Mark Horn / Mbed 2 deprecated WITGyro

WITGyro

Dependencies:   Terminal mbed

ITG3200/ITG3200.h@0:0d844f8ecb72, 2013-11-11 (annotated)

Committer:
marcuss421
Date:
Mon Nov 11 21:00:18 2013 +0000
Revision:
0:0d844f8ecb72
Matt K

Who changed what in which revision?

UserRevisionLine numberNew contents of line
marcuss421 0:0d844f8ecb72 1 /**
marcuss421 0:0d844f8ecb72 2 * @author Aaron Berk
marcuss421 0:0d844f8ecb72 3 *
marcuss421 0:0d844f8ecb72 4 * @section LICENSE
marcuss421 0:0d844f8ecb72 5 *
marcuss421 0:0d844f8ecb72 6 * Copyright (c) 2010 ARM Limited
marcuss421 0:0d844f8ecb72 7 *
marcuss421 0:0d844f8ecb72 8 * Permission is hereby granted, free of charge, to any person obtaining a copy
marcuss421 0:0d844f8ecb72 9 * of this software and associated documentation files (the "Software"), to deal
marcuss421 0:0d844f8ecb72 10 * in the Software without restriction, including without limitation the rights
marcuss421 0:0d844f8ecb72 11 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
marcuss421 0:0d844f8ecb72 12 * copies of the Software, and to permit persons to whom the Software is
marcuss421 0:0d844f8ecb72 13 * furnished to do so, subject to the following conditions:
marcuss421 0:0d844f8ecb72 14 *
marcuss421 0:0d844f8ecb72 15 * The above copyright notice and this permission notice shall be included in
marcuss421 0:0d844f8ecb72 16 * all copies or substantial portions of the Software.
marcuss421 0:0d844f8ecb72 17 *
marcuss421 0:0d844f8ecb72 18 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
marcuss421 0:0d844f8ecb72 19 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
marcuss421 0:0d844f8ecb72 20 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
marcuss421 0:0d844f8ecb72 21 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
marcuss421 0:0d844f8ecb72 22 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
marcuss421 0:0d844f8ecb72 23 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
marcuss421 0:0d844f8ecb72 24 * THE SOFTWARE.
marcuss421 0:0d844f8ecb72 25 *
marcuss421 0:0d844f8ecb72 26 * @section DESCRIPTION
marcuss421 0:0d844f8ecb72 27 *
marcuss421 0:0d844f8ecb72 28 * ITG-3200 triple axis, digital interface, gyroscope.
marcuss421 0:0d844f8ecb72 29 *
marcuss421 0:0d844f8ecb72 30 * Datasheet:
marcuss421 0:0d844f8ecb72 31 *
marcuss421 0:0d844f8ecb72 32 * http://invensense.com/mems/gyro/documents/PS-ITG-3200-00-01.4.pdf
marcuss421 0:0d844f8ecb72 33 */
marcuss421 0:0d844f8ecb72 34
marcuss421 0:0d844f8ecb72 35 #ifndef ITG3200_H
marcuss421 0:0d844f8ecb72 36 #define ITG3200_H
marcuss421 0:0d844f8ecb72 37
marcuss421 0:0d844f8ecb72 38 /**
marcuss421 0:0d844f8ecb72 39 * Includes
marcuss421 0:0d844f8ecb72 40 */
marcuss421 0:0d844f8ecb72 41 #include "mbed.h"
marcuss421 0:0d844f8ecb72 42
marcuss421 0:0d844f8ecb72 43 /**
marcuss421 0:0d844f8ecb72 44 * Defines
marcuss421 0:0d844f8ecb72 45 */
marcuss421 0:0d844f8ecb72 46 #define ITG3200_I2C_ADDRESS 0x69 //7-bit address.
