From dfbb403fcd4d3d6ceec22d2e70091686c53606f3 Mon Sep 17 00:00:00 2001 From: Sebastian Reichel Date: Thu, 7 Jun 2012 19:54:38 +0200 Subject: initial code import --- sensors/gyroscope/gyroscope-itg3200.vala | 48 ++++++++++++++++++++++++++++++++ 1 file changed, 48 insertions(+) create mode 100644 sensors/gyroscope/gyroscope-itg3200.vala (limited to 'sensors/gyroscope') diff --git a/sensors/gyroscope/gyroscope-itg3200.vala b/sensors/gyroscope/gyroscope-itg3200.vala new file mode 100644 index 0000000..c57aa55 --- /dev/null +++ b/sensors/gyroscope/gyroscope-itg3200.vala @@ -0,0 +1,48 @@ +/* Copyright 2012, Sebastian Reichel + * + * 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 ITG3200(uint8 dev, uint8 addr = 0x68) throws I2CError { + base(dev, addr); + } + + 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); + } +} -- cgit v1.2.3