Itg3200 Class Reference

C++ API for Itg3200 (3-axis digital gyroscope) More...

Detailed Description

• ID: itg3200
• Name: Itg3200 3-Axis Digital Gyroscope
• Category: compass
• Manufacturer: seeed
• Connection: i2c

The InvenSense Itg3200 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 3V3 or 5V on the Intel Galileo.
However, it is incompatible and will not be detected on the I2C bus by the Intel Edison using the Arduino breakout board.

    int16_t *rot;
    float *ang;

    // Note: Sensor not supported on Intel Edison with Arduino breakout
    upm::Itg3200* gyro = new upm::Itg3200(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());
        sleep(1);
    }

Public Member Functions
	Itg3200 (int bus)
	~Itg3200 ()
mraa_result_t	calibrate ()
float	getTemperature ()
float *	getRotation ()
int16_t *	getRawValues ()
int16_t	getRawTemp ()
mraa_result_t	update ()

Constructor & Destructor Documentation

Itg3200

(

int

bus

)

Creates an Itg3200 object

Parameters

bus	number of used i2c bus

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~Itg3200

(

)

Itg3200 object destructor

Member Function Documentation

mraa_result_t calibrate

(

void

)

Calibrates the sensor to 0 on all axes. Sensor needs to be resting for accurate calibration. Takes about 3 seconds and is also called by constructor on object creation.

Returns

0 for successful calibration

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float getTemperature

(

void

)

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

Returns

float temperature in Celsius degrees

float * getRotation

(

)

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

Returns

float* to an float[3]

int16_t * getRawValues

(

)

Returns a pointer to an int[3] that contains the 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_t update

(

void

)

Updates the rotational values and temperature by reading from i2c bus

Returns

0 for success

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

• /var/lib/jenkins/workspace/upm-doc-stable/src/itg3200/itg3200.h
• /var/lib/jenkins/workspace/upm-doc-stable/src/itg3200/itg3200.cxx