1 /*
2  * Author: Mihai Tudor Panu <mihai.tudor.panu@intel.com>
3  * Copyright (c) 2014 Intel Corporation.
4  *
5  * Permission is hereby granted, free of charge, to any person obtaining
6  * a copy of this software and associated documentation files (the
7  * "Software"), to deal in the Software without restriction, including
8  * without limitation the rights to use, copy, modify, merge, publish,
9  * distribute, sublicense, and/or sell copies of the Software, and to
10  * permit persons to whom the Software is furnished to do so, subject to
11  * the following conditions:
12  *
13  * The above copyright notice and this permission notice shall be
14  * included in all copies or substantial portions of the Software.
15  *
16  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
17  * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
18  * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
19  * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
20  * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
21  * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
22  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
23  */
24 #pragma once
25 
26 #include <mraa/i2c.hpp>
27 
28 #define READ_BUFFER_LENGTH 8
29 
30 namespace upm {
31 
32 /**
33  * @brief ITG-3200 Gyroscope library
34  * @defgroup itg3200 libupm-itg3200
35  * @ingroup seeed i2c compass
36  */
37 
38 /**
39  * @library itg3200
40  * @sensor itg3200
41  * @comname ITG-3200 3-Axis Digital Gyroscope
42  * @altname Grove 3-Axis Digital Gyroscope
43  * @type compass
44  * @man seeed
45  * @con i2c
46  *
47  * @brief API for the ITG-3200 3-Axis Digital Gyroscope
48  *
49  * InvenSense* ITG-3200 is a 3-axis digital gyroscope.
50  * (https://www.sparkfun.com/datasheets/Sensors/Gyro/PS-ITG-3200-00-01.4.pdf)
51  * This sensor has been tested and can run at either 3.3V or 5V on Intel(R) Galileo.<br>
52  * <strong>However</strong>, it is incompatible with and not detected on the I2C bus
53  * by Intel(R) Edison using the Arduino* breakout board.
54  *
55  * @image html itg3200.jpeg
56  * @snippet itg3200.cxx Interesting
57  */
58 class Itg3200 {
59 public:
60     /**
61      * Creates an Itg3200 object
62      *
63      * @param bus Number of the used I2C bus
64      */
65     Itg3200(int bus);
66 
67     /**
68      * Calibrates the sensor to 0 on all axes. The sensor needs to be resting for accurate calibration.
69      * It takes about 3 seconds and is also called by the constructor on object creation.
70      *
71      */
72     void calibrate();
73 
74     /**
75      * Returns the temperature reading, in Celsius, from the integrated temperature sensor
76      *
77      * @return float Temperature in Celsius
78      */
79     float getTemperature();
80 
81     /**
82      * Returns a pointer to a float[3] that contains computed rotational speeds (angular velocities)
83      *
84      * @return float* to a float[3]
85      */
86     float* getRotation();
87 
88     /**
89      * Returns a pointer to an int[3] that contains raw register values for X, Y, and Z
90      *
91      * @return int* to an int[3]
92      */
93     int16_t* getRawValues();
94 
95     /**
96      * Returns an int that contains the raw register value for the temperature
97      *
98      * @return int Raw temperature
99      */
100     int16_t getRawTemp();
101 
102     /**
103      * Updates the rotational values and temperature by reading from the I2C bus
104      *
105      * @return 0 if successful
106      */
107     mraa::Result update();
108 private:
109     float m_angle[3];
110     int16_t m_rotation[3];
111     int16_t m_offsets[3];
112     int16_t m_temperature;
113     uint8_t m_buffer[READ_BUFFER_LENGTH];
114     mraa::I2c m_i2c;
115 };
116 
117 }
118