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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 */
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