| /* |
| * Author: Mihai Tudor Panu <mihai.tudor.panu@intel.com> |
| * Copyright (c) 2014 Intel Corporation. |
| * |
| * 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. |
| */ |
| #pragma once |
| |
| #include <mraa/i2c.hpp> |
| |
| #define READ_BUFFER_LENGTH 8 |
| |
| namespace upm { |
| |
| /** |
| * @brief ITG-3200 Gyroscope library |
| * @defgroup itg3200 libupm-itg3200 |
| * @ingroup seeed i2c compass |
| */ |
| |
| /** |
| * @library itg3200 |
| * @sensor itg3200 |
| * @comname ITG-3200 3-Axis Digital Gyroscope |
| * @altname Grove 3-Axis Digital Gyroscope |
| * @type compass |
| * @man seeed |
| * @con i2c |
| * |
| * @brief API for the ITG-3200 3-Axis Digital Gyroscope |
| * |
| * InvenSense* ITG-3200 is a 3-axis digital gyroscope. |
| * (https://www.sparkfun.com/datasheets/Sensors/Gyro/PS-ITG-3200-00-01.4.pdf) |
| * This sensor has been tested and can run at either 3.3V or 5V on Intel(R) Galileo.<br> |
| * <strong>However</strong>, it is incompatible with and not detected on the I2C bus |
| * by Intel(R) Edison using the Arduino* breakout board. |
| * |
| * @image html itg3200.jpeg |
| * @snippet itg3200.cxx Interesting |
| */ |
| class Itg3200 { |
| public: |
| /** |
| * Creates an Itg3200 object |
| * |
| * @param bus Number of the used I2C bus |
| */ |
| Itg3200(int bus); |
| |
| /** |
| * Calibrates the sensor to 0 on all axes. The sensor needs to be resting for accurate calibration. |
| * It takes about 3 seconds and is also called by the constructor on object creation. |
| * |
| */ |
| void calibrate(); |
| |
| /** |
| * Returns the temperature reading, in Celsius, from the integrated temperature sensor |
| * |
| * @return float Temperature in Celsius |
| */ |
| float getTemperature(); |
| |
| /** |
| * Returns a pointer to a float[3] that contains computed rotational speeds (angular velocities) |
| * |
| * @return float* to a float[3] |
| */ |
| float* getRotation(); |
| |
| /** |
| * Returns a pointer to an int[3] that contains raw register values for X, Y, and Z |
| * |
| * @return int* to an int[3] |
| */ |
| int16_t* getRawValues(); |
| |
| /** |
| * Returns an int that contains the raw register value for the temperature |
| * |
| * @return int Raw temperature |
| */ |
| int16_t getRawTemp(); |
| |
| /** |
| * Updates the rotational values and temperature by reading from the I2C bus |
| * |
| * @return 0 if successful |
| */ |
| mraa::Result update(); |
| private: |
| float m_angle[3]; |
| int16_t m_rotation[3]; |
| int16_t m_offsets[3]; |
| int16_t m_temperature; |
| uint8_t m_buffer[READ_BUFFER_LENGTH]; |
| mraa::I2c m_i2c; |
| }; |
| |
| } |