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123 lines
3.5 KiB
C++
123 lines
3.5 KiB
C++
/*
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* Author: Mihai Tudor Panu <mihai.tudor.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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* @ingroup seeed i2c compass
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*/
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/**
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* @library itg3200
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* @sensor itg3200
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* @comname Itg3200 3-Axis Digital Gyroscope
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* @type compass
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* @man seeed
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* @con i2c
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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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* @image html itg3200.jpeg
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* @snippet itg3200.cxx Interesting
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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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