marcuss421 0:0d844f8ecb72 47
marcuss421 0:0d844f8ecb72 48 //-----------
marcuss421 0:0d844f8ecb72 49 // Registers
marcuss421 0:0d844f8ecb72 50 //-----------
marcuss421 0:0d844f8ecb72 51 #define WHO_AM_I_REG 0x00
marcuss421 0:0d844f8ecb72 52 #define SMPLRT_DIV_REG 0x15
marcuss421 0:0d844f8ecb72 53 #define DLPF_FS_REG 0x16
marcuss421 0:0d844f8ecb72 54 #define INT_CFG_REG 0x17
marcuss421 0:0d844f8ecb72 55 #define INT_STATUS 0x1A
marcuss421 0:0d844f8ecb72 56 #define TEMP_OUT_H_REG 0x1B
marcuss421 0:0d844f8ecb72 57 #define TEMP_OUT_L_REG 0x1C
marcuss421 0:0d844f8ecb72 58 #define GYRO_XOUT_H_REG 0x1D
marcuss421 0:0d844f8ecb72 59 #define GYRO_XOUT_L_REG 0x1E
marcuss421 0:0d844f8ecb72 60 #define GYRO_YOUT_H_REG 0x1F
marcuss421 0:0d844f8ecb72 61 #define GYRO_YOUT_L_REG 0x20
marcuss421 0:0d844f8ecb72 62 #define GYRO_ZOUT_H_REG 0x21
marcuss421 0:0d844f8ecb72 63 #define GYRO_ZOUT_L_REG 0x22
marcuss421 0:0d844f8ecb72 64 #define PWR_MGM_REG 0x3E
marcuss421 0:0d844f8ecb72 65
marcuss421 0:0d844f8ecb72 66 //----------------------------
marcuss421 0:0d844f8ecb72 67 // Low Pass Filter Bandwidths
marcuss421 0:0d844f8ecb72 68 //----------------------------
marcuss421 0:0d844f8ecb72 69 #define LPFBW_256HZ 0x00
marcuss421 0:0d844f8ecb72 70 #define LPFBW_188HZ 0x01
marcuss421 0:0d844f8ecb72 71 #define LPFBW_98HZ 0x02
marcuss421 0:0d844f8ecb72 72 #define LPFBW_42HZ 0x03
marcuss421 0:0d844f8ecb72 73 #define LPFBW_20HZ 0x04
marcuss421 0:0d844f8ecb72 74 #define LPFBW_10HZ 0x05
marcuss421 0:0d844f8ecb72 75 #define LPFBW_5HZ 0x06
marcuss421 0:0d844f8ecb72 76
marcuss421 0:0d844f8ecb72 77 /**
marcuss421 0:0d844f8ecb72 78 * ITG-3200 triple axis digital gyroscope.
marcuss421 0:0d844f8ecb72 79 */
marcuss421 0:0d844f8ecb72 80 class ITG3200 {
marcuss421 0:0d844f8ecb72 81
marcuss421 0:0d844f8ecb72 82 public:
marcuss421 0:0d844f8ecb72 83
marcuss421 0:0d844f8ecb72 84 /**
marcuss421 0:0d844f8ecb72 85 * Constructor.
marcuss421 0:0d844f8ecb72 86 *
marcuss421 0:0d844f8ecb72 87 * Sets FS_SEL to 0x03 for proper opertaion.
marcuss421 0:0d844f8ecb72 88 *
marcuss421 0:0d844f8ecb72 89 * @param sda - mbed pin to use for the SDA I2C line.
marcuss421 0:0d844f8ecb72 90 * @param scl - mbed pin to use for the SCL I2C line.
marcuss421 0:0d844f8ecb72 91 */
marcuss421 0:0d844f8ecb72 92 ITG3200(PinName sda, PinName scl);
marcuss421 0:0d844f8ecb72 93
marcuss421 0:0d844f8ecb72 94 /**
marcuss421 0:0d844f8ecb72 95 * Get the identity of the device.
marcuss421 0:0d844f8ecb72 96 *
marcuss421 0:0d844f8ecb72 97 * @return The contents of the Who Am I register which contains the I2C
marcuss421 0:0d844f8ecb72 98 * address of the device.
