Public Member Functions
	ITG3200 ()
	ITG3200 (uint8_t address)
void	initialize ()
bool	testConnection ()
uint8_t	getDeviceID ()
void	setDeviceID (uint8_t id)
uint8_t	getRate ()
void	setRate (uint8_t rate)
uint8_t	getFullScaleRange ()
void	setFullScaleRange (uint8_t range)
uint8_t	getDLPFBandwidth ()
void	setDLPFBandwidth (uint8_t bandwidth)
bool	getInterruptMode ()
void	setInterruptMode (bool mode)
bool	getInterruptDrive ()
void	setInterruptDrive (bool drive)
bool	getInterruptLatch ()
void	setInterruptLatch (bool latch)
bool	getInterruptLatchClear ()
void	setInterruptLatchClear (bool clear)
bool	getIntDeviceReadyEnabled ()
void	setIntDeviceReadyEnabled (bool enabled)
bool	getIntDataReadyEnabled ()
void	setIntDataReadyEnabled (bool enabled)
bool	getIntDeviceReadyStatus ()
bool	getIntDataReadyStatus ()
int16_t	getTemperature ()
void	getRotation (int16_t x, int16_t y, int16_t *z)
int16_t	getRotationX ()
int16_t	getRotationY ()
int16_t	getRotationZ ()
void	reset ()
bool	getSleepEnabled ()
void	setSleepEnabled (bool enabled)
bool	getStandbyXEnabled ()
void	setStandbyXEnabled (bool enabled)
bool	getStandbyYEnabled ()
void	setStandbyYEnabled (bool enabled)
bool	getStandbyZEnabled ()
void	setStandbyZEnabled (bool enabled)
uint8_t	getClockSource ()
void	setClockSource (uint8_t source)

Constructor & Destructor Documentation

ITG3200::ITG3200 ( )

Default constructor, uses default I2C address.

See also:: ITG3200_DEFAULT_ADDRESS

ITG3200::ITG3200 ( uint8_t address )

Specific address constructor.

Parameters:

address I2C address

See also:: ITG3200_DEFAULT_ADDRESS; ITG3200_ADDRESS_AD0_LOW; ITG3200_ADDRESS_AD0_HIGH

Member Function Documentation

uint8_t ITG3200::getClockSource ( )

Get clock source setting.

Returns:: Current clock source setting

See also:: ITG3200_RA_PWR_MGM; ITG3200_PWR_CLK_SEL_BIT; ITG3200_PWR_CLK_SEL_LENGTH

uint8_t ITG3200::getDeviceID ( )

Get Device ID. This register is used to verify the identity of the device (0b110100).

Returns:: Device ID (should be 0x34, 52 dec, 64 oct)

See also:: ITG3200_RA_WHO_AM_I; ITG3200_RA_DEVID_BIT; ITG3200_RA_DEVID_LENGTH

uint8_t ITG3200::getDLPFBandwidth ( )

Get digital low-pass filter bandwidth. The DLPF_CFG parameter sets the digital low pass filter configuration. It also determines the internal sampling rate used by the device as shown in the table below.

DLPF_CFG | Low-Pass Filter Bandwidth | Internal Sample Rate ---------+---------------------------+--------------------- 0 | 256Hz | 8kHz 1 | 188Hz | 1kHz 2 | 98Hz | 1kHz 3 | 42Hz | 1kHz 4 | 20Hz | 1kHz 5 | 10Hz | 1kHz 6 | 5Hz | 1kHz 7 | Reserved | Reserved

Returns:: DLFP bandwidth setting

See also:: ITG3200_RA_DLPF_FS; ITG3200_DF_DLPF_CFG_BIT; ITG3200_DF_DLPF_CFG_LENGTH

uint8_t ITG3200::getFullScaleRange ( )

Set full-scale range. The FS_SEL parameter allows setting the full-scale range of the gyro sensors, as described in the table below. The power-on-reset value of FS_SEL is 00h. Set to 03h for proper operation.

