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itg3200: Grove 3-axis Gyroscope
Signed-off-by: Mihai Tudor Panu <mihai.t.panu@intel.com> Signed-off-by: Brendan Le Foll <brendan.le.foll@intel.com>
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BIN
docs/images/itg3200.jpeg
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docs/images/itg3200.jpeg
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@ -48,6 +48,7 @@ add_executable (htu21d-example htu21d.cxx)
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add_executable (mpl3115a2-example mpl3115a2.cxx)
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add_executable (ldt0028-example ldt0028.cxx)
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add_executable (am2315-example am2315.cxx)
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add_executable (itg3200-example itg3200.cxx)
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include_directories (${PROJECT_SOURCE_DIR}/src/hmc5883l)
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include_directories (${PROJECT_SOURCE_DIR}/src/grove)
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@ -85,6 +86,7 @@ include_directories (${PROJECT_SOURCE_DIR}/src/htu21d)
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include_directories (${PROJECT_SOURCE_DIR}/src/mpl3115a2)
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include_directories (${PROJECT_SOURCE_DIR}/src/ldt0028)
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include_directories (${PROJECT_SOURCE_DIR}/src/am2315)
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include_directories (${PROJECT_SOURCE_DIR}/src/itg3200)
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target_link_libraries (hmc5883l-example hmc5883l ${CMAKE_THREAD_LIBS_INIT})
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target_link_libraries (groveled-example grove ${CMAKE_THREAD_LIBS_INIT})
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@ -136,3 +138,4 @@ target_link_libraries (htu21d-example htu21d ${CMAKE_THREAD_LIBS_INIT})
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target_link_libraries (mpl3115a2-example mpl3115a2 ${CMAKE_THREAD_LIBS_INIT})
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target_link_libraries (ldt0028-example ldt0028 ${CMAKE_THREAD_LIBS_INIT})
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target_link_libraries (am2315-example am2315 ${CMAKE_THREAD_LIBS_INIT})
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target_link_libraries (itg3200-example itg3200 ${CMAKE_THREAD_LIBS_INIT})
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51
examples/itg3200.cxx
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51
examples/itg3200.cxx
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/*
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* Author: Mihai Tudor Panu <mihai.t.panu@intel.com>
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* Copyright (c) 2014 Intel Corporation.
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#include <unistd.h>
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#include "itg3200.h"
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int
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main(int argc, char **argv)
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{
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//! [Interesting]
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int16_t *rot;
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float *ang;
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// Note: Sensor not supported on Intel Edison with Arduino breakout
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upm::Itg3200* gyro = new upm::Itg3200(0);
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while(true){
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gyro->update(); // Update the data
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rot = gyro->getRawValues(); // Read raw sensor data
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ang = gyro->getRotation(); // Read rotational speed (deg/sec)
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fprintf(stdout, "Raw: %6d %6d %6d\n", rot[0], rot[1], rot[2]);
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fprintf(stdout, "AngX: %5.2f\n", ang[0]);
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fprintf(stdout, "AngY: %5.2f\n", ang[1]);
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fprintf(stdout, "AngZ: %5.2f\n", ang[2]);
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fprintf(stdout, "Temp: %5.2f Raw: %6d\n", gyro->getTemperature(), gyro->getRawTemp());
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sleep(1);
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}
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//! [Interesting]
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return 0;
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}
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5
src/itg3200/CMakeLists.txt
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5
src/itg3200/CMakeLists.txt
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set (libname "itg3200")
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set (libdescription "libupm Digital Gyro")
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set (module_src ${libname}.cxx)
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set (module_h ${libname}.h)
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upm_module_init()
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155
src/itg3200/itg3200.cxx
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src/itg3200/itg3200.cxx
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/*
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* Author: Mihai Tudor Panu <mihai.t.panu@intel.com>
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* Copyright (c) 2014 Intel Corporation.
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#include <iostream>
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#include <unistd.h>
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#include "math.h"
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#include "itg3200.h"
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#define READ_BUFFER_LENGTH 8
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//address and id
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#define ITG3200_I2C_ADDR 0x68
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#define ITG3200_ID 0x00
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//configuration registers
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#define ITG3200_SMPLRT_DIV 0x15
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#define ITG3200_DLPF_FS 0x16
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//interrupt registers
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#define ITG3200_INT_CFG 0x17
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#define ITG3200_INT_STATUS 0x1A
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//data registers (read only)
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#define ITG3200_TEMP_H 0x1B
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#define ITG3200_TEMP_L 0x1C
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#define ITG3200_XOUT_H 0x1D
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#define ITG3200_XOUT_L 0x1E
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#define ITG3200_YOUT_H 0x1F
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#define ITG3200_YOUT_L 0x20
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#define ITG3200_ZOUT_H 0x21
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#define ITG3200_ZOUT_L 0x22
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#define DATA_REG_SIZE 8
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//power management
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#define ITG3200_PWR_MGM 0x3E
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//useful values
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#define ITG3200_RESET 0x80
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#define ITG3200_SLEEP 0x40
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#define ITG3200_WAKEUP 0x00
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using namespace upm;
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Itg3200::Itg3200(int bus)
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{
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//init bus and reset chip
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m_i2c = mraa_i2c_init(bus);
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mraa_i2c_address(m_i2c, ITG3200_I2C_ADDR);
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m_buffer[0] = ITG3200_PWR_MGM;
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m_buffer[1] = ITG3200_RESET;
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mraa_i2c_write(m_i2c, m_buffer, 2);
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Itg3200::calibrate();
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Itg3200::update();
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}
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Itg3200::~Itg3200()
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{
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mraa_i2c_stop(m_i2c);
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}
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mraa_result_t
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Itg3200::calibrate(void)
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{
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int reads = 600;
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int delay = 4000; // 4 milliseconds
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int skip = 5; // initial samples to skip
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int temp[3] = {0};
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for(int i = 0; i < reads; i++){
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Itg3200::update();
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if (i > skip){
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for (int j = 0; j < 3; j++){
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temp[j] += m_rotation[j];
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}
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}
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usleep(delay);
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}
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for(int i = 0; i < 3; i++){
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m_offsets[i] = (-1) * temp[i] / (reads - skip);
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}
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}
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float
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Itg3200::getTemperature()
