ITG3200.h

00001 /**
00002  * @author Aaron Berk
00003  *
00004  * @section LICENSE
00005  *
00006  * Copyright (c) 2010 ARM Limited
00007  *
00008  * Permission is hereby granted, free of charge, to any person obtaining a copy
00009  * of this software and associated documentation files (the "Software"), to deal
00010  * in the Software without restriction, including without limitation the rights
00011  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00012  * copies of the Software, and to permit persons to whom the Software is
00013  * furnished to do so, subject to the following conditions:
00014  *
00015  * The above copyright notice and this permission notice shall be included in
00016  * all copies or substantial portions of the Software.
00017  *
00018  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00019  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00020  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00021  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00022  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00023  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00024  * THE SOFTWARE.
00025  *
00026  * @section DESCRIPTION
00027  *
00028  * ITG-3200 triple axis, digital interface, gyroscope.
00029  *
00030  * Datasheet:
00031  *
00032  * http://invensense.com/mems/gyro/documents/PS-ITG-3200-00-01.4.pdf
00033  */
00034 
00035 /**
00036  * Includes
00037  */
00038 
00039 
00040 #ifndef ITG3200_H
00041 #define ITG3200_H
00042  /**
00043   * Includes
00044   */
00045  #include "mbed.h"
00046  
00047  /**
00048 * Defines
00049   */
00050  #define ITG3200_I2C_ADDRESS 0x68  //7-bit address.
00051  
00052  //-----------
00053  // Registers
00054  //-----------
00055  #define WHO_AM_I_REG    0x00
00056  #define SMPLRT_DIV_REG  0x15
00057  #define DLPF_FS_REG     0x16
00058  #define INT_CFG_REG     0x17
00059  #define INT_STATUS      0x1A
00060  #define TEMP_OUT_H_REG  0x1B
00061  #define TEMP_OUT_L_REG  0x1C
00062  #define GYRO_XOUT_H_REG 0x1D
00063  #define GYRO_XOUT_L_REG 0x1E
00064  #define GYRO_YOUT_H_REG 0x1F
00065  #define GYRO_YOUT_L_REG 0x20
00066 #define GYRO_ZOUT_H_REG 0x21
00067 #define GYRO_ZOUT_L_REG 0x22
00068  #define PWR_MGM_REG     0x3E
00069  
00070 //----------------------------
00071 // Low Pass Filter Bandwidths
00072 //----------------------------
00073 #define LPFBW_256HZ 0x00
00074 #define LPFBW_188HZ 0x01
00075 #define LPFBW_98HZ  0x02
00076 #define LPFBW_42HZ  0x03
00077 #define LPFBW_20HZ  0x04
00078 #define LPFBW_10HZ  0x05
00079 #define LPFBW_5HZ   0x06
00080 /**
00081 * ITG-3200 triple axis digital gyroscope.
00082 */
00083 class ITG3200 {
00084 public:
00085 /**
00086 * Constructor.
00087 *
00088 * Sets FS_SEL to 0x03 for proper opertaion.
00089 *
00090 * @param sda - mbed pin to use for the SDA I2C line.
00091 * @param scl - mbed pin to use for the SCL I2C line.
00092 */
00093 ITG3200(PinName sda, PinName scl);
00094 /**
00095 * Get the identity of the device.
00096       *
00097 * @return The contents of the Who Am I register which contains the I2C
00098 *         address of the device.
00099 */
00100 char getWhoAmI(void);
00101 /**
00102 * Set the address of the device.
00103 *
00104 * @param address The I2C slave address to write to the Who Am I register
00105 *        on the device.
00106 */
00107 void setWhoAmI(char address);
00108 /**
00109 * Get the sample rate divider.
00110 *
00111 * @return The sample rate divider as a number from 0-255.
00112 */
00113 char getSampleRateDivider(void);
00114 /**
00115 * Set the sample rate divider.
