Diff: ITG3200.h

Revision:

0:012badc736c0

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ITG3200.h	Tue Dec 17 17:49:17 2019 +0000
@@ -0,0 +1,80 @@
+
+
+#ifndef ITG3200_H
+#define ITG3200_H
+
+/**
+ * Includes
+ */
+#include "mbed.h"
+
+/**
+ * Defines
+ */
+#define ITG3200_DEFAULT_I2C_ADDRESS 0b11010000
+
+//-----------
+// Registers
+//-----------
+#define GYRO_XOUT_H 0x1D
+#define GYRO_YOUT_H 0x1F
+#define GYRO_ZOUT_H 0x21
+#define GYRO_TEMP_H 0x1B
+
+/**
+ * ITG3200 digital compass module.
+ */
+class ITG3200 {
+
+    I2C* i2c;
+    int  i2cAddW,i2cAddR;
+
+public:
+
+    /**
+     * Constructor.
+     *
+     * @param sda mbed pin to use for I2C SDA
+     * @param scl mbed pin to use for I2C SCL
+     * @param address I2C address of this device.
+     */
+    ITG3200(PinName sda, PinName scl, int i2cAddressW, int i2cAddressR);
+
+    void Init(void);
+
+
+    /** 
+     * Reads the current X-axis rotational rate(roll) of the gyroscope.
+     *
+     * @return roll integer.
+     *         
+     */
+    int GetX(void);
+    
+    /**
+     * Reads the current Y-axis rotational rate(pitch) of the gyroscope.
+     *
+     * @return pitch integer.
+     *         
+     */
+    int GetY(void);
+    
+    /**
+     * Reads the current Z-axis rotational rate(yaw) of the gyroscope.
+     *
+     * @return yaw integer.
+     *         
+     */
+    int GetZ(void);
+    
+    /**
+     * Reads the current temperature of the gyroscope's die.
+     *
+     * @return temperature integer.
+     *         
+     */
+    int GetTemp(void);
+
+};
+
+#endif /* ITG3200_H */