InvenSense ITG-3200 digital triaxial gyroscope.
This module implements a driver for the InvenSense ITG-3200 digital 3-axis MEMS gyroscope. The ITG-3200 provides digital-output x-, y-, and z-axis angular rate sensor readings with a sensitivity of 16 LSBs per deg/sec and a full-scale range of +/-2000 deg/sec.
The ITG-3200 consists of the following key blocks and functions:
- Three-axis MEMS rate gyroscope sensors with individual 16-bit ADCs and signal conditioning - I2C serial communications interface - Clocking - Sensor Data Registers - Interrupts - Digital-Output Temperature Sensor - Bias and LDO - Charge Pump - Three-Axis MEMS Gyroscope with 16-bit ADCs and Signal Conditioning
The ITG-3200 consists of three independent vibratory MEMS gyroscopes, which detect rotational rate about the X (roll), Y (pitch), and Z (yaw) axes. When the gyros are rotated about any of the sense axes, the Coriolis Effect causes a deflection that is detected by a capacitive pickoff. The resulting signal is amplified, demodulated, and filtered to produce a voltage that is proportional to the angular rate. This voltage is digitized using individual on-chip 16-bit Analog-to-Digital Converters (ADCs) to sample each axis.
The full-scale range of the gyro sensors is preset to +/-2000 degrees per second (deg/sec). The ADC output rate is programmable up to a maximum of 8,000 samples per second down to 3.9 samples per second, and user-selectable low-pass filters enable a wide range of cut-off frequencies.
Copyright (c) 2014-2018 Microchip Technology Inc. and its subsidiaries.
#include <asf.h>Macros | |
| #define | ITG3200_TWI_ADDR (0x68) |
| #define | TEMP_COUNTS_PER_DEG_C (280) /* counts per degree C */ |
| #define | TEMP_OFFSET (-13200) /* temperature sensor offset */ |
| #define | TEMP_REF_DEG (35) /* reference temp (degrees C) */ |
| #define | ITG3200_WHOAMI (0x00) /* chip ID - I2C address */ |
| HMC5883L Register Addresses. More... | |
| #define | ITG3200_SMPLRT_DIV (0x15) /* sample rate divider */ |
| #define | ITG3200_DLPF_FS (0x16) /* full scale & dig low pass */ |
| #define | ITG3200_INT_CFG (0x17) /* interrupt config */ |
| #define | ITG3200_INT_STATUS (0x1a) /* interrupt status */ |
| #define | ITG3200_TEMP_OUT_H (0x1b) /* temperature out - MSB */ |
| #define | ITG3200_TEMP_OUT_L (0x1c) /* temperature out - LSB */ |
| #define | ITG3200_GYRO_XOUT_H (0x1d) /* gyro X out - MSB */ |
| #define | ITG3200_GYRO_XOUT_L (0x1e) /* gyro X out - LSB */ |
| #define | ITG3200_GYRO_YOUT_H (0x1f) /* gyro Y out - MSB */ |
| #define | ITG3200_GYRO_YOUT_L (0x20) /* gyro Y out - LSB */ |
| #define | ITG3200_GYRO_ZOUT_H (0x21) /* gyro Z out - MSB */ |
| #define | ITG3200_GYRO_ZOUT_L (0x22) /* gyro Z out - LSB */ |
| #define | ITG3200_PWR_MGM (0x3e) /* power management */ |
| #define | ITG3200_ID_VAL (ITG3200_TWI_ADDR) |
| HMC5883L Register Bit Definitions. More... | |
| #define | DLPF_CFG_256HZ (0x00) /* 256Hz low pass b/w */ |
| #define | DLPF_CFG_188HZ (0x01) /* 188Hz low pass b/w */ |
| #define | DLPF_CFG_98HZ (0x02) /* 98Hz low pass b/w */ |
| #define | DLPF_CFG_42HZ (0x03) /* 42Hz low pass b/w */ |
| #define | DLPF_CFG_20HZ (0x04) /* 20Hz low pass b/w */ |
| #define | DLPF_CFG_10HZ (0x05) /* 10Hz low pass b/w */ |
| #define | DLPF_CFG_5HZ (0x06) /* 5Hz low pass b/w */ |
| #define | DLPF_CFG_2100HZ (0x07) /* 2.1KHz low pass b/w */ |
| #define | FS_SEL_2000 (0x18) /* +/- 2000 deg/sec full scale */ |
