Diff: ITG3200.h

Revision:

7:43b936a53b64

Parent:

6:a7ad6046824c

Child:

8:ac0365ab3cef

--- a/ITG3200.h	Thu Sep 13 14:36:13 2012 +0000
+++ b/ITG3200.h	Sat Sep 29 14:34:17 2012 +0000
@@ -103,8 +103,9 @@
      *
      * @param sda - mbed pin to use for the SDA I2C line.
      * @param scl - mbed pin to use for the SCL I2C line.
+     * @param fastmode Sets the internal I2C interface to use 400kHz clock.
      */
-    ITG3200(PinName sda, PinName scl);
+    ITG3200(PinName sda, PinName scl, bool fastmode = false);
 
     /**
      * Get the identity of the device.
@@ -284,8 +285,9 @@
      * Typical sensitivity is 14.375 LSB/(degrees/sec).
      * 
      * @param readings The output buffer array that has at least 3 length.
+     * @param subtractOffset Make the returned values subtracted of zero offset.
      */
-    void getGyroXYZ(int readings[3]);
+    void getGyroXYZ(int readings[3], bool subtractOffset = true);
 
     /**
      * Burst read the outputs on the x,y,z-axis gyroscope and convert them into degrees per second.
@@ -298,8 +300,9 @@
      * Burst read the outputs on the x,y,z-axis gyroscope and convert them into degrees per second.
      *
      * @param readings The output buffer array that has at least 3 length.
+     * @param subtractOffset Make the returned values subtracted of zero offset.
      */
-    void getGyroXYZRadians(double readings[3]);
+    void getGyroXYZRadians(double readings[3], bool subtractOffset = true);
 
     /**
      * Get the power management configuration.
@@ -396,6 +399,20 @@
         return calibSamples;
     }
 
+    /**
+     * Returns the I2C object that this object is using for communication.
+     */
+    I2C &getI2C(){
+        return i2c_;
+    }
+    
+    /**
+     * Returns internal offset values for zero adjusting. Returned pointer is pointing an array of 3 elements.
+     */
+    const int *getOffset()const{
+        return offset;
+    }
+
 protected:
 
     /**
@@ -426,7 +443,7 @@
     int offset[3];
     
     long calibSamples;
-
+    
 private:
 
     I2C i2c_;
@@ -450,10 +467,12 @@
 };
 
 
-inline void ITG3200::getGyroXYZ(int readings[3]){
+inline void ITG3200::getGyroXYZ(int readings[3], bool subtractOffset){
     getRawGyroXYZ(readings);
-    for(int i = 0; i < 3; i++)
-        readings[i] -= offset[i];
+    if(subtractOffset){
+        for(int i = 0; i < 3; i++)
+            readings[i] -= offset[i];
+    }
 }
 
 inline void ITG3200::getGyroXYZDegrees(double readings[3]){
@@ -463,9 +482,9 @@
         readings[i] = intData[i] * 2000. / 32767.;
 }
 
-inline void ITG3200::getGyroXYZRadians(double readings[3]){
+inline void ITG3200::getGyroXYZRadians(double readings[3], bool subtractOffset){
     int intData[3];
-    getGyroXYZ(intData);
+    getGyroXYZ(intData, subtractOffset);
     for(int i = 0; i < 3; i++)
         readings[i] = intData[i] * 2000. / 32767. * 2. * M_PI / 360.;
 }