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ITG3200.h@2:307500c991dd, 2012-04-21 (annotated)

Committer:: higedura
Date:: Sat Apr 21 14:07:27 2012 +0000
Revision:: 2:307500c991dd
Parent:: 0:813b917360ac

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User	Revision	Line number	New contents of line
higedura	0:813b917360ac	1	/**
higedura	0:813b917360ac	2	* @author Aaron Berk
higedura	0:813b917360ac	3	*
higedura	0:813b917360ac	4	* @section LICENSE
higedura	0:813b917360ac	5	*
higedura	0:813b917360ac	6	* Copyright (c) 2010 ARM Limited
higedura	0:813b917360ac	7	*
higedura	0:813b917360ac	8	* Permission is hereby granted, free of charge, to any person obtaining a copy
higedura	0:813b917360ac	9	* of this software and associated documentation files (the "Software"), to deal
higedura	0:813b917360ac	10	* in the Software without restriction, including without limitation the rights
higedura	0:813b917360ac	11	* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
higedura	0:813b917360ac	12	* copies of the Software, and to permit persons to whom the Software is
higedura	0:813b917360ac	13	* furnished to do so, subject to the following conditions:
higedura	0:813b917360ac	14	*
higedura	0:813b917360ac	15	* The above copyright notice and this permission notice shall be included in
higedura	0:813b917360ac	16	* all copies or substantial portions of the Software.
higedura	0:813b917360ac	17	*
higedura	0:813b917360ac	18	* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
higedura	0:813b917360ac	19	* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
higedura	0:813b917360ac	20	* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
higedura	0:813b917360ac	21	* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
higedura	0:813b917360ac	22	* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
higedura	0:813b917360ac	23	* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
higedura	0:813b917360ac	24	* THE SOFTWARE.
higedura	0:813b917360ac	25	*
higedura	0:813b917360ac	26	* @section DESCRIPTION
higedura	0:813b917360ac	27	*
higedura	0:813b917360ac	28	* ITG-3200 triple axis, digital interface, gyroscope.
higedura	0:813b917360ac	29	*
higedura	0:813b917360ac	30	* Datasheet:
higedura	0:813b917360ac	31	*
higedura	0:813b917360ac	32	* http://invensense.com/mems/gyro/documents/PS-ITG-3200-00-01.4.pdf
higedura	0:813b917360ac	33	*/
higedura	0:813b917360ac	34
higedura	0:813b917360ac	35	#ifndef ITG3200_H
higedura	0:813b917360ac	36	#define ITG3200_H
higedura	0:813b917360ac	37
higedura	0:813b917360ac	38	/**
higedura	0:813b917360ac	39	* Includes
higedura	0:813b917360ac	40	*/
higedura	0:813b917360ac	41	#include "mbed.h"
higedura	0:813b917360ac	42
higedura	0:813b917360ac	43	/**
higedura	0:813b917360ac	44	* Defines
higedura	0:813b917360ac	45	*/
higedura	0:813b917360ac	46	#define ITG3200_I2C_ADDRESS 0x68 //7-bit address.
