Collaboration diagram for L3GD20:

Detailed Description

Macros
#define	l3gd20GyroscopeGetAxesNumber(devp) gyroscopeGetAxesNumber(&((devp)->gyro_if))
	Return the number of axes of the BaseGyroscope. More...

#define	l3gd20GyroscopeReadRaw(devp, axes) gyroscopeReadRaw(&((devp)->gyro_if), axes)
	Retrieves raw data from the BaseGyroscope. More...

#define	l3gd20GyroscopeReadCooked(devp, axes) gyroscopeReadCooked(&((devp)->gyro_if), axes)
	Retrieves cooked data from the BaseGyroscope. More...

#define	l3gd20GyroscopeSampleBias(devp) gyroscopeSampleBias(&((devp)->gyro_if))
	Samples bias values for the BaseGyroscope. More...

#define	l3gd20GyroscopeSetBias(devp, bp) gyroscopeSetBias(&((devp)->gyro_if), bp)
	Set bias values for the BaseGyroscope. More...

#define	l3gd20GyroscopeResetBias(devp) gyroscopeResetBias(&((devp)->gyro_if))
	Reset bias values for the BaseGyroscope. More...

#define	l3gd20GyroscopeSetSensitivity(devp, sp) gyroscopeSetSensitivity(&((devp)->gyro_if), sp)
	Set sensitivity values for the BaseGyroscope. More...

#define	l3gd20GyroscopeResetSensitivity(devp) gyroscopeResetSensitivity(&((devp)->gyro_if))
	Reset sensitivity values for the BaseGyroscope. More...

#define	l3gd20GyroscopeSetFullScale(devp, fs) (devp)->vmt->acc_set_full_scale(devp, fs)
	Changes the L3GD20Driver gyroscope fullscale value. More...

Version identification
#define	EX_L3GD20_VERSION "1.1.2"
	L3GD20 driver version string. More...

#define	EX_L3GD20_MAJOR 1
	L3GD20 driver version major number. More...

#define	EX_L3GD20_MINOR 1
	L3GD20 driver version minor number. More...

#define	EX_L3GD20_PATCH 2
	L3GD20 driver version patch number. More...

#define	L3GD20_GYRO_NUMBER_OF_AXES 3U
	L3GD20 gyroscope system characteristics. More...

L3GD20 communication interfaces related bit masks
#define	L3GD20_DI_MASK 0xFF

#define	L3GD20_DI(n) (1 << n)

#define	L3GD20_AD_MASK 0x3F

#define	L3GD20_AD(n) (1 << 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. More...

#define	L3GD20_SHARED_SPI FALSE
	L3GD20 shared SPI switch. More...

#define	L3GD20_USE_I2C FALSE
	L3GD20 I2C interface switch. More...

#define	L3GD20_SHARED_I2C FALSE
	L3GD20 shared I2C switch. More...

#define	L3GD20_USE_ADVANCED FALSE
	L3GD20 advanced configurations switch. More...

#define	L3GD20_BIAS_ACQ_TIMES 50
	Number of acquisitions for bias removal. More...

#define	L3GD20_BIAS_SETTLING_US 5000
	Settling time for bias removal. More...

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. More...

#define	_l3gd20_methods_alone
	`L3GD20` specific methods. More...

#define	_l3gd20_methods
	`L3GD20` specific methods with inherited ones. More...

#define	_l3gd20_data
	`L3GD20Driver` specific data. More...

Data Structures
struct	L3GD20Config
	L3GD20 configuration structure. More...

struct	L3GD20VMT
	`L3GD20` virtual methods table. More...

struct	L3GD20Driver
	L3GD20 3-axis gyroscope class. More...

Functions
static void	l3gd20SPIReadRegister (SPIDriver spip, uint8_t reg, size_t n, uint8_t b)
	Reads a generic register value using SPI. More...

static void	l3gd20SPIWriteRegister (SPIDriver spip, uint8_t reg, size_t n, uint8_t b)
	Writes a value into a generic register using SPI. More...

static size_t	gyro_get_axes_number (void *ip)
	Return the number of axes of the BaseGyroscope. More...

static msg_t	gyro_read_raw (void *ip, int32_t axes[L3GD20_GYRO_NUMBER_OF_AXES])
	Retrieves raw data from the BaseGyroscope. More...

static msg_t	gyro_read_cooked (void *ip, float axes[])
	Retrieves cooked data from the BaseGyroscope. More...

static msg_t	gyro_sample_bias (void *ip)
	Samples bias values for the BaseGyroscope. More...

static msg_t	gyro_set_bias (void ip, float bp)
	Set bias values for the BaseGyroscope. More...

static msg_t	gyro_reset_bias (void *ip)
	Reset bias values for the BaseGyroscope. More...

