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/**
 * @author Aaron Berk
 *
 * @section LICENSE
 *
 * Copyright (c) 2010 ARM Limited
 *
 * 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.
 *
 * @section DESCRIPTION
 *
 * ITG-3200 triple axis, digital interface, gyroscope.
 *
 * Datasheet:
 *
 * http://invensense.com/mems/gyro/documents/PS-ITG-3200-00-01.4.pdf
 */

/**
 * Includes
 */


#ifndef ITG3200_H
#define ITG3200_H
 /**
  * Includes
  */
 #include "mbed.h"
 
 /**
* Defines
  */
 #define ITG3200_I2C_ADDRESS 0x68  //7-bit address.
 
 //-----------
 // Registers
 //-----------
 #define WHO_AM_I_REG    0x00
 #define SMPLRT_DIV_REG  0x15
 #define DLPF_FS_REG     0x16
 #define INT_CFG_REG     0x17
 #define INT_STATUS      0x1A
 #define TEMP_OUT_H_REG  0x1B
 #define TEMP_OUT_L_REG  0x1C
 #define GYRO_XOUT_H_REG 0x1D
 #define GYRO_XOUT_L_REG 0x1E
 #define GYRO_YOUT_H_REG 0x1F
 #define GYRO_YOUT_L_REG 0x20
#define GYRO_ZOUT_H_REG 0x21
#define GYRO_ZOUT_L_REG 0x22
 #define PWR_MGM_REG     0x3E
 
//----------------------------
// Low Pass Filter Bandwidths
//----------------------------
#define LPFBW_256HZ 0x00
#define LPFBW_188HZ 0x01
#define LPFBW_98HZ  0x02
#define LPFBW_42HZ  0x03
#define LPFBW_20HZ  0x04
#define LPFBW_10HZ  0x05
#define LPFBW_5HZ   0x06
/**
* ITG-3200 triple axis digital gyroscope.
*/
class ITG3200 {
public:
/**
* Constructor.
*
* Sets FS_SEL to 0x03 for proper opertaion.
*
* @param sda - mbed pin to use for the SDA I2C line.
* @param scl - mbed pin to use for the SCL I2C line.
*/
ITG3200(PinName sda, PinName scl);
/**
* Get the identity of the device.
      *
* @return The contents of the Who Am I register which contains the I2C
*         address of the device.
*/
char getWhoAmI(void);
/**
* Set the address of the device.
*
* @param address The I2C slave address to write to the Who Am I register
*        on the device.
*/
void setWhoAmI(char address);
/**
* Get the sample rate divider.
*
* @return The sample rate divider as a number from 0-255.
*/
char getSampleRateDivider(void);
/**
* Set the sample rate divider.
*
* Fsample = Finternal / (divider + 1), where Finternal = 1kHz or 8kHz,
* as decidied by the DLPF_FS register.
*
* @param The sample rate divider as a number from 0-255.
*/
void setSampleRateDivider(char divider);
/**
* Get the internal sample rate.
*
* @return The internal sample rate in kHz - either 1 or 8.
*/
int getInternalSampleRate(void);

void setLpBandwidth(char bandwidth);
/**
* Get the interrupt configuration.
*
* See datasheet for register contents details.
*
*    7      6           5                 4
* +------+------+--------------+------------------+
* | ACTL | OPEN | LATCH_INT_EN | INT_ANYRD_2CLEAR |
* +------+------+--------------+------------------+
*
*   3        2            1       0
* +---+------------+------------+---+
* | 0 | ITG_RDY_EN | RAW_RDY_EN | 0 |
* +---+------------+------------+---+
*
* ACTL Logic level for INT output pin; 1 = active low, 0 = active high.
* OPEN Drive type for INT output pin; 1 = open drain, 0 = push-pull.
* LATCH_INT_EN Latch mode; 1 = latch until interrupt is cleared,
*                          0 = 50us pulse.
* INT_ANYRD_2CLEAR Latch clear method; 1 = any register read,
*                                      0 = status register read only.
* ITG_RDY_EN Enable interrupt when device is ready,
*            (PLL ready after changing clock source).
* RAW_RDY_EN Enable interrupt when data is available.
* 0 Bits 1 and 3 of the INT_CFG register should be zero.
*
* @return the contents of the INT_CFG register.
*/
char getInterruptConfiguration(void);
/**
* Set the interrupt configuration.
*
* See datasheet for configuration byte details.
*
*    7      6           5                 4
* +------+------+--------------+------------------+
* | ACTL | OPEN | LATCH_INT_EN | INT_ANYRD_2CLEAR |
* +------+------+--------------+------------------+
*
*   3        2            1       0
* +---+------------+------------+---+
* | 0 | ITG_RDY_EN | RAW_RDY_EN | 0 |
* +---+------------+------------+---+
*
* ACTL Logic level for INT output pin; 1 = active low, 0 = active high.
* OPEN Drive type for INT output pin; 1 = open drain, 0 = push-pull.
* LATCH_INT_EN Latch mode; 1 = latch until interrupt is cleared,
*                          0 = 50us pulse.
* INT_ANYRD_2CLEAR Latch clear method; 1 = any register read,
*                                      0 = status register read only.
* ITG_RDY_EN Enable interrupt when device is ready,
*            (PLL ready after changing clock source).
* RAW_RDY_EN Enable interrupt when data is available.
* 0 Bits 1 and 3 of the INT_CFG register should be zero.
*
* @param config Configuration byte to write to INT_CFG register.
*/
void setInterruptConfiguration(char config);
/**
* Check the ITG_RDY bit of the INT_STATUS register.
*
* @return True if the ITG_RDY bit is set, corresponding to PLL ready,
*         false if the ITG_RDY bit is not set, corresponding to PLL not
*         ready.
*/
bool isPllReady(void);

