Claudio Donate
ITG3200 library with multiple configurable full-scale ranges. Based on the Sensor_test by Bo Carøe.
Fork of
ITG3200
by 
Claudio Donate
ITG3200.h@0:a3a0caa8e802, 2012-05-30 (annotated)
- Committer:
- caroe
- Date:
- Wed May 30 10:42:14 2012 +0000
- Revision:
- 0:a3a0caa8e802
- Child:
- 1:1208ffc3ace9
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| caroe | 0:a3a0caa8e802 | 1 | #pragma once |
| caroe | 0:a3a0caa8e802 | 2 | |
| caroe | 0:a3a0caa8e802 | 3 | //I2C Adresse, entweder 0x68 oder 0x69, abhaengig von Pin AD0 |
| caroe | 0:a3a0caa8e802 | 4 | #define ITG3200_ADRESS 0x68 |
| caroe | 0:a3a0caa8e802 | 5 | |
| caroe | 0:a3a0caa8e802 | 6 | //Gyro-Rohdaten in Radiant pro Sekunde umrechnen |
| caroe | 0:a3a0caa8e802 | 7 | const float fConvRPS= 1.2141420883e-3; |
| caroe | 0:a3a0caa8e802 | 8 | |
| caroe | 0:a3a0caa8e802 | 9 | class ITG3200 { |
| caroe | 0:a3a0caa8e802 | 10 | protected: |
| caroe | 0:a3a0caa8e802 | 11 | I2C & I2CBus; |
| caroe | 0:a3a0caa8e802 | 12 | Timer & GlobalTime; |
| caroe | 0:a3a0caa8e802 | 13 | |
| caroe | 0:a3a0caa8e802 | 14 | public: |
| caroe | 0:a3a0caa8e802 | 15 | //Offset |
| caroe | 0:a3a0caa8e802 | 16 | float Offset[3]; |
| caroe | 0:a3a0caa8e802 | 17 | |
| caroe | 0:a3a0caa8e802 | 18 | //Drehgeschwindigkeit um alle drei Achsen |
| caroe | 0:a3a0caa8e802 | 19 | short RawRate[3]; //Rohdaten |
| caroe | 0:a3a0caa8e802 | 20 | float Rate[3]; //kalibrierte Drehraten in Radiant pro Sekunde |
| caroe | 0:a3a0caa8e802 | 21 | |
| caroe | 0:a3a0caa8e802 | 22 | |
| caroe | 0:a3a0caa8e802 | 23 | //Initialisieren |
| caroe | 0:a3a0caa8e802 | 24 | ITG3200(I2C & I2CBus_, Timer & GlobalTime_); |
| caroe | 0:a3a0caa8e802 | 25 | void Init(); |
| caroe | 0:a3a0caa8e802 | 26 | |
| caroe | 0:a3a0caa8e802 | 27 | |
| caroe | 0:a3a0caa8e802 | 28 | private: |
| caroe | 0:a3a0caa8e802 | 29 | //Rohdaten lesen |
| caroe | 0:a3a0caa8e802 | 30 | void ReadRawData(); |
| caroe | 0:a3a0caa8e802 | 31 | |
| caroe | 0:a3a0caa8e802 | 32 | public: |
| caroe | 0:a3a0caa8e802 | 33 | //Update-Methode |
| caroe | 0:a3a0caa8e802 | 34 | void Update(); |
| caroe | 0:a3a0caa8e802 | 35 | |
| caroe | 0:a3a0caa8e802 | 36 | //Kalibrieren |
| caroe | 0:a3a0caa8e802 | 37 | void Calibrate(int ms); |
| caroe | 0:a3a0caa8e802 | 38 | }; |