exploringBB::ITG3200 Class Reference

A class to interface with the ITG3200 gyroscope (untested) More...

#include <ITG3200.h>

Public Member Functions
	ITG3200 (BusDevice *device)
float	getGyroscopeRoll ()
float	getGyroscopePitch ()
float	getGyroscopeYaw ()
float	getOffsetRollOffset ()
float	getOffsetPitchOffset ()
float	getOffsetYawOffset ()
int	getTemperature ()
virtual	~ITG3200 ()
int	readFullSensorState ()
int	convertGyroscopeValue (int msb_reg_addr, int lsb_reg_addr)
int	setDigitalLowPassFilter (ITG3200_LPFILTER filterValue)
int	setSampleRateDivider (char divider)
int	zeroCalibrate (int numberSamples, int sampleDelayMs)

Detailed Description

A class to interface with the ITG3200 gyroscope (untested)

Constructor & Destructor Documentation

exploringBB::ITG3200::ITG3200

(

BusDevice *

device

)

                                  {
        this->device = device;
        for (int i=0; i<3; i++) {
                this->gyroscope[i] = 0.0;
                this->offsets[i] = 0.0;
        }
        this->registers = NULL;
        this->temperature = 0;
        this->readFullSensorState();
}

exploringBB::ITG3200::~ITG3200 ( )

virtual

{}

Member Function Documentation

int exploringBB::ITG3200::convertGyroscopeValue	(	int	msb_reg_addr,
		int	lsb_reg_addr
	)

                                                                    {
        short temp = *(registers+msb_reg_addr);
        temp = (temp<<8) | *(registers+lsb_reg_addr);
        temp = ~temp + 1;
        return temp;
}

float exploringBB::ITG3200::getGyroscopePitch ( )

inline

{ return gyroscope[1]/SENSITIVITY; }

float exploringBB::ITG3200::getGyroscopeRoll ( )

inline

{ return gyroscope[0]/SENSITIVITY; }

float exploringBB::ITG3200::getGyroscopeYaw ( )

inline

{ return gyroscope[2]/SENSITIVITY; }

float exploringBB::ITG3200::getOffsetPitchOffset ( )

inline

{ return offsets[1]/SENSITIVITY; }

float exploringBB::ITG3200::getOffsetRollOffset ( )

inline

{ return offsets[0]/SENSITIVITY; }

float exploringBB::ITG3200::getOffsetYawOffset ( )

inline

{ return offsets[2]/SENSITIVITY; }

int exploringBB::ITG3200::getTemperature ( )

inline

{ return temperature; }

int exploringBB::ITG3200::readFullSensorState

(

)

                                {
        this->registers = this->device->readRegisters(BUFFER_SIZE, 0x00);
        if(*this->registers!=0x69){
                perror("ITG3200: Failure Condition - Sensor ID not Verified");
                return -1;
        }
    this->gyroscope[0] = convertGyroscopeValue(GYRO_X_MSB, GYRO_X_LSB);
    this->gyroscope[1] = convertGyroscopeValue(GYRO_Y_MSB, GYRO_Y_LSB);
    this->gyroscope[2] = convertGyroscopeValue(GYRO_Z_MSB, GYRO_Z_LSB);
    this->temperature = convertGyroscopeValue(TEMP_MSB, TEMP_LSB);
    return 0;
}

int exploringBB::ITG3200::setDigitalLowPassFilter

(

ITG3200_LPFILTER

filterValue

)

                                                                {
        //bits 7,6,5 are 0;  bits 4,3 are = 03h for proper operation, i.e. +/- 2000 deg/sec full range
        char temp = 0b00011000;
        temp = temp | filterValue; // OR with incoming value (between 00 and 06h)
        if(this->device->writeRegister(DLPF_FS, temp)!=0){
                cout << "Failure to update ITG3200 DLPF_FS value" << endl;
                return 1;
        }
        return 0;
}

int exploringBB::ITG3200::setSampleRateDivider

(

char

divider

)

                                             {
        //bits 7-0 set the divider which sets the sample rate of the gyro according to the equation
        // Fsample = Finternal / (divider+1)
        // Finternal is set according to the low pass filter ITG3200_LPFILTER
        //        which is 1kHz for all values except the highest LPF of DLPF_CFG
        if(this->device->writeRegister(SMPLRT_DIV, divider)!=0){
                cout << "Failure to update ITG3200 SMPLRT_DIV value" << endl;
                return 1;
        }
        return 0;
}

int exploringBB::ITG3200::zeroCalibrate	(	int	numberSamples,
		int	sampleDelayMs
	)

                                                              {

        double total[3] = {0.0, 0.0, 0.0};
        for(int i=0; i<numberSamples; i++){
                this->readFullSensorState();
                for(int j=0; j<3; j++){
                        total[j] = total[j] + this->gyroscope[j];
                }
                usleep(sampleDelayMs*1000);
        }
        for(int i=0; i<=2; i++) {
                this->offsets[i] = total[i]/numberSamples;
        }
        return 0;
}

---

The documentation for this class was generated from the following files:

• /home/molloyd/exploringBB/library/sensor/ITG3200.h
• /home/molloyd/exploringBB/library/sensor/ITG3200.cpp