itg3200: Grove 3-axis Gyroscope

Signed-off-by: Mihai Tudor Panu <mihai.t.panu@intel.com>
Signed-off-by: Brendan Le Foll <brendan.le.foll@intel.com>

src/itg3200/itg3200.h

@@ -0,0 +1,115 @@
+/*
+ * Author: Mihai Tudor Panu <mihai.t.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.h>
+
+#define READ_BUFFER_LENGTH 8
+
+namespace upm {
+
+/**
+ * @brief Itg3200 gyroscope library
+ * @defgroup itg3200 libupm-itg3200
+ */
+
+/**
+ * @brief C++ API for Itg3200 (3-axis digital gyroscope)
+ *
+ * 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.<br>
+ * <strong>However</strong>, it is incompatible and will not be detected on the I2C bus
+ * by the Intel Edison using the Arduino breakout board.
+ *
+ * @ingroup itg3200 i2c
+ * @snippet itg3200.cxx Interesting
+ * @image html itg3200.jpeg
+ */
+class Itg3200 {
+public:
+    /**
+     * Creates an Itg3200 object
+     *
+     * @param bus number of used i2c bus
+     */
+    Itg3200(int bus);
+
+    /**
+     * Itg3200 object destructor
+     */
+    ~Itg3200();
+
+    /**
+     * 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.
+     *
+     * @return 0 for successful calibration
+     */
+    mraa_result_t calibrate();
+
+    /**
+     * Returns the temperature reading from the integrated temperature sensor in Celsius degrees
+     *
+     * @return float temperature in Celsius degrees
+     */
+    float getTemperature();
+
+    /**
+     * Returns a pointer to an float[3] that contains computed rotational speeds (angular velocities)
+     *
+     * @return float* to an float[3]
+     */
+    float* getRotation();
+
+    /**
+     * Returns a pointer to an int[3] that contains the 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 i2c bus
+     *
+     * @return 0 for success
+     */
+    mraa_result_t 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_context m_i2c;
+};
+
+}