ryosuke yumoto / Mbed 2 deprecated ITG3200_I2C

test

Dependencies:   mbed

ITG3200.h@0:d1f69bf9cfa4, 2013-06-21 (annotated)

Committer:
ryosuke
Date:
Fri Jun 21 11:08:49 2013 +0000
Revision:
0:d1f69bf9cfa4
test

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ryosuke 0:d1f69bf9cfa4 1 /**
ryosuke 0:d1f69bf9cfa4 2 * @author Aaron Berk
ryosuke 0:d1f69bf9cfa4 3 *
ryosuke 0:d1f69bf9cfa4 4 * @section LICENSE
ryosuke 0:d1f69bf9cfa4 5 *
ryosuke 0:d1f69bf9cfa4 6 * Copyright (c) 2010 ARM Limited
ryosuke 0:d1f69bf9cfa4 7 *
ryosuke 0:d1f69bf9cfa4 8 * Permission is hereby granted, free of charge, to any person obtaining a copy
ryosuke 0:d1f69bf9cfa4 9 * of this software and associated documentation files (the "Software"), to deal
ryosuke 0:d1f69bf9cfa4 10 * in the Software without restriction, including without limitation the rights
ryosuke 0:d1f69bf9cfa4 11 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
ryosuke 0:d1f69bf9cfa4 12 * copies of the Software, and to permit persons to whom the Software is
ryosuke 0:d1f69bf9cfa4 13 * furnished to do so, subject to the following conditions:
ryosuke 0:d1f69bf9cfa4 14 *
ryosuke 0:d1f69bf9cfa4 15 * The above copyright notice and this permission notice shall be included in
ryosuke 0:d1f69bf9cfa4 16 * all copies or substantial portions of the Software.
ryosuke 0:d1f69bf9cfa4 17 *
ryosuke 0:d1f69bf9cfa4 18 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
ryosuke 0:d1f69bf9cfa4 19 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
ryosuke 0:d1f69bf9cfa4 20 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
ryosuke 0:d1f69bf9cfa4 21 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
ryosuke 0:d1f69bf9cfa4 22 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
ryosuke 0:d1f69bf9cfa4 23 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
ryosuke 0:d1f69bf9cfa4 24 * THE SOFTWARE.
ryosuke 0:d1f69bf9cfa4 25 *
ryosuke 0:d1f69bf9cfa4 26 * @section DESCRIPTION
ryosuke 0:d1f69bf9cfa4 27 *
ryosuke 0:d1f69bf9cfa4 28 * ITG-3200 triple axis, digital interface, gyroscope.
ryosuke 0:d1f69bf9cfa4 29 *
ryosuke 0:d1f69bf9cfa4 30 * Datasheet:
ryosuke 0:d1f69bf9cfa4 31 *
ryosuke 0:d1f69bf9cfa4 32 * http://invensense.com/mems/gyro/documents/PS-ITG-3200-00-01.4.pdf
ryosuke 0:d1f69bf9cfa4 33 */
ryosuke 0:d1f69bf9cfa4 34
ryosuke 0:d1f69bf9cfa4 35 #ifndef ITG3200_H
ryosuke 0:d1f69bf9cfa4 36 #define ITG3200_H
ryosuke 0:d1f69bf9cfa4 37
ryosuke 0:d1f69bf9cfa4 38 /**
ryosuke 0:d1f69bf9cfa4 39 * Includes
ryosuke 0:d1f69bf9cfa4 40 */
ryosuke 0:d1f69bf9cfa4 41 #include "mbed.h"
ryosuke 0:d1f69bf9cfa4 42
ryosuke 0:d1f69bf9cfa4 43 /**
ryosuke 0:d1f69bf9cfa4 44 * Defines
ryosuke 0:d1f69bf9cfa4 45 */
ryosuke 0:d1f69bf9cfa4 46 #define ITG3200_I2C_ADDRESS 0x68 //7-bit address.
