Diff: ITG3200.h

Revision:

1:16e95a8022ca

Parent:

0:0bfc5e5c46b1

Child:

2:e879e02129c2

--- a/ITG3200.h	Thu May 03 08:08:57 2012 +0000
+++ b/ITG3200.h	Thu May 03 08:11:35 2012 +0000
@@ -1,339 +1,339 @@
-/**
- * @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
- */
-
-#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);
-
-    /**
-     * Set the low pass filter bandwidth.
-     *
-     * Also used to set the internal sample rate.
-     * Pass the #define bandwidth codes as a parameter.
-     *
-     * 256Hz -> 8kHz internal sample rate.
-     * Everything else -> 1kHz internal rate.
-     *
-     * @param bandwidth Low pass filter bandwidth code
-     */
-    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);
-
-    /**
-     * Check the RAW_DATA_RDY bit of the INT_STATUS register.
-     *
-     * @return True if the RAW_DATA_RDY bit is set, corresponding to new data
-     *         in the sensor registers, false if the RAW_DATA_RDY bit is not
-     *         set, corresponding to no new data yet in the sensor registers.
-     */
-    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);
-
-    /**
-     * Get the output on the z-axis gyroscope.
-     *
-     * Typical sensitivity is 14.375 LSB/(degrees/sec).
-     * 
-     * @return The output on the z-axis in raw ADC counts.
-     */
-    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 */
+/**
+ * @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
+ */
+
+#ifndef ITG3200_H
+#define ITG3200_H
+
+/**
+ * Includes
+ */
+#include "mbed.h"
+
+/**
+ * Defines
+ */
+#define ITG3200_I2C_ADDRESS 0x69 //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);
+
+    /**
+     * Set the low pass filter bandwidth.
+     *
+     * Also used to set the internal sample rate.
+     * Pass the #define bandwidth codes as a parameter.
+     *
+     * 256Hz -> 8kHz internal sample rate.
+     * Everything else -> 1kHz internal rate.
+     *
+     * @param bandwidth Low pass filter bandwidth code
+     */
+    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);
+
+    /**
+     * Check the RAW_DATA_RDY bit of the INT_STATUS register.
+     *
+     * @return True if the RAW_DATA_RDY bit is set, corresponding to new data
+     *         in the sensor registers, false if the RAW_DATA_RDY bit is not
+     *         set, corresponding to no new data yet in the sensor registers.
+     */
+    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);
+
+    /**
+     * Get the output on the z-axis gyroscope.
+     *
+     * Typical sensitivity is 14.375 LSB/(degrees/sec).
+     * 
+     * @return The output on the z-axis in raw ADC counts.
+     */
+    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 */