itg3200: Grove 3-axis Gyroscope

Signed-off-by: Mihai Tudor Panu <mihai.t.panu@intel.com>
Signed-off-by: Brendan Le Foll <brendan.le.foll@intel.com>
This commit is contained in:
Mihai Tudor Panu 2014-12-15 13:49:58 -08:00 committed by Brendan Le Foll
parent 03cca53d2a
commit be8336d0e8
8 changed files with 352 additions and 0 deletions

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@ -48,6 +48,7 @@ add_executable (htu21d-example htu21d.cxx)
add_executable (mpl3115a2-example mpl3115a2.cxx)
add_executable (ldt0028-example ldt0028.cxx)
add_executable (am2315-example am2315.cxx)
add_executable (itg3200-example itg3200.cxx)
include_directories (${PROJECT_SOURCE_DIR}/src/hmc5883l)
include_directories (${PROJECT_SOURCE_DIR}/src/grove)
@ -85,6 +86,7 @@ include_directories (${PROJECT_SOURCE_DIR}/src/htu21d)
include_directories (${PROJECT_SOURCE_DIR}/src/mpl3115a2)
include_directories (${PROJECT_SOURCE_DIR}/src/ldt0028)
include_directories (${PROJECT_SOURCE_DIR}/src/am2315)
include_directories (${PROJECT_SOURCE_DIR}/src/itg3200)
target_link_libraries (hmc5883l-example hmc5883l ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries (groveled-example grove ${CMAKE_THREAD_LIBS_INIT})
@ -136,3 +138,4 @@ target_link_libraries (htu21d-example htu21d ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries (mpl3115a2-example mpl3115a2 ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries (ldt0028-example ldt0028 ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries (am2315-example am2315 ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries (itg3200-example itg3200 ${CMAKE_THREAD_LIBS_INIT})

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examples/itg3200.cxx Normal file
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/*
* Author: Mihai Tudor Panu <mihai.t.panu@intel.com>
* Copyright (c) 2014 Intel Corporation.
*
* 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.
*/
#include <unistd.h>
#include "itg3200.h"
int
main(int argc, char **argv)
{
//! [Interesting]
int16_t *rot;
float *ang;
// Note: Sensor not supported on Intel Edison with Arduino breakout
upm::Itg3200* gyro = new upm::Itg3200(0);
while(true){
gyro->update(); // Update the data
rot = gyro->getRawValues(); // Read raw sensor data
ang = gyro->getRotation(); // Read rotational speed (deg/sec)
fprintf(stdout, "Raw: %6d %6d %6d\n", rot[0], rot[1], rot[2]);
fprintf(stdout, "AngX: %5.2f\n", ang[0]);
fprintf(stdout, "AngY: %5.2f\n", ang[1]);
fprintf(stdout, "AngZ: %5.2f\n", ang[2]);
fprintf(stdout, "Temp: %5.2f Raw: %6d\n", gyro->getTemperature(), gyro->getRawTemp());
sleep(1);
}
//! [Interesting]
return 0;
}

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set (libname "itg3200")
set (libdescription "libupm Digital Gyro")
set (module_src ${libname}.cxx)
set (module_h ${libname}.h)
upm_module_init()

