From be8336d0e8a06ded1d2ce8d15ef6abf98d572095 Mon Sep 17 00:00:00 2001
From: Mihai Tudor Panu <mihai.t.panu@intel.com>
Date: Mon, 15 Dec 2014 13:49:58 -0800
Subject: [PATCH] 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>
---
 docs/images/itg3200.jpeg    | Bin 0 -> 37383 bytes
 examples/CMakeLists.txt     |   3 +
 examples/itg3200.cxx        |  51 ++++++++++++
 src/itg3200/CMakeLists.txt  |   5 ++
 src/itg3200/itg3200.cxx     | 155 ++++++++++++++++++++++++++++++++++++
 src/itg3200/itg3200.h       | 115 ++++++++++++++++++++++++++
 src/itg3200/jsupm_itg3200.i |  10 +++
 src/itg3200/pyupm_itg3200.i |  13 +++
 8 files changed, 352 insertions(+)
 create mode 100644 docs/images/itg3200.jpeg
 create mode 100644 examples/itg3200.cxx
 create mode 100644 src/itg3200/CMakeLists.txt
 create mode 100644 src/itg3200/itg3200.cxx
 create mode 100644 src/itg3200/itg3200.h
 create mode 100644 src/itg3200/jsupm_itg3200.i
 create mode 100644 src/itg3200/pyupm_itg3200.i

diff --git a/docs/images/itg3200.jpeg b/docs/images/itg3200.jpeg
new file mode 100644
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HcmV?d00001

diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
index 6d0aa2f0..74f2cc1b 100644
--- a/examples/CMakeLists.txt
+++ b/examples/CMakeLists.txt
@@ -48,6 +48,7 @@ add_executable (htu21d-example htu21d.cxx)
 add_executable (mpl3115a2-example mpl3115a2.cxx)
 add_executable (ldt0028-example ldt0028.cxx)
 add_executable (am2315-example am2315.cxx)
+add_executable (itg3200-example itg3200.cxx)
 
 include_directories (${PROJECT_SOURCE_DIR}/src/hmc5883l)
 include_directories (${PROJECT_SOURCE_DIR}/src/grove)
@@ -85,6 +86,7 @@ include_directories (${PROJECT_SOURCE_DIR}/src/htu21d)
 include_directories (${PROJECT_SOURCE_DIR}/src/mpl3115a2)
 include_directories (${PROJECT_SOURCE_DIR}/src/ldt0028)
 include_directories (${PROJECT_SOURCE_DIR}/src/am2315)
+include_directories (${PROJECT_SOURCE_DIR}/src/itg3200)
 
 target_link_libraries (hmc5883l-example hmc5883l ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (groveled-example grove ${CMAKE_THREAD_LIBS_INIT})
@@ -136,3 +138,4 @@ target_link_libraries (htu21d-example htu21d ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (mpl3115a2-example mpl3115a2 ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (ldt0028-example ldt0028 ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (am2315-example am2315 ${CMAKE_THREAD_LIBS_INIT})
+target_link_libraries (itg3200-example itg3200 ${CMAKE_THREAD_LIBS_INIT})
diff --git a/examples/itg3200.cxx b/examples/itg3200.cxx
new file mode 100644
index 00000000..7a70e094
--- /dev/null
+++ b/examples/itg3200.cxx
@@ -0,0 +1,51 @@
+/*
+ * Author: Mihai Tudor Panu <mihai.t.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.
