ca427 43 offset[0] = offset[1] = offset[2] = 0;
gltest26 3:eea9733ca427 44
gltest26 7:43b936a53b64 45 if(fastmode){
gltest26 7:43b936a53b64 46 //400kHz, fast mode.
gltest26 7:43b936a53b64 47 i2c_.frequency(400000);
gltest26 7:43b936a53b64 48 }
gltest26 7:43b936a53b64 49 else
gltest26 7:43b936a53b64 50 i2c_.frequency(100000);
gltest26 8:ac0365ab3cef 51 }
gltest26 1:9bef044f45ad 52
gltest26 8:ac0365ab3cef 53 ITG3200::~ITG3200(){
gltest26 8:ac0365ab3cef 54 // If the I2C object is initialized in the buffer in this object, call destructor of it.
gltest26 8:ac0365ab3cef 55 if(&i2c_ == reinterpret_cast<I2C*>(&i2cRaw))
gltest26 8:ac0365ab3cef 56 reinterpret_cast<I2C*>(&i2cRaw)->~I2C();
gltest26 8:ac0365ab3cef 57 }
gltest26 8:ac0365ab3cef 58
gltest26 8:ac0365ab3cef 59 void ITG3200::init(){
gltest26 1:9bef044f45ad 60 //Set FS_SEL to 0x03 for proper operation.
gltest26 1:9bef044f45ad 61 //See datasheet for details.
gltest26 1:9bef044f45ad 62 char tx[2];
gltest26 1:9bef044f45ad 63 tx[0] = DLPF_FS_REG;
gltest26 1:9bef044f45ad 64 //FS_SEL bits sit in bits 4 and 3 of DLPF_FS register.
gltest26 1:9bef044f45ad 65 tx[1] = 0x03 << 3;
gltest26 1:9bef044f45ad 66
gltest26 1:9bef044f45ad 67 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
gltest26 1:9bef044f45ad 68
gltest26 1:9bef044f45ad 69 }
gltest26 1:9bef044f45ad 70
gltest26 1:9bef044f45ad 71 char ITG3200::getWhoAmI(void){
gltest26 1:9bef044f45ad 72
gltest26 1:9bef044f45ad 73 //WhoAmI Register address.
gltest26 1:9bef044f45ad 74 char tx = WHO_AM_I_REG;
gltest26 1:9bef044f45ad 75 char rx;
gltest26 1:9bef044f45ad 76
gltest26 1:9bef044f45ad 77 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
gltest26 1:9bef044f45ad 78
gltest26 1:9bef044f45ad 79 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
gltest26 1:9bef044f45ad 80
gltest26 1:9bef044f45ad 81 return rx;
gltest26 1:9bef044f45ad 82
gltest26 1:9bef044f45ad 83 }
gltest26 1:9bef044f45ad 84
gltest26 1:9bef044f45ad 85 void ITG3200::setWhoAmI(char address){
gltest26 1:9bef044f45ad 86
gltest26 1:9bef044f45ad 87 char tx[2];
gltest26 1:9bef044f45ad 88 tx[0] = WHO_AM_I_REG;
gltest26 1:9bef044f45ad 89 tx[1] = address;
gltest26 1:9bef044f45ad 90
gltest26 1:9bef044f45ad 91 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
gltest26 1:9bef044f45ad 92
gltest26 1:9bef044f45ad 93 }
gltest26 1:9bef044f45ad 94
