1 files changed, 117 insertions, 0 deletions
diff --git a/peripheral/libupm/src/itg3200/itg3200.h b/peripheral/libupm/src/itg3200/itg3200.h
new file mode 100644
index 0000000..32ec1f6
--- /dev/null
+++ b/peripheral/libupm/src/itg3200/itg3200.h
@@ -0,0 +1,117 @@
+/*
+ * 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;
+};
+
+}