ryosuke yumoto / Mbed 2 deprecated ITG3200_HelloWorld

test

Dependencies:   mbed

Fork of ITG3200_HelloWorld by Aaron Berk

ITG3200.h@2:6ab9a5b039d1, 2014-04-30 (annotated)

Committer:
ryosuke
Date:
Wed Apr 30 10:03:16 2014 +0000
Revision:
2:6ab9a5b039d1
test

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ryosuke 2:6ab9a5b039d1 1 /**
ryosuke 2:6ab9a5b039d1 2 * @author Aaron Berk
ryosuke 2:6ab9a5b039d1 3 *
ryosuke 2:6ab9a5b039d1 4 * @section LICENSE
ryosuke 2:6ab9a5b039d1 5 *
ryosuke 2:6ab9a5b039d1 6 * Copyright (c) 2010 ARM Limited
ryosuke 2:6ab9a5b039d1 7 *
ryosuke 2:6ab9a5b039d1 8 * Permission is hereby granted, free of charge, to any person obtaining a copy
ryosuke 2:6ab9a5b039d1 9 * of this software and associated documentation files (the "Software"), to deal
ryosuke 2:6ab9a5b039d1 10 * in the Software without restriction, including without limitation the rights
ryosuke 2:6ab9a5b039d1 11 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
ryosuke 2:6ab9a5b039d1 12 * copies of the Software, and to permit persons to whom the Software is
ryosuke 2:6ab9a5b039d1 13 * furnished to do so, subject to the following conditions:
ryosuke 2:6ab9a5b039d1 14 *
ryosuke 2:6ab9a5b039d1 15 * The above copyright notice and this permission notice shall be included in
ryosuke 2:6ab9a5b039d1 16 * all copies or substantial portions of the Software.
ryosuke 2:6ab9a5b039d1 17 *
ryosuke 2:6ab9a5b039d1 18 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
ryosuke 2:6ab9a5b039d1 19 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
ryosuke 2:6ab9a5b039d1 20 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
ryosuke 2:6ab9a5b039d1 21 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
ryosuke 2:6ab9a5b039d1 22 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
ryosuke 2:6ab9a5b039d1 23 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
ryosuke 2:6ab9a5b039d1 24 * THE SOFTWARE.
ryosuke 2:6ab9a5b039d1 25 *
ryosuke 2:6ab9a5b039d1 26 * @section DESCRIPTION
ryosuke 2:6ab9a5b039d1 27 *
ryosuke 2:6ab9a5b039d1 28 * ITG-3200 triple axis, digital interface, gyroscope.
ryosuke 2:6ab9a5b039d1 29 *
ryosuke 2:6ab9a5b039d1 30 * Datasheet:
ryosuke 2:6ab9a5b039d1 31 *
ryosuke 2:6ab9a5b039d1 32 * http://invensense.com/mems/gyro/documents/PS-ITG-3200-00-01.4.pdf
ryosuke 2:6ab9a5b039d1 33 */
ryosuke 2:6ab9a5b039d1 34
ryosuke 2:6ab9a5b039d1 35 #ifndef ITG3200_H
ryosuke 2:6ab9a5b039d1 36 #define ITG3200_H
ryosuke 2:6ab9a5b039d1 37
ryosuke 2:6ab9a5b039d1 38 /**
ryosuke 2:6ab9a5b039d1 39 * Includes
ryosuke 2:6ab9a5b039d1 40 */
ryosuke 2:6ab9a5b039d1 41 #include "mbed.h"
ryosuke 2:6ab9a5b039d1 42
ryosuke 2:6ab9a5b039d1 43 /**
ryosuke 2:6ab9a5b039d1 44 * Defines
ryosuke 2:6ab9a5b039d1 45 */
ryosuke 2:6ab9a5b039d1 46 #define ITG3200_I2C_ADDRESS 0x68 //7-bit address.