| #define | INT_CFG_RAW_RDY_EN (0x01) /* data available interrupt */ |
| #define | INT_CFG_ITG_RDY_EN (0x04) /* device ready int */ |
| #define | INT_CFG_ANYRD_2CLEAR (0x10) /* clr latch on any reg read */ |
| #define | INT_CFG_LATCH_INT_EN (0x20) /* latch until int cleared */ |
| #define | INT_CFG_OPEN (0x40) /* open drain for int output */ |
| #define | INT_CFG_ACTL (0x80) /* int is active low */ |
| #define | INT_STATUS_RAW_DATA_RDY (0x01) /* raw data is ready */ |
| #define | INT_STATUS_ITG_RDY (0x04) /* device (PLL) is ready */ |
| #define | PWR_MGM_CLK_SEL_INT (0x00) /* internal oscillator */ |
| #define | PWR_MGM_CLK_SEL_X (0x01) /* PLL w/ X gyro reference */ |
| #define | PWR_MGM_CLK_SEL_Y (0x02) /* PLL w/ Y gyro reference */ |
| #define | PWR_MGM_CLK_SEL_Z (0x03) /* PLL w/ Z gyro reference */ |
| #define | PWR_MGM_CLK_SEL_EXT_32K (0x04) /* PLL w/ external 32.768 KHz */ |
| #define | PWR_MGM_CLK_SEL_EXT_19M (0x05) /* PLL w/ external 19.2 MHz */ |
| #define | PWR_MGM_STBY_ZG (0x08) /* put Z gyro in standby mode */ |
| #define | PWR_MGM_STBY_YG (0x10) /* put Y gyro in standby mode */ |
| #define | PWR_MGM_STBY_XG (0x20) /* put X gyro in standby mode */ |
| #define | PWR_MGM_SLEEP (0x40) /* enable low power sleep mode */ |
| #define | PWR_MGM_H_RESET (0x80) /* reset device */ |
Functions | |
| bool | itg3200_init (sensor_t *, int) |
| InvenSense ITG-3200 gyroscope driver initialization. More... | |
| #define DLPF_CFG_10HZ (0x05) /* 10Hz low pass b/w */ |
| #define DLPF_CFG_188HZ (0x01) /* 188Hz low pass b/w */ |
| #define DLPF_CFG_20HZ (0x04) /* 20Hz low pass b/w */ |
| #define DLPF_CFG_2100HZ (0x07) /* 2.1KHz low pass b/w */ |
| #define DLPF_CFG_256HZ (0x00) /* 256Hz low pass b/w */ |
| #define DLPF_CFG_42HZ (0x03) /* 42Hz low pass b/w */ |
Referenced by itg3200_default_init().
| #define DLPF_CFG_5HZ (0x06) /* 5Hz low pass b/w */ |
| #define DLPF_CFG_98HZ (0x02) /* 98Hz low pass b/w */ |
| #define FS_SEL_2000 (0x18) /* +/- 2000 deg/sec full scale */ |
Referenced by itg3200_default_init(), and itg3200_set_bandwidth().
| #define INT_CFG_ACTL (0x80) /* int is active low */ |
| #define INT_CFG_ANYRD_2CLEAR (0x10) /* clr latch on any reg read */ |
Referenced by imu3000_event(), and itg3200_event().
| #define INT_CFG_ITG_RDY_EN (0x04) /* device ready int */ |
| #define INT_CFG_LATCH_INT_EN (0x20) /* latch until int cleared */ |
Referenced by imu3000_event(), and itg3200_event().
| #define INT_CFG_OPEN (0x40) /* open drain for int output */ |
| #define INT_CFG_RAW_RDY_EN (0x01) /* data available interrupt */ |
Referenced by imu3000_event(), and itg3200_event().
| #define INT_STATUS_ITG_RDY (0x04) /* device (PLL) is ready */ |
| #define INT_STATUS_RAW_DATA_RDY (0x01) /* raw data is ready */ |
| #define ITG3200_DLPF_FS (0x16) /* full scale & dig low pass */ |
Referenced by itg3200_default_init(), and itg3200_set_bandwidth().
| #define ITG3200_GYRO_XOUT_H (0x1d) /* gyro X out - MSB */ |
Referenced by itg3200_get_rotation().
| #define ITG3200_GYRO_XOUT_L (0x1e) /* gyro X out - LSB */ |
| #define ITG3200_GYRO_YOUT_H (0x1f) /* gyro Y out - MSB */ |
| #define ITG3200_GYRO_YOUT_L (0x20) /* gyro Y out - LSB */ |
| #define ITG3200_GYRO_ZOUT_H (0x21) /* gyro Z out - MSB */ |
| #define ITG3200_GYRO_ZOUT_L (0x22) /* gyro Z out - LSB */ |
| #define ITG3200_ID_VAL (ITG3200_TWI_ADDR) |
HMC5883L Register Bit Definitions.
