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180 lines
6.1 KiB
C++
180 lines
6.1 KiB
C++
// I2Cdev library collection - ITG3200 I2C device class header file
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// Based on InvenSense ITG-3200 datasheet rev. 1.4, 3/30/2010 (PS-ITG-3200A-00-01.4)
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// 7/31/2011 by Jeff Rowberg <jeff@rowberg.net>
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// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
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//
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// Changelog:
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// 2011-07-31 - initial release
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/* ============================================
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I2Cdev device library code is placed under the MIT license
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Copyright (c) 2011 Jeff Rowberg
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in
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all copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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THE SOFTWARE.
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===============================================
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*/
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#ifndef _ITG3200_H_
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#define _ITG3200_H_
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#include "I2Cdev.h"
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#define ITG3200_ADDRESS_AD0_LOW 0x68 // address pin low (GND), default for SparkFun IMU Digital Combo board
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#define ITG3200_ADDRESS_AD0_HIGH 0x69 // address pin high (VCC), default for SparkFun ITG-3200 Breakout board
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#define ITG3200_DEFAULT_ADDRESS ITG3200_ADDRESS_AD0_LOW
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#define ITG3200_RA_WHO_AM_I 0x00
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#define ITG3200_RA_SMPLRT_DIV 0x15
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#define ITG3200_RA_DLPF_FS 0x16
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#define ITG3200_RA_INT_CFG 0x17
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#define ITG3200_RA_INT_STATUS 0x1A
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#define ITG3200_RA_TEMP_OUT_H 0x1B
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#define ITG3200_RA_TEMP_OUT_L 0x1C
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#define ITG3200_RA_GYRO_XOUT_H 0x1D
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#define ITG3200_RA_GYRO_XOUT_L 0x1E
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#define ITG3200_RA_GYRO_YOUT_H 0x1F
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#define ITG3200_RA_GYRO_YOUT_L 0x20
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#define ITG3200_RA_GYRO_ZOUT_H 0x21
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#define ITG3200_RA_GYRO_ZOUT_L 0x22
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#define ITG3200_RA_PWR_MGM 0x3E
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#define ITG3200_DEVID_BIT 6
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#define ITG3200_DEVID_LENGTH 6
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#define ITG3200_DF_FS_SEL_BIT 4
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#define ITG3200_DF_FS_SEL_LENGTH 2
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#define ITG3200_DF_DLPF_CFG_BIT 2
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#define ITG3200_DF_DLPF_CFG_LENGTH 3
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#define ITG3200_FULLSCALE_2000 0x03
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#define ITG3200_DLPF_BW_256 0x00
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#define ITG3200_DLPF_BW_188 0x01
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#define ITG3200_DLPF_BW_98 0x02
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#define ITG3200_DLPF_BW_42 0x03
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#define ITG3200_DLPF_BW_20 0x04
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#define ITG3200_DLPF_BW_10 0x05
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#define ITG3200_DLPF_BW_5 0x06
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#define ITG3200_INTCFG_ACTL_BIT 7
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#define ITG3200_INTCFG_OPEN_BIT 6
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#define ITG3200_INTCFG_LATCH_INT_EN_BIT 5
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#define ITG3200_INTCFG_INT_ANYRD_2CLEAR_BIT 4
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#define ITG3200_INTCFG_ITG_RDY_EN_BIT 2
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#define ITG3200_INTCFG_RAW_RDY_EN_BIT 0
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#define ITG3200_INTMODE_ACTIVEHIGH 0x00
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#define ITG3200_INTMODE_ACTIVELOW 0x01
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#define ITG3200_INTDRV_PUSHPULL 0x00
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#define ITG3200_INTDRV_OPENDRAIN 0x01
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#define ITG3200_INTLATCH_50USPULSE 0x00
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#define ITG3200_INTLATCH_WAITCLEAR 0x01
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#define ITG3200_INTCLEAR_STATUSREAD 0x00
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#define ITG3200_INTCLEAR_ANYREAD 0x01
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#define ITG3200_INTSTAT_ITG_RDY_BIT 2
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#define ITG3200_INTSTAT_RAW_DATA_READY_BIT 0
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#define ITG3200_PWR_H_RESET_BIT 7
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#define ITG3200_PWR_SLEEP_BIT 6
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#define ITG3200_PWR_STBY_XG_BIT 5
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#define ITG3200_PWR_STBY_YG_BIT 4
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#define ITG3200_PWR_STBY_ZG_BIT 3
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#define ITG3200_PWR_CLK_SEL_BIT 2
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#define ITG3200_PWR_CLK_SEL_LENGTH 3
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#define ITG3200_CLOCK_INTERNAL 0x00
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#define ITG3200_CLOCK_PLL_XGYRO 0x01
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#define ITG3200_CLOCK_PLL_YGYRO 0x02
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#define ITG3200_CLOCK_PLL_ZGYRO 0x03
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#define ITG3200_CLOCK_PLL_EXT32K 0x04
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#define ITG3200_CLOCK_PLL_EXT19M 0x05
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class ITG3200 {
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public:
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ITG3200();
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ITG3200(uint8_t address);
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void initialize();
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bool testConnection();
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// WHO_AM_I register
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uint8_t getDeviceID();
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void setDeviceID(uint8_t id);
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// SMPLRT_DIV register
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uint8_t getRate();
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void setRate(uint8_t rate);
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// DLPF_FS register
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uint8_t getFullScaleRange();
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void setFullScaleRange(uint8_t range);
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uint8_t getDLPFBandwidth();
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void setDLPFBandwidth(uint8_t bandwidth);
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// INT_CFG register
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bool getInterruptMode();
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void setInterruptMode(bool mode);
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bool getInterruptDrive();
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void setInterruptDrive(bool drive);
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bool getInterruptLatch();
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void setInterruptLatch(bool latch);
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bool getInterruptLatchClear();
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void setInterruptLatchClear(bool clear);
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bool getIntDeviceReadyEnabled();
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void setIntDeviceReadyEnabled(bool enabled);
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bool getIntDataReadyEnabled();
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void setIntDataReadyEnabled(bool enabled);
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// INT_STATUS register
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bool getIntDeviceReadyStatus();
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bool getIntDataReadyStatus();
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// TEMP_OUT_* registers
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int16_t getTemperature();
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// GYRO_*OUT_* registers
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void getRotation(int16_t* x, int16_t* y, int16_t* z);
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int16_t getRotationX();
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int16_t getRotationY();
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int16_t getRotationZ();
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// PWR_MGM register
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void reset();
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bool getSleepEnabled();
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void setSleepEnabled(bool enabled);
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bool getStandbyXEnabled();
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void setStandbyXEnabled(bool enabled);
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bool getStandbyYEnabled();
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void setStandbyYEnabled(bool enabled);
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bool getStandbyZEnabled();
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void setStandbyZEnabled(bool enabled);
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uint8_t getClockSource();
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void setClockSource(uint8_t source);
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private:
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uint8_t devAddr;
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uint8_t buffer[6];
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};
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#endif /* _ITG3200_H_ */
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