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{
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return 35.0 + (m_temperature + 13200.0) / 280.0;
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}
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float*
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Itg3200::getRotation()
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{
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for(int i = 0; i < 3; i++){
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m_angle[i] = m_rotation[i]/14.375;
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}
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return &m_angle[0];
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}
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int16_t*
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Itg3200::getRawValues()
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{
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return &m_rotation[0];
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}
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int16_t
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Itg3200::getRawTemp()
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{
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return m_temperature;
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}
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mraa_result_t
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Itg3200::update(void)
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{
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mraa_i2c_address(m_i2c, ITG3200_I2C_ADDR);
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mraa_i2c_write_byte(m_i2c, ITG3200_TEMP_H);
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mraa_i2c_address(m_i2c, ITG3200_I2C_ADDR);
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mraa_i2c_read(m_i2c, m_buffer, DATA_REG_SIZE);
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//temp
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//
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m_temperature = (m_buffer[0] << 8 ) | m_buffer[1];
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// x
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m_rotation[0] = ((m_buffer[2] << 8 ) | m_buffer[3]) + m_offsets[0];
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// y
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m_rotation[1] = ((m_buffer[4] << 8 ) | m_buffer[5]) + m_offsets[1];
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// z
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m_rotation[2] = ((m_buffer[6] << 8 ) | m_buffer[7]) + m_offsets[2];
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return MRAA_SUCCESS;
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}
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115
src/itg3200/itg3200.h
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115
src/itg3200/itg3200.h
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@ -0,0 +1,115 @@
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/*
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* Author: Mihai Tudor Panu <mihai.t.panu@intel.com>
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* Copyright (c) 2014 Intel Corporation.
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#pragma once
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#include <mraa/i2c.h>
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#define READ_BUFFER_LENGTH 8
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namespace upm {
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/**
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* @brief Itg3200 gyroscope library
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* @defgroup itg3200 libupm-itg3200
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*/
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/**
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* @brief C++ API for Itg3200 (3-axis digital gyroscope)
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*
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* The InvenSense Itg3200 is a 3-axis digital gyroscope.
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* (https://www.sparkfun.com/datasheets/Sensors/Gyro/PS-ITG-3200-00-01.4.pdf)
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* This sensor has been tested and can run at either 3V3 or 5V on the Intel Galileo.<br>
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* <strong>However</strong>, it is incompatible and will not be detected on the I2C bus
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* by the Intel Edison using the Arduino breakout board.
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*
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* @ingroup itg3200 i2c
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* @snippet itg3200.cxx Interesting
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* @image html itg3200.jpeg
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*/
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class Itg3200 {
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public:
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/**
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* Creates an Itg3200 object
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*
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* @param bus number of used i2c bus
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*/
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Itg3200(int bus);
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/**
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* Itg3200 object destructor
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*/
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~Itg3200();
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/**
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* Calibrates the sensor to 0 on all axes. Sensor needs to be resting for accurate calibration.
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* Takes about 3 seconds and is also called by constructor on object creation.
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*
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* @return 0 for successful calibration
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*/
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mraa_result_t calibrate();
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/**
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* Returns the temperature reading from the integrated temperature sensor in Celsius degrees
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*
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* @return float temperature in Celsius degrees
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*/
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float getTemperature();
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/**
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* Returns a pointer to an float[3] that contains computed rotational speeds (angular velocities)
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*
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* @return float* to an float[3]
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*/
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float* getRotation();
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/**
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* Returns a pointer to an int[3] that contains the raw register values for X, Y and Z
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*
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* @return int* to an int[3]
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*/
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int16_t* getRawValues();
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/**
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* Returns an int that contains the raw register value for the temperature
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*
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* @return int raw temperature
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*/
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int16_t getRawTemp();
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/**
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* Updates the rotational values and temperature by reading from i2c bus
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*
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* @return 0 for success
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*/
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mraa_result_t update();
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private:
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float m_angle[3];
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int16_t m_rotation[3];
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int16_t m_offsets[3];
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int16_t m_temperature;
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uint8_t m_buffer[READ_BUFFER_LENGTH];
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mraa_i2c_context m_i2c;
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};
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}
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10
src/itg3200/jsupm_itg3200.i
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10
src/itg3200/jsupm_itg3200.i
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%module jsupm_itg3200
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%include "../upm.i"
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%{
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#include "itg3200.h"
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%}
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%include "itg3200.h"
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%include <carrays.i>
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src/itg3200/pyupm_itg3200.i
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src/itg3200/pyupm_itg3200.i
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%module pyupm_itg3200
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%include "../upm.i"
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%feature("autodoc", "3");
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#ifdef DOXYGEN
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%include "itg3200_doc.i"
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#endif
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%include "itg3200.h"
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%{
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#include "itg3200.h"
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%}
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