ryosuke 0:d1f69bf9cfa4 47
ryosuke 0:d1f69bf9cfa4 48 //-----------
ryosuke 0:d1f69bf9cfa4 49 // Registers
ryosuke 0:d1f69bf9cfa4 50 //-----------
ryosuke 0:d1f69bf9cfa4 51 #define WHO_AM_I_REG 0x00
ryosuke 0:d1f69bf9cfa4 52 #define SMPLRT_DIV_REG 0x15
ryosuke 0:d1f69bf9cfa4 53 #define DLPF_FS_REG 0x16
ryosuke 0:d1f69bf9cfa4 54 #define INT_CFG_REG 0x17
ryosuke 0:d1f69bf9cfa4 55 #define INT_STATUS 0x1A
ryosuke 0:d1f69bf9cfa4 56 #define TEMP_OUT_H_REG 0x1B
ryosuke 0:d1f69bf9cfa4 57 #define TEMP_OUT_L_REG 0x1C
ryosuke 0:d1f69bf9cfa4 58 #define GYRO_XOUT_H_REG 0x1D
ryosuke 0:d1f69bf9cfa4 59 #define GYRO_XOUT_L_REG 0x1E
ryosuke 0:d1f69bf9cfa4 60 #define GYRO_YOUT_H_REG 0x1F
ryosuke 0:d1f69bf9cfa4 61 #define GYRO_YOUT_L_REG 0x20
ryosuke 0:d1f69bf9cfa4 62 #define GYRO_ZOUT_H_REG 0x21
ryosuke 0:d1f69bf9cfa4 63 #define GYRO_ZOUT_L_REG 0x22
ryosuke 0:d1f69bf9cfa4 64 #define PWR_MGM_REG 0x3E
ryosuke 0:d1f69bf9cfa4 65
ryosuke 0:d1f69bf9cfa4 66 //----------------------------
ryosuke 0:d1f69bf9cfa4 67 // Low Pass Filter Bandwidths
ryosuke 0:d1f69bf9cfa4 68 //----------------------------
ryosuke 0:d1f69bf9cfa4 69 #define LPFBW_256HZ 0x00
ryosuke 0:d1f69bf9cfa4 70 #define LPFBW_188HZ 0x01
ryosuke 0:d1f69bf9cfa4 71 #define LPFBW_98HZ 0x02
ryosuke 0:d1f69bf9cfa4 72 #define LPFBW_42HZ 0x03
ryosuke 0:d1f69bf9cfa4 73 #define LPFBW_20HZ 0x04
ryosuke 0:d1f69bf9cfa4 74 #define LPFBW_10HZ 0x05
ryosuke 0:d1f69bf9cfa4 75 #define LPFBW_5HZ 0x06
ryosuke 0:d1f69bf9cfa4 76
ryosuke 0:d1f69bf9cfa4 77 /**
ryosuke 0:d1f69bf9cfa4 78 * ITG-3200 triple axis digital gyroscope.
ryosuke 0:d1f69bf9cfa4 79 */
ryosuke 0:d1f69bf9cfa4 80 class ITG3200 {
ryosuke 0:d1f69bf9cfa4 81
ryosuke 0:d1f69bf9cfa4 82 public:
ryosuke 0:d1f69bf9cfa4 83
ryosuke 0:d1f69bf9cfa4 84 /**
ryosuke 0:d1f69bf9cfa4 85 * Constructor.
ryosuke 0:d1f69bf9cfa4 86 *
ryosuke 0:d1f69bf9cfa4 87 * Sets FS_SEL to 0x03 for proper opertaion.
ryosuke 0:d1f69bf9cfa4 88 *
ryosuke 0:d1f69bf9cfa4 89 * @param sda - mbed pin to use for the SDA I2C line.
ryosuke 0:d1f69bf9cfa4 90 * @param scl - mbed pin to use for the SCL I2C line.
ryosuke 0:d1f69bf9cfa4 91 */
ryosuke 0:d1f69bf9cfa4 92 ITG3200(PinName sda, PinName scl);
ryosuke 0:d1f69bf9cfa4 93
ryosuke 0:d1f69bf9cfa4 94 /**
ryosuke 0:d1f69bf9cfa4 95 * Get the identity of the device.
ryosuke 0:d1f69bf9cfa4 96 *
ryosuke 0:d1f69bf9cfa4 97 * @return The contents of the Who Am I register which contains the I2C
ryosuke 0:d1f69bf9cfa4 98 * address of the device.
