1/* 2 * Author: Mihai Tudor Panu <mihai.tudor.panu@intel.com> 3 * Copyright (c) 2014 Intel Corporation. 4 * 5 * Permission is hereby granted, free of charge, to any person obtaining 6 * a copy of this software and associated documentation files (the 7 * "Software"), to deal in the Software without restriction, including 8 * without limitation the rights to use, copy, modify, merge, publish, 9 * distribute, sublicense, and/or sell copies of the Software, and to 10 * permit persons to whom the Software is furnished to do so, subject to 11 * the following conditions: 12 * 13 * The above copyright notice and this permission notice shall be 14 * included in all copies or substantial portions of the Software. 15 * 16 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, 17 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF 18 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND 19 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE 20 * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION 21 * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION 22 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. 23 */ 24 25#include <iostream> 26#include <string> 27#include <stdexcept> 28#include <unistd.h> 29#include "math.h" 30#include "itg3200.h" 31 32#define READ_BUFFER_LENGTH 8 33 34//address and id 35#define ITG3200_I2C_ADDR 0x68 36#define ITG3200_ID 0x00 37 38//configuration registers 39#define ITG3200_SMPLRT_DIV 0x15 40#define ITG3200_DLPF_FS 0x16 41 42//interrupt registers 43#define ITG3200_INT_CFG 0x17 44#define ITG3200_INT_STATUS 0x1A 45 46//data registers (read only) 47#define ITG3200_TEMP_H 0x1B 48#define ITG3200_TEMP_L 0x1C 49#define ITG3200_XOUT_H 0x1D 50#define ITG3200_XOUT_L 0x1E 51#define ITG3200_YOUT_H 0x1F 52#define ITG3200_YOUT_L 0x20 53#define ITG3200_ZOUT_H 0x21 54#define ITG3200_ZOUT_L 0x22 55#define DATA_REG_SIZE 8 56 57//power management 58#define ITG3200_PWR_MGM 0x3E 59 60//useful values 61#define ITG3200_RESET 0x80 62#define ITG3200_SLEEP 0x40 63#define ITG3200_WAKEUP 0x00 64 65using namespace upm; 66 67Itg3200::Itg3200(int bus) : m_i2c(bus) 68{ 69 m_i2c.address(ITG3200_I2C_ADDR); 70 m_buffer[0] = ITG3200_PWR_MGM; 71 m_buffer[1] = ITG3200_RESET; 72 m_i2c.write(m_buffer, 2); 73 74 Itg3200::calibrate(); 75 Itg3200::update(); 76} 77 78void 79Itg3200::calibrate(void) 80{ 81 int reads = 600; 82 int delay = 4000; // 4 milliseconds 83 int skip = 5; // initial samples to skip 84 int temp[3] = {0}; 85 86 for(int i = 0; i < reads; i++){ 87 88 Itg3200::update(); 89 if (i > skip){ 90 for (int j = 0; j < 3; j++){ 91 temp[j] += m_rotation[j]; 92 } 93 } 94 usleep(delay); 95 } 96 97 for(int i = 0; i < 3; i++){ 98 m_offsets[i] = (-1) * temp[i] / (reads - skip); 99 } 100} 101 102float 103Itg3200::getTemperature() 104{ 105 return 35.0 + (m_temperature + 13200.0) / 280.0; 106} 107 108float* 109Itg3200::getRotation() 110{ 111 for(int i = 0; i < 3; i++){ 112 m_angle[i] = m_rotation[i]/14.375; 113 } 114 return &m_angle[0]; 115} 116 117int16_t* 118Itg3200::getRawValues() 119{ 120 return &m_rotation[0]; 121} 122 123int16_t 124Itg3200::getRawTemp() 125{ 126 return m_temperature; 127} 128 129mraa::Result 130Itg3200::update(void) 131{ 132 m_i2c.address(ITG3200_I2C_ADDR); 133 m_i2c.writeByte(ITG3200_TEMP_H); 134 135 m_i2c.address(ITG3200_I2C_ADDR); 136 m_i2c.read(m_buffer, DATA_REG_SIZE); 137 138 //temp 139 // 140 m_temperature = (m_buffer[0] << 8 ) | m_buffer[1]; 141 // x 142 m_rotation[0] = ((m_buffer[2] << 8 ) | m_buffer[3]) + m_offsets[0]; 143 // y 144 m_rotation[1] = ((m_buffer[4] << 8 ) | m_buffer[5]) + m_offsets[1]; 145 // z 146 m_rotation[2] = ((m_buffer[6] << 8 ) | m_buffer[7]) + m_offsets[2]; 147 148 return mraa::SUCCESS; 149} 150