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