bool isRawDataReady(void);
/**
* Get the temperature of the device.
*
* @return The temperature in degrees celsius.
*/
float getTemperature(void);
/**
* Get the output for the x-axis gyroscope.
*
* Typical sensitivity is 14.375 LSB/(degrees/sec).
*
* @return The output on the x-axis in raw ADC counts.
*/
int getGyroX(void);
/**
* Get the output for the y-axis gyroscope.
*
* Typical sensitivity is 14.375 LSB/(degrees/sec).
*
* @return The output on the y-axis in raw ADC counts.
*/
int getGyroY(void);

int getGyroZ(void);
     /**
* Get the power management configuration.
*
* See the datasheet for register contents details.
*
*     7        6        5         4
* +---------+-------+---------+---------+
* | H_RESET | SLEEP | STBY_XG | STBY_YG |
* +---------+-------+---------+---------+
*
*      3          2         1          0
* +---------+----------+----------+----------+
* | STBY_ZG | CLK_SEL2 | CLK_SEL1 | CLK_SEL0 |
* +---------+----------+----------+----------+
*
* H_RESET Reset device and internal registers to the power-up-default settings.
* SLEEP Enable low power sleep mode.
* STBY_XG Put gyro X in standby mode (1=standby, 0=normal).
* STBY_YG Put gyro Y in standby mode (1=standby, 0=normal).
* STBY_ZG Put gyro Z in standby mode (1=standby, 0=normal).
* CLK_SEL Select device clock source:
*
* CLK_SEL | Clock Source
* --------+--------------
*    0      Internal oscillator
*    1      PLL with X Gyro reference
*    2      PLL with Y Gyro reference
*    3      PLL with Z Gyro reference
*    4      PLL with external 32.768kHz reference
*    5      PLL with external 19.2MHz reference
*    6      Reserved
*    7      Reserved
*
* @return The contents of the PWR_MGM register.
*/
char getPowerManagement(void);
/**
* Set power management configuration.
*
* See the datasheet for configuration byte details
*
*      7        6        5         4
* +---------+-------+---------+---------+
* | H_RESET | SLEEP | STBY_XG | STBY_YG |
* +---------+-------+---------+---------+
*
*      3          2         1          0
* +---------+----------+----------+----------+
* | STBY_ZG | CLK_SEL2 | CLK_SEL1 | CLK_SEL0 |
* +---------+----------+----------+----------+
*
* H_RESET Reset device and internal registers to the power-up-default settings.
* SLEEP Enable low power sleep mode.
* STBY_XG Put gyro X in standby mode (1=standby, 0=normal).
* STBY_YG Put gyro Y in standby mode (1=standby, 0=normal).
* STBY_ZG Put gyro Z in standby mode (1=standby, 0=normal).
* CLK_SEL Select device clock source:
*
* CLK_SEL | Clock Source
* --------+--------------
*    0      Internal oscillator
*    1      PLL with X Gyro reference
*    2      PLL with Y Gyro reference
*    3      PLL with Z Gyro reference
*    4      PLL with external 32.768kHz reference
*    5      PLL with external 19.2MHz reference
*    6      Reserved
*    7      Reserved
*
* @param config The configuration byte to write to the PWR_MGM register.
*/
void setPowerManagement(char config);
private:
I2C i2c_;
};
#endif /* ITG3200_H */