Libraries
Background
ITG3200.c – gyroscope device I/O for Tollos
These functions provide basic IO for using the ITG3200 3-axis gyroscope device, attached via I2C.
The following connections are assumed:
- SCL & SDA ... to I2C bus SCL & SDA, with appropriate pullups (channel is selectable)
- CS ... to VCC (+3.3V) [enable I2C mode]
- INT ... to a suitable input bit pin
- AD0 ... to GND or VCC (I2C address 0x68/0x69)
- CLKIN ... to ground
- REGOUT & CPOUT ... capacitors to ground
- RESV-G ... to GND
- VCC, VLOGIC, & GND ... to suitable power rails, with bypass capacitors
This code assumes only one ITG3200 device will be used on a controller, so some state information can be held (the device channel and address). This simplifies the tollosGyro interface and allows initialization checking.
| Functions | |
|---|---|
| gyroGetXYZIO | read latest x, y, and z angular rates |
| gyroInitIO | configure and initialize gyroscope |
| gyroRateIO | change update rate of gyroscope |
| gyroStopIO | stop and power-down gyroscope |
| gyroTemperatureIO | return current gyroscope die temperature |
gyroGetXYZIO – read latest x, y, and z angular rates
int gyroGetXYZIO(int *x, int *y, int *z);
x, y, z – receive angular rates [in milli-degrees/sec]
returns 0 if data read, −1 if the device is not initialized, or −2 if there was an error reading the data (or no data ready)
Results are returned scaled to milli-degrees/sec; resolution is 69-70 md/s.
This should normally be called only after a Data Ready interrupt; the interrupt is cleared by calling this.
gyroInitIO – configure and initialize gyroscope
int gyroInitIO(uint channel);
channel – I2C channel on which device is to be found
returns 0 if initialized OK, negative if error
The tollosGyro interface expects:
- an update rate of at least 25 Hz (but need not be higher than that on initialization, to save power)
- an interrupt [from pin INT1] when Data Ready is raised.
The caller should set up the interrupt handler before calling this function, or clear Data Ready by calling gyroGetXYZIO.
All three axes of the gyroscope are enabled. Current consumption should be about 6.5mA.
gyroRateIO – change update rate of gyroscope
int gyroRateIO(uint rate);
rate – rate requested [Hz, 1..200]
returns the rate chosen if the rate was changed OK, or −1 if error (rate zero or too high, or a bus error)
The gyroscope will be set to a slowest available rate that is >= the requested rate, to minimize resource usage. The low-pass filter bandwidth is set to match or exceed the rate.
To ensure working with 100kHz I2C, the maximum rate is limited to 200Hz – but note that this may use significant processor bandwidth.
gyroStopIO – stop and power-down gyroscope
int gyroStopIO(void);
returns 0 if gyroscope stopped OK, negative if an error or it was not running.
gyroTemperatureIO – return current gyroscope die temperature
int gyroTemperatureIO(void);
returns the latest temperature reading in milli-degrees Celsius, or GYRO_NOTEMP if no reading is available
Converts the recorded raw temperature saved during the last read.