higedura	0:813b917360ac	47
higedura	0:813b917360ac	48	//-----------
higedura	0:813b917360ac	49	// Registers
higedura	0:813b917360ac	50	//-----------
higedura	0:813b917360ac	51	#define WHO_AM_I_REG 0x00
higedura	0:813b917360ac	52	#define SMPLRT_DIV_REG 0x15
higedura	0:813b917360ac	53	#define DLPF_FS_REG 0x16
higedura	0:813b917360ac	54	#define INT_CFG_REG 0x17
higedura	0:813b917360ac	55	#define INT_STATUS 0x1A
higedura	0:813b917360ac	56	#define TEMP_OUT_H_REG 0x1B
higedura	0:813b917360ac	57	#define TEMP_OUT_L_REG 0x1C
higedura	0:813b917360ac	58	#define GYRO_XOUT_H_REG 0x1D
higedura	0:813b917360ac	59	#define GYRO_XOUT_L_REG 0x1E
higedura	0:813b917360ac	60	#define GYRO_YOUT_H_REG 0x1F
higedura	0:813b917360ac	61	#define GYRO_YOUT_L_REG 0x20
higedura	0:813b917360ac	62	#define GYRO_ZOUT_H_REG 0x21
higedura	0:813b917360ac	63	#define GYRO_ZOUT_L_REG 0x22
higedura	0:813b917360ac	64	#define PWR_MGM_REG 0x3E
higedura	0:813b917360ac	65
higedura	0:813b917360ac	66	//----------------------------
higedura	0:813b917360ac	67	// Low Pass Filter Bandwidths
higedura	0:813b917360ac	68	//----------------------------
higedura	0:813b917360ac	69	#define LPFBW_256HZ 0x00
higedura	0:813b917360ac	70	#define LPFBW_188HZ 0x01
higedura	0:813b917360ac	71	#define LPFBW_98HZ 0x02
higedura	0:813b917360ac	72	#define LPFBW_42HZ 0x03
higedura	0:813b917360ac	73	#define LPFBW_20HZ 0x04
higedura	0:813b917360ac	74	#define LPFBW_10HZ 0x05
higedura	0:813b917360ac	75	#define LPFBW_5HZ 0x06
higedura	0:813b917360ac	76
higedura	0:813b917360ac	77	/**
higedura	0:813b917360ac	78	* ITG-3200 triple axis digital gyroscope.
higedura	0:813b917360ac	79	*/
higedura	0:813b917360ac	80	class ITG3200 {
higedura	0:813b917360ac	81
higedura	0:813b917360ac	82	public:
higedura	0:813b917360ac	83
higedura	0:813b917360ac	84	/**
higedura	0:813b917360ac	85	* Constructor.
higedura	0:813b917360ac	86	*
higedura	0:813b917360ac	87	* Sets FS_SEL to 0x03 for proper opertaion.
higedura	0:813b917360ac	88	*
higedura	0:813b917360ac	89	* @param sda - mbed pin to use for the SDA I2C line.
higedura	0:813b917360ac	90	* @param scl - mbed pin to use for the SCL I2C line.
higedura	0:813b917360ac	91	*/
higedura	0:813b917360ac	92	ITG3200(PinName sda, PinName scl);
higedura	0:813b917360ac	93
higedura	0:813b917360ac	94	/**
higedura	0:813b917360ac	95	* Get the identity of the device.
higedura	0:813b917360ac	96	*
higedura	0:813b917360ac	97	* @return The contents of the Who Am I register which contains the I2C
higedura	0:813b917360ac	98	* address of the device.
higedura	0:813b917360ac	99	*/
higedura	0:813b917360ac	100	char getWhoAmI(void);
higedura	0:813b917360ac	101
higedura	0:813b917360ac	102	/**
higedura	0:813b917360ac	103	* Set the address of the device.
higedura	0:813b917360ac	104	*
higedura	0:813b917360ac	105	* @param address The I2C slave address to write to the Who Am I register
higedura	0:813b917360ac	106	* on the device.
higedura	0:813b917360ac	107	*/
higedura	0:813b917360ac	108	void setWhoAmI(char address);
higedura	0:813b917360ac	109
higedura	0:813b917360ac	110	/**
higedura	0:813b917360ac	111	* Get the sample rate divider.
higedura	0:813b917360ac	112	*
higedura	0:813b917360ac	113	* @return The sample rate divider as a number from 0-255.
higedura	0:813b917360ac	114	*/
higedura	0:813b917360ac	115	char getSampleRateDivider(void);
higedura	0:813b917360ac	116
higedura	0:813b917360ac	117	/**
higedura	0:813b917360ac	118	* Set the sample rate divider.
higedura	0:813b917360ac	119	*
higedura	0:813b917360ac	120	* Fsample = Finternal / (divider + 1), where Finternal = 1kHz or 8kHz,
higedura	0:813b917360ac	121	* as decidied by the DLPF_FS register.
