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 #ifndef ITG3200_H
00036 #define ITG3200_H
00037 
00038 /**
00039  * Includes
00040  */
00041 #include "mbed.h"
00042 
00043 /**
00044  * Defines
00045  */
00046 #define ITG3200_I2C_ADDRESS 0x68 //7-bit address.
00047 
00048 //-----------
00049 // Registers
00050 //-----------
00051 #define WHO_AM_I_REG    0x00
00052 #define SMPLRT_DIV_REG  0x15
00053 #define DLPF_FS_REG     0x16
00054 #define INT_CFG_REG     0x17
00055 #define INT_STATUS      0x1A
00056 #define TEMP_OUT_H_REG  0x1B
00057 #define TEMP_OUT_L_REG  0x1C
00058 #define GYRO_XOUT_H_REG 0x1D
00059 #define GYRO_XOUT_L_REG 0x1E
00060 #define GYRO_YOUT_H_REG 0x1F
00061 #define GYRO_YOUT_L_REG 0x20
00062 #define GYRO_ZOUT_H_REG 0x21
00063 #define GYRO_ZOUT_L_REG 0x22
00064 #define PWR_MGM_REG     0x3E
00065 
00066 //----------------------------
00067 // Low Pass Filter Bandwidths
00068 //----------------------------
00069 #define LPFBW_256HZ 0x00
00070 #define LPFBW_188HZ 0x01
00071 #define LPFBW_98HZ  0x02
00072 #define LPFBW_42HZ  0x03
00073 #define LPFBW_20HZ  0x04
00074 #define LPFBW_10HZ  0x05
00075 #define LPFBW_5HZ   0x06
00076 
00077 /**
00078  * ITG-3200 triple axis digital gyroscope.
00079  */
00080 class ITG3200 {
00081 
00082 public:
00083 
00084     /**
00085      * Constructor.
00086      *
00087      * Sets FS_SEL to 0x03 for proper opertaion.
00088      *
00089      * @param sda - mbed pin to use for the SDA I2C line.
00090      * @param scl - mbed pin to use for the SCL I2C line.
00091      */
00092     ITG3200(PinName sda, PinName scl);
00093 
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     /**
00103      * Set the address of the device.
00104      *
00105      * @param address The I2C slave address to write to the Who Am I register
00106      *        on the device.
00107      */
00108     void setWhoAmI(char address);
00109 
00110     /**
00111      * Get the sample rate divider.
00112      *
00113      * @return The sample rate divider as a number from 0-255.
00114      */
00115     char getSampleRateDivider(void);
00116 
00117     /**
00118      * Set the sample rate divider.
00119      *
00120      * Fsample = Finternal / (divider + 1), where Finternal = 1kHz or 8kHz,
00121      * as decidied by the DLPF_FS register.
00122      *
00123      * @param The sample rate divider as a number from 0-255.
00124      */
00125     void setSampleRateDivider(char divider);
00126 
00127     /**
00128      * Get the internal sample rate.
00129      *
00130      * @return The internal sample rate in kHz - either 1 or 8.
00131      */
00132     int getInternalSampleRate(void);
00133 
00134     /**
00135      * Set the low pass filter bandwidth.
00136      *
00137      * Also used to set the internal sample rate.
00138      * Pass the #define bandwidth codes as a parameter.
00139      *
00140      * 256Hz -> 8kHz internal sample rate.
00141      * Everything else -> 1kHz internal rate.
00142      *
00143      * @param bandwidth Low pass filter bandwidth code
00144      */
00145     void setLpBandwidth(char bandwidth);
00146 
00147     /**
00148      * Get the interrupt configuration.
00149      *
00150      * See datasheet for register contents details.
00151      *
00152      *    7      6           5                 4
00153      * +------+------+--------------+------------------+
00154      * | ACTL | OPEN | LATCH_INT_EN | INT_ANYRD_2CLEAR |
00155      * +------+------+--------------+------------------+
00156      *
00157      *   3        2            1       0
00158      * +---+------------+------------+---+
00159      * | 0 | ITG_RDY_EN | RAW_RDY_EN | 0 |
00160      * +---+------------+------------+---+
00161      *
00162      * ACTL Logic level for INT output pin; 1 = active low, 0 = active high.
00163      * OPEN Drive type for INT output pin; 1 = open drain, 0 = push-pull.
00164      * LATCH_INT_EN Latch mode; 1 = latch until interrupt is cleared,
00165      *                          0 = 50us pulse.
00166      * INT_ANYRD_2CLEAR Latch clear method; 1 = any register read,
00167      *                                      0 = status register read only.
00168      * ITG_RDY_EN Enable interrupt when device is ready,
00169      *            (PLL ready after changing clock source).
00170      * RAW_RDY_EN Enable interrupt when data is available.
00171      * 0 Bits 1 and 3 of the INT_CFG register should be zero.
00172      *
00173      * @return the contents of the INT_CFG register.
00174      */
00175     char getInterruptConfiguration(void);
00176 
00177     /**
00178      * Set the interrupt configuration.
00179      *
00180      * See datasheet for configuration byte details.
