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

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ITG3200.h

00001 /**
00002  * @author Uwe Gartmann
00003  * @author Used ITG3200 library developed Aaron Berk as template
00004  *
00005  * @section LICENSE
00006  *
00007  * Copyright (c) 2010 ARM Limited
00008  *
00009  * Permission is hereby granted, free of charge, to any person obtaining a copy
00010  * of this software and associated documentation files (the "Software"), to deal
00011  * in the Software without restriction, including without limitation the rights
00012  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00013  * copies of the Software, and to permit persons to whom the Software is
00014  * furnished to do so, subject to the following conditions:
00015  *
00016  * The above copyright notice and this permission notice shall be included in
00017  * all copies or substantial portions of the Software.
00018  *
00019  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00020  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00021  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00022  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00023  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00024  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00025  * THE SOFTWARE.
00026  *
00027  * @section DESCRIPTION
00028  *
00029  * ITG-3200 triple axis, digital interface, gyroscope.
00030  *
00031  * Datasheet:
00032  *
00033  * http://invensense.com/mems/gyro/documents/PS-ITG-3200-00-01.4.pdf
00034  */
00035 
00036 #ifndef ITG3200_H
00037 #define ITG3200_H
00038 
00039 /**
00040  * Includes
00041  */
00042 #include "mbed.h"
00043 
00044 /**
00045  * Defines
00046  */
00047 #define ITG3200_I2C_ADDRESS 0x68 //7-bit address.
00048 
00049 //-----------
00050 // Registers
00051 //-----------
00052 #define WHO_AM_I_REG    0x00
00053 #define SMPLRT_DIV_REG  0x15
00054 #define DLPF_FS_REG     0x16
00055 #define INT_CFG_REG     0x17
00056 #define INT_STATUS      0x1A
00057 #define TEMP_OUT_H_REG  0x1B
00058 #define TEMP_OUT_L_REG  0x1C
00059 #define GYRO_XOUT_H_REG 0x1D
00060 #define GYRO_XOUT_L_REG 0x1E
00061 #define GYRO_YOUT_H_REG 0x1F
00062 #define GYRO_YOUT_L_REG 0x20
00063 #define GYRO_ZOUT_H_REG 0x21
00064 #define GYRO_ZOUT_L_REG 0x22
00065 #define PWR_MGM_REG     0x3E
00066 
00067 //----------------------------
00068 // Low Pass Filter Bandwidths
00069 //----------------------------
00070 #define LPFBW_256HZ 0x00
00071 #define LPFBW_188HZ 0x01
00072 #define LPFBW_98HZ  0x02
00073 #define LPFBW_42HZ  0x03
00074 #define LPFBW_20HZ  0x04
00075 #define LPFBW_10HZ  0x05
00076 #define LPFBW_5HZ   0x06
00077 
00078 /**
00079  * ITG-3200 triple axis digital gyroscope.
00080  */
00081 class ITG3200 {
00082 
00083 public:
00084 
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     /**
00096      * Get the identity of the device.
00097      *
00098      * @return The contents of the Who Am I register which contains the I2C
00099      *         address of the device.
00100      */
00101     char getWhoAmI(void);
00102 
00103     /**
00104      * Set the address of the device.
00105      *
00106      * @param address The I2C slave address to write to the Who Am I register
00107      *        on the device.
00108      */
00109     void setWhoAmI(char address);
00110 
00111     /**
00112      * Get the sample rate divider.
00113      *
00114      * @return The sample rate divider as a number from 0-255.
00115      */
00116     char getSampleRateDivider(void);
00117 
00118     /**
00119      * Set the sample rate divider.
00120      *
00121      * Fsample = Finternal / (divider + 1), where Finternal = 1kHz or 8kHz,
00122      * as decidied by the DLPF_FS register.
00123      *
00124      * @param The sample rate divider as a number from 0-255.
00125      */
00126     void setSampleRateDivider(char divider);
00127 
00128     /**
00129      * Get the internal sample rate.
00130      *
00131      * @return The internal sample rate in kHz - either 1 or 8.
00132      */
00133     int getInternalSampleRate(void);
00134 
00135     /**
00136      * Set the low pass filter bandwidth.
