Subversion Repositories FlightCtrl

// ITG-3200_output

// Copyright 2010-2011 Filipe Vieira & various contributors.

// http://code.google.com/p/itg-3200driver

// Simple example of library usage with almost every gyro and lib features being used.

#include <Wire.h>

#include <ITG3200.h>

ITG3200 gyro = ITG3200();

float xyz[3], temperature;

void setup(void) {

  Serial.begin(9600);

  Wire.begin();      // if experiencing gyro problems/crashes while reading XYZ values

                     // please read class constructor comments for further info.

  delay(1000);

  gyro.reset();

  // Use ITG3200_ADDR_AD0_HIGH or ITG3200_ADDR_AD0_LOW as the ITG3200 address

  // depending on how AD0 is connected on your breakout board, check its schematics for details

  gyro.init(ITG3200_ADDR_AD0_HIGH);

  Serial.print("zeroCalibrating...");

  gyro.zeroCalibrate(2500,2);

  Serial.println("done.");

  showall();

  Serial.println("Registers dump");

  Serial.println("==========================================================");

  dumpRegisters();

  Serial.println("==========================================================");

  delay(5000);

}

void loop(void) {

  while (gyro.isRawDataReady()) {

    gyro.readGyro(xyz);

    Serial.print("X:");

    Serial.print(xyz[0]);

    Serial.print("  Y:");

    Serial.print(xyz[1]);

    Serial.print("  Z:");

    Serial.println(xyz[2]);

  }

}

void showall(void) {

  Serial.println("Current ITG3200 settings");

  Serial.println("==========================================================");

  Serial.print("device address                  = 0x");

  Serial.println(gyro.getDevAddr(), HEX);

  Serial.print("Sample rate divider (Hz)        = ");

  if (gyro.getFilterBW() == BW256_SR8)

    Serial.println(8000 / (gyro.getSampleRateDiv()+1), DEC);

  else

    Serial.println(1000 / (gyro.getSampleRateDiv()+1), DEC);

  Serial.print("full scale range                = ");

  if (gyro.getFSRange() == RANGE2000)

    Serial.println("+-2000 deg/sec");

  else

    Serial.println("reserved");

  Serial.print("low pass filter BW              = ");

  switch (gyro.getFilterBW()) {

    case BW256_SR8:

        Serial.println("256Hz LowPassFilter BW/ 8Khz Sample Rate");

        break;

    case BW188_SR1:

        Serial.println("188Hz LowPassFilter BW/ 1Khz Sample Rate");

        break;

    case BW098_SR1:

        Serial.println("98Hz LowPassFilter BW/ 1Khz Sample Rate");

        break;

    case BW042_SR1:

        Serial.println("42Hz LowPassFilter BW/ 1Khz Sample Rate");

        break;

    case BW020_SR1:

        Serial.println("20Hz LowPassFilter BW/ 1Khz Sample Rate");

        break;

    case BW010_SR1:

        Serial.println("10Hz LowPassFilter BW/ 1Khz Sample Rate");

        break;

    case BW005_SR1:

        Serial.println("5Hz LowPassFilter BW/ 1Khz Sample Rate");

        break;

  }

  Serial.print("Logic level for INT output pin  = ");

  if (gyro.isINTActiveOnLow())

    Serial.println("Active on Low");

  else

    Serial.println("Active on High");

  Serial.print("INT drive type                  = ");

  if (gyro.isINTOpenDrain())

    Serial.println("Open Drain");

  else

    Serial.println("Push-Pull");

  Serial.print("INT latch mode                  = ");

  if (gyro.isLatchUntilCleared())

    Serial.println("Latch until interrupt is cleared");

  else

    Serial.println("50us pulse");

  Serial.print("INT latch clear mode            = ");

  if (gyro.isAnyRegClrMode())

    Serial.println("Any register read");

  else

    Serial.println("Status register read only");

  Serial.print("ITGReady trigger status         = ");

  if (gyro.isITGReadyOn())

    Serial.println("High/Set");

  else

    Serial.println("Low/Clear");

  Serial.print("RawDataReady trigger status     = ");

  if (gyro.isRawDataReady())

    Serial.println("High/Set");

  else

    Serial.println("Low/Clear");

  Serial.print("Temperature (Celsius)           = ");

  gyro.readTemp(&temperature);

  Serial.println(temperature);

  Serial.print("Power mode                      = ");

  gyro.setPowerMode(NORMAL);

  if (gyro.isLowPower() == STANDBY)

    Serial.println("Low power (sleep)");

  else

    Serial.println("Normal");

  Serial.print("Xgyro status                    = ");

  if (gyro.isXgyroStandby() == NORMAL )

    Serial.println("Normal");

  else

    Serial.println("StandBy");

  Serial.print("Ygyro status                    = ");

  if (gyro.isYgyroStandby() == NORMAL )

    Serial.println("Normal");

  else

    Serial.println("StandBy");

  Serial.print("Zgyro status                    = ");

  if (gyro.isZgyroStandby() == NORMAL )

    Serial.println("Normal");

  else

    Serial.println("StandBy");

  Serial.print("Clock source                    = ");

  switch (gyro.getClockSource()) {

    case INTERNALOSC:

        Serial.println("Internal oscillator");

        break;

    case PLL_XGYRO_REF:

        Serial.println("PLL with X Gyro reference");

        break;

    case PLL_YGYRO_REF:

        Serial.println("PLL with Y Gyro reference");

        break;

    case PLL_ZGYRO_REF:

        Serial.println("PLL with Z Gyro reference");

        break;

    case PLL_EXTERNAL32:

        Serial.println("PLL with external 32.768kHz reference");

        break;

    case PLL_EXTERNAL19:

        Serial.println("PLL with external 19.2MHz reference");

        break;

  }

  Serial.print("X offset                        = ");

  Serial.println(gyro.offsets[0]);

  Serial.print("Y offset                        = ");

  Serial.println(gyro.offsets[1]);

  Serial.print("Z offset                        = ");

  Serial.println(gyro.offsets[2]);

}

void dumpRegisters() {

  byte ValidRegisterAddr[]={0,21,22,23,26,27,28,29,30,31,32,33,34,57,56,62};

  byte _b, i, totregisters = sizeof(ValidRegisterAddr);

  Serial.println("---dump start---");

  Serial.println("Register address|Register data");

  Serial.println("Reg.address(hex,dec) Reg.data(bin,hex,dec)");

  for (i=0;i<totregisters;i++){

    Serial.print("0x");

    Serial.print(ValidRegisterAddr[i], HEX);

    Serial.print(",");

    Serial.print(ValidRegisterAddr[i], DEC);

    Serial.print(",");

    gyro.readmem(ValidRegisterAddr[i], 1, &_b);

    Serial.print("b");

    print_bits(_b);

    Serial.print(",0x");

    Serial.print(_b,HEX);

    Serial.print(",");

    Serial.println(_b,DEC);

  }

  Serial.println("---dump end---");

}

void print_bits(uint8_t val){

  for(int i=7; i>=0; i--)

    Serial.print(val >> i & 1, BIN);

}

 void print_unit16(uint16_t val){

  for(int i=15; i>=0; i--)

    Serial.print(val >> i & 1, BIN);

}