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/****************************************************************************

* ITG3200.h - ITG-3200/I2C library v0.5 for Arduino                         *

* Copyright 2010-2011 Filipe Vieira & various contributors                  *

* http://code.google.com/p/itg-3200driver                                   *

* This file is part of ITG-3200 Arduino library.                            *

*                                                                           *

* This library is free software: you can redistribute it and/or modify      *

* it under the terms of the GNU Lesser General Public License as published  *

* by the Free Software Foundation, either version 3 of the License, or      *

* (at your option) any later version.                                       *

*                                                                           *

* This program is distributed in the hope that it will be useful,           *

* but WITHOUT ANY WARRANTY; without even the implied warranty of            *

* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the             *

* GNU Lesser General Public License for more details.                       *

*                                                                           *

* You should have received a copy of the GNU Lesser General Public License  *

* along with this program.  If not, see <http://www.gnu.org/licenses/>.     *

****************************************************************************/

/****************************************************************************

* Tested on Arduino Mega with ITG-3200 Breakout                             *

* SCL     -> pin 21     (no pull up resistors)                              *

* SDA     -> pin 20     (no pull up resistors)                              *

* CLK & GND -> pin GND                                                    *

* INT       -> not connected  (but can be used)                             *

* VIO & VDD -> pin 3.3V                                                     *

*****************************************************************************/

#ifndef ITG3200_h

#define ITG3200_h

#include "WProgram.h"

#define ITG3200_ADDR_AD0_HIGH  0x69   //AD0=1 0x69 I2C address when AD0 is connected to HIGH (VCC) - default for sparkfun breakout

#define ITG3200_ADDR_AD0_LOW   0x68   //AD0=0 0x68 I2C address when AD0 is connected to LOW (GND)

// "The LSB bit of the 7 bit address is determined by the logic level on pin 9. 

// This allows two ITG-3200 devices to be connected to the same I2C bus.

// One device should have pin9 (or bit0) LOW and the other should be HIGH." source: ITG3200 datasheet

// Note that pin9 (AD0 - I2C Slave Address LSB) may not be available on some breakout boards so check 

// the schematics of your breakout board for the correct address to use.

#define GYROSTART_UP_DELAY  70    // 50ms from gyro startup + 20ms register r/w startup

/* ---- Registers ---- */

#define WHO_AM_I           0x00  // RW   SETUP: I2C address   

#define SMPLRT_DIV         0x15  // RW   SETUP: Sample Rate Divider       

#define DLPF_FS            0x16  // RW   SETUP: Digital Low Pass Filter/ Full Scale range

#define INT_CFG            0x17  // RW   Interrupt: Configuration

#define INT_STATUS         0x1A  // R   Interrupt: Status

#define TEMP_OUT           0x1B  // R   SENSOR: Temperature 2bytes

#define GYRO_XOUT          0x1D  // R   SENSOR: Gyro X 2bytes  

#define GYRO_YOUT          0x1F  // R   SENSOR: Gyro Y 2bytes

#define GYRO_ZOUT          0x21  // R   SENSOR: Gyro Z 2bytes

#define PWR_MGM            0x3E  // RW  Power Management

/* ---- bit maps ---- */

#define DLPFFS_FS_SEL             0x18  // 00011000

#define DLPFFS_DLPF_CFG           0x07  // 00000111

#define INTCFG_ACTL               0x80  // 10000000

#define INTCFG_OPEN               0x40  // 01000000

#define INTCFG_LATCH_INT_EN       0x20  // 00100000

#define INTCFG_INT_ANYRD_2CLEAR   0x10  // 00010000

#define INTCFG_ITG_RDY_EN         0x04  // 00000100

#define INTCFG_RAW_RDY_EN         0x01  // 00000001

#define INTSTATUS_ITG_RDY         0x04  // 00000100

#define INTSTATUS_RAW_DATA_RDY    0x01  // 00000001

#define PWRMGM_HRESET             0x80  // 10000000

#define PWRMGM_SLEEP              0x40  // 01000000

#define PWRMGM_STBY_XG            0x20  // 00100000

#define PWRMGM_STBY_YG            0x10  // 00010000

#define PWRMGM_STBY_ZG            0x08  // 00001000

#define PWRMGM_CLK_SEL            0x07  // 00000111

/************************************/

/*    REGISTERS PARAMETERS    */

/************************************/

// Sample Rate Divider

#define NOSRDIVIDER         0 // default    FsampleHz=SampleRateHz/(divider+1)