ryosuke 2:6ab9a5b039d1 47
ryosuke 2:6ab9a5b039d1 48 //-----------
ryosuke 2:6ab9a5b039d1 49 // Registers
ryosuke 2:6ab9a5b039d1 50 //-----------
ryosuke 2:6ab9a5b039d1 51 #define WHO_AM_I_REG 0x00
ryosuke 2:6ab9a5b039d1 52 #define SMPLRT_DIV_REG 0x15
ryosuke 2:6ab9a5b039d1 53 #define DLPF_FS_REG 0x16
ryosuke 2:6ab9a5b039d1 54 #define INT_CFG_REG 0x17
ryosuke 2:6ab9a5b039d1 55 #define INT_STATUS 0x1A
ryosuke 2:6ab9a5b039d1 56 #define TEMP_OUT_H_REG 0x1B
ryosuke 2:6ab9a5b039d1 57 #define TEMP_OUT_L_REG 0x1C
ryosuke 2:6ab9a5b039d1 58 #define GYRO_XOUT_H_REG 0x1D
ryosuke 2:6ab9a5b039d1 59 #define GYRO_XOUT_L_REG 0x1E
ryosuke 2:6ab9a5b039d1 60 #define GYRO_YOUT_H_REG 0x1F
ryosuke 2:6ab9a5b039d1 61 #define GYRO_YOUT_L_REG 0x20
ryosuke 2:6ab9a5b039d1 62 #define GYRO_ZOUT_H_REG 0x21
ryosuke 2:6ab9a5b039d1 63 #define GYRO_ZOUT_L_REG 0x22
ryosuke 2:6ab9a5b039d1 64 #define PWR_MGM_REG 0x3E
ryosuke 2:6ab9a5b039d1 65
ryosuke 2:6ab9a5b039d1 66 //----------------------------
ryosuke 2:6ab9a5b039d1 67 // Low Pass Filter Bandwidths
ryosuke 2:6ab9a5b039d1 68 //----------------------------
ryosuke 2:6ab9a5b039d1 69 #define LPFBW_256HZ 0x00
ryosuke 2:6ab9a5b039d1 70 #define LPFBW_188HZ 0x01
ryosuke 2:6ab9a5b039d1 71 #define LPFBW_98HZ 0x02
ryosuke 2:6ab9a5b039d1 72 #define LPFBW_42HZ 0x03
ryosuke 2:6ab9a5b039d1 73 #define LPFBW_20HZ 0x04
ryosuke 2:6ab9a5b039d1 74 #define LPFBW_10HZ 0x05
ryosuke 2:6ab9a5b039d1 75 #define LPFBW_5HZ 0x06
ryosuke 2:6ab9a5b039d1 76
ryosuke 2:6ab9a5b039d1 77 /**
ryosuke 2:6ab9a5b039d1 78 * ITG-3200 triple axis digital gyroscope.
ryosuke 2:6ab9a5b039d1 79 */
ryosuke 2:6ab9a5b039d1 80 class ITG3200 {
ryosuke 2:6ab9a5b039d1 81
ryosuke 2:6ab9a5b039d1 82 public:
ryosuke 2:6ab9a5b039d1 83
ryosuke 2:6ab9a5b039d1 84 /**
ryosuke 2:6ab9a5b039d1 85 * Constructor.
ryosuke 2:6ab9a5b039d1 86 *
ryosuke 2:6ab9a5b039d1 87 * Sets FS_SEL to 0x03 for proper opertaion.
ryosuke 2:6ab9a5b039d1 88 *
ryosuke 2:6ab9a5b039d1 89 * @param sda - mbed pin to use for the SDA I2C line.
ryosuke 2:6ab9a5b039d1 90 * @param scl - mbed pin to use for the SCL I2C line.
ryosuke 2:6ab9a5b039d1 91 */
ryosuke 2:6ab9a5b039d1 92 ITG3200(PinName sda, PinName scl);
ryosuke 2:6ab9a5b039d1 93
ryosuke 2:6ab9a5b039d1 94 /**
ryosuke 2:6ab9a5b039d1 95 * Get the identity of the device.
ryosuke 2:6ab9a5b039d1 96 *
ryosuke 2:6ab9a5b039d1 97 * @return The contents of the Who Am I register which contains the I2C
ryosuke 2:6ab9a5b039d1 98 * address of the device.