00116 *
00117 * Fsample = Finternal / (divider + 1), where Finternal = 1kHz or 8kHz,
00118 * as decidied by the DLPF_FS register.
00119 *
00120 * @param The sample rate divider as a number from 0-255.
00121 */
00122 void setSampleRateDivider(char divider);
00123 /**
00124 * Get the internal sample rate.
00125 *
00126 * @return The internal sample rate in kHz - either 1 or 8.
00127 */
00128 int getInternalSampleRate(void);
00129 
00130 void setLpBandwidth(char bandwidth);
00131 /**
00132 * Get the interrupt configuration.
00133 *
00134 * See datasheet for register contents details.
00135 *
00136 *    7      6           5                 4
00137 * +------+------+--------------+------------------+
00138 * | ACTL | OPEN | LATCH_INT_EN | INT_ANYRD_2CLEAR |
00139 * +------+------+--------------+------------------+
00140 *
00141 *   3        2            1       0
00142 * +---+------------+------------+---+
00143 * | 0 | ITG_RDY_EN | RAW_RDY_EN | 0 |
00144 * +---+------------+------------+---+
00145 *
00146 * ACTL Logic level for INT output pin; 1 = active low, 0 = active high.
00147 * OPEN Drive type for INT output pin; 1 = open drain, 0 = push-pull.
00148 * LATCH_INT_EN Latch mode; 1 = latch until interrupt is cleared,
00149 *                          0 = 50us pulse.
00150 * INT_ANYRD_2CLEAR Latch clear method; 1 = any register read,
00151 *                                      0 = status register read only.
00152 * ITG_RDY_EN Enable interrupt when device is ready,
00153 *            (PLL ready after changing clock source).
00154 * RAW_RDY_EN Enable interrupt when data is available.
00155 * 0 Bits 1 and 3 of the INT_CFG register should be zero.
00156 *
00157 * @return the contents of the INT_CFG register.
00158 */
00159 char getInterruptConfiguration(void);
00160 /**
00161 * Set the interrupt configuration.
00162 *
00163 * See datasheet for configuration byte details.
00164 *
00165 *    7      6           5                 4
00166 * +------+------+--------------+------------------+
00167 * | ACTL | OPEN | LATCH_INT_EN | INT_ANYRD_2CLEAR |
00168 * +------+------+--------------+------------------+
00169 *
00170 *   3        2            1       0
00171 * +---+------------+------------+---+
00172 * | 0 | ITG_RDY_EN | RAW_RDY_EN | 0 |
00173 * +---+------------+------------+---+
00174 *
00175 * ACTL Logic level for INT output pin; 1 = active low, 0 = active high.
00176 * OPEN Drive type for INT output pin; 1 = open drain, 0 = push-pull.
00177 * LATCH_INT_EN Latch mode; 1 = latch until interrupt is cleared,
00178 *                          0 = 50us pulse.
00179 * INT_ANYRD_2CLEAR Latch clear method; 1 = any register read,
00180 *                                      0 = status register read only.
00181 * ITG_RDY_EN Enable interrupt when device is ready,
00182 *            (PLL ready after changing clock source).
00183 * RAW_RDY_EN Enable interrupt when data is available.
00184 * 0 Bits 1 and 3 of the INT_CFG register should be zero.
00185 *
00186 * @param config Configuration byte to write to INT_CFG register.
00187 */
00188 void setInterruptConfiguration(char config);
00189 /**
00190 * Check the ITG_RDY bit of the INT_STATUS register.
00191 *
00192 * @return True if the ITG_RDY bit is set, corresponding to PLL ready,
00193 *         false if the ITG_RDY bit is not set, corresponding to PLL not
00194 *         ready.
00195 */
00196 bool isPllReady(void);
00197 
00198 bool isRawDataReady(void);
00199 /**
00200 * Get the temperature of the device.
00201 *
00202 * @return The temperature in degrees celsius.