marcuss421 0:0d844f8ecb72 99 */
marcuss421 0:0d844f8ecb72 100 char getWhoAmI(void);
marcuss421 0:0d844f8ecb72 101
marcuss421 0:0d844f8ecb72 102 /**
marcuss421 0:0d844f8ecb72 103 * Set the address of the device.
marcuss421 0:0d844f8ecb72 104 *
marcuss421 0:0d844f8ecb72 105 * @param address The I2C slave address to write to the Who Am I register
marcuss421 0:0d844f8ecb72 106 * on the device.
marcuss421 0:0d844f8ecb72 107 */
marcuss421 0:0d844f8ecb72 108 void setWhoAmI(char address);
marcuss421 0:0d844f8ecb72 109
marcuss421 0:0d844f8ecb72 110 /**
marcuss421 0:0d844f8ecb72 111 * Get the sample rate divider.
marcuss421 0:0d844f8ecb72 112 *
marcuss421 0:0d844f8ecb72 113 * @return The sample rate divider as a number from 0-255.
marcuss421 0:0d844f8ecb72 114 */
marcuss421 0:0d844f8ecb72 115 char getSampleRateDivider(void);
marcuss421 0:0d844f8ecb72 116
marcuss421 0:0d844f8ecb72 117 /**
marcuss421 0:0d844f8ecb72 118 * Set the sample rate divider.
marcuss421 0:0d844f8ecb72 119 *
marcuss421 0:0d844f8ecb72 120 * Fsample = Finternal / (divider + 1), where Finternal = 1kHz or 8kHz,
marcuss421 0:0d844f8ecb72 121 * as decidied by the DLPF_FS register.
marcuss421 0:0d844f8ecb72 122 *
marcuss421 0:0d844f8ecb72 123 * @param The sample rate divider as a number from 0-255.
marcuss421 0:0d844f8ecb72 124 */
marcuss421 0:0d844f8ecb72 125 void setSampleRateDivider(char divider);
marcuss421 0:0d844f8ecb72 126
marcuss421 0:0d844f8ecb72 127 /**
marcuss421 0:0d844f8ecb72 128 * Get the internal sample rate.
marcuss421 0:0d844f8ecb72 129 *
marcuss421 0:0d844f8ecb72 130 * @return The internal sample rate in kHz - either 1 or 8.
marcuss421 0:0d844f8ecb72 131 */
marcuss421 0:0d844f8ecb72 132 int getInternalSampleRate(void);
marcuss421 0:0d844f8ecb72 133
marcuss421 0:0d844f8ecb72 134 /**
marcuss421 0:0d844f8ecb72 135 * Set the low pass filter bandwidth.
marcuss421 0:0d844f8ecb72 136 *
marcuss421 0:0d844f8ecb72 137 * Also used to set the internal sample rate.
marcuss421 0:0d844f8ecb72 138 * Pass the #define bandwidth codes as a parameter.
marcuss421 0:0d844f8ecb72 139 *
marcuss421 0:0d844f8ecb72 140 * 256Hz -> 8kHz internal sample rate.
marcuss421 0:0d844f8ecb72 141 * Everything else -> 1kHz internal rate.
marcuss421 0:0d844f8ecb72 142 *
marcuss421 0:0d844f8ecb72 143 * @param bandwidth Low pass filter bandwidth code
marcuss421 0:0d844f8ecb72 144 */
marcuss421 0:0d844f8ecb72 145 void setLpBandwidth(char bandwidth);
marcuss421 0:0d844f8ecb72 146
marcuss421 0:0d844f8ecb72 147 /**
marcuss421 0:0d844f8ecb72 148 * Get the interrupt configuration.
marcuss421 0:0d844f8ecb72 149 *
marcuss421 0:0d844f8ecb72 150 * See datasheet for register contents details.