0 = Reserved 1 = Reserved 2 = Reserved 3 = +/- 2000 degrees/sec

Returns:: Current full-scale range setting

See also:: ITG3200_FULLSCALE_2000; ITG3200_RA_DLPF_FS; ITG3200_DF_FS_SEL_BIT; ITG3200_DF_FS_SEL_LENGTH

bool ITG3200::getIntDataReadyEnabled ( )

Get "data ready" interrupt enabled setting. Will be set 0 for disabled, 1 for enabled.

Returns:: Current interrupt enabled setting

See also:: ITG3200_RA_INT_CFG; ITG3200_INTCFG_RAW_RDY_EN_BIT

bool ITG3200::getIntDataReadyStatus ( )

Get Data Ready interrupt status. In normal use, the RAW_DATA_RDY interrupt is used to determine when new sensor data is available in and of the sensor registers (27 to 32).

Returns:: Data Ready interrupt status

See also:: ITG3200_RA_INT_STATUS; ITG3200_INTSTAT_RAW_DATA_READY_BIT

bool ITG3200::getIntDeviceReadyEnabled ( )

Get "device ready" interrupt enabled setting. Will be set 0 for disabled, 1 for enabled.

Returns:: Current interrupt enabled setting

See also:: ITG3200_RA_INT_CFG; ITG3200_INTCFG_ITG_RDY_EN_BIT

bool ITG3200::getIntDeviceReadyStatus ( )

Get Device Ready interrupt status. The ITG_RDY interrupt indicates that the PLL is ready and gyroscopic data can be read.

Returns:: Device Ready interrupt status

See also:: ITG3200_RA_INT_STATUS; ITG3200_INTSTAT_RAW_DATA_READY_BIT

bool ITG3200::getInterruptDrive ( )

Get interrupt drive mode. Will be set 0 for push-pull, 1 for open-drain.

Returns:: Current interrupt drive mode (0=push-pull, 1=open-drain)

See also:: ITG3200_RA_INT_CFG; ITG3200_INTCFG_OPEN_BIT

bool ITG3200::getInterruptLatch ( )

Get interrupt latch mode. Will be set 0 for 50us-pulse, 1 for latch-until-int-cleared.

Returns:: Current latch mode (0=50us-pulse, 1=latch-until-int-cleared)

See also:: ITG3200_RA_INT_CFG; ITG3200_INTCFG_LATCH_INT_EN_BIT

bool ITG3200::getInterruptLatchClear ( )

Get interrupt latch clear mode. Will be set 0 for status-read-only, 1 for any-register-read.

Returns:: Current latch clear mode (0=status-read-only, 1=any-register-read)

See also:: ITG3200_RA_INT_CFG; ITG3200_INTCFG_INT_ANYRD_2CLEAR_BIT

bool ITG3200::getInterruptMode ( )

Get interrupt logic level mode. Will be set 0 for active-high, 1 for active-low.

Returns:: Current interrupt mode (0=active-high, 1=active-low)

See also:: ITG3200_RA_INT_CFG; ITG3200_INTCFG_ACTL_BIT

uint8_t ITG3200::getRate ( )

Get sample rate. This register determines the sample rate of the ITG-3200 gyros. The gyros' outputs are sampled internally at either 1kHz or 8kHz, determined by the DLPF_CFG setting (see register 22). This sampling is then filtered digitally and delivered into the sensor registers after the number of cycles determined by this register. The sample rate is given by the following formula:

F_sample = F_internal / (divider+1), where F_internal is either 1kHz or 8kHz

As an example, if the internal sampling is at 1kHz, then setting this register to 7 would give the following:

F_sample = 1kHz / (7 + 1) = 125Hz, or 8ms per sample

Returns:: Current sample rate

See also:: setDLPFBandwidth(); ITG3200_RA_SMPLRT_DIV

void ITG3200::getRotation	(	int16_t *	x,
		int16_t *	y,
		int16_t *	z
	)

Get 3-axis gyroscope readings.

Parameters:

x	16-bit signed integer container for X-axis rotation
y	16-bit signed integer container for Y-axis rotation
z	16-bit signed integer container for Z-axis rotation

See also:: ITG3200_RA_GYRO_XOUT_H

int16_t ITG3200::getRotationX ( )

Get X-axis gyroscope reading.