ryosuke 2:6ab9a5b039d1 99 */
ryosuke 2:6ab9a5b039d1 100 char getWhoAmI(void);
ryosuke 2:6ab9a5b039d1 101
ryosuke 2:6ab9a5b039d1 102 /**
ryosuke 2:6ab9a5b039d1 103 * Set the address of the device.
ryosuke 2:6ab9a5b039d1 104 *
ryosuke 2:6ab9a5b039d1 105 * @param address The I2C slave address to write to the Who Am I register
ryosuke 2:6ab9a5b039d1 106 * on the device.
ryosuke 2:6ab9a5b039d1 107 */
ryosuke 2:6ab9a5b039d1 108 void setWhoAmI(char address);
ryosuke 2:6ab9a5b039d1 109
ryosuke 2:6ab9a5b039d1 110 /**
ryosuke 2:6ab9a5b039d1 111 * Get the sample rate divider.
ryosuke 2:6ab9a5b039d1 112 *
ryosuke 2:6ab9a5b039d1 113 * @return The sample rate divider as a number from 0-255.
ryosuke 2:6ab9a5b039d1 114 */
ryosuke 2:6ab9a5b039d1 115 char getSampleRateDivider(void);
ryosuke 2:6ab9a5b039d1 116
ryosuke 2:6ab9a5b039d1 117 /**
ryosuke 2:6ab9a5b039d1 118 * Set the sample rate divider.
ryosuke 2:6ab9a5b039d1 119 *
ryosuke 2:6ab9a5b039d1 120 * Fsample = Finternal / (divider + 1), where Finternal = 1kHz or 8kHz,
ryosuke 2:6ab9a5b039d1 121 * as decidied by the DLPF_FS register.
ryosuke 2:6ab9a5b039d1 122 *
ryosuke 2:6ab9a5b039d1 123 * @param The sample rate divider as a number from 0-255.
ryosuke 2:6ab9a5b039d1 124 */
ryosuke 2:6ab9a5b039d1 125 void setSampleRateDivider(char divider);
ryosuke 2:6ab9a5b039d1 126
ryosuke 2:6ab9a5b039d1 127 /**
ryosuke 2:6ab9a5b039d1 128 * Get the internal sample rate.
ryosuke 2:6ab9a5b039d1 129 *
ryosuke 2:6ab9a5b039d1 130 * @return The internal sample rate in kHz - either 1 or 8.
ryosuke 2:6ab9a5b039d1 131 */
ryosuke 2:6ab9a5b039d1 132 int getInternalSampleRate(void);
ryosuke 2:6ab9a5b039d1 133
ryosuke 2:6ab9a5b039d1 134 /**
ryosuke 2:6ab9a5b039d1 135 * Set the low pass filter bandwidth.
ryosuke 2:6ab9a5b039d1 136 *
ryosuke 2:6ab9a5b039d1 137 * Also used to set the internal sample rate.
ryosuke 2:6ab9a5b039d1 138 * Pass the #define bandwidth codes as a parameter.
ryosuke 2:6ab9a5b039d1 139 *
ryosuke 2:6ab9a5b039d1 140 * 256Hz -> 8kHz internal sample rate.
ryosuke 2:6ab9a5b039d1 141 * Everything else -> 1kHz internal rate.
ryosuke 2:6ab9a5b039d1 142 *
ryosuke 2:6ab9a5b039d1 143 * @param bandwidth Low pass filter bandwidth code
ryosuke 2:6ab9a5b039d1 144 */
ryosuke 2:6ab9a5b039d1 145 void setLpBandwidth(char bandwidth);
ryosuke 2:6ab9a5b039d1 146
ryosuke 2:6ab9a5b039d1 147 /**
ryosuke 2:6ab9a5b039d1 148 * Get the interrupt configuration.
ryosuke 2:6ab9a5b039d1 149 *
ryosuke 2:6ab9a5b039d1 150 * See datasheet for register contents details.
