Detailed Description

Collaboration diagram for L3GD20:

L3GD20 data structures and types.
enum	l3gd20_fs_t { L3GD20_FS_250DPS = 0x00 , L3GD20_FS_500DPS = 0x10 , L3GD20_FS_2000DPS = 0x20 }
	L3GD20 full scale. More...
enum	l3gd20_odr_t { L3GD20_ODR_95HZ = 0x00 , L3GD20_ODR_190HZ = 0x40 , L3GD20_ODR_380HZ = 0x80 , L3GD20_ODR_760HZ = 0xC0 }
	L3GD20 output data rate and bandwidth. More...
enum	l3gd20_bw_t { L3GD20_BW0 = 0x00 , L3GD20_BW1 = 0x40 , L3GD20_BW2 = 0x80 , L3GD20_BW3 = 0xC0 }
	L3GD20 low pass filter 1 bandwidth. More...
enum	l3gd20_bdu_t { L3GD20_BDU_CONTINUOUS = 0x00 , L3GD20_BDU_BLOCKED = 0x80 }
	L3GD20 block data update. More...
enum	l3gd20_hpm_t { L3GD20_HPM_NORMAL = 0x00 , L3GD20_HPM_REFERENCE = 0x10 , L3GD20_HPM_AUTORESET = 0x30 , L3GD20_HPM_BYPASSED = 0xFF }
	L3GD20 HP filter mode. More...
enum	l3gd20_hpcf_t { L3GD20_HPCF_0 = 0x00 , L3GD20_HPCF_1 = 0x01 , L3GD20_HPCF_2 = 0x02 , L3GD20_HPCF_3 = 0x03 , L3GD20_HPCF_4 = 0x04 , L3GD20_HPCF_5 = 0x05 , L3GD20_HPCF_6 = 0x06 , L3GD20_HPCF_7 = 0x07 , L3GD20_HPCF_8 = 0x08 , L3GD20_HPCF_9 = 0x09 }
	L3GD20 HP configuration. More...
enum	l3gd20_lp2m_t { L3GD20_LP2M_ON = 0x00 , L3GD20_LP2M_BYPASSED = 0xFF }
	L3GD20 LP2 filter mode. More...
enum	l3gd20_end_t { L3GD20_END_LITTLE = 0x00 , L3GD20_END_BIG = 0x40 }
	L3GD20 endianness. More...
enum	l3gd20_state_t { L3GD20_UNINIT = 0 , L3GD20_STOP = 1 , L3GD20_READY = 2 }
	Driver state machine possible states. More...
typedef struct L3GD20Driver	L3GD20Driver
	Structure representing a L3GD20 driver.
#define	_l3gd20_methods_alone
	`L3GD20` specific methods.
#define	_l3gd20_methods
	`L3GD20` specific methods with inherited ones.
#define	_l3gd20_data
	`L3GD20Driver` specific data.

Version identification
#define	EX_L3GD20_VERSION "1.1.3"
	L3GD20 driver version string.
#define	EX_L3GD20_MAJOR 1
	L3GD20 driver version major number.
#define	EX_L3GD20_MINOR 1
	L3GD20 driver version minor number.
#define	EX_L3GD20_PATCH 3
	L3GD20 driver version patch number.
#define	L3GD20_GYRO_NUMBER_OF_AXES 3U
	L3GD20 gyroscope system characteristics.
#define	L3GD20_250DPS 250.0f
#define	L3GD20_500DPS 500.0f
#define	L3GD20_2000DPS 2000.0f
#define	L3GD20_GYRO_SENS_250DPS 0.00875f
#define	L3GD20_GYRO_SENS_500DPS 0.01750f
#define	L3GD20_GYRO_SENS_2000DPS 0.07000f
#define	L3GD20_GYRO_BIAS 0.0f

L3GD20 communication interfaces related bit masks
#define	L3GD20_DI_MASK 0xFF
#define	L3GD20_DI(n)
#define	L3GD20_AD_MASK 0x3F
#define	L3GD20_AD(n)
#define	L3GD20_MS (1 << 6)
#define	L3GD20_RW (1 << 7)

L3GD20 register addresses
#define	L3GD20_AD_WHO_AM_I 0x0F
#define	L3GD20_AD_CTRL_REG1 0x20
#define	L3GD20_AD_CTRL_REG2 0x21
#define	L3GD20_AD_CTRL_REG3 0x22
#define	L3GD20_AD_CTRL_REG4 0x23
#define	L3GD20_AD_CTRL_REG5 0x24
#define	L3GD20_AD_REFERENCE 0x25
#define	L3GD20_AD_OUT_TEMP 0x26
#define	L3GD20_AD_STATUS_REG 0x27
#define	L3GD20_AD_OUT_X_L 0x28
#define	L3GD20_AD_OUT_X_H 0x29
#define	L3GD20_AD_OUT_Y_L 0x2A
#define	L3GD20_AD_OUT_Y_H 0x2B
#define	L3GD20_AD_OUT_Z_L 0x2C
#define	L3GD20_AD_OUT_Z_H 0x2D
#define	L3GD20_AD_FIFO_CTRL_REG 0x2E
#define	L3GD20_AD_FIFO_SRC_REG 0x2F
#define	L3GD20_AD_INT1_CFG 0x30
#define	L3GD20_AD_INT1_SRC 0x31
#define	L3GD20_AD_INT1_THS_XH 0x32
#define	L3GD20_AD_INT1_THS_XL 0x33
#define	L3GD20_AD_INT1_THS_YH 0x34
#define	L3GD20_AD_INT1_THS_YL 0x35
#define	L3GD20_AD_INT1_THS_ZH 0x36
#define	L3GD20_AD_INT1_THS_ZL 0x37
#define	L3GD20_AD_INT1_DURATION 0x38

L3GD20_CTRL_REG1 register bits definitions
#define	L3GD20_CTRL_REG1_MASK 0xFF
#define	L3GD20_CTRL_REG1_XEN (1 << 0)
#define	L3GD20_CTRL_REG1_YEN (1 << 1)
#define	L3GD20_CTRL_REG1_ZEN (1 << 2)
#define	L3GD20_CTRL_REG1_PD (1 << 3)
#define	L3GD20_CTRL_REG1_BW0 (1 << 4)
#define	L3GD20_CTRL_REG1_BW1 (1 << 5)
#define	L3GD20_CTRL_REG1_DR0 (1 << 6)
#define	L3GD20_CTRL_REG1_DR1 (1 << 7)

L3GD20_CTRL_REG2 register bits definitions
#define	L3GD20_CTRL_REG2_MASK 0x3F
#define	L3GD20_CTRL_REG2_HPCF0 (1 << 0)
#define	L3GD20_CTRL_REG2_HPCF1 (1 << 1)
#define	L3GD20_CTRL_REG2_HPCF2 (1 << 2)
#define	L3GD20_CTRL_REG2_HPCF3 (1 << 3)
#define	L3GD20_CTRL_REG2_HPM0 (1 << 4)
#define	L3GD20_CTRL_REG2_HPM1 (1 << 5)

L3GD20_CTRL_REG3 register bits definitions
#define	L3GD20_CTRL_REG3_MASK 0xFF
#define	L3GD20_CTRL_REG3_I2_EMPTY (1 << 0)
#define	L3GD20_CTRL_REG3_I2_ORUN (1 << 1)
#define	L3GD20_CTRL_REG3_I2_WTM (1 << 2)
#define	L3GD20_CTRL_REG3_I2_DRDY (1 << 3)
#define	L3GD20_CTRL_REG3_PP_OD (1 << 4)
#define	L3GD20_CTRL_REG3_H_LACTIVE (1 << 5)
#define	L3GD20_CTRL_REG3_I1_BOOT (1 << 6)
#define	L3GD20_CTRL_REG3_I1_INT1 (1 << 7)