00181      *
00182      *    7      6           5                 4
00183      * +------+------+--------------+------------------+
00184      * | ACTL | OPEN | LATCH_INT_EN | INT_ANYRD_2CLEAR |
00185      * +------+------+--------------+------------------+
00186      *
00187      *   3        2            1       0
00188      * +---+------------+------------+---+
00189      * | 0 | ITG_RDY_EN | RAW_RDY_EN | 0 |
00190      * +---+------------+------------+---+
00191      *
00192      * ACTL Logic level for INT output pin; 1 = active low, 0 = active high.
00193      * OPEN Drive type for INT output pin; 1 = open drain, 0 = push-pull.
00194      * LATCH_INT_EN Latch mode; 1 = latch until interrupt is cleared,
00195      *                          0 = 50us pulse.
00196      * INT_ANYRD_2CLEAR Latch clear method; 1 = any register read,
00197      *                                      0 = status register read only.
00198      * ITG_RDY_EN Enable interrupt when device is ready,
00199      *            (PLL ready after changing clock source).
00200      * RAW_RDY_EN Enable interrupt when data is available.
00201      * 0 Bits 1 and 3 of the INT_CFG register should be zero.
00202      *
00203      * @param config Configuration byte to write to INT_CFG register.
00204      */
00205     void setInterruptConfiguration(char config);
00206 
00207     /**
00208      * Check the ITG_RDY bit of the INT_STATUS register.
00209      *
00210      * @return True if the ITG_RDY bit is set, corresponding to PLL ready,
00211      *         false if the ITG_RDY bit is not set, corresponding to PLL not
00212      *         ready.
00213      */
00214     bool isPllReady(void);
00215 
00216     /**
00217      * Check the RAW_DATA_RDY bit of the INT_STATUS register.
00218      *
00219      * @return True if the RAW_DATA_RDY bit is set, corresponding to new data
00220      *         in the sensor registers, false if the RAW_DATA_RDY bit is not
00221      *         set, corresponding to no new data yet in the sensor registers.
00222      */
00223     bool isRawDataReady(void);
00224 
00225     /**
00226      * Get the temperature of the device.
00227      *
00228      * @return The temperature in degrees celsius.
00229      */
00230     float getTemperature(void);
00231 
00232     /**
00233      * Get the output for the x-axis gyroscope.
00234      *
00235      * Typical sensitivity is 14.375 LSB/(degrees/sec).
00236      *
00237      * @return The output on the x-axis in raw ADC counts.
00238      */
00239     int getGyroX(void);
00240 
00241     /**
00242      * Get the output for the y-axis gyroscope.
00243      *
00244      * Typical sensitivity is 14.375 LSB/(degrees/sec).
00245      *
00246      * @return The output on the y-axis in raw ADC counts.
00247      */
00248     int getGyroY(void);
00249 
00250     /**
00251      * Get the output on the z-axis gyroscope.
00252      *
00253      * Typical sensitivity is 14.375 LSB/(degrees/sec).
00254      * 
00255      * @return The output on the z-axis in raw ADC counts.
00256      */
00257     int getGyroZ(void);
00258 
00259     /**
00260      * Get the power management configuration.
00261      *
00262      * See the datasheet for register contents 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      * @return The contents of the PWR_MGM register.
00293      */
00294     char getPowerManagement(void);
00295 
00296     /**
00297      * Set power management configuration.
00298      *
00299      * See the datasheet for configuration byte details
00300      *
00301      *      7        6        5         4
00302      * +---------+-------+---------+---------+
00303      * | H_RESET | SLEEP | STBY_XG | STBY_YG |
00304      * +---------+-------+---------+---------+
00305      *
00306      *      3          2         1          0
00307      * +---------+----------+----------+----------+
00308      * | STBY_ZG | CLK_SEL2 | CLK_SEL1 | CLK_SEL0 |
00309      * +---------+----------+----------+----------+
00310      *
00311      * H_RESET Reset device and internal registers to the power-up-default settings.
00312      * SLEEP Enable low power sleep mode.
00313      * STBY_XG Put gyro X in standby mode (1=standby, 0=normal).
00314      * STBY_YG Put gyro Y in standby mode (1=standby, 0=normal).
00315      * STBY_ZG Put gyro Z in standby mode (1=standby, 0=normal).
00316      * CLK_SEL Select device clock source:
00317      *
00318      * CLK_SEL | Clock Source
00319      * --------+--------------
00320      *    0      Internal oscillator
00321      *    1      PLL with X Gyro reference
00322      *    2      PLL with Y Gyro reference
00323      *    3      PLL with Z Gyro reference
00324      *    4      PLL with external 32.768kHz reference
00325      *    5      PLL with external 19.2MHz reference
00326      *    6      Reserved
00327      *    7      Reserved
00328      *
00329      * @param config The configuration byte to write to the PWR_MGM register.
00330      */
00331     void setPowerManagement(char config);
00332 
00333 private:
00334 
00335     I2C i2c_;
00336 
00337 };
00338 
00339 #endif /* ITG3200_H */