gltest26 1:9bef044f45ad 95 char ITG3200::getSampleRateDivider(void){
gltest26 1:9bef044f45ad 96
gltest26 1:9bef044f45ad 97 char tx = SMPLRT_DIV_REG;
gltest26 1:9bef044f45ad 98 char rx;
gltest26 1:9bef044f45ad 99
gltest26 1:9bef044f45ad 100 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
gltest26 1:9bef044f45ad 101
gltest26 1:9bef044f45ad 102 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
gltest26 1:9bef044f45ad 103
gltest26 1:9bef044f45ad 104 return rx;
gltest26 1:9bef044f45ad 105
gltest26 1:9bef044f45ad 106 }
gltest26 1:9bef044f45ad 107
gltest26 1:9bef044f45ad 108 void ITG3200::setSampleRateDivider(char divider){
gltest26 1:9bef044f45ad 109
gltest26 1:9bef044f45ad 110 char tx[2];
gltest26 1:9bef044f45ad 111 tx[0] = SMPLRT_DIV_REG;
gltest26 1:9bef044f45ad 112 tx[1] = divider;
gltest26 1:9bef044f45ad 113
gltest26 1:9bef044f45ad 114 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
gltest26 1:9bef044f45ad 115
gltest26 1:9bef044f45ad 116 }
gltest26 1:9bef044f45ad 117
gltest26 1:9bef044f45ad 118 int ITG3200::getInternalSampleRate(void){
gltest26 1:9bef044f45ad 119
gltest26 1:9bef044f45ad 120 char tx = DLPF_FS_REG;
gltest26 1:9bef044f45ad 121 char rx;
gltest26 1:9bef044f45ad 122
gltest26 1:9bef044f45ad 123 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
gltest26 1:9bef044f45ad 124
gltest26 1:9bef044f45ad 125 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
gltest26 1:9bef044f45ad 126
gltest26 1:9bef044f45ad 127 //DLPF_CFG == 0 -> sample rate = 8kHz.
gltest26 1:9bef044f45ad 128 if(rx == 0){
gltest26 1:9bef044f45ad 129 return 8;
gltest26 1:9bef044f45ad 130 }
gltest26 1:9bef044f45ad 131 //DLPF_CFG = 1..7 -> sample rate = 1kHz.
gltest26 1:9bef044f45ad 132 else if(rx >= 1 && rx <= 7){
gltest26 1:9bef044f45ad 133 return 1;
gltest26 1:9bef044f45ad 134 }
gltest26 1:9bef044f45ad 135 //DLPF_CFG = anything else -> something's wrong!
gltest26 1:9bef044f45ad 136 else{
gltest26 1:9bef044f45ad 137 return -1;
gltest26 1:9bef044f45ad 138 }
gltest26 1:9bef044f45ad 139
gltest26 1:9bef044f45ad 140 }
gltest26 1:9bef044f45ad 141
gltest26 1:9bef044f45ad 142 void ITG3200::setLpBandwidth(char bandwidth){
gltest26 1:9bef044f45ad 143
gltest26 1:9bef044f45ad 144 char tx[2];
gltest26 1:9bef044f45ad 145 tx[0] = DLPF_FS_REG;
gltest26 1:9bef044f45ad 146 //Bits 4,3 are required to be 0x03 for proper operation.