L3GD20_CTRL_REG4 register bits definitions
#define	L3GD20_CTRL_REG4_MASK 0xF1
#define	L3GD20_CTRL_REG4_SIM (1 << 0)
#define	L3GD20_CTRL_REG4_FS_MASK 0x30
#define	L3GD20_CTRL_REG4_FS0 (1 << 4)
#define	L3GD20_CTRL_REG4_FS1 (1 << 5)
#define	L3GD20_CTRL_REG4_BLE (1 << 6)
#define	L3GD20_CTRL_REG4_BDU (1 << 7)

L3GD20_CTRL_REG5 register bits definitions
#define	L3GD20_CTRL_REG5_MASK 0xDF
#define	L3GD20_CTRL_REG5_OUT_SEL0 (1 << 0)
#define	L3GD20_CTRL_REG5_OUT_SEL1 (1 << 1)
#define	L3GD20_CTRL_REG5_INT1_SEL0 (1 << 2)
#define	L3GD20_CTRL_REG5_INT1_SEL1 (1 << 3)
#define	L3GD20_CTRL_REG5_HPEN (1 << 4)
#define	L3GD20_CTRL_REG5_FIFO_EN (1 << 6)
#define	L3GD20_CTRL_REG5_BOOT (1 << 7)

L3GD20_INT1_CFG register bits definitions
#define	L3GD20_INT1_CFG_MASK 0xFF
#define	L3GD20_INT1_CFG_XLIE (1 << 0)
#define	L3GD20_INT1_CFG_XHIE (1 << 1)
#define	L3GD20_INT1_CFG_YLIE (1 << 2)
#define	L3GD20_INT1_CFG_YHIE (1 << 3)
#define	L3GD20_INT1_CFG_ZLIE (1 << 4)
#define	L3GD20_INT1_CFG_ZHIE (1 << 5)
#define	L3GD20_INT1_CFG_LIR (1 << 6)
#define	L3GD20_INT1_CFG_AND_OR (1 << 7)

L3GD20_INT1_SRC register bits definitions
#define	L3GD20_INT1_SRC_MASK 0x7F
#define	L3GD20_INT1_SRC_XL (1 << 0)
#define	L3GD20_INT1_SRC_XH (1 << 1)
#define	L3GD20_INT1_SRC_YL (1 << 2)
#define	L3GD20_INT1_SRC_YH (1 << 3)
#define	L3GD20_INT1_SRC_ZL (1 << 4)
#define	L3GD20_INT1_SRC_ZH (1 << 5)
#define	L3GD20_INT1_SRC_IA (1 << 6)

Configuration options
#define	L3GD20_USE_SPI TRUE
	L3GD20 SPI interface switch.
#define	L3GD20_SHARED_SPI FALSE
	L3GD20 shared SPI switch.
#define	L3GD20_USE_I2C FALSE
	L3GD20 I2C interface switch.
#define	L3GD20_SHARED_I2C FALSE
	L3GD20 shared I2C switch.
#define	L3GD20_USE_ADVANCED FALSE
	L3GD20 advanced configurations switch.
#define	L3GD20_BIAS_ACQ_TIMES 50
	Number of acquisitions for bias removal.
#define	L3GD20_BIAS_SETTLING_US 5000
	Settling time for bias removal.

Data Structures
struct	L3GD20Config
	L3GD20 configuration structure. More...
struct	L3GD20VMT
	`L3GD20` virtual methods table. More...
struct	L3GD20Driver
	L3GD20 3-axis gyroscope class. More...

Macros
#define	l3gd20GyroscopeGetAxesNumber(devp)
	Return the number of axes of the BaseGyroscope.
#define	l3gd20GyroscopeReadRaw(devp, axes)
	Retrieves raw data from the BaseGyroscope.
#define	l3gd20GyroscopeReadCooked(devp, axes)
	Retrieves cooked data from the BaseGyroscope.
#define	l3gd20GyroscopeSampleBias(devp)
	Samples bias values for the BaseGyroscope.
#define	l3gd20GyroscopeSetBias(devp, bp)
	Set bias values for the BaseGyroscope.
#define	l3gd20GyroscopeResetBias(devp)
	Reset bias values for the BaseGyroscope.
#define	l3gd20GyroscopeSetSensitivity(devp, sp)
	Set sensitivity values for the BaseGyroscope.
#define	l3gd20GyroscopeResetSensitivity(devp)
	Reset sensitivity values for the BaseGyroscope.
#define	l3gd20GyroscopeSetFullScale(devp, fs)
	Changes the L3GD20Driver gyroscope fullscale value.

Functions
static void	l3gd20SPIReadRegister (SPIDriver spip, uint8_t reg, size_t n, uint8_t b)
	Reads a generic register value using SPI.
static void	l3gd20SPIWriteRegister (SPIDriver spip, uint8_t reg, size_t n, uint8_t b)
	Writes a value into a generic register using SPI.
static size_t	gyro_get_axes_number (void *ip)
	Return the number of axes of the BaseGyroscope.
static msg_t	gyro_read_raw (void *ip, int32_t axes[L3GD20_GYRO_NUMBER_OF_AXES])
	Retrieves raw data from the BaseGyroscope.
static msg_t	gyro_read_cooked (void *ip, float axes[])
	Retrieves cooked data from the BaseGyroscope.
static msg_t	gyro_sample_bias (void *ip)
	Samples bias values for the BaseGyroscope.
static msg_t	gyro_set_bias (void ip, float bp)
	Set bias values for the BaseGyroscope.
static msg_t	gyro_reset_bias (void *ip)
	Reset bias values for the BaseGyroscope.
static msg_t	gyro_set_sensivity (void ip, float sp)
	Set sensitivity values for the BaseGyroscope.
static msg_t	gyro_reset_sensivity (void *ip)
	Reset sensitivity values for the BaseGyroscope.
static msg_t	gyro_set_full_scale (L3GD20Driver *devp, l3gd20_fs_t fs)
	Changes the L3GD20Driver gyroscope fullscale value.
void	l3gd20ObjectInit (L3GD20Driver *devp)
	Initializes an instance.
void	l3gd20Start (L3GD20Driver devp, const L3GD20Config config)
	Configures and activates L3GD20 Complex Driver peripheral.
void	l3gd20Stop (L3GD20Driver *devp)
	Deactivates the L3GD20 Complex Driver peripheral.

Variables
static const struct L3GD20VMT	vmt_device
static const struct BaseGyroscopeVMT	vmt_gyroscope

Macro Definition Documentation

◆ EX_L3GD20_VERSION

#define EX_L3GD20_VERSION "1.1.3"

L3GD20 driver version string.

Definition at line 45 of file l3gd20.h.

◆ EX_L3GD20_MAJOR

#define EX_L3GD20_MAJOR 1

L3GD20 driver version major number.

Definition at line 50 of file l3gd20.h.

◆ EX_L3GD20_MINOR

#define EX_L3GD20_MINOR 1

L3GD20 driver version minor number.

Definition at line 55 of file l3gd20.h.

◆ EX_L3GD20_PATCH

#define EX_L3GD20_PATCH 3

L3GD20 driver version patch number.

Definition at line 60 of file l3gd20.h.

◆ L3GD20_GYRO_NUMBER_OF_AXES

#define L3GD20_GYRO_NUMBER_OF_AXES 3U

L3GD20 gyroscope system characteristics.

Note: Sensitivity is expressed as DPS/LSB whereas DPS stand for Degree per second [°/s].; Bias is expressed as DPS.

Definition at line 71 of file l3gd20.h.

Referenced by gyro_get_axes_number(), gyro_read_cooked(), gyro_read_raw(), gyro_reset_bias(), gyro_reset_sensivity(), gyro_sample_bias(), gyro_set_bias(), gyro_set_full_scale(), gyro_set_sensivity(), and l3gd20Start().

◆ L3GD20_250DPS

#define L3GD20_250DPS 250.0f

Definition at line 73 of file l3gd20.h.