ryosuke 2:6ab9a5b039d1 151 *
ryosuke 2:6ab9a5b039d1 152 * 7 6 5 4
ryosuke 2:6ab9a5b039d1 153 * +------+------+--------------+------------------+
ryosuke 2:6ab9a5b039d1 154 * | ACTL | OPEN | LATCH_INT_EN | INT_ANYRD_2CLEAR |
ryosuke 2:6ab9a5b039d1 155 * +------+------+--------------+------------------+
ryosuke 2:6ab9a5b039d1 156 *
ryosuke 2:6ab9a5b039d1 157 * 3 2 1 0
ryosuke 2:6ab9a5b039d1 158 * +---+------------+------------+---+
ryosuke 2:6ab9a5b039d1 159 * | 0 | ITG_RDY_EN | RAW_RDY_EN | 0 |
ryosuke 2:6ab9a5b039d1 160 * +---+------------+------------+---+
ryosuke 2:6ab9a5b039d1 161 *
ryosuke 2:6ab9a5b039d1 162 * ACTL Logic level for INT output pin; 1 = active low, 0 = active high.
ryosuke 2:6ab9a5b039d1 163 * OPEN Drive type for INT output pin; 1 = open drain, 0 = push-pull.
ryosuke 2:6ab9a5b039d1 164 * LATCH_INT_EN Latch mode; 1 = latch until interrupt is cleared,
ryosuke 2:6ab9a5b039d1 165 * 0 = 50us pulse.
ryosuke 2:6ab9a5b039d1 166 * INT_ANYRD_2CLEAR Latch clear method; 1 = any register read,
ryosuke 2:6ab9a5b039d1 167 * 0 = status register read only.
ryosuke 2:6ab9a5b039d1 168 * ITG_RDY_EN Enable interrupt when device is ready,
ryosuke 2:6ab9a5b039d1 169 * (PLL ready after changing clock source).
ryosuke 2:6ab9a5b039d1 170 * RAW_RDY_EN Enable interrupt when data is available.
ryosuke 2:6ab9a5b039d1 171 * 0 Bits 1 and 3 of the INT_CFG register should be zero.
ryosuke 2:6ab9a5b039d1 172 *
ryosuke 2:6ab9a5b039d1 173 * @return the contents of the INT_CFG register.
ryosuke 2:6ab9a5b039d1 174 */
ryosuke 2:6ab9a5b039d1 175 char getInterruptConfiguration(void);
ryosuke 2:6ab9a5b039d1 176
ryosuke 2:6ab9a5b039d1 177 /**
ryosuke 2:6ab9a5b039d1 178 * Set the interrupt configuration.
ryosuke 2:6ab9a5b039d1 179 *
ryosuke 2:6ab9a5b039d1 180 * See datasheet for configuration byte details.
ryosuke 2:6ab9a5b039d1 181 *
ryosuke 2:6ab9a5b039d1 182 * 7 6 5 4
ryosuke 2:6ab9a5b039d1 183 * +------+------+--------------+------------------+
ryosuke 2:6ab9a5b039d1 184 * | ACTL | OPEN | LATCH_INT_EN | INT_ANYRD_2CLEAR |
ryosuke 2:6ab9a5b039d1 185 * +------+------+--------------+------------------+
ryosuke 2:6ab9a5b039d1 186 *
ryosuke 2:6ab9a5b039d1 187 * 3 2 1 0
ryosuke 2:6ab9a5b039d1 188 * +---+------------+------------+---+
ryosuke 2:6ab9a5b039d1 189 * | 0 | ITG_RDY_EN | RAW_RDY_EN | 0 |
ryosuke 2:6ab9a5b039d1 190 * +---+------------+------------+---+
ryosuke 2:6ab9a5b039d1 191 *
ryosuke 2:6ab9a5b039d1 192 * ACTL Logic level for INT output pin; 1 = active low, 0 = active high.
ryosuke 2:6ab9a5b039d1 193 * OPEN Drive type for INT output pin; 1 = open drain, 0 = push-pull.
ryosuke 2:6ab9a5b039d1 194 * LATCH_INT_EN Latch mode; 1 = latch until interrupt is cleared,
ryosuke 2:6ab9a5b039d1 195 * 0 = 50us pulse.