higedura	0:813b917360ac	122	*
higedura	0:813b917360ac	123	* @param The sample rate divider as a number from 0-255.
higedura	0:813b917360ac	124	*/
higedura	0:813b917360ac	125	void setSampleRateDivider(char divider);
higedura	0:813b917360ac	126
higedura	0:813b917360ac	127	/**
higedura	0:813b917360ac	128	* Get the internal sample rate.
higedura	0:813b917360ac	129	*
higedura	0:813b917360ac	130	* @return The internal sample rate in kHz - either 1 or 8.
higedura	0:813b917360ac	131	*/
higedura	0:813b917360ac	132	int getInternalSampleRate(void);
higedura	0:813b917360ac	133
higedura	0:813b917360ac	134	/**
higedura	0:813b917360ac	135	* Set the low pass filter bandwidth.
higedura	0:813b917360ac	136	*
higedura	0:813b917360ac	137	* Also used to set the internal sample rate.
higedura	0:813b917360ac	138	* Pass the #define bandwidth codes as a parameter.
higedura	0:813b917360ac	139	*
higedura	0:813b917360ac	140	* 256Hz -> 8kHz internal sample rate.
higedura	0:813b917360ac	141	* Everything else -> 1kHz internal rate.
higedura	0:813b917360ac	142	*
higedura	0:813b917360ac	143	* @param bandwidth Low pass filter bandwidth code
higedura	0:813b917360ac	144	*/
higedura	0:813b917360ac	145	void setLpBandwidth(char bandwidth);
higedura	0:813b917360ac	146
higedura	0:813b917360ac	147	/**
higedura	0:813b917360ac	148	* Get the interrupt configuration.
higedura	0:813b917360ac	149	*
higedura	0:813b917360ac	150	* See datasheet for register contents details.
higedura	0:813b917360ac	151	*
higedura	0:813b917360ac	152	* 7 6 5 4
higedura	0:813b917360ac	153	* +------+------+--------------+------------------+
higedura	0:813b917360ac	154	* \| ACTL \| OPEN \| LATCH_INT_EN \| INT_ANYRD_2CLEAR \|
higedura	0:813b917360ac	155	* +------+------+--------------+------------------+
higedura	0:813b917360ac	156	*
higedura	0:813b917360ac	157	* 3 2 1 0
higedura	0:813b917360ac	158	* +---+------------+------------+---+
higedura	0:813b917360ac	159	* \| 0 \| ITG_RDY_EN \| RAW_RDY_EN \| 0 \|
higedura	0:813b917360ac	160	* +---+------------+------------+---+
higedura	0:813b917360ac	161	*
higedura	0:813b917360ac	162	* ACTL Logic level for INT output pin; 1 = active low, 0 = active high.
higedura	0:813b917360ac	163	* OPEN Drive type for INT output pin; 1 = open drain, 0 = push-pull.
higedura	0:813b917360ac	164	* LATCH_INT_EN Latch mode; 1 = latch until interrupt is cleared,
higedura	0:813b917360ac	165	* 0 = 50us pulse.
higedura	0:813b917360ac	166	* INT_ANYRD_2CLEAR Latch clear method; 1 = any register read,
higedura	0:813b917360ac	167	* 0 = status register read only.
higedura	0:813b917360ac	168	* ITG_RDY_EN Enable interrupt when device is ready,
higedura	0:813b917360ac	169	* (PLL ready after changing clock source).
higedura	0:813b917360ac	170	* RAW_RDY_EN Enable interrupt when data is available.
higedura	0:813b917360ac	171	* 0 Bits 1 and 3 of the INT_CFG register should be zero.
higedura	0:813b917360ac	172	*
higedura	0:813b917360ac	173	* @return the contents of the INT_CFG register.