gltest26 1:9bef044f45ad 147 tx[1] = bandwidth | (0x03 << 3);
gltest26 1:9bef044f45ad 148
gltest26 1:9bef044f45ad 149 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
gltest26 1:9bef044f45ad 150
gltest26 1:9bef044f45ad 151 }
gltest26 1:9bef044f45ad 152
gltest26 1:9bef044f45ad 153 char ITG3200::getInterruptConfiguration(void){
gltest26 1:9bef044f45ad 154
gltest26 1:9bef044f45ad 155 char tx = INT_CFG_REG;
gltest26 1:9bef044f45ad 156 char rx;
gltest26 1:9bef044f45ad 157
gltest26 1:9bef044f45ad 158 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
gltest26 1:9bef044f45ad 159
gltest26 1:9bef044f45ad 160 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
gltest26 1:9bef044f45ad 161
gltest26 1:9bef044f45ad 162 return rx;
gltest26 1:9bef044f45ad 163
gltest26 1:9bef044f45ad 164 }
gltest26 1:9bef044f45ad 165
gltest26 1:9bef044f45ad 166 void ITG3200::setInterruptConfiguration(char config){
gltest26 1:9bef044f45ad 167
gltest26 1:9bef044f45ad 168 char tx[2];
gltest26 1:9bef044f45ad 169 tx[0] = INT_CFG_REG;
gltest26 1:9bef044f45ad 170 tx[1] = config;
gltest26 1:9bef044f45ad 171
gltest26 1:9bef044f45ad 172 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
gltest26 1:9bef044f45ad 173
gltest26 1:9bef044f45ad 174 }
gltest26 1:9bef044f45ad 175
gltest26 1:9bef044f45ad 176 bool ITG3200::isPllReady(void){
gltest26 1:9bef044f45ad 177
gltest26 1:9bef044f45ad 178 char tx = INT_STATUS;
gltest26 1:9bef044f45ad 179 char rx;
gltest26 1:9bef044f45ad 180
gltest26 1:9bef044f45ad 181 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
gltest26 1:9bef044f45ad 182
gltest26 1:9bef044f45ad 183 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
gltest26 1:9bef044f45ad 184
gltest26 1:9bef044f45ad 185 //ITG_RDY bit is bit 4 of INT_STATUS register.
gltest26 1:9bef044f45ad 186 if(rx & 0x04){
gltest26 1:9bef044f45ad 187 return true;
gltest26 1:9bef044f45ad 188 }
gltest26 1:9bef044f45ad 189 else{
gltest26 1:9bef044f45ad 190 return false;
gltest26 1:9bef044f45ad 191 }
gltest26 1:9bef044f45ad 192
gltest26 1:9bef044f45ad 193 }
gltest26 1:9bef044f45ad 194
gltest26 1:9bef044f45ad 195 bool ITG3200::isRawDataReady(void){
gltest26 1:9bef044f45ad 196
gltest26 1:9bef044f45ad 197 char tx = INT_STATUS;
gltest26 1:9bef044f45ad 198 char rx;
gltest26 1:9bef044f45ad 199
gltest26 1:9bef044f45ad 200 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
gltest26 1:9bef044f45ad 201
gltest26 1:9bef044f45ad 202 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
gltest26 1:9bef044f45ad 203
gltest26 1:9bef044f45ad 204 //RAW_DATA_RDY bit is bit 1 of INT_STATUS register.
gltest26 1:9bef044f45ad 205 if(rx & 0x01){
gltest26 1:9bef044f45ad 206 return true;
gltest26 1:9bef044f45ad 207 }
gltest26 1:9bef044f45ad 208 else{
gltest26 1:9bef044f45ad 209 return false;
gltest26 1:9bef044f45ad 210 }
gltest26 1:9bef044f45ad 211
gltest26 1:9bef044f45ad 212 }
gltest26 1:9bef044f45ad 213
gltest26 4:155c44407af5 214 int ITG3200::getWord(int regi){
gltest26 1:9bef044f45ad 215
gltest26 4:155c44407af5 216 char tx = regi;
gltest26 1:9bef044f45ad 217 char rx[2];
gltest26 1:9bef044f45ad 218
gltest26 2:f44a902ba081 219 i2c_.write(I2C_ADDRESS, &tx, 1);
gltest26 2:f44a902ba081 220
gltest26 2:f44a902ba081 221 i2c_.read(I2C_ADDRESS, rx, 2);
gltest26 1:9bef044f45ad 222
gltest26 5:0a0315f0f34e 223 return swapExtend(rx);
gltest26 1:9bef044f45ad 224 }
gltest26 1:9bef044f45ad 225
gltest26 1:9bef044f45ad 226 float ITG3200::getTemperature(){
gltest26 1:9bef044f45ad 227 //Offset = -35 degrees, 13200 counts. 280 counts/degrees C.
