Uwe Gartmann / ITG3200

ITG3200 Library as part of the 9DOF stick from Sparkfun.com

Dependents:   9DOF-Stick 6dof_new_workwith_v2 aigamozu_program_ver2 aigamozu_program_ver2_yokokawa ... more

ITG3200.h@0:8967cbe04d96, 2011-10-07 (annotated)

Committer:
Digixx
Date:
Fri Oct 07 21:08:25 2011 +0000
Revision:
0:8967cbe04d96
Had to modify I2C address from 0x69 to 0x68 to use this Lib

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Digixx 0:8967cbe04d96 1 /**
Digixx 0:8967cbe04d96 2 * @author Uwe Gartmann
Digixx 0:8967cbe04d96 3 * @author Used ITG3200 library developed Aaron Berk as template
Digixx 0:8967cbe04d96 4 *
Digixx 0:8967cbe04d96 5 * @section LICENSE
Digixx 0:8967cbe04d96 6 *
Digixx 0:8967cbe04d96 7 * Copyright (c) 2010 ARM Limited
Digixx 0:8967cbe04d96 8 *
Digixx 0:8967cbe04d96 9 * Permission is hereby granted, free of charge, to any person obtaining a copy
Digixx 0:8967cbe04d96 10 * of this software and associated documentation files (the "Software"), to deal
Digixx 0:8967cbe04d96 11 * in the Software without restriction, including without limitation the rights
Digixx 0:8967cbe04d96 12 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
Digixx 0:8967cbe04d96 13 * copies of the Software, and to permit persons to whom the Software is
Digixx 0:8967cbe04d96 14 * furnished to do so, subject to the following conditions:
Digixx 0:8967cbe04d96 15 *
Digixx 0:8967cbe04d96 16 * The above copyright notice and this permission notice shall be included in
Digixx 0:8967cbe04d96 17 * all copies or substantial portions of the Software.
Digixx 0:8967cbe04d96 18 *
Digixx 0:8967cbe04d96 19 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
Digixx 0:8967cbe04d96 20 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
Digixx 0:8967cbe04d96 21 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
Digixx 0:8967cbe04d96 22 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
Digixx 0:8967cbe04d96 23 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
Digixx 0:8967cbe04d96 24 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
Digixx 0:8967cbe04d96 25 * THE SOFTWARE.
Digixx 0:8967cbe04d96 26 *
Digixx 0:8967cbe04d96 27 * @section DESCRIPTION
Digixx 0:8967cbe04d96 28 *
Digixx 0:8967cbe04d96 29 * ITG-3200 triple axis, digital interface, gyroscope.
Digixx 0:8967cbe04d96 30 *
Digixx 0:8967cbe04d96 31 * Datasheet:
Digixx 0:8967cbe04d96 32 *
Digixx 0:8967cbe04d96 33 * http://invensense.com/mems/gyro/documents/PS-ITG-3200-00-01.4.pdf
Digixx 0:8967cbe04d96 34 */
Digixx 0:8967cbe04d96 35
Digixx 0:8967cbe04d96 36 #ifndef ITG3200_H
Digixx 0:8967cbe04d96 37 #define ITG3200_H
Digixx 0:8967cbe04d96 38
Digixx 0:8967cbe04d96 39 /**
Digixx 0:8967cbe04d96 40 * Includes
Digixx 0:8967cbe04d96 41 */
Digixx 0:8967cbe04d96 42 #include "mbed.h"
Digixx 0:8967cbe04d96 43
Digixx 0:8967cbe04d96 44 /**
Digixx 0:8967cbe04d96 45 * Defines
Digixx 0:8967cbe04d96 46 */
Digixx 0:8967cbe04d96 47 #define ITG3200_I2C_ADDRESS 0x68 //7-bit address.
