cps_microros_imu/firmware/lib/imu/ITG3200.h

// I2Cdev library collection - ITG3200 I2C device class header file
// Based on InvenSense ITG-3200 datasheet rev. 1.4, 3/30/2010 (PS-ITG-3200A-00-01.4)
// 7/31/2011 by Jeff Rowberg <jeff@rowberg.net>
// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
//
// Changelog:
//     2011-07-31 - initial release

/* ============================================
I2Cdev device library code is placed under the MIT license
Copyright (c) 2011 Jeff Rowberg

Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
===============================================
*/

#ifndef _ITG3200_H_
#define _ITG3200_H_

#include "I2Cdev.h"

#define ITG3200_ADDRESS_AD0_LOW     0x68 // address pin low (GND), default for SparkFun IMU Digital Combo board
#define ITG3200_ADDRESS_AD0_HIGH    0x69 // address pin high (VCC), default for SparkFun ITG-3200 Breakout board
#define ITG3200_DEFAULT_ADDRESS     ITG3200_ADDRESS_AD0_LOW

#define ITG3200_RA_WHO_AM_I         0x00
#define ITG3200_RA_SMPLRT_DIV       0x15
#define ITG3200_RA_DLPF_FS          0x16
#define ITG3200_RA_INT_CFG          0x17
#define ITG3200_RA_INT_STATUS       0x1A
#define ITG3200_RA_TEMP_OUT_H       0x1B
#define ITG3200_RA_TEMP_OUT_L       0x1C
#define ITG3200_RA_GYRO_XOUT_H      0x1D
#define ITG3200_RA_GYRO_XOUT_L      0x1E
#define ITG3200_RA_GYRO_YOUT_H      0x1F
#define ITG3200_RA_GYRO_YOUT_L      0x20
#define ITG3200_RA_GYRO_ZOUT_H      0x21
#define ITG3200_RA_GYRO_ZOUT_L      0x22
#define ITG3200_RA_PWR_MGM          0x3E

#define ITG3200_DEVID_BIT           6
#define ITG3200_DEVID_LENGTH        6

#define ITG3200_DF_FS_SEL_BIT       4
#define ITG3200_DF_FS_SEL_LENGTH    2
#define ITG3200_DF_DLPF_CFG_BIT     2
#define ITG3200_DF_DLPF_CFG_LENGTH  3

#define ITG3200_FULLSCALE_2000      0x03

#define ITG3200_DLPF_BW_256         0x00
#define ITG3200_DLPF_BW_188         0x01
#define ITG3200_DLPF_BW_98          0x02
#define ITG3200_DLPF_BW_42          0x03
#define ITG3200_DLPF_BW_20          0x04
#define ITG3200_DLPF_BW_10          0x05
#define ITG3200_DLPF_BW_5           0x06

#define ITG3200_INTCFG_ACTL_BIT             7
#define ITG3200_INTCFG_OPEN_BIT             6
#define ITG3200_INTCFG_LATCH_INT_EN_BIT     5
#define ITG3200_INTCFG_INT_ANYRD_2CLEAR_BIT 4
#define ITG3200_INTCFG_ITG_RDY_EN_BIT       2
#define ITG3200_INTCFG_RAW_RDY_EN_BIT       0

#define ITG3200_INTMODE_ACTIVEHIGH  0x00
#define ITG3200_INTMODE_ACTIVELOW   0x01

#define ITG3200_INTDRV_PUSHPULL     0x00
#define ITG3200_INTDRV_OPENDRAIN    0x01

#define ITG3200_INTLATCH_50USPULSE  0x00
#define ITG3200_INTLATCH_WAITCLEAR  0x01

#define ITG3200_INTCLEAR_STATUSREAD 0x00
#define ITG3200_INTCLEAR_ANYREAD    0x01

#define ITG3200_INTSTAT_ITG_RDY_BIT         2
#define ITG3200_INTSTAT_RAW_DATA_READY_BIT  0

#define ITG3200_PWR_H_RESET_BIT     7
#define ITG3200_PWR_SLEEP_BIT       6
#define ITG3200_PWR_STBY_XG_BIT     5
#define ITG3200_PWR_STBY_YG_BIT     4
#define ITG3200_PWR_STBY_ZG_BIT     3
#define ITG3200_PWR_CLK_SEL_BIT     2
#define ITG3200_PWR_CLK_SEL_LENGTH  3

#define ITG3200_CLOCK_INTERNAL      0x00
#define ITG3200_CLOCK_PLL_XGYRO     0x01
#define ITG3200_CLOCK_PLL_YGYRO     0x02
#define ITG3200_CLOCK_PLL_ZGYRO     0x03
#define ITG3200_CLOCK_PLL_EXT32K    0x04
#define ITG3200_CLOCK_PLL_EXT19M    0x05

class ITG3200 {
    public:
        ITG3200();
        ITG3200(uint8_t address);
        
        void initialize();
        bool testConnection();
        
        // WHO_AM_I register
        uint8_t getDeviceID();
        void setDeviceID(uint8_t id);

        // SMPLRT_DIV register
        uint8_t getRate();
        void setRate(uint8_t rate);

        // DLPF_FS register
        uint8_t getFullScaleRange();
        void setFullScaleRange(uint8_t range);
        uint8_t getDLPFBandwidth();
        void setDLPFBandwidth(uint8_t bandwidth);
        
        // INT_CFG register
        bool getInterruptMode();
        void setInterruptMode(bool mode);
        bool getInterruptDrive();
        void setInterruptDrive(bool drive);
        bool getInterruptLatch();
        void setInterruptLatch(bool latch);
        bool getInterruptLatchClear();
        void setInterruptLatchClear(bool clear);
        bool getIntDeviceReadyEnabled();
        void setIntDeviceReadyEnabled(bool enabled);
        bool getIntDataReadyEnabled();
        void setIntDataReadyEnabled(bool enabled);

        // INT_STATUS register
        bool getIntDeviceReadyStatus();
        bool getIntDataReadyStatus();
        
        // TEMP_OUT_* registers
        int16_t getTemperature();
        
        // GYRO_*OUT_* registers
        void getRotation(int16_t* x, int16_t* y, int16_t* z);
        int16_t getRotationX();
        int16_t getRotationY();
        int16_t getRotationZ();

        // PWR_MGM register
        void reset();
        bool getSleepEnabled();
        void setSleepEnabled(bool enabled);
        bool getStandbyXEnabled();
        void setStandbyXEnabled(bool enabled);
        bool getStandbyYEnabled();
        void setStandbyYEnabled(bool enabled);
        bool getStandbyZEnabled();
        void setStandbyZEnabled(bool enabled);
        uint8_t getClockSource();
        void setClockSource(uint8_t source);

    private:
        uint8_t devAddr;
        uint8_t buffer[6];
};

#endif /* _ITG3200_H_ */