static msg_t	gyro_set_sensivity (void ip, float sp)
	Set sensitivity values for the BaseGyroscope. More...

static msg_t	gyro_reset_sensivity (void *ip)
	Reset sensitivity values for the BaseGyroscope. More...

static msg_t	gyro_set_full_scale (L3GD20Driver *devp, l3gd20_fs_t fs)
	Changes the L3GD20Driver gyroscope fullscale value. More...

void	l3gd20ObjectInit (L3GD20Driver *devp)
	Initializes an instance. More...

void	l3gd20Start (L3GD20Driver devp, const L3GD20Config config)
	Configures and activates L3GD20 Complex Driver peripheral. More...

void	l3gd20Stop (L3GD20Driver *devp)
	Deactivates the L3GD20 Complex Driver peripheral. More...

Macro Definition Documentation

◆ EX_L3GD20_VERSION

#define EX_L3GD20_VERSION "1.1.2"

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 2

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.

◆ 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.

◆ 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.

◆ _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);

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

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

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

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

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

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

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

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

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

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()

static 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.

Referenced by gyro_read_raw().

◆ l3gd20SPIWriteRegister()

static 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.

Referenced by l3gd20Stop().

◆ gyro_get_axes_number()

static 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()

static 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_GYRO_NUMBER_OF_AXES, L3GD20_READY, l3gd20SPIReadRegister(), MSG_OK, objGetInstance, osalDbgAssert, osalDbgCheck, SPI_READY, spiAcquireBus(), and spiStart().

Referenced by gyro_read_cooked(), and gyro_sample_bias().

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◆ gyro_read_cooked()

static 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()

static 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()

static 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()

static 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_NUMBER_OF_AXES, L3GD20_READY, MSG_OK, objGetInstance, osalDbgAssert, and osalDbgCheck.

◆ gyro_set_sensivity()

static 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()

static 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 L3GD20_FS_250DPS, L3GD20_GYRO_NUMBER_OF_AXES, L3GD20_READY, MSG_OK, objGetInstance, osalDbgAssert, and osalDbgCheck.

◆ gyro_set_full_scale()

static 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_FS_250DPS, L3GD20_READY, MSG_OK, osalDbgAssert, osalDbgCheck, and SPI_READY.

◆ l3gd20ObjectInit()

void l3gd20ObjectInit ( L3GD20Driver * devp )

Initializes an instance.

Parameters

[out] devp pointer to the L3GD20Driver object

Function Class:: Initializer, this function just initializes an object and can be invoked before the kernel is initialized.

Definition at line 473 of file l3gd20.c.

References L3GD20Driver::vmt.

◆ 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 L3GD20_READY, L3GD20_STOP, osalDbgAssert, and osalDbgCheck.

◆ 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_READY, L3GD20_STOP, l3gd20SPIWriteRegister(), osalDbgAssert, osalDbgCheck, spiAcquireBus(), and spiStart().

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Detailed Description

Macros

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

L3GD20 data structures and types.

Data Structures

Functions

Macro Definition Documentation

◆ EX_L3GD20_VERSION

◆ EX_L3GD20_MAJOR

◆ EX_L3GD20_MINOR

◆ EX_L3GD20_PATCH

◆ L3GD20_GYRO_NUMBER_OF_AXES

◆ L3GD20_USE_SPI

◆ L3GD20_SHARED_SPI

◆ L3GD20_USE_I2C

◆ L3GD20_SHARED_I2C

◆ L3GD20_USE_ADVANCED

◆ L3GD20_BIAS_ACQ_TIMES

◆ L3GD20_BIAS_SETTLING_US

◆ _l3gd20_methods_alone

◆ _l3gd20_methods

◆ _l3gd20_data

◆ l3gd20GyroscopeGetAxesNumber

◆ l3gd20GyroscopeReadRaw

◆ l3gd20GyroscopeReadCooked

◆ l3gd20GyroscopeSampleBias

◆ l3gd20GyroscopeSetBias

◆ l3gd20GyroscopeResetBias

◆ l3gd20GyroscopeSetSensitivity

◆ l3gd20GyroscopeResetSensitivity

◆ l3gd20GyroscopeSetFullScale

Typedef Documentation

◆ L3GD20Driver

Enumeration Type Documentation

◆ l3gd20_fs_t

◆ l3gd20_odr_t

◆ l3gd20_bw_t

◆ l3gd20_bdu_t

◆ l3gd20_hpm_t

◆ l3gd20_hpcf_t

◆ l3gd20_lp2m_t

◆ l3gd20_end_t

◆ l3gd20_state_t

Function Documentation

◆ l3gd20SPIReadRegister()

◆ l3gd20SPIWriteRegister()

◆ 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()

◆ gyro_set_full_scale()

◆ l3gd20ObjectInit()

◆ l3gd20Start()

◆ l3gd20Stop()