1 files changed, 63 insertions, 0 deletions
diff --git a/sensors/gyroscope/itg3200.vala b/sensors/gyroscope/itg3200.vala
new file mode 100644
index 0000000..2b7f03e
--- /dev/null
+++ b/sensors/gyroscope/itg3200.vala
@@ -0,0 +1,63 @@
+/* Copyright 2012, Sebastian Reichel <sre@ring0.de>
+ *
+ * Permission to use, copy, modify, and/or distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+public class ITG3200 : I2CDevice, Gyroscope {
+	public int[] rate { get; set; }
+
+	public ITG3200(uint8 dev, uint8 addr = 0x68) throws I2CError {
+			setup(dev, addr);
+	}
+
+	public void init(KeyFile cfg) throws KeyFileError, I2CError {
+		rate = new int[3];
+
+		var adapter = cfg.get_uint64("ITG3200", "i2c-adapter");
+		var address = cfg.get_uint64("ITG3200", "i2c-address");
+		setup((uint8) adapter, (uint8) address);
+	}
+
+	public uint8 get_address() throws I2CError {
+		return (uint8) get_byte(0x00);
+	}
+
+	/* TODO: add method for register 0x16 (frequency + range) */
+	/* TODO: add method for register 0x17 (interrupt config) */
+	/* TODO: add method for register 0x3E (power management) */
+
+	public uint8 get_sample_rate_divider() throws I2CError {
+		/* sample rate = internal frequency / (divider + 1) */
+		return (uint8) get_byte(0x15);
+	}
+
+	public void set_sample_rate_divider(uint8 val) throws I2CError {
+		set_byte(0x15, val);
+	}
+
+	public int16 get_temperature() throws I2CError {
+		int16 raw = (int16) get_big_word(0x1b);
+		return 350 + ((raw + 13200) / 28);
+	}
+
+	public void get_data(out int16 x, out int16 y, out int16 z) throws I2CError {
+		x = (int16) get_big_word(0x1d);
+		y = (int16) get_big_word(0x1f);
+		z = (int16) get_big_word(0x21);
+	}
+}
+
+public Type register_plugin (Module module) {
+	// types are registered automatically
+	return typeof(ITG3200);
+}