ryosuke 0:d1f69bf9cfa4 99 */
ryosuke 0:d1f69bf9cfa4 100 char getWhoAmI(void);
ryosuke 0:d1f69bf9cfa4 101
ryosuke 0:d1f69bf9cfa4 102 /**
ryosuke 0:d1f69bf9cfa4 103 * Set the address of the device.
ryosuke 0:d1f69bf9cfa4 104 *
ryosuke 0:d1f69bf9cfa4 105 * @param address The I2C slave address to write to the Who Am I register
ryosuke 0:d1f69bf9cfa4 106 * on the device.
ryosuke 0:d1f69bf9cfa4 107 */
ryosuke 0:d1f69bf9cfa4 108 void setWhoAmI(char address);
ryosuke 0:d1f69bf9cfa4 109
ryosuke 0:d1f69bf9cfa4 110 /**
ryosuke 0:d1f69bf9cfa4 111 * Get the sample rate divider.
ryosuke 0:d1f69bf9cfa4 112 *
ryosuke 0:d1f69bf9cfa4 113 * @return The sample rate divider as a number from 0-255.
ryosuke 0:d1f69bf9cfa4 114 */
ryosuke 0:d1f69bf9cfa4 115 char getSampleRateDivider(void);
ryosuke 0:d1f69bf9cfa4 116
ryosuke 0:d1f69bf9cfa4 117 /**
ryosuke 0:d1f69bf9cfa4 118 * Set the sample rate divider.
ryosuke 0:d1f69bf9cfa4 119 *
ryosuke 0:d1f69bf9cfa4 120 * Fsample = Finternal / (divider + 1), where Finternal = 1kHz or 8kHz,
ryosuke 0:d1f69bf9cfa4 121 * as decidied by the DLPF_FS register.
ryosuke 0:d1f69bf9cfa4 122 *
ryosuke 0:d1f69bf9cfa4 123 * @param The sample rate divider as a number from 0-255.
ryosuke 0:d1f69bf9cfa4 124 */
ryosuke 0:d1f69bf9cfa4 125 void setSampleRateDivider(char divider);
ryosuke 0:d1f69bf9cfa4 126
ryosuke 0:d1f69bf9cfa4 127 /**
ryosuke 0:d1f69bf9cfa4 128 * Get the internal sample rate.
ryosuke 0:d1f69bf9cfa4 129 *
ryosuke 0:d1f69bf9cfa4 130 * @return The internal sample rate in kHz - either 1 or 8.
ryosuke 0:d1f69bf9cfa4 131 */
ryosuke 0:d1f69bf9cfa4 132 int getInternalSampleRate(void);
ryosuke 0:d1f69bf9cfa4 133
ryosuke 0:d1f69bf9cfa4 134 /**
ryosuke 0:d1f69bf9cfa4 135 * Set the low pass filter bandwidth.
ryosuke 0:d1f69bf9cfa4 136 *
ryosuke 0:d1f69bf9cfa4 137 * Also used to set the internal sample rate.
ryosuke 0:d1f69bf9cfa4 138 * Pass the #define bandwidth codes as a parameter.
ryosuke 0:d1f69bf9cfa4 139 *
ryosuke 0:d1f69bf9cfa4 140 * 256Hz -> 8kHz internal sample rate.
ryosuke 0:d1f69bf9cfa4 141 * Everything else -> 1kHz internal rate.
ryosuke 0:d1f69bf9cfa4 142 *
ryosuke 0:d1f69bf9cfa4 143 * @param bandwidth Low pass filter bandwidth code
ryosuke 0:d1f69bf9cfa4 144 */
ryosuke 0:d1f69bf9cfa4 145 void setLpBandwidth(char bandwidth);
ryosuke 0:d1f69bf9cfa4 146
ryosuke 0:d1f69bf9cfa4 147 /**
ryosuke 0:d1f69bf9cfa4 148 * Get the interrupt configuration.
ryosuke 0:d1f69bf9cfa4 149 *
ryosuke 0:d1f69bf9cfa4 150 * See datasheet for register contents details.