higedura	0:813b917360ac	174	*/
higedura	0:813b917360ac	175	char getInterruptConfiguration(void);
higedura	0:813b917360ac	176
higedura	0:813b917360ac	177	/**
higedura	0:813b917360ac	178	* Set the interrupt configuration.
higedura	0:813b917360ac	179	*
higedura	0:813b917360ac	180	* See datasheet for configuration byte details.
higedura	0:813b917360ac	181	*
higedura	0:813b917360ac	182	* 7 6 5 4
higedura	0:813b917360ac	183	* +------+------+--------------+------------------+
higedura	0:813b917360ac	184	* \| ACTL \| OPEN \| LATCH_INT_EN \| INT_ANYRD_2CLEAR \|
higedura	0:813b917360ac	185	* +------+------+--------------+------------------+
higedura	0:813b917360ac	186	*
higedura	0:813b917360ac	187	* 3 2 1 0
higedura	0:813b917360ac	188	* +---+------------+------------+---+
higedura	0:813b917360ac	189	* \| 0 \| ITG_RDY_EN \| RAW_RDY_EN \| 0 \|
higedura	0:813b917360ac	190	* +---+------------+------------+---+
higedura	0:813b917360ac	191	*
higedura	0:813b917360ac	192	* ACTL Logic level for INT output pin; 1 = active low, 0 = active high.
higedura	0:813b917360ac	193	* OPEN Drive type for INT output pin; 1 = open drain, 0 = push-pull.
higedura	0:813b917360ac	194	* LATCH_INT_EN Latch mode; 1 = latch until interrupt is cleared,
higedura	0:813b917360ac	195	* 0 = 50us pulse.
higedura	0:813b917360ac	196	* INT_ANYRD_2CLEAR Latch clear method; 1 = any register read,
higedura	0:813b917360ac	197	* 0 = status register read only.
higedura	0:813b917360ac	198	* ITG_RDY_EN Enable interrupt when device is ready,
higedura	0:813b917360ac	199	* (PLL ready after changing clock source).
higedura	0:813b917360ac	200	* RAW_RDY_EN Enable interrupt when data is available.
higedura	0:813b917360ac	201	* 0 Bits 1 and 3 of the INT_CFG register should be zero.
higedura	0:813b917360ac	202	*
higedura	0:813b917360ac	203	* @param config Configuration byte to write to INT_CFG register.
higedura	0:813b917360ac	204	*/
higedura	0:813b917360ac	205	void setInterruptConfiguration(char config);
higedura	0:813b917360ac	206
higedura	0:813b917360ac	207	/**
higedura	0:813b917360ac	208	* Check the ITG_RDY bit of the INT_STATUS register.
higedura	0:813b917360ac	209	*
higedura	0:813b917360ac	210	* @return True if the ITG_RDY bit is set, corresponding to PLL ready,
higedura	0:813b917360ac	211	* false if the ITG_RDY bit is not set, corresponding to PLL not
higedura	0:813b917360ac	212	* ready.
higedura	0:813b917360ac	213	*/
higedura	0:813b917360ac	214	bool isPllReady(void);
higedura	0:813b917360ac	215
higedura	0:813b917360ac	216	/**
higedura	0:813b917360ac	217	* Check the RAW_DATA_RDY bit of the INT_STATUS register.
higedura	0:813b917360ac	218	*
higedura	0:813b917360ac	219	* @return True if the RAW_DATA_RDY bit is set, corresponding to new data
higedura	0:813b917360ac	220	* in the sensor registers, false if the RAW_DATA_RDY bit is not
higedura	0:813b917360ac	221	* set, corresponding to no new data yet in the sensor registers.
higedura	0:813b917360ac	222	*/
higedura	0:813b917360ac	223	bool isRawDataReady(void);
higedura	0:813b917360ac	224
higedura	0:813b917360ac	225	/**
higedura	0:813b917360ac	226	* Get the temperature of the device.
higedura	0:813b917360ac	227	*
higedura	0:813b917360ac	228	* @return The temperature in degrees celsius.