Digixx 0:8967cbe04d96 48
Digixx 0:8967cbe04d96 49 //-----------
Digixx 0:8967cbe04d96 50 // Registers
Digixx 0:8967cbe04d96 51 //-----------
Digixx 0:8967cbe04d96 52 #define WHO_AM_I_REG 0x00
Digixx 0:8967cbe04d96 53 #define SMPLRT_DIV_REG 0x15
Digixx 0:8967cbe04d96 54 #define DLPF_FS_REG 0x16
Digixx 0:8967cbe04d96 55 #define INT_CFG_REG 0x17
Digixx 0:8967cbe04d96 56 #define INT_STATUS 0x1A
Digixx 0:8967cbe04d96 57 #define TEMP_OUT_H_REG 0x1B
Digixx 0:8967cbe04d96 58 #define TEMP_OUT_L_REG 0x1C
Digixx 0:8967cbe04d96 59 #define GYRO_XOUT_H_REG 0x1D
Digixx 0:8967cbe04d96 60 #define GYRO_XOUT_L_REG 0x1E
Digixx 0:8967cbe04d96 61 #define GYRO_YOUT_H_REG 0x1F
Digixx 0:8967cbe04d96 62 #define GYRO_YOUT_L_REG 0x20
Digixx 0:8967cbe04d96 63 #define GYRO_ZOUT_H_REG 0x21
Digixx 0:8967cbe04d96 64 #define GYRO_ZOUT_L_REG 0x22
Digixx 0:8967cbe04d96 65 #define PWR_MGM_REG 0x3E
Digixx 0:8967cbe04d96 66
Digixx 0:8967cbe04d96 67 //----------------------------
Digixx 0:8967cbe04d96 68 // Low Pass Filter Bandwidths
Digixx 0:8967cbe04d96 69 //----------------------------
Digixx 0:8967cbe04d96 70 #define LPFBW_256HZ 0x00
Digixx 0:8967cbe04d96 71 #define LPFBW_188HZ 0x01
Digixx 0:8967cbe04d96 72 #define LPFBW_98HZ 0x02
Digixx 0:8967cbe04d96 73 #define LPFBW_42HZ 0x03
Digixx 0:8967cbe04d96 74 #define LPFBW_20HZ 0x04
Digixx 0:8967cbe04d96 75 #define LPFBW_10HZ 0x05
Digixx 0:8967cbe04d96 76 #define LPFBW_5HZ 0x06
Digixx 0:8967cbe04d96 77
Digixx 0:8967cbe04d96 78 /**
Digixx 0:8967cbe04d96 79 * ITG-3200 triple axis digital gyroscope.
Digixx 0:8967cbe04d96 80 */
Digixx 0:8967cbe04d96 81 class ITG3200 {
Digixx 0:8967cbe04d96 82
Digixx 0:8967cbe04d96 83 public:
Digixx 0:8967cbe04d96 84
Digixx 0:8967cbe04d96 85 /**
Digixx 0:8967cbe04d96 86 * Constructor.
Digixx 0:8967cbe04d96 87 *
Digixx 0:8967cbe04d96 88 * Sets FS_SEL to 0x03 for proper opertaion.
Digixx 0:8967cbe04d96 89 *
Digixx 0:8967cbe04d96 90 * @param sda - mbed pin to use for the SDA I2C line.
Digixx 0:8967cbe04d96 91 * @param scl - mbed pin to use for the SCL I2C line.
Digixx 0:8967cbe04d96 92 */
Digixx 0:8967cbe04d96 93 ITG3200(PinName sda, PinName scl);
Digixx 0:8967cbe04d96 94
Digixx 0:8967cbe04d96 95 /**
Digixx 0:8967cbe04d96 96 * Get the identity of the device.
Digixx 0:8967cbe04d96 97 *
Digixx 0:8967cbe04d96 98 * @return The contents of the Who Am I register which contains the I2C
Digixx 0:8967cbe04d96 99 * address of the device.
Digixx 0:8967cbe04d96 100 */
Digixx 0:8967cbe04d96 101 char getWhoAmI(void);
Digixx 0:8967cbe04d96 102
Digixx 0:8967cbe04d96 103 /**
Digixx 0:8967cbe04d96 104 * Set the address of the device.
Digixx 0:8967cbe04d96 105 *
Digixx 0:8967cbe04d96 106 * @param address The I2C slave address to write to the Who Am I register
Digixx 0:8967cbe04d96 107 * on the device.
Digixx 0:8967cbe04d96 108 */
Digixx 0:8967cbe04d96 109 void setWhoAmI(char address);
Digixx 0:8967cbe04d96 110
Digixx 0:8967cbe04d96 111 /**
Digixx 0:8967cbe04d96 112 * Get the sample rate divider.
Digixx 0:8967cbe04d96 113 *
Digixx 0:8967cbe04d96 114 * @return The sample rate divider as a number from 0-255.