ryosuke 0:d1f69bf9cfa4 151 *
ryosuke 0:d1f69bf9cfa4 152 * 7 6 5 4
ryosuke 0:d1f69bf9cfa4 153 * +------+------+--------------+------------------+
ryosuke 0:d1f69bf9cfa4 154 * | ACTL | OPEN | LATCH_INT_EN | INT_ANYRD_2CLEAR |
ryosuke 0:d1f69bf9cfa4 155 * +------+------+--------------+------------------+
ryosuke 0:d1f69bf9cfa4 156 *
ryosuke 0:d1f69bf9cfa4 157 * 3 2 1 0
ryosuke 0:d1f69bf9cfa4 158 * +---+------------+------------+---+
ryosuke 0:d1f69bf9cfa4 159 * | 0 | ITG_RDY_EN | RAW_RDY_EN | 0 |
ryosuke 0:d1f69bf9cfa4 160 * +---+------------+------------+---+
ryosuke 0:d1f69bf9cfa4 161 *
ryosuke 0:d1f69bf9cfa4 162 * ACTL Logic level for INT output pin; 1 = active low, 0 = active high.
ryosuke 0:d1f69bf9cfa4 163 * OPEN Drive type for INT output pin; 1 = open drain, 0 = push-pull.
ryosuke 0:d1f69bf9cfa4 164 * LATCH_INT_EN Latch mode; 1 = latch until interrupt is cleared,
ryosuke 0:d1f69bf9cfa4 165 * 0 = 50us pulse.
ryosuke 0:d1f69bf9cfa4 166 * INT_ANYRD_2CLEAR Latch clear method; 1 = any register read,
ryosuke 0:d1f69bf9cfa4 167 * 0 = status register read only.
ryosuke 0:d1f69bf9cfa4 168 * ITG_RDY_EN Enable interrupt when device is ready,
ryosuke 0:d1f69bf9cfa4 169 * (PLL ready after changing clock source).
ryosuke 0:d1f69bf9cfa4 170 * RAW_RDY_EN Enable interrupt when data is available.
ryosuke 0:d1f69bf9cfa4 171 * 0 Bits 1 and 3 of the INT_CFG register should be zero.
ryosuke 0:d1f69bf9cfa4 172 *
ryosuke 0:d1f69bf9cfa4 173 * @return the contents of the INT_CFG register.
ryosuke 0:d1f69bf9cfa4 174 */
ryosuke 0:d1f69bf9cfa4 175 char getInterruptConfiguration(void);
ryosuke 0:d1f69bf9cfa4 176
ryosuke 0:d1f69bf9cfa4 177 /**
ryosuke 0:d1f69bf9cfa4 178 * Set the interrupt configuration.
ryosuke 0:d1f69bf9cfa4 179 *
ryosuke 0:d1f69bf9cfa4 180 * See datasheet for configuration byte details.
ryosuke 0:d1f69bf9cfa4 181 *
ryosuke 0:d1f69bf9cfa4 182 * 7 6 5 4
ryosuke 0:d1f69bf9cfa4 183 * +------+------+--------------+------------------+
ryosuke 0:d1f69bf9cfa4 184 * | ACTL | OPEN | LATCH_INT_EN | INT_ANYRD_2CLEAR |
ryosuke 0:d1f69bf9cfa4 185 * +------+------+--------------+------------------+
ryosuke 0:d1f69bf9cfa4 186 *
ryosuke 0:d1f69bf9cfa4 187 * 3 2 1 0
ryosuke 0:d1f69bf9cfa4 188 * +---+------------+------------+---+
ryosuke 0:d1f69bf9cfa4 189 * | 0 | ITG_RDY_EN | RAW_RDY_EN | 0 |
ryosuke 0:d1f69bf9cfa4 190 * +---+------------+------------+---+
ryosuke 0:d1f69bf9cfa4 191 *
ryosuke 0:d1f69bf9cfa4 192 * ACTL Logic level for INT output pin; 1 = active low, 0 = active high.
ryosuke 0:d1f69bf9cfa4 193 * OPEN Drive type for INT output pin; 1 = open drain, 0 = push-pull.
ryosuke 0:d1f69bf9cfa4 194 * LATCH_INT_EN Latch mode; 1 = latch until interrupt is cleared,
ryosuke 0:d1f69bf9cfa4 195 * 0 = 50us pulse.
