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-rw-r--r--drivers/itg3200.h32
1 files changed, 32 insertions, 0 deletions
diff --git a/drivers/itg3200.h b/drivers/itg3200.h
new file mode 100644
index 0000000..2e90f62
--- /dev/null
+++ b/drivers/itg3200.h
@@ -0,0 +1,32 @@
+#ifndef ITG3200_H
+#define ITG3200_H
+
+#include "i2c.h"
+
+class ITG3200 {
+ private:
+ I2C& i2c;
+
+ public:
+ int16_t x, y, z;
+
+ ITG3200(I2C& i2c_bus) : i2c(i2c_bus) {
+
+ }
+
+ void init() {
+ i2c.write_reg(0x68, 0x3e, 0x03); // Select clock reference.
+ i2c.write_reg(0x68, 0x16, 0x18 | 0x02); // 2000 deg/sec range, 98 Hz bandwidth.
+ }
+
+ void update() {
+ uint8_t buf[6];
+ i2c.read_reg(0x68, 0x1d, 6, buf);
+
+ x = (buf[0] << 8 | buf[1]) - 0;
+ y = (buf[2] << 8 | buf[3]) - 0;
+ z = (buf[4] << 8 | buf[5]) - 0;
+ }
+};
+
+#endif