Digixx 0:8967cbe04d96 115 */
Digixx 0:8967cbe04d96 116 char getSampleRateDivider(void);
Digixx 0:8967cbe04d96 117
Digixx 0:8967cbe04d96 118 /**
Digixx 0:8967cbe04d96 119 * Set the sample rate divider.
Digixx 0:8967cbe04d96 120 *
Digixx 0:8967cbe04d96 121 * Fsample = Finternal / (divider + 1), where Finternal = 1kHz or 8kHz,
Digixx 0:8967cbe04d96 122 * as decidied by the DLPF_FS register.
Digixx 0:8967cbe04d96 123 *
Digixx 0:8967cbe04d96 124 * @param The sample rate divider as a number from 0-255.
Digixx 0:8967cbe04d96 125 */
Digixx 0:8967cbe04d96 126 void setSampleRateDivider(char divider);
Digixx 0:8967cbe04d96 127
Digixx 0:8967cbe04d96 128 /**
Digixx 0:8967cbe04d96 129 * Get the internal sample rate.
Digixx 0:8967cbe04d96 130 *
Digixx 0:8967cbe04d96 131 * @return The internal sample rate in kHz - either 1 or 8.
Digixx 0:8967cbe04d96 132 */
Digixx 0:8967cbe04d96 133 int getInternalSampleRate(void);
Digixx 0:8967cbe04d96 134
Digixx 0:8967cbe04d96 135 /**
Digixx 0:8967cbe04d96 136 * Set the low pass filter bandwidth.
Digixx 0:8967cbe04d96 137 *
Digixx 0:8967cbe04d96 138 * Also used to set the internal sample rate.
Digixx 0:8967cbe04d96 139 * Pass the #define bandwidth codes as a parameter.
Digixx 0:8967cbe04d96 140 *
Digixx 0:8967cbe04d96 141 * 256Hz -> 8kHz internal sample rate.
Digixx 0:8967cbe04d96 142 * Everything else -> 1kHz internal rate.
Digixx 0:8967cbe04d96 143 *
Digixx 0:8967cbe04d96 144 * @param bandwidth Low pass filter bandwidth code
Digixx 0:8967cbe04d96 145 */
Digixx 0:8967cbe04d96 146 void setLpBandwidth(char bandwidth);
Digixx 0:8967cbe04d96 147
Digixx 0:8967cbe04d96 148 /**
Digixx 0:8967cbe04d96 149 * Get the interrupt configuration.
Digixx 0:8967cbe04d96 150 *
Digixx 0:8967cbe04d96 151 * See datasheet for register contents details.
Digixx 0:8967cbe04d96 152 *
Digixx 0:8967cbe04d96 153 * 7 6 5 4
Digixx 0:8967cbe04d96 154 * +------+------+--------------+------------------+
Digixx 0:8967cbe04d96 155 * | ACTL | OPEN | LATCH_INT_EN | INT_ANYRD_2CLEAR |
Digixx 0:8967cbe04d96 156 * +------+------+--------------+------------------+
Digixx 0:8967cbe04d96 157 *
Digixx 0:8967cbe04d96 158 * 3 2 1 0
Digixx 0:8967cbe04d96 159 * +---+------------+------------+---+
Digixx 0:8967cbe04d96 160 * | 0 | ITG_RDY_EN | RAW_RDY_EN | 0 |
Digixx 0:8967cbe04d96 161 * +---+------------+------------+---+
Digixx 0:8967cbe04d96 162 *
Digixx 0:8967cbe04d96 163 * ACTL Logic level for INT output pin; 1 = active low, 0 = active high.
Digixx 0:8967cbe04d96 164 * OPEN Drive type for INT output pin; 1 = open drain, 0 = push-pull.
Digixx 0:8967cbe04d96 165 * LATCH_INT_EN Latch mode; 1 = latch until interrupt is cleared,
Digixx 0:8967cbe04d96 166 * 0 = 50us pulse.
Digixx 0:8967cbe04d96 167 * INT_ANYRD_2CLEAR Latch clear method; 1 = any register read,
Digixx 0:8967cbe04d96 168 * 0 = status register read only.
Digixx 0:8967cbe04d96 169 * ITG_RDY_EN Enable interrupt when device is ready,
Digixx 0:8967cbe04d96 170 * (PLL ready after changing clock source).
Digixx 0:8967cbe04d96 171 * RAW_RDY_EN Enable interrupt when data is available.