ryosuke 2:6ab9a5b039d1 196 * INT_ANYRD_2CLEAR Latch clear method; 1 = any register read,
ryosuke 2:6ab9a5b039d1 197 * 0 = status register read only.
ryosuke 2:6ab9a5b039d1 198 * ITG_RDY_EN Enable interrupt when device is ready,
ryosuke 2:6ab9a5b039d1 199 * (PLL ready after changing clock source).
ryosuke 2:6ab9a5b039d1 200 * RAW_RDY_EN Enable interrupt when data is available.
ryosuke 2:6ab9a5b039d1 201 * 0 Bits 1 and 3 of the INT_CFG register should be zero.
ryosuke 2:6ab9a5b039d1 202 *
ryosuke 2:6ab9a5b039d1 203 * @param config Configuration byte to write to INT_CFG register.
ryosuke 2:6ab9a5b039d1 204 */
ryosuke 2:6ab9a5b039d1 205 void setInterruptConfiguration(char config);
ryosuke 2:6ab9a5b039d1 206
ryosuke 2:6ab9a5b039d1 207 /**
ryosuke 2:6ab9a5b039d1 208 * Check the ITG_RDY bit of the INT_STATUS register.
ryosuke 2:6ab9a5b039d1 209 *
ryosuke 2:6ab9a5b039d1 210 * @return True if the ITG_RDY bit is set, corresponding to PLL ready,
ryosuke 2:6ab9a5b039d1 211 * false if the ITG_RDY bit is not set, corresponding to PLL not
ryosuke 2:6ab9a5b039d1 212 * ready.
ryosuke 2:6ab9a5b039d1 213 */
ryosuke 2:6ab9a5b039d1 214 bool isPllReady(void);
ryosuke 2:6ab9a5b039d1 215
ryosuke 2:6ab9a5b039d1 216 /**
ryosuke 2:6ab9a5b039d1 217 * Check the RAW_DATA_RDY bit of the INT_STATUS register.
ryosuke 2:6ab9a5b039d1 218 *
ryosuke 2:6ab9a5b039d1 219 * @return True if the RAW_DATA_RDY bit is set, corresponding to new data
ryosuke 2:6ab9a5b039d1 220 * in the sensor registers, false if the RAW_DATA_RDY bit is not
ryosuke 2:6ab9a5b039d1 221 * set, corresponding to no new data yet in the sensor registers.
ryosuke 2:6ab9a5b039d1 222 */
ryosuke 2:6ab9a5b039d1 223 bool isRawDataReady(void);
ryosuke 2:6ab9a5b039d1 224
ryosuke 2:6ab9a5b039d1 225 /**
ryosuke 2:6ab9a5b039d1 226 * Get the temperature of the device.
ryosuke 2:6ab9a5b039d1 227 *
ryosuke 2:6ab9a5b039d1 228 * @return The temperature in degrees celsius.
ryosuke 2:6ab9a5b039d1 229 */
ryosuke 2:6ab9a5b039d1 230 float getTemperature(void);
ryosuke 2:6ab9a5b039d1 231
ryosuke 2:6ab9a5b039d1 232 /**
ryosuke 2:6ab9a5b039d1 233 * Get the output for the x-axis gyroscope.
ryosuke 2:6ab9a5b039d1 234 *
ryosuke 2:6ab9a5b039d1 235 * Typical sensitivity is 14.375 LSB/(degrees/sec).
ryosuke 2:6ab9a5b039d1 236 *
ryosuke 2:6ab9a5b039d1 237 * @return The output on the x-axis in raw ADC counts.
ryosuke 2:6ab9a5b039d1 238 */
ryosuke 2:6ab9a5b039d1 239 int getGyroX(void);
ryosuke 2:6ab9a5b039d1 240
ryosuke 2:6ab9a5b039d1 241 /**
ryosuke 2:6ab9a5b039d1 242 * Get the output for the y-axis gyroscope.
