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| // 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); |
| } |