00137      *
00138      * Also used to set the internal sample rate.
00139      * Pass the #define bandwidth codes as a parameter.
00140      *
00141      * 256Hz -> 8kHz internal sample rate.
00142      * Everything else -> 1kHz internal rate.
00143      *
00144      * @param bandwidth Low pass filter bandwidth code
00145      */
00146     void setLpBandwidth(char bandwidth);
00147 
00148     /**
00149      * Get the interrupt configuration.
00150      *
00151      * See datasheet for register contents details.
00152      *
00153      *    7      6           5                 4
00154      * +------+------+--------------+------------------+
00155      * | ACTL | OPEN | LATCH_INT_EN | INT_ANYRD_2CLEAR |
00156      * +------+------+--------------+------------------+
00157      *
00158      *   3        2            1       0
00159      * +---+------------+------------+---+
00160      * | 0 | ITG_RDY_EN | RAW_RDY_EN | 0 |
00161      * +---+------------+------------+---+
00162      *
00163      * ACTL Logic level for INT output pin; 1 = active low, 0 = active high.
00164      * OPEN Drive type for INT output pin; 1 = open drain, 0 = push-pull.
00165      * LATCH_INT_EN Latch mode; 1 = latch until interrupt is cleared,
00166      *                          0 = 50us pulse.
00167      * INT_ANYRD_2CLEAR Latch clear method; 1 = any register read,
00168      *                                      0 = status register read only.
00169      * ITG_RDY_EN Enable interrupt when device is ready,
00170      *            (PLL ready after changing clock source).
00171      * RAW_RDY_EN Enable interrupt when data is available.
00172      * 0 Bits 1 and 3 of the INT_CFG register should be zero.
00173      *
00174      * @return the contents of the INT_CFG register.
00175      */
00176     char getInterruptConfiguration(void);
00177 
00178     /**
00179      * Set the interrupt configuration.
00180      *
00181      * See datasheet for configuration byte details.
00182      *
00183      *    7      6           5                 4
00184      * +------+------+--------------+------------------+
00185      * | ACTL | OPEN | LATCH_INT_EN | INT_ANYRD_2CLEAR |
00186      * +------+------+--------------+------------------+
00187      *
00188      *   3        2            1       0
00189      * +---+------------+------------+---+
00190      * | 0 | ITG_RDY_EN | RAW_RDY_EN | 0 |
00191      * +---+------------+------------+---+
00192      *
00193      * ACTL Logic level for INT output pin; 1 = active low, 0 = active high.
00194      * OPEN Drive type for INT output pin; 1 = open drain, 0 = push-pull.
00195      * LATCH_INT_EN Latch mode; 1 = latch until interrupt is cleared,
00196      *                          0 = 50us pulse.
00197      * INT_ANYRD_2CLEAR Latch clear method; 1 = any register read,
00198      *                                      0 = status register read only.
00199      * ITG_RDY_EN Enable interrupt when device is ready,
00200      *            (PLL ready after changing clock source).
00201      * RAW_RDY_EN Enable interrupt when data is available.
00202      * 0 Bits 1 and 3 of the INT_CFG register should be zero.
00203      *
00204      * @param config Configuration byte to write to INT_CFG register.
00205      */
00206     void setInterruptConfiguration(char config);
00207 
00208     /**
00209      * Check the ITG_RDY bit of the INT_STATUS register.
00210      *
00211      * @return True if the ITG_RDY bit is set, corresponding to PLL ready,
00212      *         false if the ITG_RDY bit is not set, corresponding to PLL not
00213      *         ready.
00214      */
00215     bool isPllReady(void);
00216 
00217     /**
00218      * Check the RAW_DATA_RDY bit of the INT_STATUS register.
00219      *
00220      * @return True if the RAW_DATA_RDY bit is set, corresponding to new data
00221      *         in the sensor registers, false if the RAW_DATA_RDY bit is not
00222      *         set, corresponding to no new data yet in the sensor registers.
00223      */
00224     bool isRawDataReady(void);
00225 
00226     /**
00227      * Get the temperature of the device.
00228      *
00229      * @return The temperature in degrees celsius.
00230      */
00231     float getTemperature(void);
00232 
00233     /**
00234      * Get the output for the x-axis gyroscope.