Returns:: X-axis rotation measurement in 16-bit 2's complement format

See also:: ITG3200_RA_GYRO_XOUT_H

int16_t ITG3200::getRotationY ( )

Get Y-axis gyroscope reading.

Returns:: Y-axis rotation measurement in 16-bit 2's complement format

See also:: ITG3200_RA_GYRO_YOUT_H

int16_t ITG3200::getRotationZ ( )

Get Z-axis gyroscope reading.

Returns:: Z-axis rotation measurement in 16-bit 2's complement format

See also:: ITG3200_RA_GYRO_ZOUT_H

bool ITG3200::getSleepEnabled ( )

Get sleep mode status. Setting the SLEEP bit in the register puts the device into very low power sleep mode. In this mode, only the serial interface and internal registers remain active, allowing for a very low standby current. Clearing this bit puts the device back into normal mode. To save power, the individual standby selections for each of the gyros should be used if any gyro axis is not used by the application.

Returns:: Current sleep mode enabled status

See also:: ITG3200_RA_PWR_MGM; ITG3200_PWR_SLEEP_BIT

bool ITG3200::getStandbyXEnabled ( )

Get X-axis standby enabled status. If enabled, the X-axis will not gather or report data (or use power).

Returns:: Current X-axis standby enabled status

See also:: ITG3200_RA_PWR_MGM; ITG3200_PWR_STBY_XG_BIT

bool ITG3200::getStandbyYEnabled ( )

Get Y-axis standby enabled status. If enabled, the Y-axis will not gather or report data (or use power).

Returns:: Current Y-axis standby enabled status

See also:: ITG3200_RA_PWR_MGM; ITG3200_PWR_STBY_YG_BIT

bool ITG3200::getStandbyZEnabled ( )

Get Z-axis standby enabled status. If enabled, the Z-axis will not gather or report data (or use power).

Returns:: Current Z-axis standby enabled status

See also:: ITG3200_RA_PWR_MGM; ITG3200_PWR_STBY_ZG_BIT

int16_t ITG3200::getTemperature ( )

Get current internal temperature.

Returns:: Temperature reading in 16-bit 2's complement format

See also:: ITG3200_RA_TEMP_OUT_H

void ITG3200::initialize ( )

Power on and prepare for general usage. This will activate the gyroscope, so be sure to adjust the power settings after you call this method if you want it to enter standby mode, or another less demanding mode of operation. This also sets the gyroscope to use the X-axis gyro for a clock source. Note that it doesn't have any delays in the routine, which means you might want to add ~50ms to be safe if you happen to need to read gyro data immediately after initialization. The data will flow in either case, but the first reports may have higher error offsets.

void ITG3200::reset ( )

Trigger a full device reset. A small delay of ~50ms may be desirable after triggering a reset.

See also:: ITG3200_RA_PWR_MGM; ITG3200_PWR_H_RESET_BIT

void ITG3200::setClockSource ( uint8_t source )

Set clock source setting. On power up, the ITG-3200 defaults to the internal oscillator. It is highly recommended that the device is configured to use one of the gyros (or an external clock) as the clock reference, due to the improved stability.

The CLK_SEL setting determines the device clock source as follows:

Parameters:

source New clock source setting

See also:: getClockSource(); ITG3200_RA_PWR_MGM; ITG3200_PWR_CLK_SEL_BIT; ITG3200_PWR_CLK_SEL_LENGTH

void ITG3200::setDeviceID ( uint8_t id )

Set Device ID. Write a new ID into the WHO_AM_I register (no idea why this should ever be necessary though).

Parameters:

id	New device ID to set.

See also:: getDeviceID(); ITG3200_RA_WHO_AM_I; ITG3200_RA_DEVID_BIT; ITG3200_RA_DEVID_LENGTH

void ITG3200::setDLPFBandwidth ( uint8_t bandwidth )

Set digital low-pass filter bandwidth.