higedura	0:813b917360ac	229	*/
higedura	0:813b917360ac	230	float getTemperature(void);
higedura	0:813b917360ac	231
higedura	0:813b917360ac	232	/**
higedura	0:813b917360ac	233	* Get the output for the x-axis gyroscope.
higedura	0:813b917360ac	234	*
higedura	0:813b917360ac	235	* Typical sensitivity is 14.375 LSB/(degrees/sec).
higedura	0:813b917360ac	236	*
higedura	0:813b917360ac	237	* @return The output on the x-axis in raw ADC counts.
higedura	0:813b917360ac	238	*/
higedura	0:813b917360ac	239	int getGyroX(void);
higedura	0:813b917360ac	240
higedura	0:813b917360ac	241	/**
higedura	0:813b917360ac	242	* Get the output for the y-axis gyroscope.
higedura	0:813b917360ac	243	*
higedura	0:813b917360ac	244	* Typical sensitivity is 14.375 LSB/(degrees/sec).
higedura	0:813b917360ac	245	*
higedura	0:813b917360ac	246	* @return The output on the y-axis in raw ADC counts.
higedura	0:813b917360ac	247	*/
higedura	0:813b917360ac	248	int getGyroY(void);
higedura	0:813b917360ac	249
higedura	0:813b917360ac	250	/**
higedura	0:813b917360ac	251	* Get the output on the z-axis gyroscope.
higedura	0:813b917360ac	252	*
higedura	0:813b917360ac	253	* Typical sensitivity is 14.375 LSB/(degrees/sec).
higedura	0:813b917360ac	254	*
higedura	0:813b917360ac	255	* @return The output on the z-axis in raw ADC counts.
higedura	0:813b917360ac	256	*/
higedura	0:813b917360ac	257	int getGyroZ(void);
higedura	0:813b917360ac	258
higedura	0:813b917360ac	259	/**
higedura	0:813b917360ac	260	* Get the power management configuration.
higedura	0:813b917360ac	261	*
higedura	0:813b917360ac	262	* See the datasheet for register contents details.
higedura	0:813b917360ac	263	*
higedura	0:813b917360ac	264	* 7 6 5 4
higedura	0:813b917360ac	265	* +---------+-------+---------+---------+
higedura	0:813b917360ac	266	* \| H_RESET \| SLEEP \| STBY_XG \| STBY_YG \|
higedura	0:813b917360ac	267	* +---------+-------+---------+---------+
higedura	0:813b917360ac	268	*
higedura	0:813b917360ac	269	* 3 2 1 0
higedura	0:813b917360ac	270	* +---------+----------+----------+----------+
higedura	0:813b917360ac	271	* \| STBY_ZG \| CLK_SEL2 \| CLK_SEL1 \| CLK_SEL0 \|
higedura	0:813b917360ac	272	* +---------+----------+----------+----------+
higedura	0:813b917360ac	273	*
higedura	0:813b917360ac	274	* H_RESET Reset device and internal registers to the power-up-default settings.
higedura	0:813b917360ac	275	* SLEEP Enable low power sleep mode.
higedura	0:813b917360ac	276	* STBY_XG Put gyro X in standby mode (1=standby, 0=normal).
higedura	0:813b917360ac	277	* STBY_YG Put gyro Y in standby mode (1=standby, 0=normal).
higedura	0:813b917360ac	278	* STBY_ZG Put gyro Z in standby mode (1=standby, 0=normal).
higedura	0:813b917360ac	279	* CLK_SEL Select device clock source:
higedura	0:813b917360ac	280	*
higedura	0:813b917360ac	281	* CLK_SEL \| Clock Source
higedura	0:813b917360ac	282	* --------+--------------
higedura	0:813b917360ac	283	* 0 Internal oscillator
higedura	0:813b917360ac	284	* 1 PLL with X Gyro reference
higedura	0:813b917360ac	285	* 2 PLL with Y Gyro reference
higedura	0:813b917360ac	286	* 3 PLL with Z Gyro reference
higedura	0:813b917360ac	287	* 4 PLL with external 32.768kHz reference
higedura	0:813b917360ac	288	* 5 PLL with external 19.2MHz reference
higedura	0:813b917360ac	289	* 6 Reserved
higedura	0:813b917360ac	290	* 7 Reserved
higedura	0:813b917360ac	291	*
higedura	0:813b917360ac	292	* @return The contents of the PWR_MGM register.