00235      *
00236      * Typical sensitivity is 14.375 LSB/(degrees/sec).
00237      *
00238      * @return The output on the x-axis in raw ADC counts.
00239      */
00240     int getGyroX(void);
00241 
00242     /**
00243      * Get the output for the y-axis gyroscope.
00244      *
00245      * Typical sensitivity is 14.375 LSB/(degrees/sec).
00246      *
00247      * @return The output on the y-axis in raw ADC counts.
00248      */
00249     int getGyroY(void);
00250 
00251     /**
00252      * Get the output on the z-axis gyroscope.
00253      *
00254      * Typical sensitivity is 14.375 LSB/(degrees/sec).
00255      * 
00256      * @return The output on the z-axis in raw ADC counts.
00257      */
00258     int getGyroZ(void);
00259 
00260     /**
00261      * Get the power management configuration.
00262      *
00263      * See the datasheet for register contents details.
00264      *
00265      *     7        6        5         4
00266      * +---------+-------+---------+---------+
00267      * | H_RESET | SLEEP | STBY_XG | STBY_YG |
00268      * +---------+-------+---------+---------+
00269      *
00270      *      3          2         1          0
00271      * +---------+----------+----------+----------+
00272      * | STBY_ZG | CLK_SEL2 | CLK_SEL1 | CLK_SEL0 |
00273      * +---------+----------+----------+----------+
00274      *
00275      * H_RESET Reset device and internal registers to the power-up-default settings.
00276      * SLEEP Enable low power sleep mode.
00277      * STBY_XG Put gyro X in standby mode (1=standby, 0=normal).
00278      * STBY_YG Put gyro Y in standby mode (1=standby, 0=normal).
00279      * STBY_ZG Put gyro Z in standby mode (1=standby, 0=normal).
00280      * CLK_SEL Select device clock source:
00281      *
00282      * CLK_SEL | Clock Source
00283      * --------+--------------
00284      *    0      Internal oscillator
00285      *    1      PLL with X Gyro reference
00286      *    2      PLL with Y Gyro reference
00287      *    3      PLL with Z Gyro reference
00288      *    4      PLL with external 32.768kHz reference
00289      *    5      PLL with external 19.2MHz reference
00290      *    6      Reserved
00291      *    7      Reserved
00292      *
00293      * @return The contents of the PWR_MGM register.
00294      */
00295     char getPowerManagement(void);
00296 
00297     /**
00298      * Set power management configuration.
00299      *
00300      * See the datasheet for configuration byte details
00301      *
00302      *      7        6        5         4
00303      * +---------+-------+---------+---------+
00304      * | H_RESET | SLEEP | STBY_XG | STBY_YG |
00305      * +---------+-------+---------+---------+
00306      *
00307      *      3          2         1          0
00308      * +---------+----------+----------+----------+
00309      * | STBY_ZG | CLK_SEL2 | CLK_SEL1 | CLK_SEL0 |
00310      * +---------+----------+----------+----------+
00311      *
00312      * H_RESET Reset device and internal registers to the power-up-default settings.
00313      * SLEEP Enable low power sleep mode.
00314      * STBY_XG Put gyro X in standby mode (1=standby, 0=normal).
00315      * STBY_YG Put gyro Y in standby mode (1=standby, 0=normal).
00316      * STBY_ZG Put gyro Z in standby mode (1=standby, 0=normal).
00317      * CLK_SEL Select device clock source:
00318      *
00319      * CLK_SEL | Clock Source
00320      * --------+--------------
00321      *    0      Internal oscillator
00322      *    1      PLL with X Gyro reference
00323      *    2      PLL with Y Gyro reference
00324      *    3      PLL with Z Gyro reference
00325      *    4      PLL with external 32.768kHz reference
00326      *    5      PLL with external 19.2MHz reference
00327      *    6      Reserved
00328      *    7      Reserved
00329      *
00330      * @param config The configuration byte to write to the PWR_MGM register.
00331      */
00332     void setPowerManagement(char config);
00333 
00334 private:
00335 
00336     I2C i2c_;
00337 
00338 };
00339 
00340 #endif /* ITG3200_H */