Parameters:

bandwidth New DLFP bandwidth setting

See also:: getDLPFBandwidth(); ITG3200_DLPF_BW_256; ITG3200_RA_DLPF_FS; ITG3200_DF_DLPF_CFG_BIT; ITG3200_DF_DLPF_CFG_LENGTH

void ITG3200::setFullScaleRange ( uint8_t range )

Set full-scale range setting.

Parameters:

range New full-scale range value

See also:: getFullScaleRange(); ITG3200_FULLSCALE_2000; ITG3200_RA_DLPF_FS; ITG3200_DF_FS_SEL_BIT; ITG3200_DF_FS_SEL_LENGTH

void ITG3200::setIntDataReadyEnabled ( bool enabled )

Set "data ready" interrupt enabled setting.

Parameters:

enabled New interrupt enabled setting

See also:: getIntDataReadyEnabled(); ITG3200_RA_INT_CFG; ITG3200_INTCFG_RAW_RDY_EN_BIT

void ITG3200::setIntDeviceReadyEnabled ( bool enabled )

Set "device ready" interrupt enabled setting.

Parameters:

enabled New interrupt enabled setting

See also:: getIntDeviceReadyEnabled(); ITG3200_RA_INT_CFG; ITG3200_INTCFG_ITG_RDY_EN_BIT

void ITG3200::setInterruptDrive ( bool drive )

Set interrupt drive mode.

Parameters:

drive New interrupt drive mode (0=push-pull, 1=open-drain)

See also:: getInterruptDrive(); ITG3200_RA_INT_CFG; ITG3200_INTCFG_OPEN_BIT

void ITG3200::setInterruptLatch ( bool latch )

Set interrupt latch mode.

Parameters:

latch New latch mode (0=50us-pulse, 1=latch-until-int-cleared)

See also:: getInterruptLatch(); ITG3200_RA_INT_CFG; ITG3200_INTCFG_LATCH_INT_EN_BIT

void ITG3200::setInterruptLatchClear ( bool clear )

Set interrupt latch clear mode.

Parameters:

clear New latch clear mode (0=status-read-only, 1=any-register-read)

See also:: getInterruptLatchClear(); ITG3200_RA_INT_CFG; ITG3200_INTCFG_INT_ANYRD_2CLEAR_BIT

void ITG3200::setInterruptMode ( bool mode )

Set interrupt logic level mode.

Parameters:

mode	New interrupt mode (0=active-high, 1=active-low)

See also:: getInterruptMode(); ITG3200_RA_INT_CFG; ITG3200_INTCFG_ACTL_BIT

void ITG3200::setRate ( uint8_t rate )

Set sample rate.

Parameters:

rate	New sample rate

See also:: getRate(); setDLPFBandwidth(); ITG3200_RA_SMPLRT_DIV

void ITG3200::setSleepEnabled ( bool enabled )

Set sleep mode status.

Parameters:

enabled New sleep mode enabled status

See also:: getSleepEnabled(); ITG3200_RA_PWR_MGM; ITG3200_PWR_SLEEP_BIT

void ITG3200::setStandbyXEnabled ( bool enabled )

Set X-axis standby enabled status.

Parameters:

New	X-axis standby enabled status

See also:: getStandbyXEnabled(); ITG3200_RA_PWR_MGM; ITG3200_PWR_STBY_XG_BIT

void ITG3200::setStandbyYEnabled ( bool enabled )

Set Y-axis standby enabled status.

Parameters:

New	Y-axis standby enabled status

See also:: getStandbyYEnabled(); ITG3200_RA_PWR_MGM; ITG3200_PWR_STBY_YG_BIT

void ITG3200::setStandbyZEnabled ( bool enabled )

Set Z-axis standby enabled status.

Parameters:

New	Z-axis standby enabled status

See also:: getStandbyZEnabled(); ITG3200_RA_PWR_MGM; ITG3200_PWR_STBY_ZG_BIT

bool ITG3200::testConnection ( )

Verify the I2C connection. Make sure the device is connected and responds as expected.

Returns:: True if connection is valid, false otherwise

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

ITG3200/ITG3200.h
ITG3200/ITG3200.cpp

Public Member Functions

Constructor & Destructor Documentation

Member Function Documentation