marcuss421 0:0d844f8ecb72 151 *
marcuss421 0:0d844f8ecb72 152 * 7 6 5 4
marcuss421 0:0d844f8ecb72 153 * +------+------+--------------+------------------+
marcuss421 0:0d844f8ecb72 154 * | ACTL | OPEN | LATCH_INT_EN | INT_ANYRD_2CLEAR |
marcuss421 0:0d844f8ecb72 155 * +------+------+--------------+------------------+
marcuss421 0:0d844f8ecb72 156 *
marcuss421 0:0d844f8ecb72 157 * 3 2 1 0
marcuss421 0:0d844f8ecb72 158 * +---+------------+------------+---+
marcuss421 0:0d844f8ecb72 159 * | 0 | ITG_RDY_EN | RAW_RDY_EN | 0 |
marcuss421 0:0d844f8ecb72 160 * +---+------------+------------+---+
marcuss421 0:0d844f8ecb72 161 *
marcuss421 0:0d844f8ecb72 162 * ACTL Logic level for INT output pin; 1 = active low, 0 = active high.
marcuss421 0:0d844f8ecb72 163 * OPEN Drive type for INT output pin; 1 = open drain, 0 = push-pull.
marcuss421 0:0d844f8ecb72 164 * LATCH_INT_EN Latch mode; 1 = latch until interrupt is cleared,
marcuss421 0:0d844f8ecb72 165 * 0 = 50us pulse.
marcuss421 0:0d844f8ecb72 166 * INT_ANYRD_2CLEAR Latch clear method; 1 = any register read,
marcuss421 0:0d844f8ecb72 167 * 0 = status register read only.
marcuss421 0:0d844f8ecb72 168 * ITG_RDY_EN Enable interrupt when device is ready,
marcuss421 0:0d844f8ecb72 169 * (PLL ready after changing clock source).
marcuss421 0:0d844f8ecb72 170 * RAW_RDY_EN Enable interrupt when data is available.
marcuss421 0:0d844f8ecb72 171 * 0 Bits 1 and 3 of the INT_CFG register should be zero.
marcuss421 0:0d844f8ecb72 172 *
marcuss421 0:0d844f8ecb72 173 * @return the contents of the INT_CFG register.
marcuss421 0:0d844f8ecb72 174 */
marcuss421 0:0d844f8ecb72 175 char getInterruptConfiguration(void);
marcuss421 0:0d844f8ecb72 176
marcuss421 0:0d844f8ecb72 177 /**
marcuss421 0:0d844f8ecb72 178 * Set the interrupt configuration.
marcuss421 0:0d844f8ecb72 179 *
marcuss421 0:0d844f8ecb72 180 * See datasheet for configuration byte details.
marcuss421 0:0d844f8ecb72 181 *
marcuss421 0:0d844f8ecb72 182 * 7 6 5 4
marcuss421 0:0d844f8ecb72 183 * +------+------+--------------+------------------+
marcuss421 0:0d844f8ecb72 184 * | ACTL | OPEN | LATCH_INT_EN | INT_ANYRD_2CLEAR |
marcuss421 0:0d844f8ecb72 185 * +------+------+--------------+------------------+
marcuss421 0:0d844f8ecb72 186 *
marcuss421 0:0d844f8ecb72 187 * 3 2 1 0
marcuss421 0:0d844f8ecb72 188 * +---+------------+------------+---+
marcuss421 0:0d844f8ecb72 189 * | 0 | ITG_RDY_EN | RAW_RDY_EN | 0 |
marcuss421 0:0d844f8ecb72 190 * +---+------------+------------+---+
marcuss421 0:0d844f8ecb72 191 *
marcuss421 0:0d844f8ecb72 192 * ACTL Logic level for INT output pin; 1 = active low, 0 = active high.
marcuss421 0:0d844f8ecb72 193 * OPEN Drive type for INT output pin; 1 = open drain, 0 = push-pull.
marcuss421 0:0d844f8ecb72 194 * LATCH_INT_EN Latch mode; 1 = latch until interrupt is cleared,
marcuss421 0:0d844f8ecb72 195 * 0 = 50us pulse.