Referenced by itg3200_default_init().
| #define ITG3200_INT_CFG (0x17) /* interrupt config */ |
Referenced by itg3200_event().
| #define ITG3200_INT_STATUS (0x1a) /* interrupt status */ |
Referenced by itg3200_init().
| #define ITG3200_PWR_MGM (0x3e) /* power management */ |
Referenced by itg3200_default_init(), and itg3200_set_state().
| #define ITG3200_SMPLRT_DIV (0x15) /* sample rate divider */ |
Referenced by itg3200_default_init(), and itg3200_set_sample_rate().
| #define ITG3200_TEMP_OUT_H (0x1b) /* temperature out - MSB */ |
Referenced by itg3200_get_temperature().
| #define ITG3200_TEMP_OUT_L (0x1c) /* temperature out - LSB */ |
| #define ITG3200_TWI_ADDR (0x68) |
| #define ITG3200_WHOAMI (0x00) /* chip ID - I2C address */ |
HMC5883L Register Addresses.
Referenced by itg3200_default_init(), and itg3200_device_id().
| #define PWR_MGM_CLK_SEL_EXT_19M (0x05) /* PLL w/ external 19.2 MHz */ |
| #define PWR_MGM_CLK_SEL_EXT_32K (0x04) /* PLL w/ external 32.768 KHz */ |
| #define PWR_MGM_CLK_SEL_INT (0x00) /* internal oscillator */ |
| #define PWR_MGM_CLK_SEL_X (0x01) /* PLL w/ X gyro reference */ |
| #define PWR_MGM_CLK_SEL_Y (0x02) /* PLL w/ Y gyro reference */ |
| #define PWR_MGM_CLK_SEL_Z (0x03) /* PLL w/ Z gyro reference */ |
Referenced by imu3000_default_init(), and itg3200_default_init().
| #define PWR_MGM_H_RESET (0x80) /* reset device */ |
Referenced by imu3000_default_init(), and itg3200_default_init().
| #define PWR_MGM_SLEEP (0x40) /* enable low power sleep mode */ |
Referenced by imu3000_set_state(), and itg3200_set_state().
| #define PWR_MGM_STBY_XG (0x20) /* put X gyro in standby mode */ |
| #define PWR_MGM_STBY_YG (0x10) /* put Y gyro in standby mode */ |
| #define PWR_MGM_STBY_ZG (0x08) /* put Z gyro in standby mode */ |
| #define TEMP_COUNTS_PER_DEG_C (280) /* counts per degree C */ |
Referenced by imu3000_get_temperature(), and itg3200_get_temperature().
| #define TEMP_OFFSET (-13200) /* temperature sensor offset */ |
Referenced by imu3000_get_temperature(), and itg3200_get_temperature().
Referenced by imu3000_get_temperature(), and itg3200_get_temperature().
InvenSense ITG-3200 gyroscope driver initialization.
This is the main initialization function for the ITG-3200 device.
| sensor | Address of a sensor device descriptor. |
| resvd | Reserved value. |
References ARRAYSIZE, band_table, sensor_hal::bandwidth, sensor_hal::burst_addr, sensor_desc::drv, sensor_device_t::func, sensor_desc::hal, itg3200_default_init(), itg3200_event(), ITG3200_FS_RANGE, ITG3200_INT_STATUS, itg3200_ioctl(), itg3200_isr(), itg3200_read(), ITG3200_RESOLUTION, sensor_hal::mcu_sigint, sensor_hal::range, sensor_funcs_t::read, sensor_hal::resolution, sensor_hal::sample_rate, SENSOR_CAPS_3_AXIS, SENSOR_CAPS_AUX_TEMP, sensor_irq_connect(), SENSOR_UNITS_deg_per_sec, SENSOR_VENDOR_INVENSENSE, and status.
1.8.5