Digixx 0:8967cbe04d96 172 * 0 Bits 1 and 3 of the INT_CFG register should be zero.
Digixx 0:8967cbe04d96 173 *
Digixx 0:8967cbe04d96 174 * @return the contents of the INT_CFG register.
Digixx 0:8967cbe04d96 175 */
Digixx 0:8967cbe04d96 176 char getInterruptConfiguration(void);
Digixx 0:8967cbe04d96 177
Digixx 0:8967cbe04d96 178 /**
Digixx 0:8967cbe04d96 179 * Set the interrupt configuration.
Digixx 0:8967cbe04d96 180 *
Digixx 0:8967cbe04d96 181 * See datasheet for configuration byte details.
Digixx 0:8967cbe04d96 182 *
Digixx 0:8967cbe04d96 183 * 7 6 5 4
Digixx 0:8967cbe04d96 184 * +------+------+--------------+------------------+
Digixx 0:8967cbe04d96 185 * | ACTL | OPEN | LATCH_INT_EN | INT_ANYRD_2CLEAR |
Digixx 0:8967cbe04d96 186 * +------+------+--------------+------------------+
Digixx 0:8967cbe04d96 187 *
Digixx 0:8967cbe04d96 188 * 3 2 1 0
Digixx 0:8967cbe04d96 189 * +---+------------+------------+---+
Digixx 0:8967cbe04d96 190 * | 0 | ITG_RDY_EN | RAW_RDY_EN | 0 |
Digixx 0:8967cbe04d96 191 * +---+------------+------------+---+
Digixx 0:8967cbe04d96 192 *
Digixx 0:8967cbe04d96 193 * ACTL Logic level for INT output pin; 1 = active low, 0 = active high.
Digixx 0:8967cbe04d96 194 * OPEN Drive type for INT output pin; 1 = open drain, 0 = push-pull.
Digixx 0:8967cbe04d96 195 * LATCH_INT_EN Latch mode; 1 = latch until interrupt is cleared,
Digixx 0:8967cbe04d96 196 * 0 = 50us pulse.
Digixx 0:8967cbe04d96 197 * INT_ANYRD_2CLEAR Latch clear method; 1 = any register read,
Digixx 0:8967cbe04d96 198 * 0 = status register read only.
Digixx 0:8967cbe04d96 199 * ITG_RDY_EN Enable interrupt when device is ready,
Digixx 0:8967cbe04d96 200 * (PLL ready after changing clock source).
Digixx 0:8967cbe04d96 201 * RAW_RDY_EN Enable interrupt when data is available.
Digixx 0:8967cbe04d96 202 * 0 Bits 1 and 3 of the INT_CFG register should be zero.
Digixx 0:8967cbe04d96 203 *
Digixx 0:8967cbe04d96 204 * @param config Configuration byte to write to INT_CFG register.
Digixx 0:8967cbe04d96 205 */
Digixx 0:8967cbe04d96 206 void setInterruptConfiguration(char config);
Digixx 0:8967cbe04d96 207
Digixx 0:8967cbe04d96 208 /**
Digixx 0:8967cbe04d96 209 * Check the ITG_RDY bit of the INT_STATUS register.
Digixx 0:8967cbe04d96 210 *
Digixx 0:8967cbe04d96 211 * @return True if the ITG_RDY bit is set, corresponding to PLL ready,
Digixx 0:8967cbe04d96 212 * false if the ITG_RDY bit is not set, corresponding to PLL not
Digixx 0:8967cbe04d96 213 * ready.
Digixx 0:8967cbe04d96 214 */
Digixx 0:8967cbe04d96 215 bool isPllReady(void);
Digixx 0:8967cbe04d96 216
Digixx 0:8967cbe04d96 217 /**
Digixx 0:8967cbe04d96 218 * Check the RAW_DATA_RDY bit of the INT_STATUS register.
Digixx 0:8967cbe04d96 219 *
Digixx 0:8967cbe04d96 220 * @return True if the RAW_DATA_RDY bit is set, corresponding to new data
Digixx 0:8967cbe04d96 221 * in the sensor registers, false if the RAW_DATA_RDY bit is not
Digixx 0:8967cbe04d96 222 * set, corresponding to no new data yet in the sensor registers.