ryosuke 0:d1f69bf9cfa4 196 * INT_ANYRD_2CLEAR Latch clear method; 1 = any register read,
ryosuke 0:d1f69bf9cfa4 197 * 0 = status register read only.
ryosuke 0:d1f69bf9cfa4 198 * ITG_RDY_EN Enable interrupt when device is ready,
ryosuke 0:d1f69bf9cfa4 199 * (PLL ready after changing clock source).
ryosuke 0:d1f69bf9cfa4 200 * RAW_RDY_EN Enable interrupt when data is available.
ryosuke 0:d1f69bf9cfa4 201 * 0 Bits 1 and 3 of the INT_CFG register should be zero.
ryosuke 0:d1f69bf9cfa4 202 *
ryosuke 0:d1f69bf9cfa4 203 * @param config Configuration byte to write to INT_CFG register.
ryosuke 0:d1f69bf9cfa4 204 */
ryosuke 0:d1f69bf9cfa4 205 void setInterruptConfiguration(char config);
ryosuke 0:d1f69bf9cfa4 206
ryosuke 0:d1f69bf9cfa4 207 /**
ryosuke 0:d1f69bf9cfa4 208 * Check the ITG_RDY bit of the INT_STATUS register.
ryosuke 0:d1f69bf9cfa4 209 *
ryosuke 0:d1f69bf9cfa4 210 * @return True if the ITG_RDY bit is set, corresponding to PLL ready,
ryosuke 0:d1f69bf9cfa4 211 * false if the ITG_RDY bit is not set, corresponding to PLL not
ryosuke 0:d1f69bf9cfa4 212 * ready.
ryosuke 0:d1f69bf9cfa4 213 */
ryosuke 0:d1f69bf9cfa4 214 bool isPllReady(void);
ryosuke 0:d1f69bf9cfa4 215
ryosuke 0:d1f69bf9cfa4 216 /**
ryosuke 0:d1f69bf9cfa4 217 * Check the RAW_DATA_RDY bit of the INT_STATUS register.
ryosuke 0:d1f69bf9cfa4 218 *
ryosuke 0:d1f69bf9cfa4 219 * @return True if the RAW_DATA_RDY bit is set, corresponding to new data
ryosuke 0:d1f69bf9cfa4 220 * in the sensor registers, false if the RAW_DATA_RDY bit is not
ryosuke 0:d1f69bf9cfa4 221 * set, corresponding to no new data yet in the sensor registers.
ryosuke 0:d1f69bf9cfa4 222 */
ryosuke 0:d1f69bf9cfa4 223 bool isRawDataReady(void);
ryosuke 0:d1f69bf9cfa4 224
ryosuke 0:d1f69bf9cfa4 225 /**
ryosuke 0:d1f69bf9cfa4 226 * Get the temperature of the device.
ryosuke 0:d1f69bf9cfa4 227 *
ryosuke 0:d1f69bf9cfa4 228 * @return The temperature in degrees celsius.
ryosuke 0:d1f69bf9cfa4 229 */
ryosuke 0:d1f69bf9cfa4 230 float getTemperature(void);
ryosuke 0:d1f69bf9cfa4 231
ryosuke 0:d1f69bf9cfa4 232 /**
ryosuke 0:d1f69bf9cfa4 233 * Get the output for the x-axis gyroscope.
ryosuke 0:d1f69bf9cfa4 234 *
ryosuke 0:d1f69bf9cfa4 235 * Typical sensitivity is 14.375 LSB/(degrees/sec).
ryosuke 0:d1f69bf9cfa4 236 *
ryosuke 0:d1f69bf9cfa4 237 * @return The output on the x-axis in raw ADC counts.
ryosuke 0:d1f69bf9cfa4 238 */
ryosuke 0:d1f69bf9cfa4 239 int getGyroX(void);
ryosuke 0:d1f69bf9cfa4 240
ryosuke 0:d1f69bf9cfa4 241 /**
ryosuke 0:d1f69bf9cfa4 242 * Get the output for the y-axis gyroscope.