Referenced by gyro_set_full_scale(), and l3gd20Start().

◆ L3GD20_500DPS

#define L3GD20_500DPS 500.0f

Definition at line 74 of file l3gd20.h.

Referenced by gyro_set_full_scale(), and l3gd20Start().

◆ L3GD20_2000DPS

#define L3GD20_2000DPS 2000.0f

Definition at line 75 of file l3gd20.h.

Referenced by gyro_set_full_scale(), and l3gd20Start().

◆ L3GD20_GYRO_SENS_250DPS

#define L3GD20_GYRO_SENS_250DPS 0.00875f

Definition at line 77 of file l3gd20.h.

Referenced by gyro_reset_sensivity(), and l3gd20Start().

◆ L3GD20_GYRO_SENS_500DPS

#define L3GD20_GYRO_SENS_500DPS 0.01750f

Definition at line 78 of file l3gd20.h.

Referenced by gyro_reset_sensivity(), and l3gd20Start().

◆ L3GD20_GYRO_SENS_2000DPS

#define L3GD20_GYRO_SENS_2000DPS 0.07000f

Definition at line 79 of file l3gd20.h.

Referenced by gyro_reset_sensivity(), and l3gd20Start().

◆ L3GD20_GYRO_BIAS

#define L3GD20_GYRO_BIAS 0.0f

Definition at line 81 of file l3gd20.h.

Referenced by gyro_reset_bias(), and l3gd20Start().

◆ L3GD20_DI_MASK

#define L3GD20_DI_MASK 0xFF

Definition at line 88 of file l3gd20.h.

◆ L3GD20_DI

#define L3GD20_DI ( n )

Value:

(1 << n)

Definition at line 89 of file l3gd20.h.

◆ L3GD20_AD_MASK

#define L3GD20_AD_MASK 0x3F

Definition at line 90 of file l3gd20.h.

◆ L3GD20_AD

#define L3GD20_AD ( n )

Value:

(1 << n)

Definition at line 91 of file l3gd20.h.

◆ L3GD20_MS

#define L3GD20_MS (1 << 6)

Definition at line 92 of file l3gd20.h.

Referenced by l3gd20SPIReadRegister(), and l3gd20SPIWriteRegister().

◆ L3GD20_RW

#define L3GD20_RW (1 << 7)

Definition at line 93 of file l3gd20.h.

Referenced by l3gd20SPIReadRegister().

◆ L3GD20_AD_WHO_AM_I

#define L3GD20_AD_WHO_AM_I 0x0F

Definition at line 100 of file l3gd20.h.

◆ L3GD20_AD_CTRL_REG1

#define L3GD20_AD_CTRL_REG1 0x20

Definition at line 101 of file l3gd20.h.

Referenced by l3gd20Start(), and l3gd20Stop().

◆ L3GD20_AD_CTRL_REG2

#define L3GD20_AD_CTRL_REG2 0x21

Definition at line 102 of file l3gd20.h.

◆ L3GD20_AD_CTRL_REG3

#define L3GD20_AD_CTRL_REG3 0x22

Definition at line 103 of file l3gd20.h.

◆ L3GD20_AD_CTRL_REG4

#define L3GD20_AD_CTRL_REG4 0x23

Definition at line 104 of file l3gd20.h.

Referenced by gyro_set_full_scale().

◆ L3GD20_AD_CTRL_REG5

#define L3GD20_AD_CTRL_REG5 0x24

Definition at line 105 of file l3gd20.h.

◆ L3GD20_AD_REFERENCE

#define L3GD20_AD_REFERENCE 0x25

Definition at line 106 of file l3gd20.h.

◆ L3GD20_AD_OUT_TEMP

#define L3GD20_AD_OUT_TEMP 0x26

Definition at line 107 of file l3gd20.h.

◆ L3GD20_AD_STATUS_REG

#define L3GD20_AD_STATUS_REG 0x27

Definition at line 108 of file l3gd20.h.

◆ L3GD20_AD_OUT_X_L

#define L3GD20_AD_OUT_X_L 0x28

Definition at line 109 of file l3gd20.h.

Referenced by gyro_read_raw().

◆ L3GD20_AD_OUT_X_H

#define L3GD20_AD_OUT_X_H 0x29

Definition at line 110 of file l3gd20.h.

◆ L3GD20_AD_OUT_Y_L

#define L3GD20_AD_OUT_Y_L 0x2A

Definition at line 111 of file l3gd20.h.

◆ L3GD20_AD_OUT_Y_H

#define L3GD20_AD_OUT_Y_H 0x2B

Definition at line 112 of file l3gd20.h.

◆ L3GD20_AD_OUT_Z_L

#define L3GD20_AD_OUT_Z_L 0x2C

Definition at line 113 of file l3gd20.h.

◆ L3GD20_AD_OUT_Z_H

#define L3GD20_AD_OUT_Z_H 0x2D

Definition at line 114 of file l3gd20.h.

◆ L3GD20_AD_FIFO_CTRL_REG

#define L3GD20_AD_FIFO_CTRL_REG 0x2E

Definition at line 115 of file l3gd20.h.

◆ L3GD20_AD_FIFO_SRC_REG

#define L3GD20_AD_FIFO_SRC_REG 0x2F

Definition at line 116 of file l3gd20.h.

◆ L3GD20_AD_INT1_CFG

#define L3GD20_AD_INT1_CFG 0x30

Definition at line 117 of file l3gd20.h.

◆ L3GD20_AD_INT1_SRC

#define L3GD20_AD_INT1_SRC 0x31

Definition at line 118 of file l3gd20.h.

◆ L3GD20_AD_INT1_THS_XH

#define L3GD20_AD_INT1_THS_XH 0x32

Definition at line 119 of file l3gd20.h.

◆ L3GD20_AD_INT1_THS_XL

#define L3GD20_AD_INT1_THS_XL 0x33

Definition at line 120 of file l3gd20.h.

◆ L3GD20_AD_INT1_THS_YH

#define L3GD20_AD_INT1_THS_YH 0x34

Definition at line 121 of file l3gd20.h.

◆ L3GD20_AD_INT1_THS_YL

#define L3GD20_AD_INT1_THS_YL 0x35

Definition at line 122 of file l3gd20.h.

◆ L3GD20_AD_INT1_THS_ZH

#define L3GD20_AD_INT1_THS_ZH 0x36

Definition at line 123 of file l3gd20.h.

◆ L3GD20_AD_INT1_THS_ZL

#define L3GD20_AD_INT1_THS_ZL 0x37

Definition at line 124 of file l3gd20.h.

◆ L3GD20_AD_INT1_DURATION

#define L3GD20_AD_INT1_DURATION 0x38

Definition at line 125 of file l3gd20.h.

◆ L3GD20_CTRL_REG1_MASK

#define L3GD20_CTRL_REG1_MASK 0xFF

Definition at line 132 of file l3gd20.h.

◆ L3GD20_CTRL_REG1_XEN

#define L3GD20_CTRL_REG1_XEN (1 << 0)

Definition at line 133 of file l3gd20.h.

Referenced by l3gd20Start().

◆ L3GD20_CTRL_REG1_YEN

#define L3GD20_CTRL_REG1_YEN (1 << 1)

Definition at line 134 of file l3gd20.h.

Referenced by l3gd20Start().

◆ L3GD20_CTRL_REG1_ZEN

#define L3GD20_CTRL_REG1_ZEN (1 << 2)

Definition at line 135 of file l3gd20.h.

Referenced by l3gd20Start().

◆ L3GD20_CTRL_REG1_PD

#define L3GD20_CTRL_REG1_PD (1 << 3)

Definition at line 136 of file l3gd20.h.

Referenced by l3gd20Start().

◆ L3GD20_CTRL_REG1_BW0

#define L3GD20_CTRL_REG1_BW0 (1 << 4)

Definition at line 137 of file l3gd20.h.