ryosuke 2:6ab9a5b039d1 243 *
ryosuke 2:6ab9a5b039d1 244 * Typical sensitivity is 14.375 LSB/(degrees/sec).
ryosuke 2:6ab9a5b039d1 245 *
ryosuke 2:6ab9a5b039d1 246 * @return The output on the y-axis in raw ADC counts.
ryosuke 2:6ab9a5b039d1 247 */
ryosuke 2:6ab9a5b039d1 248 int getGyroY(void);
ryosuke 2:6ab9a5b039d1 249
ryosuke 2:6ab9a5b039d1 250 /**
ryosuke 2:6ab9a5b039d1 251 * Get the output on the z-axis gyroscope.
ryosuke 2:6ab9a5b039d1 252 *
ryosuke 2:6ab9a5b039d1 253 * Typical sensitivity is 14.375 LSB/(degrees/sec).
ryosuke 2:6ab9a5b039d1 254 *
ryosuke 2:6ab9a5b039d1 255 * @return The output on the z-axis in raw ADC counts.
ryosuke 2:6ab9a5b039d1 256 */
ryosuke 2:6ab9a5b039d1 257 int getGyroZ(void);
ryosuke 2:6ab9a5b039d1 258
ryosuke 2:6ab9a5b039d1 259 /**
ryosuke 2:6ab9a5b039d1 260 * Get the power management configuration.
ryosuke 2:6ab9a5b039d1 261 *
ryosuke 2:6ab9a5b039d1 262 * See the datasheet for register contents details.
ryosuke 2:6ab9a5b039d1 263 *
ryosuke 2:6ab9a5b039d1 264 * 7 6 5 4
ryosuke 2:6ab9a5b039d1 265 * +---------+-------+---------+---------+
ryosuke 2:6ab9a5b039d1 266 * | H_RESET | SLEEP | STBY_XG | STBY_YG |
ryosuke 2:6ab9a5b039d1 267 * +---------+-------+---------+---------+
ryosuke 2:6ab9a5b039d1 268 *
ryosuke 2:6ab9a5b039d1 269 * 3 2 1 0
ryosuke 2:6ab9a5b039d1 270 * +---------+----------+----------+----------+
ryosuke 2:6ab9a5b039d1 271 * | STBY_ZG | CLK_SEL2 | CLK_SEL1 | CLK_SEL0 |
ryosuke 2:6ab9a5b039d1 272 * +---------+----------+----------+----------+
ryosuke 2:6ab9a5b039d1 273 *
ryosuke 2:6ab9a5b039d1 274 * H_RESET Reset device and internal registers to the power-up-default settings.
ryosuke 2:6ab9a5b039d1 275 * SLEEP Enable low power sleep mode.
ryosuke 2:6ab9a5b039d1 276 * STBY_XG Put gyro X in standby mode (1=standby, 0=normal).
ryosuke 2:6ab9a5b039d1 277 * STBY_YG Put gyro Y in standby mode (1=standby, 0=normal).
ryosuke 2:6ab9a5b039d1 278 * STBY_ZG Put gyro Z in standby mode (1=standby, 0=normal).
ryosuke 2:6ab9a5b039d1 279 * CLK_SEL Select device clock source:
ryosuke 2:6ab9a5b039d1 280 *
ryosuke 2:6ab9a5b039d1 281 * CLK_SEL | Clock Source
ryosuke 2:6ab9a5b039d1 282 * --------+--------------
ryosuke 2:6ab9a5b039d1 283 * 0 Internal oscillator
ryosuke 2:6ab9a5b039d1 284 * 1 PLL with X Gyro reference
ryosuke 2:6ab9a5b039d1 285 * 2 PLL with Y Gyro reference
ryosuke 2:6ab9a5b039d1 286 * 3 PLL with Z Gyro reference
ryosuke 2:6ab9a5b039d1 287 * 4 PLL with external 32.768kHz reference
ryosuke 2:6ab9a5b039d1 288 * 5 PLL with external 19.2MHz reference
ryosuke 2:6ab9a5b039d1 289 * 6 Reserved
ryosuke 2:6ab9a5b039d1 290 * 7 Reserved
ryosuke 2:6ab9a5b039d1 291 *
ryosuke 2:6ab9a5b039d1 292 * @return The contents of the PWR_MGM register.