ryosuke 0:d1f69bf9cfa4 243 *
ryosuke 0:d1f69bf9cfa4 244 * Typical sensitivity is 14.375 LSB/(degrees/sec).
ryosuke 0:d1f69bf9cfa4 245 *
ryosuke 0:d1f69bf9cfa4 246 * @return The output on the y-axis in raw ADC counts.
ryosuke 0:d1f69bf9cfa4 247 */
ryosuke 0:d1f69bf9cfa4 248 int getGyroY(void);
ryosuke 0:d1f69bf9cfa4 249
ryosuke 0:d1f69bf9cfa4 250 /**
ryosuke 0:d1f69bf9cfa4 251 * Get the output on the z-axis gyroscope.
ryosuke 0:d1f69bf9cfa4 252 *
ryosuke 0:d1f69bf9cfa4 253 * Typical sensitivity is 14.375 LSB/(degrees/sec).
ryosuke 0:d1f69bf9cfa4 254 *
ryosuke 0:d1f69bf9cfa4 255 * @return The output on the z-axis in raw ADC counts.
ryosuke 0:d1f69bf9cfa4 256 */
ryosuke 0:d1f69bf9cfa4 257 int getGyroZ(void);
ryosuke 0:d1f69bf9cfa4 258
ryosuke 0:d1f69bf9cfa4 259 /**
ryosuke 0:d1f69bf9cfa4 260 * Get the power management configuration.
ryosuke 0:d1f69bf9cfa4 261 *
ryosuke 0:d1f69bf9cfa4 262 * See the datasheet for register contents details.
ryosuke 0:d1f69bf9cfa4 263 *
ryosuke 0:d1f69bf9cfa4 264 * 7 6 5 4
ryosuke 0:d1f69bf9cfa4 265 * +---------+-------+---------+---------+
ryosuke 0:d1f69bf9cfa4 266 * | H_RESET | SLEEP | STBY_XG | STBY_YG |
ryosuke 0:d1f69bf9cfa4 267 * +---------+-------+---------+---------+
ryosuke 0:d1f69bf9cfa4 268 *
ryosuke 0:d1f69bf9cfa4 269 * 3 2 1 0
ryosuke 0:d1f69bf9cfa4 270 * +---------+----------+----------+----------+
ryosuke 0:d1f69bf9cfa4 271 * | STBY_ZG | CLK_SEL2 | CLK_SEL1 | CLK_SEL0 |
ryosuke 0:d1f69bf9cfa4 272 * +---------+----------+----------+----------+
ryosuke 0:d1f69bf9cfa4 273 *
ryosuke 0:d1f69bf9cfa4 274 * H_RESET Reset device and internal registers to the power-up-default settings.
ryosuke 0:d1f69bf9cfa4 275 * SLEEP Enable low power sleep mode.
ryosuke 0:d1f69bf9cfa4 276 * STBY_XG Put gyro X in standby mode (1=standby, 0=normal).
ryosuke 0:d1f69bf9cfa4 277 * STBY_YG Put gyro Y in standby mode (1=standby, 0=normal).
ryosuke 0:d1f69bf9cfa4 278 * STBY_ZG Put gyro Z in standby mode (1=standby, 0=normal).
ryosuke 0:d1f69bf9cfa4 279 * CLK_SEL Select device clock source:
ryosuke 0:d1f69bf9cfa4 280 *
ryosuke 0:d1f69bf9cfa4 281 * CLK_SEL | Clock Source
ryosuke 0:d1f69bf9cfa4 282 * --------+--------------
ryosuke 0:d1f69bf9cfa4 283 * 0 Internal oscillator
ryosuke 0:d1f69bf9cfa4 284 * 1 PLL with X Gyro reference
ryosuke 0:d1f69bf9cfa4 285 * 2 PLL with Y Gyro reference
ryosuke 0:d1f69bf9cfa4 286 * 3 PLL with Z Gyro reference
ryosuke 0:d1f69bf9cfa4 287 * 4 PLL with external 32.768kHz reference
ryosuke 0:d1f69bf9cfa4 288 * 5 PLL with external 19.2MHz reference
ryosuke 0:d1f69bf9cfa4 289 * 6 Reserved
ryosuke 0:d1f69bf9cfa4 290 * 7 Reserved
ryosuke 0:d1f69bf9cfa4 291 *
ryosuke 0:d1f69bf9cfa4 292 * @return The contents of the PWR_MGM register.