◆ L3GD20_CTRL_REG1_BW1

#define L3GD20_CTRL_REG1_BW1 (1 << 5)

Definition at line 138 of file l3gd20.h.

◆ L3GD20_CTRL_REG1_DR0

#define L3GD20_CTRL_REG1_DR0 (1 << 6)

Definition at line 139 of file l3gd20.h.

◆ L3GD20_CTRL_REG1_DR1

#define L3GD20_CTRL_REG1_DR1 (1 << 7)

Definition at line 140 of file l3gd20.h.

◆ L3GD20_CTRL_REG2_MASK

#define L3GD20_CTRL_REG2_MASK 0x3F

Definition at line 147 of file l3gd20.h.

◆ L3GD20_CTRL_REG2_HPCF0

#define L3GD20_CTRL_REG2_HPCF0 (1 << 0)

Definition at line 148 of file l3gd20.h.

◆ L3GD20_CTRL_REG2_HPCF1

#define L3GD20_CTRL_REG2_HPCF1 (1 << 1)

Definition at line 149 of file l3gd20.h.

◆ L3GD20_CTRL_REG2_HPCF2

#define L3GD20_CTRL_REG2_HPCF2 (1 << 2)

Definition at line 150 of file l3gd20.h.

◆ L3GD20_CTRL_REG2_HPCF3

#define L3GD20_CTRL_REG2_HPCF3 (1 << 3)

Definition at line 151 of file l3gd20.h.

◆ L3GD20_CTRL_REG2_HPM0

#define L3GD20_CTRL_REG2_HPM0 (1 << 4)

Definition at line 152 of file l3gd20.h.

◆ L3GD20_CTRL_REG2_HPM1

#define L3GD20_CTRL_REG2_HPM1 (1 << 5)

Definition at line 153 of file l3gd20.h.

◆ L3GD20_CTRL_REG3_MASK

#define L3GD20_CTRL_REG3_MASK 0xFF

Definition at line 160 of file l3gd20.h.

◆ L3GD20_CTRL_REG3_I2_EMPTY

#define L3GD20_CTRL_REG3_I2_EMPTY (1 << 0)

Definition at line 161 of file l3gd20.h.

◆ L3GD20_CTRL_REG3_I2_ORUN

#define L3GD20_CTRL_REG3_I2_ORUN (1 << 1)

Definition at line 162 of file l3gd20.h.

◆ L3GD20_CTRL_REG3_I2_WTM

#define L3GD20_CTRL_REG3_I2_WTM (1 << 2)

Definition at line 163 of file l3gd20.h.

◆ L3GD20_CTRL_REG3_I2_DRDY

#define L3GD20_CTRL_REG3_I2_DRDY (1 << 3)

Definition at line 164 of file l3gd20.h.

◆ L3GD20_CTRL_REG3_PP_OD

#define L3GD20_CTRL_REG3_PP_OD (1 << 4)

Definition at line 165 of file l3gd20.h.

◆ L3GD20_CTRL_REG3_H_LACTIVE

#define L3GD20_CTRL_REG3_H_LACTIVE (1 << 5)

Definition at line 166 of file l3gd20.h.

◆ L3GD20_CTRL_REG3_I1_BOOT

#define L3GD20_CTRL_REG3_I1_BOOT (1 << 6)

Definition at line 167 of file l3gd20.h.

◆ L3GD20_CTRL_REG3_I1_INT1

#define L3GD20_CTRL_REG3_I1_INT1 (1 << 7)

Definition at line 168 of file l3gd20.h.

◆ L3GD20_CTRL_REG4_MASK

#define L3GD20_CTRL_REG4_MASK 0xF1

Definition at line 175 of file l3gd20.h.

◆ L3GD20_CTRL_REG4_SIM

#define L3GD20_CTRL_REG4_SIM (1 << 0)

Definition at line 176 of file l3gd20.h.

◆ L3GD20_CTRL_REG4_FS_MASK

#define L3GD20_CTRL_REG4_FS_MASK 0x30

Definition at line 177 of file l3gd20.h.

Referenced by gyro_set_full_scale().

◆ L3GD20_CTRL_REG4_FS0

#define L3GD20_CTRL_REG4_FS0 (1 << 4)

Definition at line 178 of file l3gd20.h.

◆ L3GD20_CTRL_REG4_FS1

#define L3GD20_CTRL_REG4_FS1 (1 << 5)

Definition at line 179 of file l3gd20.h.

◆ L3GD20_CTRL_REG4_BLE

#define L3GD20_CTRL_REG4_BLE (1 << 6)

Definition at line 180 of file l3gd20.h.

◆ L3GD20_CTRL_REG4_BDU

#define L3GD20_CTRL_REG4_BDU (1 << 7)

Definition at line 181 of file l3gd20.h.

◆ L3GD20_CTRL_REG5_MASK

#define L3GD20_CTRL_REG5_MASK 0xDF

Definition at line 188 of file l3gd20.h.

◆ L3GD20_CTRL_REG5_OUT_SEL0

#define L3GD20_CTRL_REG5_OUT_SEL0 (1 << 0)

Definition at line 189 of file l3gd20.h.

Referenced by l3gd20Start().

◆ L3GD20_CTRL_REG5_OUT_SEL1

#define L3GD20_CTRL_REG5_OUT_SEL1 (1 << 1)

Definition at line 190 of file l3gd20.h.

Referenced by l3gd20Start().

◆ L3GD20_CTRL_REG5_INT1_SEL0

#define L3GD20_CTRL_REG5_INT1_SEL0 (1 << 2)

Definition at line 191 of file l3gd20.h.

Referenced by l3gd20Start().

◆ L3GD20_CTRL_REG5_INT1_SEL1

#define L3GD20_CTRL_REG5_INT1_SEL1 (1 << 3)

Definition at line 192 of file l3gd20.h.

Referenced by l3gd20Start().

◆ L3GD20_CTRL_REG5_HPEN

#define L3GD20_CTRL_REG5_HPEN (1 << 4)

Definition at line 193 of file l3gd20.h.

Referenced by l3gd20Start().

◆ L3GD20_CTRL_REG5_FIFO_EN

#define L3GD20_CTRL_REG5_FIFO_EN (1 << 6)

Definition at line 194 of file l3gd20.h.

◆ L3GD20_CTRL_REG5_BOOT

#define L3GD20_CTRL_REG5_BOOT (1 << 7)

Definition at line 195 of file l3gd20.h.

◆ L3GD20_INT1_CFG_MASK

#define L3GD20_INT1_CFG_MASK 0xFF

Definition at line 202 of file l3gd20.h.

◆ L3GD20_INT1_CFG_XLIE

#define L3GD20_INT1_CFG_XLIE (1 << 0)

Definition at line 203 of file l3gd20.h.

◆ L3GD20_INT1_CFG_XHIE

#define L3GD20_INT1_CFG_XHIE (1 << 1)

Definition at line 204 of file l3gd20.h.

◆ L3GD20_INT1_CFG_YLIE

#define L3GD20_INT1_CFG_YLIE (1 << 2)

Definition at line 205 of file l3gd20.h.

◆ L3GD20_INT1_CFG_YHIE

#define L3GD20_INT1_CFG_YHIE (1 << 3)

Definition at line 206 of file l3gd20.h.

◆ L3GD20_INT1_CFG_ZLIE

#define L3GD20_INT1_CFG_ZLIE (1 << 4)

Definition at line 207 of file l3gd20.h.

◆ L3GD20_INT1_CFG_ZHIE

#define L3GD20_INT1_CFG_ZHIE (1 << 5)

Definition at line 208 of file l3gd20.h.

◆ L3GD20_INT1_CFG_LIR

#define L3GD20_INT1_CFG_LIR (1 << 6)

Definition at line 209 of file l3gd20.h.

◆ L3GD20_INT1_CFG_AND_OR

#define L3GD20_INT1_CFG_AND_OR (1 << 7)

Definition at line 210 of file l3gd20.h.