00203 */
00204 float getTemperature(void);
00205 /**
00206 * Get the output for the x-axis gyroscope.
00207 *
00208 * Typical sensitivity is 14.375 LSB/(degrees/sec).
00209 *
00210 * @return The output on the x-axis in raw ADC counts.
00211 */
00212 int getGyroX(void);
00213 /**
00214 * Get the output for the y-axis gyroscope.
00215 *
00216 * Typical sensitivity is 14.375 LSB/(degrees/sec).
00217 *
00218 * @return The output on the y-axis in raw ADC counts.
00219 */
00220 int getGyroY(void);
00221 
00222 int getGyroZ(void);
00223      /**
00224 * Get the power management configuration.
00225 *
00226 * See the datasheet for register contents details.
00227 *
00228 *     7        6        5         4
00229 * +---------+-------+---------+---------+
00230 * | H_RESET | SLEEP | STBY_XG | STBY_YG |
00231 * +---------+-------+---------+---------+
00232 *
00233 *      3          2         1          0
00234 * +---------+----------+----------+----------+
00235 * | STBY_ZG | CLK_SEL2 | CLK_SEL1 | CLK_SEL0 |
00236 * +---------+----------+----------+----------+
00237 *
00238 * H_RESET Reset device and internal registers to the power-up-default settings.
00239 * SLEEP Enable low power sleep mode.
00240 * STBY_XG Put gyro X in standby mode (1=standby, 0=normal).
00241 * STBY_YG Put gyro Y in standby mode (1=standby, 0=normal).
00242 * STBY_ZG Put gyro Z in standby mode (1=standby, 0=normal).
00243 * CLK_SEL Select device clock source:
00244 *
00245 * CLK_SEL | Clock Source
00246 * --------+--------------
00247 *    0      Internal oscillator
00248 *    1      PLL with X Gyro reference
00249 *    2      PLL with Y Gyro reference
00250 *    3      PLL with Z Gyro reference
00251 *    4      PLL with external 32.768kHz reference
00252 *    5      PLL with external 19.2MHz reference
00253 *    6      Reserved
00254 *    7      Reserved
00255 *
00256 * @return The contents of the PWR_MGM register.
00257 */
00258 char getPowerManagement(void);
00259 /**
00260 * Set power management configuration.
00261 *
00262 * See the datasheet for configuration byte details
00263 *
00264 *      7        6        5         4
00265 * +---------+-------+---------+---------+
00266 * | H_RESET | SLEEP | STBY_XG | STBY_YG |
00267 * +---------+-------+---------+---------+
00268 *
00269 *      3          2         1          0
00270 * +---------+----------+----------+----------+
00271 * | STBY_ZG | CLK_SEL2 | CLK_SEL1 | CLK_SEL0 |
00272 * +---------+----------+----------+----------+
00273 *
00274 * H_RESET Reset device and internal registers to the power-up-default settings.
00275 * SLEEP Enable low power sleep mode.
00276 * STBY_XG Put gyro X in standby mode (1=standby, 0=normal).
00277 * STBY_YG Put gyro Y in standby mode (1=standby, 0=normal).
00278 * STBY_ZG Put gyro Z in standby mode (1=standby, 0=normal).
00279 * CLK_SEL Select device clock source:
00280 *
00281 * CLK_SEL | Clock Source
00282 * --------+--------------
00283 *    0      Internal oscillator
00284 *    1      PLL with X Gyro reference
00285 *    2      PLL with Y Gyro reference
00286 *    3      PLL with Z Gyro reference
00287 *    4      PLL with external 32.768kHz reference
00288 *    5      PLL with external 19.2MHz reference
00289 *    6      Reserved
00290 *    7      Reserved
00291 *
00292 * @param config The configuration byte to write to the PWR_MGM register.
00293 */
00294 void setPowerManagement(char config);
00295 private:
00296 I2C i2c_;
00297 };
00298 #endif /* ITG3200_H */