+ */
+
+#include <unistd.h>
+#include "itg3200.h"
+
+int
+main(int argc, char **argv)
+{
+//! [Interesting]
+    int16_t *rot;
+    float *ang;
+
+    // Note: Sensor not supported on Intel Edison with Arduino breakout
+    upm::Itg3200* gyro = new upm::Itg3200(0);
+
+    while(true){
+        gyro->update(); // Update the data
+        rot = gyro->getRawValues(); // Read raw sensor data
+        ang = gyro->getRotation(); // Read rotational speed (deg/sec)
+        fprintf(stdout, "Raw: %6d %6d %6d\n", rot[0], rot[1], rot[2]);
+        fprintf(stdout, "AngX: %5.2f\n", ang[0]);
+        fprintf(stdout, "AngY: %5.2f\n", ang[1]);
+        fprintf(stdout, "AngZ: %5.2f\n", ang[2]);
+        fprintf(stdout, "Temp: %5.2f Raw: %6d\n", gyro->getTemperature(), gyro->getRawTemp());
+        sleep(1);
+    }
+//! [Interesting]
+    return 0;
+}
diff --git a/src/itg3200/CMakeLists.txt b/src/itg3200/CMakeLists.txt
new file mode 100644
index 00000000..5be008b8
--- /dev/null
+++ b/src/itg3200/CMakeLists.txt
@@ -0,0 +1,5 @@
+set (libname "itg3200")
+set (libdescription "libupm Digital Gyro")
+set (module_src ${libname}.cxx)
+set (module_h ${libname}.h)
+upm_module_init()
diff --git a/src/itg3200/itg3200.cxx b/src/itg3200/itg3200.cxx
new file mode 100644
index 00000000..b60789ae
--- /dev/null
+++ b/src/itg3200/itg3200.cxx
@@ -0,0 +1,155 @@
+/*
+ * Author: Mihai Tudor Panu <mihai.t.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.
+ */
+
+#include <iostream>
+#include <unistd.h>
+#include "math.h"
+#include "itg3200.h"
+
+#define READ_BUFFER_LENGTH 8
+
+//address and id
+#define ITG3200_I2C_ADDR 0x68
+#define ITG3200_ID 0x00
+
+//configuration registers
+#define ITG3200_SMPLRT_DIV 0x15
+#define ITG3200_DLPF_FS 0x16
+
+//interrupt registers
+#define ITG3200_INT_CFG 0x17
+#define ITG3200_INT_STATUS 0x1A
+
+//data registers (read only)
+#define ITG3200_TEMP_H 0x1B
+#define ITG3200_TEMP_L 0x1C
+#define ITG3200_XOUT_H 0x1D
+#define ITG3200_XOUT_L 0x1E
+#define ITG3200_YOUT_H 0x1F
+#define ITG3200_YOUT_L 0x20
+#define ITG3200_ZOUT_H 0x21
+#define ITG3200_ZOUT_L 0x22
+#define DATA_REG_SIZE 8
+
+//power management
+#define ITG3200_PWR_MGM 0x3E
+
+//useful values
+#define ITG3200_RESET 0x80
+#define ITG3200_SLEEP 0x40
+#define ITG3200_WAKEUP 0x00
+
+using namespace upm;
+
+Itg3200::Itg3200(int bus)
+{
+    //init bus and reset chip
+    m_i2c = mraa_i2c_init(bus);
+
+    mraa_i2c_address(m_i2c, ITG3200_I2C_ADDR);
+    m_buffer[0] = ITG3200_PWR_MGM;
+    m_buffer[1] = ITG3200_RESET;
+    mraa_i2c_write(m_i2c, m_buffer, 2);
+
+    Itg3200::calibrate();
+    Itg3200::update();
+}
+
+Itg3200::~Itg3200()
+{
+    mraa_i2c_stop(m_i2c);
+}
+
+mraa_result_t
+Itg3200::calibrate(void)
+{
+    int reads = 600;
+    int delay = 4000; // 4 milliseconds
+    int skip = 5; // initial samples to skip
+    int temp[3] = {0};
+
+    for(int i = 0; i < reads; i++){
+
+        Itg3200::update();
+        if (i > skip){
+            for (int j = 0; j < 3; j++){
+                temp[j] += m_rotation[j];
+            }
+        }
+        usleep(delay);
+    }
+
+    for(int i = 0; i < 3; i++){
+        m_offsets[i] = (-1) * temp[i] / (reads - skip);
+    }
+}
+
+float
+Itg3200::getTemperature()
+{
+    return 35.0 + (m_temperature + 13200.0) / 280.0;
+}
+
+float*
+Itg3200::getRotation()
+{
+    for(int i = 0; i < 3; i++){
+        m_angle[i] = m_rotation[i]/14.375;
+    }
+    return &m_angle[0];
+}
+
+int16_t*
