Claudio Donate / ITG3200

ITG3200 library with multiple configurable full-scale ranges. Based on the Sensor_test by Bo Carøe.

Dependents:   KalmanFilter

Fork of ITG3200 by Claudio Donate

ITG3200.h@1:1208ffc3ace9, 2012-08-15 (annotated)

Committer:
cdonate
Date:
Wed Aug 15 01:33:01 2012 +0000
Revision:
1:1208ffc3ace9
Parent:
0:a3a0caa8e802
Child:
2:044664f2cc01
Translate comments to english, change full-scale range and convertions values

Who changed what in which revision?

UserRevisionLine numberNew contents of line
caroe 0:a3a0caa8e802 1 #pragma once
caroe 0:a3a0caa8e802 2
cdonate 1:1208ffc3ace9 3 //I2C address is either 0x68 or 0x69 , depending on pin AD0, check block diagram for your device
cdonate 1:1208ffc3ace9 4 #define ITG3200_ADRESS 0x69
caroe 0:a3a0caa8e802 5
cdonate 1:1208ffc3ace9 6 //Convert gyro raw data to radians per second, 1 degree/s = 0,017453293 rad/s.
cdonate 1:1208ffc3ace9 7 //The value is 0,017453293/LSB (+- 250 degrees/s)
cdonate 1:1208ffc3ace9 8
cdonate 1:1208ffc3ace9 9 //const float fConvRPS= 2.6646248854961832061068702290076e-4; //For +- 500 degrees/s
cdonate 1:1208ffc3ace9 10 //const float fConvRPS= 1.2141420883e-3; //For +- 2000 degrees/s
cdonate 1:1208ffc3ace9 11
cdonate 1:1208ffc3ace9 12 const float fConvRPS= 1.3323124427480916030534351145038e-4; //For +- 250 degrees/s
caroe 0:a3a0caa8e802 13
caroe 0:a3a0caa8e802 14 class ITG3200 {
caroe 0:a3a0caa8e802 15 protected:
caroe 0:a3a0caa8e802 16 I2C & I2CBus;
caroe 0:a3a0caa8e802 17 Timer & GlobalTime;
caroe 0:a3a0caa8e802 18
caroe 0:a3a0caa8e802 19 public:
caroe 0:a3a0caa8e802 20 //Offset
caroe 0:a3a0caa8e802 21 float Offset[3];
caroe 0:a3a0caa8e802 22
cdonate 1:1208ffc3ace9 23 //Rotational speed around all three axes
cdonate 1:1208ffc3ace9 24 short RawRate[3]; //Raw data
cdonate 1:1208ffc3ace9 25 float Rate[3]; //Calibrated rotation rate in radians per second
caroe 0:a3a0caa8e802 26
caroe 0:a3a0caa8e802 27
cdonate 1:1208ffc3ace9 28 //Initialization
caroe 0:a3a0caa8e802 29 ITG3200(I2C & I2CBus_, Timer & GlobalTime_);
caroe 0:a3a0caa8e802 30 void Init();
caroe 0:a3a0caa8e802 31
caroe 0:a3a0caa8e802 32
caroe 0:a3a0caa8e802 33 private:
cdonate 1:1208ffc3ace9 34 //Read raw data
caroe 0:a3a0caa8e802 35 void ReadRawData();
caroe 0:a3a0caa8e802 36
caroe 0:a3a0caa8e802 37 public:
cdonate 1:1208ffc3ace9 38 //Update Method
caroe 0:a3a0caa8e802 39 void Update();
cdonate 1:1208ffc3ace9 40 char getInfo(void);
caroe 0:a3a0caa8e802 41
cdonate 1:1208ffc3ace9 42 //Calibration
caroe 0:a3a0caa8e802 43 void Calibrate(int ms);
caroe 0:a3a0caa8e802 44 };