marcuss421 0:0d844f8ecb72 196 * INT_ANYRD_2CLEAR Latch clear method; 1 = any register read,
marcuss421 0:0d844f8ecb72 197 * 0 = status register read only.
marcuss421 0:0d844f8ecb72 198 * ITG_RDY_EN Enable interrupt when device is ready,
marcuss421 0:0d844f8ecb72 199 * (PLL ready after changing clock source).
marcuss421 0:0d844f8ecb72 200 * RAW_RDY_EN Enable interrupt when data is available.
marcuss421 0:0d844f8ecb72 201 * 0 Bits 1 and 3 of the INT_CFG register should be zero.
marcuss421 0:0d844f8ecb72 202 *
marcuss421 0:0d844f8ecb72 203 * @param config Configuration byte to write to INT_CFG register.
marcuss421 0:0d844f8ecb72 204 */
marcuss421 0:0d844f8ecb72 205 void setInterruptConfiguration(char config);
marcuss421 0:0d844f8ecb72 206
marcuss421 0:0d844f8ecb72 207 /**
marcuss421 0:0d844f8ecb72 208 * Check the ITG_RDY bit of the INT_STATUS register.
marcuss421 0:0d844f8ecb72 209 *
marcuss421 0:0d844f8ecb72 210 * @return True if the ITG_RDY bit is set, corresponding to PLL ready,
marcuss421 0:0d844f8ecb72 211 * false if the ITG_RDY bit is not set, corresponding to PLL not
marcuss421 0:0d844f8ecb72 212 * ready.
marcuss421 0:0d844f8ecb72 213 */
marcuss421 0:0d844f8ecb72 214 bool isPllReady(void);
marcuss421 0:0d844f8ecb72 215
marcuss421 0:0d844f8ecb72 216 /**
marcuss421 0:0d844f8ecb72 217 * Check the RAW_DATA_RDY bit of the INT_STATUS register.
marcuss421 0:0d844f8ecb72 218 *
marcuss421 0:0d844f8ecb72 219 * @return True if the RAW_DATA_RDY bit is set, corresponding to new data
marcuss421 0:0d844f8ecb72 220 * in the sensor registers, false if the RAW_DATA_RDY bit is not
marcuss421 0:0d844f8ecb72 221 * set, corresponding to no new data yet in the sensor registers.
marcuss421 0:0d844f8ecb72 222 */
marcuss421 0:0d844f8ecb72 223 bool isRawDataReady(void);
marcuss421 0:0d844f8ecb72 224
marcuss421 0:0d844f8ecb72 225 /**
marcuss421 0:0d844f8ecb72 226 * Get the temperature of the device.
marcuss421 0:0d844f8ecb72 227 *
marcuss421 0:0d844f8ecb72 228 * @return The temperature in degrees celsius.
marcuss421 0:0d844f8ecb72 229 */
marcuss421 0:0d844f8ecb72 230 float getTemperature(void);
marcuss421 0:0d844f8ecb72 231
marcuss421 0:0d844f8ecb72 232 /**
marcuss421 0:0d844f8ecb72 233 * Get the output for the x-axis gyroscope.
marcuss421 0:0d844f8ecb72 234 *
marcuss421 0:0d844f8ecb72 235 * Typical sensitivity is 14.375 LSB/(degrees/sec).
marcuss421 0:0d844f8ecb72 236 *
marcuss421 0:0d844f8ecb72 237 * @return The output on the x-axis in raw ADC counts.
marcuss421 0:0d844f8ecb72 238 */
marcuss421 0:0d844f8ecb72 239 int getGyroX(void);
marcuss421 0:0d844f8ecb72 240
marcuss421 0:0d844f8ecb72 241 /**
marcuss421 0:0d844f8ecb72 242 * Get the output for the y-axis gyroscope.