◆ L3GD20_INT1_SRC_MASK

#define L3GD20_INT1_SRC_MASK 0x7F

Definition at line 217 of file l3gd20.h.

◆ L3GD20_INT1_SRC_XL

#define L3GD20_INT1_SRC_XL (1 << 0)

Definition at line 218 of file l3gd20.h.

◆ L3GD20_INT1_SRC_XH

#define L3GD20_INT1_SRC_XH (1 << 1)

Definition at line 219 of file l3gd20.h.

◆ L3GD20_INT1_SRC_YL

#define L3GD20_INT1_SRC_YL (1 << 2)

Definition at line 220 of file l3gd20.h.

◆ L3GD20_INT1_SRC_YH

#define L3GD20_INT1_SRC_YH (1 << 3)

Definition at line 221 of file l3gd20.h.

◆ L3GD20_INT1_SRC_ZL

#define L3GD20_INT1_SRC_ZL (1 << 4)

Definition at line 222 of file l3gd20.h.

◆ L3GD20_INT1_SRC_ZH

#define L3GD20_INT1_SRC_ZH (1 << 5)

Definition at line 223 of file l3gd20.h.

◆ L3GD20_INT1_SRC_IA

#define L3GD20_INT1_SRC_IA (1 << 6)

Definition at line 224 of file l3gd20.h.

◆ L3GD20_USE_SPI

#define L3GD20_USE_SPI TRUE

L3GD20 SPI interface switch.

If set to TRUE the support for SPI is included.

Note: The default is TRUE.

Definition at line 241 of file l3gd20.h.

◆ L3GD20_SHARED_SPI

#define L3GD20_SHARED_SPI FALSE

L3GD20 shared SPI switch.

If set to TRUE the device acquires SPI bus ownership on each transaction.

Note: The default is FALSE. Requires SPI_USE_MUTUAL_EXCLUSION.

Definition at line 251 of file l3gd20.h.

◆ L3GD20_USE_I2C

#define L3GD20_USE_I2C FALSE

L3GD20 I2C interface switch.

If set to TRUE the support for I2C is included.

Note: The default is FALSE.

Definition at line 260 of file l3gd20.h.

◆ L3GD20_SHARED_I2C

#define L3GD20_SHARED_I2C FALSE

L3GD20 shared I2C switch.

If set to TRUE the device acquires I2C bus ownership on each transaction.

Note: The default is FALSE. Requires I2C_USE_MUTUAL_EXCLUSION.

Definition at line 270 of file l3gd20.h.

◆ L3GD20_USE_ADVANCED

#define L3GD20_USE_ADVANCED FALSE

L3GD20 advanced configurations switch.

If set to TRUE more configurations are available.

Note: The default is FALSE.

Definition at line 279 of file l3gd20.h.

◆ L3GD20_BIAS_ACQ_TIMES

#define L3GD20_BIAS_ACQ_TIMES 50

Number of acquisitions for bias removal.

This is the number of acquisitions performed to compute the bias. A repetition is required in order to remove noise.

Definition at line 288 of file l3gd20.h.

Referenced by gyro_sample_bias().

◆ L3GD20_BIAS_SETTLING_US

#define L3GD20_BIAS_SETTLING_US 5000

Settling time for bias removal.

This is the time between each bias acquisition.

Definition at line 296 of file l3gd20.h.

Referenced by gyro_sample_bias().

◆ _l3gd20_methods_alone

#define _l3gd20_methods_alone

Value:

/* Change full scale value of L3GD20.*/ \

msg_t (*gyro_set_full_scale)(L3GD20Driver *devp, l3gd20_fs_t fs);

gyro_set_full_scale

static msg_t gyro_set_full_scale(L3GD20Driver *devp, l3gd20_fs_t fs)

Changes the L3GD20Driver gyroscope fullscale value.

Definition l3gd20.c:378

l3gd20_fs_t

L3GD20 full scale.

Definition l3gd20.h:347

L3GD20Driver

L3GD20 3-axis gyroscope class.

Definition l3gd20.h:547

L3GD20 specific methods.

Definition at line 506 of file l3gd20.h.

◆ _l3gd20_methods

#define _l3gd20_methods

Value:

_base_object_methods \

_l3gd20_methods_alone

L3GD20 specific methods with inherited ones.

Definition at line 513 of file l3gd20.h.

◆ _l3gd20_data

#define _l3gd20_data

Value:

  _base_sensor_data                                                         \
  /* Driver state.*/                                                        \
  l3gd20_state_t            state;                                          \
  /* Current configuration data.*/                                          \
  const L3GD20Config        *config;                                        \
  /* Gyroscope subsystem axes number.*/                                     \
  size_t                    gyroaxes;                                       \
  /* Gyroscope subsystem current sensitivity.*/                             \
  float                     gyrosensitivity[L3GD20_GYRO_NUMBER_OF_AXES];    \
  /* Gyroscope subsystem current Bias.*/                                    \
  float                     gyrobias[L3GD20_GYRO_NUMBER_OF_AXES];           \
  /* Gyroscope subsystem current full scale value.*/                        \
  float                     gyrofullscale;

L3GD20Driver specific data.

Definition at line 529 of file l3gd20.h.

◆ l3gd20GyroscopeGetAxesNumber

#define l3gd20GyroscopeGetAxesNumber ( devp )

Value:

gyroscopeGetAxesNumber(&((devp)->gyro_if))

gyroscopeGetAxesNumber

#define gyroscopeGetAxesNumber(ip)

Gyroscope get axes number.

Definition ex_gyroscope.h:110

Return the number of axes of the BaseGyroscope.

Parameters

[in] devp pointer to L3GD20Driver.

Returns: the number of axes.

Function Class:: Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 569 of file l3gd20.h.

◆ l3gd20GyroscopeReadRaw

#define l3gd20GyroscopeReadRaw	(		devp,
			axes )

Value:

gyroscopeReadRaw(&((devp)->gyro_if), axes)

gyroscopeReadRaw

#define gyroscopeReadRaw(ip, dp)

Gyroscope read raw data.

Definition ex_gyroscope.h:125

Retrieves raw data from the BaseGyroscope.

Note: This data is retrieved from MEMS register without any algebraical manipulation.; The axes array must be at least the same size of the BaseGyroscope axes number.

Parameters

[in]	devp	pointer to `L3GD20Driver`.
[out]	axes	a buffer which would be filled with raw data.

Returns: The operation status.

Return values

MSG_OK if the function succeeded.

Function Class:: Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 587 of file l3gd20.h.

◆ l3gd20GyroscopeReadCooked

#define l3gd20GyroscopeReadCooked	(		devp,
			axes )

Value:

gyroscopeReadCooked(&((devp)->gyro_if), axes)

gyroscopeReadCooked

#define gyroscopeReadCooked(ip, dp)

Gyroscope read cooked data.

Definition ex_gyroscope.h:140

Retrieves cooked data from the BaseGyroscope.

Note: This data is manipulated according to the formula cooked = (raw * sensitivity) - bias.; Final data is expressed as DPS.; The axes array must be at least the same size of the BaseGyroscope axes number.

Parameters

[in]	devp	pointer to `L3GD20Driver`.
[out]	axes	a buffer which would be filled with cooked data.

Returns: The operation status.

Return values

MSG_OK if the function succeeded.

Function Class:: Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 606 of file l3gd20.h.

◆ l3gd20GyroscopeSampleBias

#define l3gd20GyroscopeSampleBias ( devp )

Value:

gyroscopeSampleBias(&((devp)->gyro_if))

gyroscopeSampleBias

#define gyroscopeSampleBias(ip)

Gyroscope bias sampling procedure.

Definition ex_gyroscope.h:157

Samples bias values for the BaseGyroscope.

Note: The L3GD20 shall not be moved during the whole procedure.; After this function internal bias is automatically updated.; The behavior of this function depends on L3GD20_BIAS_ACQ_TIMES and L3GD20_BIAS_SETTLING_US.