gltest26 1:9bef044f45ad 228 return 35.0 + ((getRawTemperature() + 13200)/280.0);
gltest26 1:9bef044f45ad 229
gltest26 1:9bef044f45ad 230 }
gltest26 1:9bef044f45ad 231
gltest26 3:eea9733ca427 232 void ITG3200::getRawGyroXYZ(int readings[3]){
gltest26 1:9bef044f45ad 233
gltest26 1:9bef044f45ad 234 char tx = GYRO_XOUT_H_REG;
gltest26 1:9bef044f45ad 235 char rx[2];
gltest26 1:9bef044f45ad 236
gltest26 1:9bef044f45ad 237 i2c_.write(I2C_ADDRESS, &tx, 1);
gltest26 1:9bef044f45ad 238
gltest26 1:9bef044f45ad 239 i2c_.read(I2C_ADDRESS, rx, 6);
gltest26 1:9bef044f45ad 240
gltest26 1:9bef044f45ad 241 for(int i = 0; i < 3; i++)
gltest26 5:0a0315f0f34e 242 readings[i] = swapExtend(&rx[i * 2]);
gltest26 1:9bef044f45ad 243 }
gltest26 1:9bef044f45ad 244
gltest26 1:9bef044f45ad 245 char ITG3200::getPowerManagement(void){
gltest26 1:9bef044f45ad 246
gltest26 1:9bef044f45ad 247 char tx = PWR_MGM_REG;
gltest26 1:9bef044f45ad 248 char rx;
gltest26 1:9bef044f45ad 249
gltest26 1:9bef044f45ad 250 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
gltest26 1:9bef044f45ad 251
gltest26 1:9bef044f45ad 252 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
gltest26 1:9bef044f45ad 253
gltest26 1:9bef044f45ad 254 return rx;
gltest26 1:9bef044f45ad 255
gltest26 1:9bef044f45ad 256 }
gltest26 1:9bef044f45ad 257
gltest26 1:9bef044f45ad 258 void ITG3200::setPowerManagement(char config){
gltest26 1:9bef044f45ad 259
gltest26 1:9bef044f45ad 260 char tx[2];
gltest26 1:9bef044f45ad 261 tx[0] = PWR_MGM_REG;
gltest26 1:9bef044f45ad 262 tx[1] = config;
gltest26 1:9bef044f45ad 263
gltest26 1:9bef044f45ad 264 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
gltest26 1:9bef044f45ad 265
gltest26 1:9bef044f45ad 266 }
gltest26 3:eea9733ca427 267
gltest26 3:eea9733ca427 268 void ITG3200::calibrate(double time){
gltest26 3:eea9733ca427 269 long sum[3] = {0};
gltest26 3:eea9733ca427 270 int sumCount = 0;
gltest26 6:a7ad6046824c 271 Timer t;
gltest26 6:a7ad6046824c 272 t.start();
gltest26 6:a7ad6046824c 273 while(t.read() < time){
gltest26 3:eea9733ca427 274 int gyro[3];
gltest26 6:a7ad6046824c 275 getRawGyroXYZ(gyro);
gltest26 3:eea9733ca427 276 for(int i = 0; i < 3; i++)
gltest26 3:eea9733ca427 277 sum[i] += gyro[i];
gltest26 3:eea9733ca427 278 sumCount++;
gltest26 3:eea9733ca427 279 }
gltest26 6:a7ad6046824c 280 t.stop();
gltest26 6:a7ad6046824c 281
gltest26 3:eea9733ca427 282 // Avoid zero division
gltest26 3:eea9733ca427 283 if(0 < sumCount){
gltest26 3:eea9733ca427 284 for(int i = 0; i < 3; i++)
gltest26 3:eea9733ca427 285 offset[i] = sum[i] / sumCount;
gltest26 6:a7ad6046824c 286 // Update member variable only if successful
gltest26 6:a7ad6046824c 287 calibSamples = sumCount;
gltest26 3:eea9733ca427 288 }
gltest26 3:eea9733ca427 289 }