marcuss421 0:0d844f8ecb72 243 *
marcuss421 0:0d844f8ecb72 244 * Typical sensitivity is 14.375 LSB/(degrees/sec).
marcuss421 0:0d844f8ecb72 245 *
marcuss421 0:0d844f8ecb72 246 * @return The output on the y-axis in raw ADC counts.
marcuss421 0:0d844f8ecb72 247 */
marcuss421 0:0d844f8ecb72 248 int getGyroY(void);
marcuss421 0:0d844f8ecb72 249
marcuss421 0:0d844f8ecb72 250 /**
marcuss421 0:0d844f8ecb72 251 * Get the output on the z-axis gyroscope.
marcuss421 0:0d844f8ecb72 252 *
marcuss421 0:0d844f8ecb72 253 * Typical sensitivity is 14.375 LSB/(degrees/sec).
marcuss421 0:0d844f8ecb72 254 *
marcuss421 0:0d844f8ecb72 255 * @return The output on the z-axis in raw ADC counts.
marcuss421 0:0d844f8ecb72 256 */
marcuss421 0:0d844f8ecb72 257 int getGyroZ(void);
marcuss421 0:0d844f8ecb72 258
marcuss421 0:0d844f8ecb72 259 /**
marcuss421 0:0d844f8ecb72 260 * Get the power management configuration.
marcuss421 0:0d844f8ecb72 261 *
marcuss421 0:0d844f8ecb72 262 * See the datasheet for register contents details.
marcuss421 0:0d844f8ecb72 263 *
marcuss421 0:0d844f8ecb72 264 * 7 6 5 4
marcuss421 0:0d844f8ecb72 265 * +---------+-------+---------+---------+
marcuss421 0:0d844f8ecb72 266 * | H_RESET | SLEEP | STBY_XG | STBY_YG |
marcuss421 0:0d844f8ecb72 267 * +---------+-------+---------+---------+
marcuss421 0:0d844f8ecb72 268 *
marcuss421 0:0d844f8ecb72 269 * 3 2 1 0
marcuss421 0:0d844f8ecb72 270 * +---------+----------+----------+----------+
marcuss421 0:0d844f8ecb72 271 * | STBY_ZG | CLK_SEL2 | CLK_SEL1 | CLK_SEL0 |
marcuss421 0:0d844f8ecb72 272 * +---------+----------+----------+----------+
marcuss421 0:0d844f8ecb72 273 *
marcuss421 0:0d844f8ecb72 274 * H_RESET Reset device and internal registers to the power-up-default settings.
marcuss421 0:0d844f8ecb72 275 * SLEEP Enable low power sleep mode.
marcuss421 0:0d844f8ecb72 276 * STBY_XG Put gyro X in standby mode (1=standby, 0=normal).
marcuss421 0:0d844f8ecb72 277 * STBY_YG Put gyro Y in standby mode (1=standby, 0=normal).
marcuss421 0:0d844f8ecb72 278 * STBY_ZG Put gyro Z in standby mode (1=standby, 0=normal).
marcuss421 0:0d844f8ecb72 279 * CLK_SEL Select device clock source:
marcuss421 0:0d844f8ecb72 280 *
marcuss421 0:0d844f8ecb72 281 * CLK_SEL | Clock Source
marcuss421 0:0d844f8ecb72 282 * --------+--------------
marcuss421 0:0d844f8ecb72 283 * 0 Internal oscillator
marcuss421 0:0d844f8ecb72 284 * 1 PLL with X Gyro reference
marcuss421 0:0d844f8ecb72 285 * 2 PLL with Y Gyro reference
marcuss421 0:0d844f8ecb72 286 * 3 PLL with Z Gyro reference
marcuss421 0:0d844f8ecb72 287 * 4 PLL with external 32.768kHz reference
marcuss421 0:0d844f8ecb72 288 * 5 PLL with external 19.2MHz reference
marcuss421 0:0d844f8ecb72 289 * 6 Reserved
marcuss421 0:0d844f8ecb72 290 * 7 Reserved
marcuss421 0:0d844f8ecb72 291 *
marcuss421 0:0d844f8ecb72 292 * @return The contents of the PWR_MGM register.