// Gyro Full Scale Range

#define RANGE2000           3   // default

// Digital Low Pass Filter BandWidth and SampleRate

#define BW256_SR8           0   // default    256Khz BW and 8Khz SR

#define BW188_SR1           1

#define BW098_SR1           2

#define BW042_SR1           3

#define BW020_SR1           4

#define BW010_SR1           5

#define BW005_SR1           6

// Interrupt Active logic lvl

#define ACTIVE_ONHIGH       0 // default

#define ACTIVE_ONLOW        1

// Interrupt drive type

#define PUSH_PULL           0 // default

#define OPEN_DRAIN          1

// Interrupt Latch mode

#define PULSE_50US          0 // default

#define UNTIL_INT_CLEARED   1

// Interrupt Latch clear method

#define READ_STATUSREG      0 // default

#define READ_ANYREG         1

// Power management

#define NORMAL              0 // default

#define STANDBY             1

// Clock Source - user parameters

#define INTERNALOSC         0   // default

#define PLL_XGYRO_REF       1

#define PLL_YGYRO_REF       2

#define PLL_ZGYRO_REF       3

#define PLL_EXTERNAL32      4   // 32.768 kHz

#define PLL_EXTERNAL19      5   // 19.2 Mhz

class ITG3200 {

public:

  float gains[3];

  int offsets[3];

  float polarities[3];

  ITG3200();

  // Gyro initialization

  void init(unsigned int address);

  void init(unsigned int address, byte _SRateDiv, byte _Range, byte _filterBW, byte _ClockSrc, bool _ITGReady, bool _INTRawDataReady);      

  // Who Am I

  byte getDevAddr();

  void setDevAddr(unsigned int _addr);

  // Sample Rate Divider

  byte getSampleRateDiv();          

  void setSampleRateDiv(byte _SampleRate);

  // Digital Low Pass Filter BandWidth and SampleRate 

  byte getFSRange();

  void setFSRange(byte _Range); // RANGE2000

  byte getFilterBW();

  void setFilterBW(byte _BW); // see register parameters above

  // Interrupt Configuration

  bool isINTActiveOnLow();

  void setINTLogiclvl(bool _State); //ACTIVE_ONHIGH, ACTIVE_ONLOW

  // Interrupt drive type

  bool isINTOpenDrain();

  void setINTDriveType(bool _State); //OPEN_DRAIN, PUSH_PULL

  // Interrupt Latch mode

  bool isLatchUntilCleared();

  void setLatchMode(bool _State); //UNTIL_INT_CLEARED, PULSE_50US

  // Interrupt Latch clear method

  bool isAnyRegClrMode();

  void setLatchClearMode(bool _State); //READ_ANYREG, READ_STATUSREG

  // INT pin triggers

  bool isITGReadyOn();          

  void setITGReady(bool _State);

  bool isRawDataReadyOn();

  void setRawDataReady(bool _State);      

  // Trigger Status

  bool isITGReady();

  bool isRawDataReady();

  // Gyro Sensors

  void readTemp(float *_Temp);

  void readGyroRaw(int  *_GyroXYZ);

  void readGyroRaw(int *_GyroX, int *_GyroY, int *_GyroZ);

  void setRevPolarity(bool _Xpol, bool _Ypol, bool _Zpol);      // true = Reversed  false = default

  void setGains(float _Xgain, float _Ygain, float _Zgain);

  void setOffsets(int _Xoffset, int _Yoffset, int _Zoffset);

  void zeroCalibrate(unsigned int totSamples, unsigned int sampleDelayMS);      // assuming gyroscope is stationary (updates XYZ offsets for zero)

  void readGyroRawCal(int *_GyroX, int *_GyroY, int *_GyroZ);

  void readGyroRawCal(int *_GyroXYZ);

  void readGyro(float *_GyroXYZ); // includes gain and offset

  void readGyro(float *_GyroX, float *_GyroY, float *_GyroZ); // includes gain and offset    

  // Power management

  void reset(); // after reset all registers have default values

  bool isLowPower();

  void setPowerMode(bool _State); // NORMAL, STANDBY

  bool isXgyroStandby();            

  bool isYgyroStandby();

  bool isZgyroStandby();

  void setXgyroStandby(bool _Status); // NORMAL, STANDBY

  void setYgyroStandby(bool _Status);

  void setZgyroStandby(bool _Status);

  byte getClockSource();

  void setClockSource(byte _CLKsource); // see register parameters above

  void writemem(uint8_t _addr, uint8_t _val);

  void readmem(uint8_t _addr, uint8_t _nbytes, uint8_t __buff[]);

private:

  uint8_t _dev_address;

  uint8_t _buff[6];      

};

#endif