Itg3200 Class Reference

API for the ITG-3200 3-Axis Digital Gyroscope. More...

Detailed Description

• ID: itg3200
• Name: 3-axis Digital Gyroscope
• Other Names: Grove 3-Axis Digital Gyroscope
• Category: compass
• Manufacturer: seeed
• Connection: i2c
• Link: http://wiki.seeed.cc/Grove-3-Axis_Digital_Gyro/

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.
However, it is incompatible with and not detected on the I2C bus by Intel(R) Edison using the Arduino* breakout board.

    int16_t* rot;
    float* ang;

    // Note: Sensor not supported on Intel Edison with Arduino breakout
    upm::Itg3200 gyro(0);

    while (true) {
        gyro.update();             // Update the data
        rot = gyro.getRawValues(); // Read raw sensor data
        ang = gyro.getRotation();  // Read rotational speed (deg/sec)
        fprintf(stdout, "Raw: %6d %6d %6d\n", rot[0], rot[1], rot[2]);
        fprintf(stdout, "AngX: %5.2f\n", ang[0]);
        fprintf(stdout, "AngY: %5.2f\n", ang[1]);
        fprintf(stdout, "AngZ: %5.2f\n", ang[2]);
        fprintf(stdout, "Temp: %5.2f Raw: %6d\n", gyro.getTemperature(), gyro.getRawTemp());
        upm_delay(1);
    }

Public Member Functions
	Itg3200 (int bus)
void	calibrate ()
float	getTemperature ()
float *	getRotation ()
int16_t *	getRawValues ()
int16_t	getRawTemp ()
mraa::Result	update ()

Constructor & Destructor Documentation

Itg3200

(

int

bus

)

Creates an Itg3200 object

Parameters

bus	Number of the used I2C bus

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Member Function Documentation

void calibrate

(

void

)

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.

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float getTemperature

(

void

)

Returns the temperature reading, in Celsius, from the integrated temperature sensor

Returns

float Temperature in Celsius

float * getRotation

(

void

)

Returns a pointer to a float[3] that contains computed rotational speeds (angular velocities)

Returns

float* to a float[3]

int16_t * getRawValues

(

)

Returns a pointer to an int[3] that contains raw register values for X, Y, and Z

Returns

int* to an int[3]

int16_t getRawTemp

(

)

Returns an int that contains the raw register value for the temperature

Returns

int Raw temperature

mraa::Result update

(

void

)

Updates the rotational values and temperature by reading from the I2C bus

Returns

0 if successful

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The documentation for this class was generated from the following files:

• src/itg3200/itg3200.hpp
• src/itg3200/itg3200.cxx