Parameters

[in] devp pointer to L3GD20Driver.

Returns: The operation status.

Return values

MSG_OK if the function succeeded.

Function Class:: Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 623 of file l3gd20.h.

◆ l3gd20GyroscopeSetBias

#define l3gd20GyroscopeSetBias	(		devp,
			bp )

Value:

gyroscopeSetBias(&((devp)->gyro_if), bp)

gyroscopeSetBias

#define gyroscopeSetBias(ip, bp)

Updates gyroscope bias data from received buffer.

Definition ex_gyroscope.h:174

Set bias values for the BaseGyroscope.

Note: Bias must be expressed as DPS.; The bias buffer must be at least the same size of the BaseGyroscope axes number.

Parameters

[in]	devp	pointer to `L3GD20Driver`.
[in]	bp	a buffer which contains biases.

Returns: The operation status.

Return values

MSG_OK if the function succeeded.

Function Class:: Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 640 of file l3gd20.h.

◆ l3gd20GyroscopeResetBias

#define l3gd20GyroscopeResetBias ( devp )

Value:

gyroscopeResetBias(&((devp)->gyro_if))

gyroscopeResetBias

#define gyroscopeResetBias(ip)

Reset gyroscope bias data restoring it to zero.

Definition ex_gyroscope.h:188

Reset bias values for the BaseGyroscope.

Note: Default biases value are obtained from device datasheet when available otherwise they are considered zero.

Parameters

[in] devp pointer to L3GD20Driver.

Returns: The operation status.

Return values

MSG_OK if the function succeeded.

Function Class:: Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 655 of file l3gd20.h.

◆ l3gd20GyroscopeSetSensitivity

#define l3gd20GyroscopeSetSensitivity	(		devp,
			sp )

Value:

gyroscopeSetSensitivity(&((devp)->gyro_if), sp)

gyroscopeSetSensitivity

#define gyroscopeSetSensitivity(ip, sp)

Updates gyroscope sensitivity data from received buffer.

Definition ex_gyroscope.h:205

Set sensitivity values for the BaseGyroscope.

Note: Sensitivity must be expressed as DPS/LSB.; The sensitivity buffer must be at least the same size of the BaseGyroscope axes number.

Parameters

[in]	devp	pointer to `L3GD20Driver`.
[in]	sp	a buffer which contains sensitivities.

Returns: The operation status.

Return values

MSG_OK if the function succeeded.

Function Class:: Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 672 of file l3gd20.h.

◆ l3gd20GyroscopeResetSensitivity

#define l3gd20GyroscopeResetSensitivity ( devp )

Value:

gyroscopeResetSensitivity(&((devp)->gyro_if))

gyroscopeResetSensitivity

#define gyroscopeResetSensitivity(ip)

Reset gyroscope sensitivity data restoring it to its typical value.

Definition ex_gyroscope.h:220

Reset sensitivity values for the BaseGyroscope.

Note: Default sensitivities value are obtained from device datasheet.

Parameters

[in] devp pointer to L3GD20Driver.

Returns: The operation status.

Return values

MSG_OK	if the function succeeded.
MSG_RESET	otherwise.

Function Class:: Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 687 of file l3gd20.h.

◆ l3gd20GyroscopeSetFullScale

#define l3gd20GyroscopeSetFullScale	(		devp,
			fs )

Value:

(devp)->vmt->acc_set_full_scale(devp, fs)

vmt

static const struct EFlashDriverVMT vmt

Definition hal_efl.c:71

Changes the L3GD20Driver gyroscope fullscale value.

Note: This function also rescale sensitivities and biases based on previous and next fullscale value.; A recalibration is highly suggested after calling this function.

Parameters

[in]	devp	pointer to `L3GD20Driver`.
[in]	fs	new fullscale value.

Returns: The operation status.

Return values

MSG_OK	if the function succeeded.
MSG_RESET	otherwise.

Function Class:: Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 705 of file l3gd20.h.

Typedef Documentation

◆ L3GD20Driver

typedef struct L3GD20Driver L3GD20Driver

Structure representing a L3GD20 driver.

Definition at line 342 of file l3gd20.h.

Enumeration Type Documentation

◆ l3gd20_fs_t

enum l3gd20_fs_t

L3GD20 full scale.

Enumerator
L3GD20_FS_250DPS	Full scale 250 degree per second.
L3GD20_FS_500DPS	Full scale 500 degree per second.
L3GD20_FS_2000DPS	Full scale 2000 degree per second.

Definition at line 347 of file l3gd20.h.

◆ l3gd20_odr_t

enum l3gd20_odr_t

L3GD20 output data rate and bandwidth.

Enumerator
L3GD20_ODR_95HZ	Output data rate 95 Hz.
L3GD20_ODR_190HZ	Output data rate 190 Hz.
L3GD20_ODR_380HZ	Output data rate 380 Hz.
L3GD20_ODR_760HZ	Output data rate 760 Hz.

Definition at line 356 of file l3gd20.h.

◆ l3gd20_bw_t

enum l3gd20_bw_t

L3GD20 low pass filter 1 bandwidth.

Enumerator
L3GD20_BW0	LPF1 bandwidth. Depends on ODR.
L3GD20_BW1	LPF1 bandwidth. Depends on ODR.
L3GD20_BW2	LPF1 bandwidth. Depends on ODR.
L3GD20_BW3	LPF1 bandwidth. Depends on ODR.

Definition at line 366 of file l3gd20.h.

◆ l3gd20_bdu_t

enum l3gd20_bdu_t

L3GD20 block data update.

Enumerator
L3GD20_BDU_CONTINUOUS	Block data continuously updated.
L3GD20_BDU_BLOCKED	Block data updated after reading.

Definition at line 376 of file l3gd20.h.

◆ l3gd20_hpm_t

enum l3gd20_hpm_t

L3GD20 HP filter mode.

Enumerator
L3GD20_HPM_NORMAL	Normal mode.
L3GD20_HPM_REFERENCE	Reference signal for filtering.
L3GD20_HPM_AUTORESET	Autoreset on interrupt event.
L3GD20_HPM_BYPASSED	HP filter bypassed

Definition at line 384 of file l3gd20.h.

◆ l3gd20_hpcf_t

enum l3gd20_hpcf_t

L3GD20 HP configuration.

Enumerator
L3GD20_HPCF_0	Depends on ODR (Table 26 for more).
L3GD20_HPCF_1	Depends on ODR (Table 26 for more).
L3GD20_HPCF_2	Depends on ODR (Table 26 for more).
L3GD20_HPCF_3	Depends on ODR (Table 26 for more).
L3GD20_HPCF_4	Depends on ODR (Table 26 for more).
L3GD20_HPCF_5	Depends on ODR (Table 26 for more).
L3GD20_HPCF_6	Depends on ODR (Table 26 for more).
L3GD20_HPCF_7	Depends on ODR (Table 26 for more).
L3GD20_HPCF_8	Depends on ODR (Table 26 for more).
L3GD20_HPCF_9	Depends on ODR (Table 26 for more).

Definition at line 394 of file l3gd20.h.

◆ l3gd20_lp2m_t

enum l3gd20_lp2m_t

L3GD20 LP2 filter mode.

To activate LP2 HP should be active

Enumerator
L3GD20_LP2M_ON	LP2 filter activated.
L3GD20_LP2M_BYPASSED	LP2 filter bypassed.

Definition at line 411 of file l3gd20.h.

◆ l3gd20_end_t

enum l3gd20_end_t

L3GD20 endianness.

Enumerator
L3GD20_END_LITTLE	Little endian.
L3GD20_END_BIG	Big endian.

Definition at line 419 of file l3gd20.h.

◆ l3gd20_state_t

enum l3gd20_state_t

Driver state machine possible states.

Enumerator
L3GD20_UNINIT	Not initialized.
L3GD20_STOP	Stopped.
L3GD20_READY	Ready.