Digixx 0:8967cbe04d96 223 */
Digixx 0:8967cbe04d96 224 bool isRawDataReady(void);
Digixx 0:8967cbe04d96 225
Digixx 0:8967cbe04d96 226 /**
Digixx 0:8967cbe04d96 227 * Get the temperature of the device.
Digixx 0:8967cbe04d96 228 *
Digixx 0:8967cbe04d96 229 * @return The temperature in degrees celsius.
Digixx 0:8967cbe04d96 230 */
Digixx 0:8967cbe04d96 231 float getTemperature(void);
Digixx 0:8967cbe04d96 232
Digixx 0:8967cbe04d96 233 /**
Digixx 0:8967cbe04d96 234 * Get the output for the x-axis gyroscope.
Digixx 0:8967cbe04d96 235 *
Digixx 0:8967cbe04d96 236 * Typical sensitivity is 14.375 LSB/(degrees/sec).
Digixx 0:8967cbe04d96 237 *
Digixx 0:8967cbe04d96 238 * @return The output on the x-axis in raw ADC counts.
Digixx 0:8967cbe04d96 239 */
Digixx 0:8967cbe04d96 240 int getGyroX(void);
Digixx 0:8967cbe04d96 241
Digixx 0:8967cbe04d96 242 /**
Digixx 0:8967cbe04d96 243 * Get the output for the y-axis gyroscope.
Digixx 0:8967cbe04d96 244 *
Digixx 0:8967cbe04d96 245 * Typical sensitivity is 14.375 LSB/(degrees/sec).
Digixx 0:8967cbe04d96 246 *
Digixx 0:8967cbe04d96 247 * @return The output on the y-axis in raw ADC counts.
Digixx 0:8967cbe04d96 248 */
Digixx 0:8967cbe04d96 249 int getGyroY(void);
Digixx 0:8967cbe04d96 250
Digixx 0:8967cbe04d96 251 /**
Digixx 0:8967cbe04d96 252 * Get the output on the z-axis gyroscope.
Digixx 0:8967cbe04d96 253 *
Digixx 0:8967cbe04d96 254 * Typical sensitivity is 14.375 LSB/(degrees/sec).
Digixx 0:8967cbe04d96 255 *
Digixx 0:8967cbe04d96 256 * @return The output on the z-axis in raw ADC counts.
Digixx 0:8967cbe04d96 257 */
Digixx 0:8967cbe04d96 258 int getGyroZ(void);
Digixx 0:8967cbe04d96 259
Digixx 0:8967cbe04d96 260 /**
Digixx 0:8967cbe04d96 261 * Get the power management configuration.
Digixx 0:8967cbe04d96 262 *
Digixx 0:8967cbe04d96 263 * See the datasheet for register contents details.
Digixx 0:8967cbe04d96 264 *
Digixx 0:8967cbe04d96 265 * 7 6 5 4
Digixx 0:8967cbe04d96 266 * +---------+-------+---------+---------+
Digixx 0:8967cbe04d96 267 * | H_RESET | SLEEP | STBY_XG | STBY_YG |
Digixx 0:8967cbe04d96 268 * +---------+-------+---------+---------+
Digixx 0:8967cbe04d96 269 *
Digixx 0:8967cbe04d96 270 * 3 2 1 0
Digixx 0:8967cbe04d96 271 * +---------+----------+----------+----------+
Digixx 0:8967cbe04d96 272 * | STBY_ZG | CLK_SEL2 | CLK_SEL1 | CLK_SEL0 |
Digixx 0:8967cbe04d96 273 * +---------+----------+----------+----------+
Digixx 0:8967cbe04d96 274 *
Digixx 0:8967cbe04d96 275 * H_RESET Reset device and internal registers to the power-up-default settings.
Digixx 0:8967cbe04d96 276 * SLEEP Enable low power sleep mode.
Digixx 0:8967cbe04d96 277 * STBY_XG Put gyro X in standby mode (1=standby, 0=normal).
Digixx 0:8967cbe04d96 278 * STBY_YG Put gyro Y in standby mode (1=standby, 0=normal).
Digixx 0:8967cbe04d96 279 * STBY_ZG Put gyro Z in standby mode (1=standby, 0=normal).
