mirror of
https://github.com/bjoernellens1/cps_microros_imu.git
synced 2024-11-24 00:45:06 +00:00
180 lines
6.1 KiB
C++
180 lines
6.1 KiB
C++
// 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_ */
|