upm  1.6.0
Sensor/Actuator repository for libmraa (v1.9.0)
itg3200.hpp
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 
59 class Itg3200 {
60 public:
66  Itg3200(int bus);
67 
73  void calibrate();
74 
80  float getTemperature();
81 
87  float* getRotation();
88 
94  int16_t* getRawValues();
95 
101  int16_t getRawTemp();
102 
108  mraa::Result update();
109 private:
110  float m_angle[3];
111  int16_t m_rotation[3];
112  int16_t m_offsets[3];
113  int16_t m_temperature;
114  uint8_t m_buffer[READ_BUFFER_LENGTH];
115  mraa::I2c m_i2c;
116 };
117 
118 }
int16_t getRawTemp()
Definition: itg3200.cxx:124
mraa::Result update()
Definition: itg3200.cxx:130
void calibrate()
Definition: itg3200.cxx:79
C++ API for the kxtj3 driver.
Definition: a110x.hpp:29
float * getRotation()
Definition: itg3200.cxx:109
float getTemperature()
Definition: itg3200.cxx:103
API for the ITG-3200 3-Axis Digital Gyroscope.
Definition: itg3200.hpp:59
int16_t * getRawValues()
Definition: itg3200.cxx:118
Itg3200(int bus)
Definition: itg3200.cxx:67