+Itg3200::getRawValues()
+{
+    return &m_rotation[0];
+}
+
+int16_t
+Itg3200::getRawTemp()
+{
+    return m_temperature;
+}
+
+mraa_result_t
+Itg3200::update(void)
+{
+    mraa_i2c_address(m_i2c, ITG3200_I2C_ADDR);
+    mraa_i2c_write_byte(m_i2c, ITG3200_TEMP_H);
+
+    mraa_i2c_address(m_i2c, ITG3200_I2C_ADDR);
+    mraa_i2c_read(m_i2c, m_buffer, DATA_REG_SIZE);
+
+    //temp
+    //
+    m_temperature = (m_buffer[0] << 8 ) | m_buffer[1];
+    // x
+    m_rotation[0] = ((m_buffer[2] << 8 ) | m_buffer[3]) + m_offsets[0];
+    // y
+    m_rotation[1] = ((m_buffer[4] << 8 ) | m_buffer[5]) + m_offsets[1];
+    // z
+    m_rotation[2] = ((m_buffer[6] << 8 ) | m_buffer[7]) + m_offsets[2];
+
+    return MRAA_SUCCESS;
+}
diff --git a/src/itg3200/itg3200.h b/src/itg3200/itg3200.h
new file mode 100644
index 00000000..c6cf641c
--- /dev/null
+++ b/src/itg3200/itg3200.h
@@ -0,0 +1,115 @@
+/*
+ * Author: Mihai Tudor Panu <mihai.t.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.h>
+
+#define READ_BUFFER_LENGTH 8
+
+namespace upm {
+
+/**
+ * @brief Itg3200 gyroscope library
+ * @defgroup itg3200 libupm-itg3200
+ */
+
+/**
+ * @brief C++ API for Itg3200 (3-axis digital gyroscope)
+ *
+ * The InvenSense Itg3200 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 3V3 or 5V on the Intel Galileo.<br>
+ * <strong>However</strong>, it is incompatible and will not be detected on the I2C bus
+ * by the Intel Edison using the Arduino breakout board.
+ *
+ * @ingroup itg3200 i2c
+ * @snippet itg3200.cxx Interesting
+ * @image html itg3200.jpeg
+ */
+class Itg3200 {
+public:
+    /**
+     * Creates an Itg3200 object
+     *
+     * @param bus number of used i2c bus
+     */
+    Itg3200(int bus);
+
+    /**
+     * Itg3200 object destructor
+     */
+    ~Itg3200();
+
+    /**
+     * Calibrates the sensor to 0 on all axes. Sensor needs to be resting for accurate calibration.
+     * Takes about 3 seconds and is also called by constructor on object creation.
+     *
+     * @return 0 for successful calibration
+     */
+    mraa_result_t calibrate();
+
+    /**
+     * Returns the temperature reading from the integrated temperature sensor in Celsius degrees
+     *
+     * @return float temperature in Celsius degrees
+     */
+    float getTemperature();
+
+    /**
+     * Returns a pointer to an float[3] that contains computed rotational speeds (angular velocities)
+     *
+     * @return float* to an float[3]
+     */
+    float* getRotation();
+
+    /**
+     * Returns a pointer to an int[3] that contains the 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 i2c bus
+     *
+     * @return 0 for success
+     */
+    mraa_result_t 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_context m_i2c;
+};
+
+}
diff --git a/src/itg3200/jsupm_itg3200.i b/src/itg3200/jsupm_itg3200.i
new file mode 100644
index 00000000..528c4dca
--- /dev/null
+++ b/src/itg3200/jsupm_itg3200.i
@@ -0,0 +1,10 @@
+%module jsupm_itg3200
+%include "../upm.i"
+
+%{
+    #include "itg3200.h"
+%}
+
+%include "itg3200.h"
+
+%include <carrays.i>
diff --git a/src/itg3200/pyupm_itg3200.i b/src/itg3200/pyupm_itg3200.i
new file mode 100644
index 00000000..08aff43c
--- /dev/null
+++ b/src/itg3200/pyupm_itg3200.i
@@ -0,0 +1,13 @@
+%module pyupm_itg3200
+%include "../upm.i"
+
+%feature("autodoc", "3");
+
+#ifdef DOXYGEN
+%include "itg3200_doc.i"
+#endif
+
+%include "itg3200.h"
+%{
+    #include "itg3200.h"
+%}