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src/itg3200/itg3200.cxx Normal file
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/*
* Author: Mihai Tudor Panu <mihai.t.panu@intel.com>
* Copyright (c) 2014 Intel Corporation.
*
* 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.
*/
#include <iostream>
#include <unistd.h>
#include "math.h"
#include "itg3200.h"
#define READ_BUFFER_LENGTH 8
//address and id
#define ITG3200_I2C_ADDR 0x68
#define ITG3200_ID 0x00
//configuration registers
#define ITG3200_SMPLRT_DIV 0x15
#define ITG3200_DLPF_FS 0x16
//interrupt registers
#define ITG3200_INT_CFG 0x17
#define ITG3200_INT_STATUS 0x1A
//data registers (read only)
#define ITG3200_TEMP_H 0x1B
#define ITG3200_TEMP_L 0x1C
#define ITG3200_XOUT_H 0x1D
#define ITG3200_XOUT_L 0x1E
#define ITG3200_YOUT_H 0x1F
#define ITG3200_YOUT_L 0x20
#define ITG3200_ZOUT_H 0x21
#define ITG3200_ZOUT_L 0x22
#define DATA_REG_SIZE 8
//power management
#define ITG3200_PWR_MGM 0x3E
//useful values
#define ITG3200_RESET 0x80
#define ITG3200_SLEEP 0x40
#define ITG3200_WAKEUP 0x00
using namespace upm;
Itg3200::Itg3200(int bus)
{
//init bus and reset chip
m_i2c = mraa_i2c_init(bus);
mraa_i2c_address(m_i2c, ITG3200_I2C_ADDR);
m_buffer[0] = ITG3200_PWR_MGM;
m_buffer[1] = ITG3200_RESET;
mraa_i2c_write(m_i2c, m_buffer, 2);
Itg3200::calibrate();
Itg3200::update();
}
Itg3200::~Itg3200()
{
mraa_i2c_stop(m_i2c);
}
mraa_result_t
Itg3200::calibrate(void)
{
int reads = 600;
int delay = 4000; // 4 milliseconds
int skip = 5; // initial samples to skip
int temp[3] = {0};
for(int i = 0; i < reads; i++){
Itg3200::update();
if (i > skip){
for (int j = 0; j < 3; j++){
temp[j] += m_rotation[j];
}
}
usleep(delay);
}
for(int i = 0; i < 3; i++){
m_offsets[i] = (-1) * temp[i] / (reads - skip);
}
}
float
Itg3200::getTemperature()
{
return 35.0 + (m_temperature + 13200.0) / 280.0;
}
float*
Itg3200::getRotation()
{
for(int i = 0; i < 3; i++){
m_angle[i] = m_rotation[i]/14.375;
}
return &m_angle[0];
}
int16_t*
Itg3200::getRawValues()
{
return &m_rotation[0];
}
int16_t
Itg3200::getRawTemp()
{
return m_temperature;
}
mraa_result_t
Itg3200::update(void)
{
mraa_i2c_address(m_i2c, ITG3200_I2C_ADDR);
mraa_i2c_write_byte(m_i2c, ITG3200_TEMP_H);
mraa_i2c_address(m_i2c, ITG3200_I2C_ADDR);
mraa_i2c_read(m_i2c, m_buffer, DATA_REG_SIZE);
//temp
//
m_temperature = (m_buffer[0] << 8 ) | m_buffer[1];
// x
m_rotation[0] = ((m_buffer[2] << 8 ) | m_buffer[3]) + m_offsets[0];
// y
m_rotation[1] = ((m_buffer[4] << 8 ) | m_buffer[5]) + m_offsets[1];
// z
m_rotation[2] = ((m_buffer[6] << 8 ) | m_buffer[7]) + m_offsets[2];
return MRAA_SUCCESS;
}

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/*
* Author: Mihai Tudor Panu <mihai.t.panu@intel.com>
* Copyright (c) 2014 Intel Corporation.
*
* 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.
*/
#pragma once
#include <mraa/i2c.h>
#define READ_BUFFER_LENGTH 8
namespace upm {
/**
* @brief Itg3200 gyroscope library
* @defgroup itg3200 libupm-itg3200
*/
/**
* @brief C++ API for Itg3200 (3-axis digital gyroscope)
*
* The InvenSense Itg3200 is a 3-axis digital gyroscope.
* (https://www.sparkfun.com/datasheets/Sensors/Gyro/PS-ITG-3200-00-01.4.pdf)
* This sensor has been tested and can run at either 3V3 or 5V on the Intel Galileo.<br>
* <strong>However</strong>, it is incompatible and will not be detected on the I2C bus
* by the Intel Edison using the Arduino breakout board.
*
* @ingroup itg3200 i2c
* @snippet itg3200.cxx Interesting
* @image html itg3200.jpeg
*/
class Itg3200 {
public:
/**
* Creates an Itg3200 object
*
* @param bus number of used i2c bus
*/
Itg3200(int bus);
/**
* Itg3200 object destructor
*/
~Itg3200();
/**
* Calibrates the sensor to 0 on all axes. Sensor needs to be resting for accurate calibration.
* Takes about 3 seconds and is also called by constructor on object creation.
*
* @return 0 for successful calibration
*/
mraa_result_t calibrate();
/**
* Returns the temperature reading from the integrated temperature sensor in Celsius degrees
*
* @return float temperature in Celsius degrees
*/
float getTemperature();
/**
* Returns a pointer to an float[3] that contains computed rotational speeds (angular velocities)
*
* @return float* to an float[3]
*/
float* getRotation();
/**
* Returns a pointer to an int[3] that contains the raw register values for X, Y and Z
*
* @return int* to an int[3]
*/
int16_t* getRawValues();
/**
* Returns an int that contains the raw register value for the temperature
*
* @return int raw temperature
*/
int16_t getRawTemp();
/**
* Updates the rotational values and temperature by reading from i2c bus
*
* @return 0 for success
*/
mraa_result_t update();
private:
float m_angle[3];
int16_t m_rotation[3];
int16_t m_offsets[3];
int16_t m_temperature;
uint8_t m_buffer[READ_BUFFER_LENGTH];
mraa_i2c_context m_i2c;
};
}

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%module jsupm_itg3200
%include "../upm.i"
%{
#include "itg3200.h"
%}
%include "itg3200.h"
%include <carrays.i>

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%module pyupm_itg3200
%include "../upm.i"
%feature("autodoc", "3");
#ifdef DOXYGEN
%include "itg3200_doc.i"
#endif
%include "itg3200.h"
%{
#include "itg3200.h"
%}