RobotHardware-UESTC/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/IMU/ITG3200.h

#ifndef _ITG3200_H_
#define _ITG3200_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(unsigned char address);
    
    void initialize();
    bool testConnection();
    
    // WHO_AM_I register
    unsigned char getDeviceID();

    // SMPLRT_DIV register
    void setRate(unsigned char rate);

    // DLPF_FS register
    void setFullScaleRange(unsigned char range);
    void setDLPFBandwidth(unsigned char bandwidth);
    
    // GYRO_*OUT_* registers
    void getRotation(short* x, short* y, short* z);

    // PWR_MGM register
    void reset();
    void setClockSource(unsigned char source);

private:
    unsigned char devAddr;
    unsigned char buffer[6];
};

#endif /* _ITG3200_H_ */