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/**
 * @file 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.
 * Forked from Aaron Berk's work.
 *
 * 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

// Utility
#ifndef M_PI
#define M_PI 3.1415926535897932384626433832795
#endif

/**
 * ITG-3200 triple axis digital gyroscope.
 */
class ITG3200 {

public:

    /**
     * The I2C address that can be passed directly to i2c object (it's already shifted 1 bit left).
     *
     * You don't need to manually set or clear the LSB when calling I2C::read() or I2C::write(),
     * the library takes care of it.  We just always clear the LSB.
     */
    static const int I2C_ADDRESS = 0xD0;
    
    /**
     * @brief Zero offset correction mode that can be specified when calling getGyroXYZ().
     *
     * The device has a major drift in readings depending on ambient temperature.
     * You can measure the temperature with built-in thermometer to correct it, but you
     * must have calibration curves for each axes to do so.
     * Here are the options on how to correct the drift.
     */
    enum Correction{
        NoCorrection, ///< Do not correct zero offset at all; You would have trouble integrating the values to obtain rotation.
        OffsetCorrection, ///< Correct the outputs with single-point zero adjust.
        Calibration, ///< Use calibration curve (actually lines) to correct the outputs. You must provide coefficients with setCalibrationCurve().
        Num_Correction
    };

    /**
     * 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.
     * @param fastmode Sets the internal I2C interface to use 400kHz clock.
     */
    ITG3200(PinName sda, PinName scl, bool fastmode = false);
    
    /**
     * Constructor that accepts external i2c interface object.
     *
     * @param i2c The I2C interface object to use.
     */
    ITG3200(I2C &i2c) : i2c_(i2c){
        init();
    }
    
    ~ITG3200();
    
    void init();
    
    /**
     * Sets calibration curve parameters.
     *
     * @param offset An array holding calibration curve offsets (0th-order coefficient) for each axis, must have 3 elements.
     * @param slope An array holding calibration curve slopes (1st-order coefficient) for each axis, must have 3 elements.
     */
    void setCalibrationCurve(const float offset[3], const float slope[3]);

    /**
     * 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 in raw format.
     *
     * @return The temperature in raw 16bit integer.
     */
    int getRawTemperature(void){ return getWord(TEMP_OUT_H_REG); }

    /**
     * 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){ return getWord(GYRO_XOUT_H_REG); }

    /**
     * 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){ return getWord(GYRO_YOUT_H_REG); }

    /**
     * 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){ return getWord(GYRO_ZOUT_H_REG); }

    /**
     * Burst read the outputs on the x,y,z-axis gyroscope.
     *
     * Typical sensitivity is 14.375 LSB/(degrees/sec).
     * 
     * @param readings The output buffer array that has at least 3 length.
     * @param corr Correction method for returned values.
     */
    void getGyroXYZ(int readings[3], Correction corr = OffsetCorrection);

    /**
     * Burst read the outputs on the x,y,z-axis gyroscope and convert them into degrees per second.
     *
     * @param readings The output buffer array that has at least 3 length.
     * @param corr Correction method for returned values.
     */
    void getGyroXYZDegrees(double readings[3], Correction corr = OffsetCorrection);

    /**
     * Burst read the outputs on the x,y,z-axis gyroscope and convert them into degrees per second.
     *
     * @param readings The output buffer array that has at least 3 length.
     * @param corr Correction method for returned values.
     */
    void getGyroXYZRadians(double readings[3], Correction corr = OffsetCorrection);

    /**
     * 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);
    
    /**
     * Calibrate the sensor drift by sampling zero offset.
     *
     * Be sure to keep the sensor stationary while sampling offset.
     *
     * Once this function is invoked, following getGyroXYZ*() functions return
     * corrected values.
     *
     * If the drift value changes over time, you can call this function once in a while
     * to follow it. But don't forget to fix the sensor while calibrating!
     *
     * @param time The time span to sample and average offset.
     *             Sampling rate is limited, so giving long time to calibrate will improve
     *             correction quality.
     */
    void calibrate(double time);
    
    long getCalibrationSamples()const{
        return calibSamples;
    }

    /**
     * Returns the I2C object that this object is using for communication.
     */
    I2C &getI2C(){
        return i2c_;
    }
    
    /**
     * Returns internal offset values for zero adjusting. Returned pointer is pointing an array of 3 elements.
     */
    const int *getOffset()const{
        return offset;
    }

protected:

    /**
     * Reads a word (2 bytes) from the sensor via I2C bus.
     *
     * The queried value is assumed big-endian, 2's complement value.
     *
     * This protected function is added because we shouldn't write getGyroX(), getGyroY() and getGyroZ()
     * independently, but collect common codes.
     *
     * @param regi Register address to be read.
     */
    int getWord(int regi);

    /**
     * An internal method to acquire gyro sensor readings before calibration correction.
     *
     * Protected for the time being, although there could be cases that raw values are
     * appreciated by the user.
     */
    void getRawGyroXYZ(int readings[3]);

    /**
     * Offset values that will be subtracted from output.
     *
     * TODO: temperature drift calibration
     */
    int offset[3];
    
    float foffset[3];
    float slope[3];
    
    long calibSamples;
    
private:

    I2C &i2c_;
    
    /**
     * The raw buffer for allocating I2C object in its own without heap memory.
     */
    char i2cRaw[sizeof(I2C)];

    /**
     * Converts big-endian 2's complement byte pair to native byte order of
     * the CPU and then sign extend it to the CPU's register size.
     *
     * Implemented here to make the compiler inline expand it.
     */
    int swapExtend(const char rx[2]){
        // Readings are expressed in 16bit 2's complement, so we must first
        // concatenate two bytes to make a word and sign extend it to obtain
        // correct negative values.
        // ARMCC compiles char as unsigned, which means no sign extension is
        // performed during bitwise operations to chars. But we should make sure
        // that lower byte won't extend its sign past upper byte for other
        // compilers if we want to keep it portable.
        return int16_t(((unsigned char)rx[0] << 8) | (unsigned char)rx[1]);
    }
};


inline void ITG3200::getGyroXYZDegrees(double readings[3], Correction corr){
    int intData[3];
    getGyroXYZ(intData, corr);
    for(int i = 0; i < 3; i++)
        readings[i] = intData[i] * 2000. / 32767.;
}

inline void ITG3200::getGyroXYZRadians(double readings[3], Correction corr){
    int intData[3];
    getGyroXYZ(intData, corr);
    for(int i = 0; i < 3; i++)
        readings[i] = intData[i] * 2000. / 32767. * 2. * M_PI / 360.;
}

#endif /* ITG3200_H */