Definition at line 427 of file l3gd20.h.

Function Documentation

◆ l3gd20SPIReadRegister()

void l3gd20SPIReadRegister	(	SPIDriver *	spip,
		uint8_t	reg,
		size_t	n,
		uint8_t *	b )

static

Reads a generic register value using SPI.

Precondition: The SPI interface must be initialized and the driver started.

Parameters

[in]	spip	pointer to the SPI interface
[in]	reg	starting register address
[in]	n	number of consecutive registers to read
[in]	b	pointer to an output buffer.

Definition at line 59 of file l3gd20.c.

References L3GD20_MS, L3GD20_RW, spiReceive(), spiSelect(), spiSend(), and spiUnselect().

Referenced by gyro_read_raw(), and gyro_set_full_scale().

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◆ l3gd20SPIWriteRegister()

void l3gd20SPIWriteRegister	(	SPIDriver *	spip,
		uint8_t	reg,
		size_t	n,
		uint8_t *	b )

static

Writes a value into a generic register using SPI.

Precondition: The SPI interface must be initialized and the driver started.

Parameters

[in]	spip	pointer to the SPI interface
[in]	reg	starting register address
[in]	n	number of adjacent registers to write
[in]	b	pointer to a buffer of values.

Definition at line 78 of file l3gd20.c.

References L3GD20_MS, spiSelect(), spiSend(), and spiUnselect().

Referenced by gyro_set_full_scale(), l3gd20Start(), and l3gd20Stop().

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◆ gyro_get_axes_number()

size_t gyro_get_axes_number ( void * ip )

static

Return the number of axes of the BaseGyroscope.

Parameters

[in] ip pointer to BaseGyroscope interface.

Returns: the number of axes.

Definition at line 96 of file l3gd20.c.

References L3GD20_GYRO_NUMBER_OF_AXES.

◆ gyro_read_raw()

msg_t gyro_read_raw	(	void *	ip,
		int32_t	axes[L3GD20_GYRO_NUMBER_OF_AXES] )

static

Retrieves raw data from the BaseGyroscope.

Note: This data is retrieved from MEMS register without any algebraical manipulation.; The axes array must be at least the same size of the BaseGyroscope axes number.

Parameters

[in]	ip	pointer to `BaseGyroscope` interface.
[out]	axes	a buffer which would be filled with raw data.

Returns: The operation status.

Return values

MSG_OK if the function succeeded.

Definition at line 115 of file l3gd20.c.

References L3GD20_AD_OUT_X_L, L3GD20_GYRO_NUMBER_OF_AXES, L3GD20_READY, l3gd20SPIReadRegister(), MSG_OK, objGetInstance, osalDbgAssert, osalDbgCheck, SPI_READY, spiAcquireBus(), spiReleaseBus(), and spiStart().

Referenced by gyro_read_cooked(), and gyro_sample_bias().

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◆ gyro_read_cooked()

msg_t gyro_read_cooked	(	void *	ip,
		float	axes[] )

static

Retrieves cooked data from the BaseGyroscope.

Note: This data is manipulated according to the formula cooked = (raw * sensitivity) - bias.; Final data is expressed as DPS.; The axes array must be at least the same size of the BaseGyroscope axes number.

Parameters

[in]	ip	pointer to `BaseGyroscope` interface.
[out]	axes	a buffer which would be filled with cooked data.

Returns: The operation status.

Return values

MSG_OK if the function succeeded.

Definition at line 167 of file l3gd20.c.

References gyro_read_raw(), L3GD20_GYRO_NUMBER_OF_AXES, L3GD20_READY, objGetInstance, osalDbgAssert, and osalDbgCheck.

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◆ gyro_sample_bias()

msg_t gyro_sample_bias ( void * ip )

static

Samples bias values for the BaseGyroscope.

Note: The L3GD20 shall not be moved during the whole procedure.; After this function internal bias is automatically updated.; The behavior of this function depends on L3GD20_BIAS_ACQ_TIMES and L3GD20_BIAS_SETTLING_US.

Parameters

[in] ip pointer to BaseGyroscope interface.

Returns: The operation status.

Return values

MSG_OK if the function succeeded.

Definition at line 200 of file l3gd20.c.

References gyro_read_raw(), L3GD20_BIAS_ACQ_TIMES, L3GD20_BIAS_SETTLING_US, L3GD20_GYRO_NUMBER_OF_AXES, L3GD20_READY, MSG_OK, objGetInstance, osalDbgAssert, osalDbgCheck, osalThreadSleepMicroseconds, and SPI_READY.

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◆ gyro_set_bias()

msg_t gyro_set_bias	(	void *	ip,
		float *	bp )

static

Set bias values for the BaseGyroscope.

Note: Bias must be expressed as DPS.; The bias buffer must be at least the same size of the BaseGyroscope axes number.

Parameters

[in]	ip	pointer to `BaseGyroscope` interface.
[in]	bp	a buffer which contains biases.

Returns: The operation status.

Return values

MSG_OK if the function succeeded.

Definition at line 248 of file l3gd20.c.

References L3GD20_GYRO_NUMBER_OF_AXES, L3GD20_READY, MSG_OK, objGetInstance, osalDbgAssert, and osalDbgCheck.

◆ gyro_reset_bias()

msg_t gyro_reset_bias ( void * ip )

static

Reset bias values for the BaseGyroscope.

Note: Default biases value are obtained from device datasheet when available otherwise they are considered zero.

Parameters

[in] ip pointer to BaseGyroscope interface.

Returns: The operation status.

Return values

MSG_OK if the function succeeded.

Definition at line 277 of file l3gd20.c.

References L3GD20_GYRO_BIAS, L3GD20_GYRO_NUMBER_OF_AXES, L3GD20_READY, MSG_OK, objGetInstance, osalDbgAssert, and osalDbgCheck.

◆ gyro_set_sensivity()

msg_t gyro_set_sensivity	(	void *	ip,
		float *	sp )

static

Set sensitivity values for the BaseGyroscope.

Note: Sensitivity must be expressed as DPS/LSB.; The sensitivity buffer must be at least the same size of the BaseGyroscope axes number.

Parameters

[in]	ip	pointer to `BaseGyroscope` interface.
[in]	sp	a buffer which contains sensitivities.

Returns: The operation status.

Return values

MSG_OK if the function succeeded.

Definition at line 307 of file l3gd20.c.

References L3GD20_GYRO_NUMBER_OF_AXES, L3GD20_READY, MSG_OK, objGetInstance, osalDbgAssert, and osalDbgCheck.

◆ gyro_reset_sensivity()

msg_t gyro_reset_sensivity ( void * ip )

static

Reset sensitivity values for the BaseGyroscope.

Note: Default sensitivities value are obtained from device datasheet.

Parameters

[in] ip pointer to BaseGyroscope interface.

Returns: The operation status.

Return values

MSG_OK	if the function succeeded.
MSG_RESET	otherwise.

Definition at line 336 of file l3gd20.c.

References FALSE, L3GD20_FS_2000DPS, L3GD20_FS_250DPS, L3GD20_FS_500DPS, L3GD20_GYRO_NUMBER_OF_AXES, L3GD20_GYRO_SENS_2000DPS, L3GD20_GYRO_SENS_250DPS, L3GD20_GYRO_SENS_500DPS, L3GD20_READY, MSG_OK, MSG_RESET, objGetInstance, osalDbgAssert, and osalDbgCheck.

◆ gyro_set_full_scale()

msg_t gyro_set_full_scale	(	L3GD20Driver *	devp,
		l3gd20_fs_t	fs )

static

Changes the L3GD20Driver gyroscope fullscale value.

Note: This function also rescale sensitivities and biases based on previous and next fullscale value.; A recalibration is highly suggested after calling this function.

Parameters

[in]	devp	pointer to `BaseGyroscope` interface.
[in]	fs	new fullscale value.

Returns: The operation status.

