Diff: quadv3/ITG3200.h

Revision:

0:978110f7f027

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+++ b/quadv3/ITG3200.h	Wed Jan 30 13:14:44 2013 +0000
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+/**
+ * @author Aaron Berk
+ *
+ * @section LICENSE
+ *
+ * Copyright (c) 2010 ARM Limited
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ *
+ * @section DESCRIPTION
+ *
+ * ITG-3200 triple axis, digital interface, gyroscope.
+ *
+ * Datasheet:
+ *
+ * http://invensense.com/mems/gyro/documents/PS-ITG-3200-00-01.4.pdf
+ */
+
+/**
+ * Includes
+ */
+
+
+#ifndef ITG3200_H
+#define ITG3200_H
+ /**
+  * Includes
+  */
+ #include "mbed.h"
+ 
+ /**
+* Defines
+  */
+ #define ITG3200_I2C_ADDRESS 0x68  //7-bit address.
+ 
+ //-----------
+ // Registers
+ //-----------
+ #define WHO_AM_I_REG    0x00
+ #define SMPLRT_DIV_REG  0x15
+ #define DLPF_FS_REG     0x16
+ #define INT_CFG_REG     0x17
+ #define INT_STATUS      0x1A
+ #define TEMP_OUT_H_REG  0x1B
+ #define TEMP_OUT_L_REG  0x1C
+ #define GYRO_XOUT_H_REG 0x1D
+ #define GYRO_XOUT_L_REG 0x1E
+ #define GYRO_YOUT_H_REG 0x1F
+ #define GYRO_YOUT_L_REG 0x20
+#define GYRO_ZOUT_H_REG 0x21
+#define GYRO_ZOUT_L_REG 0x22
+ #define PWR_MGM_REG     0x3E
+ 
+//----------------------------
+// Low Pass Filter Bandwidths
+//----------------------------
+#define LPFBW_256HZ 0x00
+#define LPFBW_188HZ 0x01
+#define LPFBW_98HZ  0x02
+#define LPFBW_42HZ  0x03
+#define LPFBW_20HZ  0x04
+#define LPFBW_10HZ  0x05
+#define LPFBW_5HZ   0x06
+/**
+* ITG-3200 triple axis digital gyroscope.
+*/
+class ITG3200 {
+public:
+/**
+* Constructor.
+*
+* Sets FS_SEL to 0x03 for proper opertaion.
+*
+* @param sda - mbed pin to use for the SDA I2C line.
+* @param scl - mbed pin to use for the SCL I2C line.
+*/
+ITG3200(PinName sda, PinName scl);
+/**
+* Get the identity of the device.
+      *
+* @return The contents of the Who Am I register which contains the I2C
+*         address of the device.
+*/
+char getWhoAmI(void);
+/**
+* Set the address of the device.
+*
+* @param address The I2C slave address to write to the Who Am I register
+*        on the device.
+*/
+void setWhoAmI(char address);
+/**
+* Get the sample rate divider.
+*
+* @return The sample rate divider as a number from 0-255.
+*/
+char getSampleRateDivider(void);
+/**
+* Set the sample rate divider.
+*
+* Fsample = Finternal / (divider + 1), where Finternal = 1kHz or 8kHz,
+* as decidied by the DLPF_FS register.
+*
+* @param The sample rate divider as a number from 0-255.
+*/
+void setSampleRateDivider(char divider);
+/**
+* Get the internal sample rate.
+*
+* @return The internal sample rate in kHz - either 1 or 8.
+*/
+int getInternalSampleRate(void);
+
+void setLpBandwidth(char bandwidth);
+/**
+* Get the interrupt configuration.
+*
+* See datasheet for register contents details.
+*
+*    7      6           5                 4
+* +------+------+--------------+------------------+
+* | ACTL | OPEN | LATCH_INT_EN | INT_ANYRD_2CLEAR |
+* +------+------+--------------+------------------+
+*
+*   3        2            1       0
+* +---+------------+------------+---+
+* | 0 | ITG_RDY_EN | RAW_RDY_EN | 0 |
+* +---+------------+------------+---+
+*
+* ACTL Logic level for INT output pin; 1 = active low, 0 = active high.
+* OPEN Drive type for INT output pin; 1 = open drain, 0 = push-pull.
+* LATCH_INT_EN Latch mode; 1 = latch until interrupt is cleared,
+*                          0 = 50us pulse.
+* INT_ANYRD_2CLEAR Latch clear method; 1 = any register read,
+*                                      0 = status register read only.
+* ITG_RDY_EN Enable interrupt when device is ready,
+*            (PLL ready after changing clock source).
+* RAW_RDY_EN Enable interrupt when data is available.
+* 0 Bits 1 and 3 of the INT_CFG register should be zero.
+*
+* @return the contents of the INT_CFG register.
+*/
+char getInterruptConfiguration(void);
+/**
+* Set the interrupt configuration.
+*
+* See datasheet for configuration byte details.
+*
+*    7      6           5                 4
+* +------+------+--------------+------------------+
+* | ACTL | OPEN | LATCH_INT_EN | INT_ANYRD_2CLEAR |
+* +------+------+--------------+------------------+
+*
+*   3        2            1       0