higedura	0:813b917360ac	293	*/
higedura	0:813b917360ac	294	char getPowerManagement(void);
higedura	0:813b917360ac	295
higedura	0:813b917360ac	296	/**
higedura	0:813b917360ac	297	* Set power management configuration.
higedura	0:813b917360ac	298	*
higedura	0:813b917360ac	299	* See the datasheet for configuration byte details
higedura	0:813b917360ac	300	*
higedura	0:813b917360ac	301	* 7 6 5 4
higedura	0:813b917360ac	302	* +---------+-------+---------+---------+
higedura	0:813b917360ac	303	* \| H_RESET \| SLEEP \| STBY_XG \| STBY_YG \|
higedura	0:813b917360ac	304	* +---------+-------+---------+---------+
higedura	0:813b917360ac	305	*
higedura	0:813b917360ac	306	* 3 2 1 0
higedura	0:813b917360ac	307	* +---------+----------+----------+----------+
higedura	0:813b917360ac	308	* \| STBY_ZG \| CLK_SEL2 \| CLK_SEL1 \| CLK_SEL0 \|
higedura	0:813b917360ac	309	* +---------+----------+----------+----------+
higedura	0:813b917360ac	310	*
higedura	0:813b917360ac	311	* H_RESET Reset device and internal registers to the power-up-default settings.
higedura	0:813b917360ac	312	* SLEEP Enable low power sleep mode.
higedura	0:813b917360ac	313	* STBY_XG Put gyro X in standby mode (1=standby, 0=normal).
higedura	0:813b917360ac	314	* STBY_YG Put gyro Y in standby mode (1=standby, 0=normal).
higedura	0:813b917360ac	315	* STBY_ZG Put gyro Z in standby mode (1=standby, 0=normal).
higedura	0:813b917360ac	316	* CLK_SEL Select device clock source:
higedura	0:813b917360ac	317	*
higedura	0:813b917360ac	318	* CLK_SEL \| Clock Source
higedura	0:813b917360ac	319	* --------+--------------
higedura	0:813b917360ac	320	* 0 Internal oscillator
higedura	0:813b917360ac	321	* 1 PLL with X Gyro reference
higedura	0:813b917360ac	322	* 2 PLL with Y Gyro reference
higedura	0:813b917360ac	323	* 3 PLL with Z Gyro reference
higedura	0:813b917360ac	324	* 4 PLL with external 32.768kHz reference
higedura	0:813b917360ac	325	* 5 PLL with external 19.2MHz reference
higedura	0:813b917360ac	326	* 6 Reserved
higedura	0:813b917360ac	327	* 7 Reserved
higedura	0:813b917360ac	328	*
higedura	0:813b917360ac	329	* @param config The configuration byte to write to the PWR_MGM register.
higedura	0:813b917360ac	330	*/
higedura	0:813b917360ac	331	void setPowerManagement(char config);
higedura	0:813b917360ac	332
higedura	0:813b917360ac	333	private:
higedura	0:813b917360ac	334
higedura	0:813b917360ac	335	I2C i2c_;
higedura	0:813b917360ac	336
higedura	0:813b917360ac	337	};
higedura	0:813b917360ac	338
higedura	0:813b917360ac	339	#endif /* ITG3200_H */

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	02 Apr 2012
Imports:	3
Forks:	0
Commits:	3
Dependents:	0
Dependencies:	2
Followers:	2

ITG3200.h@2:307500c991dd, 2012-04-21 (annotated)

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