Return values

MSG_OK	if the function succeeded.
MSG_RESET	otherwise.

Definition at line 378 of file l3gd20.c.

References L3GD20_2000DPS, L3GD20_250DPS, L3GD20_500DPS, L3GD20_AD_CTRL_REG4, L3GD20_CTRL_REG4_FS_MASK, L3GD20_FS_2000DPS, L3GD20_FS_250DPS, L3GD20_FS_500DPS, L3GD20_GYRO_NUMBER_OF_AXES, L3GD20_READY, l3gd20SPIReadRegister(), l3gd20SPIWriteRegister(), MSG_OK, MSG_RESET, osalDbgAssert, osalDbgCheck, SPI_READY, spiAcquireBus(), spiReleaseBus(), and spiStart().

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◆ l3gd20ObjectInit()

void l3gd20ObjectInit ( L3GD20Driver * devp )

Initializes an instance.

Parameters

[out] devp pointer to the L3GD20Driver object

Function Class:: Object or module nitializer function.

Definition at line 473 of file l3gd20.c.

References L3GD20Driver::gyro_if, L3GD20_STOP, BaseGyroscope::vmt, L3GD20Driver::vmt, vmt_device, and vmt_gyroscope.

◆ l3gd20Start()

void l3gd20Start	(	L3GD20Driver *	devp,
		const L3GD20Config *	config )

Configures and activates L3GD20 Complex Driver peripheral.

Parameters

[in]	devp	pointer to the `L3GD20Driver` object
[in]	config	pointer to the `L3GD20Config` object

Function Class:: Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 490 of file l3gd20.c.

References FALSE, L3GD20_2000DPS, L3GD20_250DPS, L3GD20_500DPS, L3GD20_AD_CTRL_REG1, L3GD20_CTRL_REG1_PD, L3GD20_CTRL_REG1_XEN, L3GD20_CTRL_REG1_YEN, L3GD20_CTRL_REG1_ZEN, L3GD20_CTRL_REG5_HPEN, L3GD20_CTRL_REG5_INT1_SEL0, L3GD20_CTRL_REG5_INT1_SEL1, L3GD20_CTRL_REG5_OUT_SEL0, L3GD20_CTRL_REG5_OUT_SEL1, L3GD20_FS_2000DPS, L3GD20_FS_250DPS, L3GD20_FS_500DPS, L3GD20_GYRO_BIAS, L3GD20_GYRO_NUMBER_OF_AXES, L3GD20_GYRO_SENS_2000DPS, L3GD20_GYRO_SENS_250DPS, L3GD20_GYRO_SENS_500DPS, L3GD20_HPM_BYPASSED, L3GD20_LP2M_BYPASSED, L3GD20_READY, L3GD20_STOP, l3gd20SPIWriteRegister(), osalDbgAssert, osalDbgCheck, osalThreadSleepMilliseconds, spiAcquireBus(), spiReleaseBus(), and spiStart().

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◆ l3gd20Stop()

void l3gd20Stop ( L3GD20Driver * devp )

Deactivates the L3GD20 Complex Driver peripheral.

Parameters

[in] devp pointer to the L3GD20Driver object

Function Class:: Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 613 of file l3gd20.c.

References L3GD20_AD_CTRL_REG1, L3GD20_READY, L3GD20_STOP, l3gd20SPIWriteRegister(), osalDbgAssert, osalDbgCheck, spiAcquireBus(), spiReleaseBus(), spiStart(), and spiStop().

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Variable Documentation

◆ vmt_device

const struct L3GD20VMT vmt_device

static

Initial value:

= {
  (size_t)0,
  gyro_set_full_scale
}

Definition at line 450 of file l3gd20.c.

◆ vmt_gyroscope

const struct BaseGyroscopeVMT vmt_gyroscope

static

Initial value:

= {
  sizeof(struct L3GD20VMT*),
  gyro_get_axes_number, gyro_read_raw, gyro_read_cooked,
  gyro_sample_bias, gyro_set_bias, gyro_reset_bias,
  gyro_set_sensivity, gyro_reset_sensivity
}

Definition at line 455 of file l3gd20.c.

Referenced by l3gd20ObjectInit(), lsm6ds0ObjectInit(), and lsm6dslObjectInit().

Detailed Description

L3GD20 data structures and types.

Version identification

L3GD20 communication interfaces related bit masks

L3GD20 register addresses

L3GD20_CTRL_REG1 register bits definitions

L3GD20_CTRL_REG2 register bits definitions

L3GD20_CTRL_REG3 register bits definitions

L3GD20_CTRL_REG4 register bits definitions

L3GD20_CTRL_REG5 register bits definitions

L3GD20_INT1_CFG register bits definitions

L3GD20_INT1_SRC register bits definitions

Configuration options

Data Structures

Macros

Functions

Variables

Macro Definition Documentation

◆ EX_L3GD20_VERSION

◆ EX_L3GD20_MAJOR

◆ EX_L3GD20_MINOR

◆ EX_L3GD20_PATCH

◆ L3GD20_GYRO_NUMBER_OF_AXES

◆ L3GD20_250DPS

◆ L3GD20_500DPS

◆ L3GD20_2000DPS

◆ L3GD20_GYRO_SENS_250DPS

◆ L3GD20_GYRO_SENS_500DPS

◆ L3GD20_GYRO_SENS_2000DPS

◆ L3GD20_GYRO_BIAS

◆ L3GD20_DI_MASK

◆ L3GD20_DI

◆ L3GD20_AD_MASK

◆ L3GD20_AD

◆ L3GD20_MS

◆ L3GD20_RW

◆ L3GD20_AD_WHO_AM_I

◆ L3GD20_AD_CTRL_REG1

◆ L3GD20_AD_CTRL_REG2

◆ L3GD20_AD_CTRL_REG3

◆ L3GD20_AD_CTRL_REG4

◆ L3GD20_AD_CTRL_REG5

◆ L3GD20_AD_REFERENCE

◆ L3GD20_AD_OUT_TEMP

◆ L3GD20_AD_STATUS_REG

◆ L3GD20_AD_OUT_X_L

◆ L3GD20_AD_OUT_X_H

◆ L3GD20_AD_OUT_Y_L

◆ L3GD20_AD_OUT_Y_H

◆ L3GD20_AD_OUT_Z_L

◆ L3GD20_AD_OUT_Z_H

◆ L3GD20_AD_FIFO_CTRL_REG

◆ L3GD20_AD_FIFO_SRC_REG

◆ L3GD20_AD_INT1_CFG

◆ L3GD20_AD_INT1_SRC

◆ L3GD20_AD_INT1_THS_XH

◆ L3GD20_AD_INT1_THS_XL

◆ L3GD20_AD_INT1_THS_YH

◆ L3GD20_AD_INT1_THS_YL

◆ L3GD20_AD_INT1_THS_ZH

◆ L3GD20_AD_INT1_THS_ZL

◆ L3GD20_AD_INT1_DURATION

◆ L3GD20_CTRL_REG1_MASK

◆ L3GD20_CTRL_REG1_XEN

◆ L3GD20_CTRL_REG1_YEN

◆ L3GD20_CTRL_REG1_ZEN

◆ L3GD20_CTRL_REG1_PD

◆ L3GD20_CTRL_REG1_BW0

◆ L3GD20_CTRL_REG1_BW1

◆ L3GD20_CTRL_REG1_DR0

◆ L3GD20_CTRL_REG1_DR1

◆ L3GD20_CTRL_REG2_MASK

◆ L3GD20_CTRL_REG2_HPCF0

◆ L3GD20_CTRL_REG2_HPCF1

◆ L3GD20_CTRL_REG2_HPCF2

◆ L3GD20_CTRL_REG2_HPCF3

◆ L3GD20_CTRL_REG2_HPM0

◆ L3GD20_CTRL_REG2_HPM1

◆ L3GD20_CTRL_REG3_MASK

◆ L3GD20_CTRL_REG3_I2_EMPTY