+* +---+------------+------------+---+
+* | 0 | ITG_RDY_EN | RAW_RDY_EN | 0 |
+* +---+------------+------------+---+
+*
+* ACTL Logic level for INT output pin; 1 = active low, 0 = active high.
+* OPEN Drive type for INT output pin; 1 = open drain, 0 = push-pull.
+* LATCH_INT_EN Latch mode; 1 = latch until interrupt is cleared,
+*                          0 = 50us pulse.
+* INT_ANYRD_2CLEAR Latch clear method; 1 = any register read,
+*                                      0 = status register read only.
+* ITG_RDY_EN Enable interrupt when device is ready,
+*            (PLL ready after changing clock source).
+* RAW_RDY_EN Enable interrupt when data is available.
+* 0 Bits 1 and 3 of the INT_CFG register should be zero.
+*
+* @param config Configuration byte to write to INT_CFG register.
+*/
+void setInterruptConfiguration(char config);
+/**
+* Check the ITG_RDY bit of the INT_STATUS register.
+*
+* @return True if the ITG_RDY bit is set, corresponding to PLL ready,
+*         false if the ITG_RDY bit is not set, corresponding to PLL not
+*         ready.
+*/
+bool isPllReady(void);
+
+bool isRawDataReady(void);
+/**
+* Get the temperature of the device.
+*
+* @return The temperature in degrees celsius.
+*/
+float getTemperature(void);
+/**
+* Get the output for the x-axis gyroscope.
+*
+* Typical sensitivity is 14.375 LSB/(degrees/sec).
+*
+* @return The output on the x-axis in raw ADC counts.
+*/
+int getGyroX(void);
+/**
+* Get the output for the y-axis gyroscope.
+*
+* Typical sensitivity is 14.375 LSB/(degrees/sec).
+*
+* @return The output on the y-axis in raw ADC counts.
+*/
+int getGyroY(void);
+
+int getGyroZ(void);
+     /**
+* Get the power management configuration.
+*
+* See the datasheet for register contents details.
+*
+*     7        6        5         4
+* +---------+-------+---------+---------+
+* | H_RESET | SLEEP | STBY_XG | STBY_YG |
+* +---------+-------+---------+---------+
+*
+*      3          2         1          0
+* +---------+----------+----------+----------+
+* | STBY_ZG | CLK_SEL2 | CLK_SEL1 | CLK_SEL0 |
+* +---------+----------+----------+----------+
+*
+* H_RESET Reset device and internal registers to the power-up-default settings.
+* SLEEP Enable low power sleep mode.
+* STBY_XG Put gyro X in standby mode (1=standby, 0=normal).
+* STBY_YG Put gyro Y in standby mode (1=standby, 0=normal).
+* STBY_ZG Put gyro Z in standby mode (1=standby, 0=normal).
+* CLK_SEL Select device clock source:
+*
+* CLK_SEL | Clock Source
+* --------+--------------
+*    0      Internal oscillator
+*    1      PLL with X Gyro reference
+*    2      PLL with Y Gyro reference
+*    3      PLL with Z Gyro reference
+*    4      PLL with external 32.768kHz reference
+*    5      PLL with external 19.2MHz reference
+*    6      Reserved
+*    7      Reserved
+*
+* @return The contents of the PWR_MGM register.
+*/
+char getPowerManagement(void);
+/**
+* Set power management configuration.
+*
+* See the datasheet for configuration byte details
+*
+*      7        6        5         4
+* +---------+-------+---------+---------+
+* | H_RESET | SLEEP | STBY_XG | STBY_YG |
+* +---------+-------+---------+---------+
+*
+*      3          2         1          0
+* +---------+----------+----------+----------+
+* | STBY_ZG | CLK_SEL2 | CLK_SEL1 | CLK_SEL0 |
+* +---------+----------+----------+----------+
+*
+* H_RESET Reset device and internal registers to the power-up-default settings.
+* SLEEP Enable low power sleep mode.
+* STBY_XG Put gyro X in standby mode (1=standby, 0=normal).
+* STBY_YG Put gyro Y in standby mode (1=standby, 0=normal).
+* STBY_ZG Put gyro Z in standby mode (1=standby, 0=normal).
+* CLK_SEL Select device clock source:
+*
+* CLK_SEL | Clock Source
+* --------+--------------
+*    0      Internal oscillator
+*    1      PLL with X Gyro reference
+*    2      PLL with Y Gyro reference
+*    3      PLL with Z Gyro reference
+*    4      PLL with external 32.768kHz reference
+*    5      PLL with external 19.2MHz reference
+*    6      Reserved
+*    7      Reserved
+*
+* @param config The configuration byte to write to the PWR_MGM register.
+*/
+void setPowerManagement(char config);
+private:
+I2C i2c_;
+};
+#endif /* ITG3200_H */