Digixx 0:8967cbe04d96 280 * CLK_SEL Select device clock source:
Digixx 0:8967cbe04d96 281 *
Digixx 0:8967cbe04d96 282 * CLK_SEL | Clock Source
Digixx 0:8967cbe04d96 283 * --------+--------------
Digixx 0:8967cbe04d96 284 * 0 Internal oscillator
Digixx 0:8967cbe04d96 285 * 1 PLL with X Gyro reference
Digixx 0:8967cbe04d96 286 * 2 PLL with Y Gyro reference
Digixx 0:8967cbe04d96 287 * 3 PLL with Z Gyro reference
Digixx 0:8967cbe04d96 288 * 4 PLL with external 32.768kHz reference
Digixx 0:8967cbe04d96 289 * 5 PLL with external 19.2MHz reference
Digixx 0:8967cbe04d96 290 * 6 Reserved
Digixx 0:8967cbe04d96 291 * 7 Reserved
Digixx 0:8967cbe04d96 292 *
Digixx 0:8967cbe04d96 293 * @return The contents of the PWR_MGM register.
Digixx 0:8967cbe04d96 294 */
Digixx 0:8967cbe04d96 295 char getPowerManagement(void);
Digixx 0:8967cbe04d96 296
Digixx 0:8967cbe04d96 297 /**
Digixx 0:8967cbe04d96 298 * Set power management configuration.
Digixx 0:8967cbe04d96 299 *
Digixx 0:8967cbe04d96 300 * See the datasheet for configuration byte details
Digixx 0:8967cbe04d96 301 *
Digixx 0:8967cbe04d96 302 * 7 6 5 4
Digixx 0:8967cbe04d96 303 * +---------+-------+---------+---------+
Digixx 0:8967cbe04d96 304 * | H_RESET | SLEEP | STBY_XG | STBY_YG |
Digixx 0:8967cbe04d96 305 * +---------+-------+---------+---------+
Digixx 0:8967cbe04d96 306 *
Digixx 0:8967cbe04d96 307 * 3 2 1 0
Digixx 0:8967cbe04d96 308 * +---------+----------+----------+----------+
Digixx 0:8967cbe04d96 309 * | STBY_ZG | CLK_SEL2 | CLK_SEL1 | CLK_SEL0 |
Digixx 0:8967cbe04d96 310 * +---------+----------+----------+----------+
Digixx 0:8967cbe04d96 311 *
Digixx 0:8967cbe04d96 312 * H_RESET Reset device and internal registers to the power-up-default settings.
Digixx 0:8967cbe04d96 313 * SLEEP Enable low power sleep mode.
Digixx 0:8967cbe04d96 314 * STBY_XG Put gyro X in standby mode (1=standby, 0=normal).
Digixx 0:8967cbe04d96 315 * STBY_YG Put gyro Y in standby mode (1=standby, 0=normal).
Digixx 0:8967cbe04d96 316 * STBY_ZG Put gyro Z in standby mode (1=standby, 0=normal).
Digixx 0:8967cbe04d96 317 * CLK_SEL Select device clock source:
Digixx 0:8967cbe04d96 318 *
Digixx 0:8967cbe04d96 319 * CLK_SEL | Clock Source
Digixx 0:8967cbe04d96 320 * --------+--------------
Digixx 0:8967cbe04d96 321 * 0 Internal oscillator
Digixx 0:8967cbe04d96 322 * 1 PLL with X Gyro reference
Digixx 0:8967cbe04d96 323 * 2 PLL with Y Gyro reference
Digixx 0:8967cbe04d96 324 * 3 PLL with Z Gyro reference
Digixx 0:8967cbe04d96 325 * 4 PLL with external 32.768kHz reference
Digixx 0:8967cbe04d96 326 * 5 PLL with external 19.2MHz reference
Digixx 0:8967cbe04d96 327 * 6 Reserved
Digixx 0:8967cbe04d96 328 * 7 Reserved
Digixx 0:8967cbe04d96 329 *
Digixx 0:8967cbe04d96 330 * @param config The configuration byte to write to the PWR_MGM register.
Digixx 0:8967cbe04d96 331 */
Digixx 0:8967cbe04d96 332 void setPowerManagement(char config);
Digixx 0:8967cbe04d96 333
Digixx 0:8967cbe04d96 334 private:
Digixx 0:8967cbe04d96 335
Digixx 0:8967cbe04d96 336 I2C i2c_;
Digixx 0:8967cbe04d96 337
Digixx 0:8967cbe04d96 338 };
Digixx 0:8967cbe04d96 339
Digixx 0:8967cbe04d96 340 #endif /* ITG3200_H */