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/* Copyright 2012, Sebastian Reichel <sre@ring0.de>
*
* Permission to use, copy, modify, and/or distribute this software for any
* purpose with or without fee is hereby granted, provided that the above
* copyright notice and this permission notice appear in all copies.
*
* THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
* WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
* ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
* WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
* ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
* OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
*/
public class ITG3200 : I2CDevice, Gyroscope {
public int[] rate { get; set; }
private int[] zero = new int[3];
/* ITG3200 14.375 LSBs per °/sec in radians */
private static const double scale = 14.375;
public ITG3200(uint8 dev, uint8 addr = 0x68) throws I2CError {
setup(dev, addr);
devsetup();
}
private void devsetup() throws I2CError {
if((get_byte(0x00) & 0x7e) != 0x68)
log("ITG3200", LogLevelFlags.LEVEL_ERROR, @"ITG3200: invalid device id");
else
log("ITG3200", LogLevelFlags.LEVEL_DEBUG, @"ITG3200: correct device id");
/* setup FS_SEL for "proper operation" */
set_byte(0x16, 0x18);
calibrate();
}
public void init(KeyFile cfg) throws KeyFileError, I2CError {
rate = new int[3];
var adapter = cfg.get_uint64("ITG3200", "i2c-adapter");
var address = cfg.get_uint64("ITG3200", "i2c-address");
setup((uint8) adapter, (uint8) address);
devsetup();
}
public uint8 get_address() throws I2CError {
return (uint8) get_byte(0x00);
}
public void calibrate() throws I2CError {
uint8 samples = 10;
zero[AXIS.X] = 0;
zero[AXIS.Y] = 0;
zero[AXIS.Z] = 0;
for(int i=0; i<samples; i++) {
zero[AXIS.X] += ((int16) get_big_word(0x1d));
zero[AXIS.Y] += ((int16) get_big_word(0x1f));
zero[AXIS.Z] += ((int16) get_big_word(0x21));
}
zero[AXIS.X] /= samples;
zero[AXIS.Y] /= samples;
zero[AXIS.Z] /= samples;
}
/* TODO: add method for register 0x16 (frequency + range) */
/* TODO: add method for register 0x17 (interrupt config) */
/* TODO: add method for register 0x3E (power management) */
public uint8 get_sample_rate_divider() throws I2CError {
/* sample rate = internal frequency / (divider + 1) */
return (uint8) get_byte(0x15);
}
public void set_sample_rate_divider(uint8 val) throws I2CError {
set_byte(0x15, val);
}
public int16 get_temperature() throws I2CError {
int16 raw = (int16) get_big_word(0x1b);
return 350 + ((raw + 13200) / 28);
}
public void get_data(out double x, out double y, out double z) throws I2CError {
x = ((int16) get_big_word(0x1d)-zero[AXIS.X]) / scale;
y = ((int16) get_big_word(0x1f)-zero[AXIS.Y]) / scale;
z = ((int16) get_big_word(0x21)-zero[AXIS.Z]) / scale;
}
}
public Type register_plugin(Module module) {
// types are registered automatically
return typeof(ITG3200);
}
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