marcuss421 0:0d844f8ecb72 293 */
marcuss421 0:0d844f8ecb72 294 char getPowerManagement(void);
marcuss421 0:0d844f8ecb72 295
marcuss421 0:0d844f8ecb72 296 /**
marcuss421 0:0d844f8ecb72 297 * Set power management configuration.
marcuss421 0:0d844f8ecb72 298 *
marcuss421 0:0d844f8ecb72 299 * See the datasheet for configuration byte details
marcuss421 0:0d844f8ecb72 300 *
marcuss421 0:0d844f8ecb72 301 * 7 6 5 4
marcuss421 0:0d844f8ecb72 302 * +---------+-------+---------+---------+
marcuss421 0:0d844f8ecb72 303 * | H_RESET | SLEEP | STBY_XG | STBY_YG |
marcuss421 0:0d844f8ecb72 304 * +---------+-------+---------+---------+
marcuss421 0:0d844f8ecb72 305 *
marcuss421 0:0d844f8ecb72 306 * 3 2 1 0
marcuss421 0:0d844f8ecb72 307 * +---------+----------+----------+----------+
marcuss421 0:0d844f8ecb72 308 * | STBY_ZG | CLK_SEL2 | CLK_SEL1 | CLK_SEL0 |
marcuss421 0:0d844f8ecb72 309 * +---------+----------+----------+----------+
marcuss421 0:0d844f8ecb72 310 *
marcuss421 0:0d844f8ecb72 311 * H_RESET Reset device and internal registers to the power-up-default settings.
marcuss421 0:0d844f8ecb72 312 * SLEEP Enable low power sleep mode.
marcuss421 0:0d844f8ecb72 313 * STBY_XG Put gyro X in standby mode (1=standby, 0=normal).
marcuss421 0:0d844f8ecb72 314 * STBY_YG Put gyro Y in standby mode (1=standby, 0=normal).
marcuss421 0:0d844f8ecb72 315 * STBY_ZG Put gyro Z in standby mode (1=standby, 0=normal).
marcuss421 0:0d844f8ecb72 316 * CLK_SEL Select device clock source:
marcuss421 0:0d844f8ecb72 317 *
marcuss421 0:0d844f8ecb72 318 * CLK_SEL | Clock Source
marcuss421 0:0d844f8ecb72 319 * --------+--------------
marcuss421 0:0d844f8ecb72 320 * 0 Internal oscillator
marcuss421 0:0d844f8ecb72 321 * 1 PLL with X Gyro reference
marcuss421 0:0d844f8ecb72 322 * 2 PLL with Y Gyro reference
marcuss421 0:0d844f8ecb72 323 * 3 PLL with Z Gyro reference
marcuss421 0:0d844f8ecb72 324 * 4 PLL with external 32.768kHz reference
marcuss421 0:0d844f8ecb72 325 * 5 PLL with external 19.2MHz reference
marcuss421 0:0d844f8ecb72 326 * 6 Reserved
marcuss421 0:0d844f8ecb72 327 * 7 Reserved
marcuss421 0:0d844f8ecb72 328 *
marcuss421 0:0d844f8ecb72 329 * @param config The configuration byte to write to the PWR_MGM register.
marcuss421 0:0d844f8ecb72 330 */
marcuss421 0:0d844f8ecb72 331 void setPowerManagement(char config);
marcuss421 0:0d844f8ecb72 332
marcuss421 0:0d844f8ecb72 333 private:
marcuss421 0:0d844f8ecb72 334
marcuss421 0:0d844f8ecb72 335 I2C i2c_;
marcuss421 0:0d844f8ecb72 336
marcuss421 0:0d844f8ecb72 337 };
marcuss421 0:0d844f8ecb72 338
marcuss421 0:0d844f8ecb72 339 #endif /* ITG3200_H */