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/* Atmel Inertial One IMU Library
 * Copyright (c) 2012 Dan Kouba
 *
 * 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.
 *
 */
 
 #ifndef IMU_AIO_H        //IMU Atmel Inertial One
 #define IMU_AIO_H
 
 #include "mbed.h"
 
 /** Atmel Inertial One IMU Control Library
 * 
 * Includes control routines for:
 * - ITG-3200 3-axis, 16 bit gyroscope
 * - BMA-150 3-axis, 16 bit accelerometer
 * - AK8975 3-axis, 16 bit magnetometer
 *
 * Datasheets:
 *
 * Inertial One: http://www.atmel.com/dyn/resources/prod_documents/doc8354.pdf
 * Gyro: http://invensense.com/mems/gyro/documents/PS-ITG-3200A.pdf
 * Accelerometer: http://www.bosch-sensortec.com/content/language1/downloads/BMA150_DataSheet_Rev.1.5_30May2008.pdf
 * Magnetometer: http://pdf1.alldatasheet.com/datasheet-pdf/view/219477/AKM/AK8973/+Q18W89VYpLawLCDwv+/datasheet.pdf
 * 
 */
 
 /* Defines */
 
 //7 bit I2C Addresses, shifted left to allow for read/write bit as LSB
 
 #define GYRO_ADR  0x68 << 1
 #define ACC_ADR   0x38 << 1
 #define COMP_ADR  0x0C << 1
 
 // ITG3200 Gyro Registers
 
 #define GYRO_WHO_AM_I_REG         0x00
 #define GYRO_SAMPLE_DIV_REG       0x15
 #define GYRO_DLPF_REG             0x16
 #define GYRO_INT_CFG_REG          0x17
 #define GYRO_INT_STATUS_REG       0x1A
 #define GYRO_TEMP_H_REG           0x1B
 #define GYRO_TEMP_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
 
 // Gyro LPF bandwidths
 
 #define BW_256HZ       0x00        //8kHz sample rate
 #define BW_188HZ       0x01        //1kHz sample rate for 188Hz and below
 #define BW_98HZ        0x02
 #define BW_42HZ        0x03
 #define BW_20HZ        0x04
 #define BW_10HZ        0x05
 #define BW_5HZ         0x06
 
 // Gyro Initial FS_SEL Register Config
 
 #define FS_SEL_INIT   0x03 << 3
  
 // BMA150 Accelerometer Registers
 
 
 
 // AK8973 Compass Registers
 
 // CLass and Prototype Functions
 
 class IMU {
 
 public:
 
     /** Creates IMU object and initializes all three chips
     *
     * Gyro: FS_SEL register is set to 0x03, as required by datasheet
     * Accelerometer:
     * Compass:
     *
     * @param sda - pin for I2C sda signal
     * @param scl - pin for I2C scl signal
     */
 
    IMU(PinName sda, PinName scl);
    
    /* Gyro Methods */
    
    /** Gets current X axis gyro measurement
    *
    * @return Raw X axis ADC measurement (signed 16 bits)
    */
    
    int gyroX(void);
    
    /** Gets current Y axis gyro measurement
    * 
    * @return Raw Y axis ADC measurement (signed 16 bits)
    */
    
    int gyroY(void);
    
    /** Gets current Z axis gyro measurement
    * 
    * @return Raw Z axis ADC measurement (signed 16 bits)
    */
    
    int gyroZ(void);
    
    /** Gets current ADC data from all axes of gyro (uses burst read mode)
    * 
    * @return Array of X, Y, and Z axis gyro measurements (signed 16 bits)
    */
    
    int[3] gyroXYZ(void);
    
    /** Sets digital LPF bandwidth for all gyro channels
    * 
    * @param Filter Bandwidth (use defined bandwidths)
    */
 
    void gyroSetLPF(char _BW);
    
    /* Accelerometer Methods */
    
    
    
    /* Compass Methods */
    
    
 
 private:
 
    I2C _i2c;       //I2C object constructor
 
 };
 
 #endif