IMU3000 header

/*
 * IMU3000.h
 *
 *  Created on: 27 mai 2012
 *      Author: blackswords
 *
 *  Update time : 493µs
 */

#ifndef IMU3000_H_
#define IMU3000_H_

#include "WProgram.h"
#include "MyLib.h"
#include <HardWire.h>

class IMU3000 {
public:
    IMU3000();
    virtual ~IMU3000();

    void Init(uint8 I2CPort, uint8 flags = 0);

    void Update();
    void GetGyro();
    void GetAcc();
    void SetFullScaleRange(fullScale new_fs);
    void SetLowPassFilter(LPFilter new_lp);
    void Calibration();

    axes gyro, acc, calib;

private:

    fullScale   FS;
    LPFilter    LP;

    void    WriteReg(uint8_t address, uint8_t reg, uint8_t value);
    uint8_t ReadReg(uint8_t address, uint8_t reg);
    void    BurstWrite(uint8_t address, uint8_t first_reg, uint8_t nbytes, uint8_t *buff);
    void    BurstRead(uint8_t address, uint8_t first_reg, uint8_t nbytes, uint8_t *buff);
};

//#define AUTO_CALIB

/***        I2C Address and port        ***/
#define IMU3000_ADDR        0b1101000
#define ADXL345_ADDR        0x53

/***        Values      ***/
#define FS_RANGE 2000.0

/***        Registers       ***/
// IMU3000
#define WHO_AM_I                0x00
#define X_OFFS_USRH             0x0C
#define X_OFFS_USRL             0x0D
#define Y_OFFS_USRH             0x0E
#define Y_OFFS_USRL             0x0F
#define Z_OFFS_USRH             0x10
#define Z_OFFS_USRL             0x11
#define FIFO_EN                 0x12
#define AUX_VDDIO               0x13
#define AUX_SLV_ADDR            0x14
#define SMPLRT_DIV              0x15
#define DLPF_FS                 0x16
#define INT_CFG                 0x17
#define AUX_BURST_AD            0x18
#define INT_STATUS R            0x1A
#define TEMP_OUT_H              0x1B
#define TEMP_OUT_L              0x1C
#define GYRO_XOUT_H             0x1D
#define GYRO_XOUT_L             0x1E
#define GYRO_YOUT_H             0x1F
#define GYRO_YOUT_L             0x20
#define GYRO_ZOUT_H             0x21
#define GYRO_ZOUT_L             0x22
#define AUX_XOUT_H              0x23
#define AUX_XOUT_L              0x24
#define AUX_YOUT_H              0x25
#define AUX_YOUT_L              0x26
#define AUX_ZOUT_H              0x27
#define AUX_ZOUT_L              0x28
#define DMP_REG1                0x35
#define DMP_REG2                0x36
#define DMP_REG3                0x37
#define DMP_REG4                0x38
#define DMP_REG5                0x39
#define FIFO_COUNT_H            0x3A
#define FIFO_COUNT_L            0x3B
#define FIFO_R                  0x3C
#define USER_CTRL               0x3D
#define PWR_MGM                 0x3E

#define IMU3000_BURST_R_ADDR    GYRO_XOUT_H

// ADXL345
#define DEVID                   0x00
#define THRESH_TAP              0x1D
#define OFSX                    0x1E
#define OFSY                    0x1F
#define OFSZ                    0x20
#define DUR                     0x21
#define Latent                  0x22
#define Window                  0x23
#define THRESH_ACT              0x24
#define THRESH_INACT            0x25
#define TIME_INACT              0x26
#define ACT_INACT_CTL           0x27
#define THRESH_FF               0x28
#define TIME_FF                 0x29
#define TAP_AXES                0x2A
#define ACT_TAP_STATUS          0x2B
#define BW_RATE                 0x2C
#define POWER_CTL               0x2D
#define INT_ENABLE              0x2E
#define INT_MAP                 0x2F
#define INT_SOURCE              0x30
#define DATA_FORMAT             0x31
#define DATAX0                  0x32
#define DATAX1                  0x33
#define DATAY0                  0x34
#define DATAY1                  0x35
#define DATAZ0                  0x36
#define DATAZ1                  0x37
#define FIFO_CTL                0x38
#define FIFO_STATUS             0x39

#define ADXL345_BURST_R_ADDR    DATAX0

extern IMU3000 IMU;

#endif /* IMU3000_H_ */