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/*
* 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;
};
}
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