ryosuke 2:6ab9a5b039d1 293 */
ryosuke 2:6ab9a5b039d1 294 char getPowerManagement(void);
ryosuke 2:6ab9a5b039d1 295
ryosuke 2:6ab9a5b039d1 296 /**
ryosuke 2:6ab9a5b039d1 297 * Set power management configuration.
ryosuke 2:6ab9a5b039d1 298 *
ryosuke 2:6ab9a5b039d1 299 * See the datasheet for configuration byte details
ryosuke 2:6ab9a5b039d1 300 *
ryosuke 2:6ab9a5b039d1 301 * 7 6 5 4
ryosuke 2:6ab9a5b039d1 302 * +---------+-------+---------+---------+
ryosuke 2:6ab9a5b039d1 303 * | H_RESET | SLEEP | STBY_XG | STBY_YG |
ryosuke 2:6ab9a5b039d1 304 * +---------+-------+---------+---------+
ryosuke 2:6ab9a5b039d1 305 *
ryosuke 2:6ab9a5b039d1 306 * 3 2 1 0
ryosuke 2:6ab9a5b039d1 307 * +---------+----------+----------+----------+
ryosuke 2:6ab9a5b039d1 308 * | STBY_ZG | CLK_SEL2 | CLK_SEL1 | CLK_SEL0 |
ryosuke 2:6ab9a5b039d1 309 * +---------+----------+----------+----------+
ryosuke 2:6ab9a5b039d1 310 *
ryosuke 2:6ab9a5b039d1 311 * H_RESET Reset device and internal registers to the power-up-default settings.
ryosuke 2:6ab9a5b039d1 312 * SLEEP Enable low power sleep mode.
ryosuke 2:6ab9a5b039d1 313 * STBY_XG Put gyro X in standby mode (1=standby, 0=normal).
ryosuke 2:6ab9a5b039d1 314 * STBY_YG Put gyro Y in standby mode (1=standby, 0=normal).
ryosuke 2:6ab9a5b039d1 315 * STBY_ZG Put gyro Z in standby mode (1=standby, 0=normal).
ryosuke 2:6ab9a5b039d1 316 * CLK_SEL Select device clock source:
ryosuke 2:6ab9a5b039d1 317 *
ryosuke 2:6ab9a5b039d1 318 * CLK_SEL | Clock Source
ryosuke 2:6ab9a5b039d1 319 * --------+--------------
ryosuke 2:6ab9a5b039d1 320 * 0 Internal oscillator
ryosuke 2:6ab9a5b039d1 321 * 1 PLL with X Gyro reference
ryosuke 2:6ab9a5b039d1 322 * 2 PLL with Y Gyro reference
ryosuke 2:6ab9a5b039d1 323 * 3 PLL with Z Gyro reference
ryosuke 2:6ab9a5b039d1 324 * 4 PLL with external 32.768kHz reference
ryosuke 2:6ab9a5b039d1 325 * 5 PLL with external 19.2MHz reference
ryosuke 2:6ab9a5b039d1 326 * 6 Reserved
ryosuke 2:6ab9a5b039d1 327 * 7 Reserved
ryosuke 2:6ab9a5b039d1 328 *
ryosuke 2:6ab9a5b039d1 329 * @param config The configuration byte to write to the PWR_MGM register.
ryosuke 2:6ab9a5b039d1 330 */
ryosuke 2:6ab9a5b039d1 331 void setPowerManagement(char config);
ryosuke 2:6ab9a5b039d1 332
ryosuke 2:6ab9a5b039d1 333 private:
ryosuke 2:6ab9a5b039d1 334
ryosuke 2:6ab9a5b039d1 335 I2C i2c_;
ryosuke 2:6ab9a5b039d1 336
ryosuke 2:6ab9a5b039d1 337 };
ryosuke 2:6ab9a5b039d1 338
ryosuke 2:6ab9a5b039d1 339 #endif /* ITG3200_H */