ryosuke 0:d1f69bf9cfa4 293 */
ryosuke 0:d1f69bf9cfa4 294 char getPowerManagement(void);
ryosuke 0:d1f69bf9cfa4 295
ryosuke 0:d1f69bf9cfa4 296 /**
ryosuke 0:d1f69bf9cfa4 297 * Set power management configuration.
ryosuke 0:d1f69bf9cfa4 298 *
ryosuke 0:d1f69bf9cfa4 299 * See the datasheet for configuration byte details
ryosuke 0:d1f69bf9cfa4 300 *
ryosuke 0:d1f69bf9cfa4 301 * 7 6 5 4
ryosuke 0:d1f69bf9cfa4 302 * +---------+-------+---------+---------+
ryosuke 0:d1f69bf9cfa4 303 * | H_RESET | SLEEP | STBY_XG | STBY_YG |
ryosuke 0:d1f69bf9cfa4 304 * +---------+-------+---------+---------+
ryosuke 0:d1f69bf9cfa4 305 *
ryosuke 0:d1f69bf9cfa4 306 * 3 2 1 0
ryosuke 0:d1f69bf9cfa4 307 * +---------+----------+----------+----------+
ryosuke 0:d1f69bf9cfa4 308 * | STBY_ZG | CLK_SEL2 | CLK_SEL1 | CLK_SEL0 |
ryosuke 0:d1f69bf9cfa4 309 * +---------+----------+----------+----------+
ryosuke 0:d1f69bf9cfa4 310 *
ryosuke 0:d1f69bf9cfa4 311 * H_RESET Reset device and internal registers to the power-up-default settings.
ryosuke 0:d1f69bf9cfa4 312 * SLEEP Enable low power sleep mode.
ryosuke 0:d1f69bf9cfa4 313 * STBY_XG Put gyro X in standby mode (1=standby, 0=normal).
ryosuke 0:d1f69bf9cfa4 314 * STBY_YG Put gyro Y in standby mode (1=standby, 0=normal).
ryosuke 0:d1f69bf9cfa4 315 * STBY_ZG Put gyro Z in standby mode (1=standby, 0=normal).
ryosuke 0:d1f69bf9cfa4 316 * CLK_SEL Select device clock source:
ryosuke 0:d1f69bf9cfa4 317 *
ryosuke 0:d1f69bf9cfa4 318 * CLK_SEL | Clock Source
ryosuke 0:d1f69bf9cfa4 319 * --------+--------------
ryosuke 0:d1f69bf9cfa4 320 * 0 Internal oscillator
ryosuke 0:d1f69bf9cfa4 321 * 1 PLL with X Gyro reference
ryosuke 0:d1f69bf9cfa4 322 * 2 PLL with Y Gyro reference
ryosuke 0:d1f69bf9cfa4 323 * 3 PLL with Z Gyro reference
ryosuke 0:d1f69bf9cfa4 324 * 4 PLL with external 32.768kHz reference
ryosuke 0:d1f69bf9cfa4 325 * 5 PLL with external 19.2MHz reference
ryosuke 0:d1f69bf9cfa4 326 * 6 Reserved
ryosuke 0:d1f69bf9cfa4 327 * 7 Reserved
ryosuke 0:d1f69bf9cfa4 328 *
ryosuke 0:d1f69bf9cfa4 329 * @param config The configuration byte to write to the PWR_MGM register.
ryosuke 0:d1f69bf9cfa4 330 */
ryosuke 0:d1f69bf9cfa4 331 void setPowerManagement(char config);
ryosuke 0:d1f69bf9cfa4 332
ryosuke 0:d1f69bf9cfa4 333 private:
ryosuke 0:d1f69bf9cfa4 334
ryosuke 0:d1f69bf9cfa4 335 I2C i2c_;
ryosuke 0:d1f69bf9cfa4 336
ryosuke 0:d1f69bf9cfa4 337 };
ryosuke 0:d1f69bf9cfa4 338
ryosuke 0:d1f69bf9cfa4 339 #endif /* ITG3200_H */