L3G4200D gyroscope

Device driver for the L3G4200D gyroscope.

This driver provides [S]ensor [A]ctuator [U]ber [L]ayer capabilities.

Note

The current state of the driver only implements a very basic polling mode.

enum l3g4200d_scale_t
L3G4200D_SCALE_250DPS = 0x0
scale: 250 degree per second
L3G4200D_SCALE_500DPS = 0x1
scale: 500 degree per second
L3G4200D_SCALE_2000DPS = 0x2
scale: 2000 degree per second
enum l3g4200d_mode_t
L3G4200D_MODE_100_12 = 0x0
data rate: 100Hz, cut-off: 12.5Hz
L3G4200D_MODE_100_25 = 0x1
data rate: 100Hz, cut-off: 25Hz
L3G4200D_MODE_200_12 = 0x4
data rate: 200Hz, cut-off: 12.5Hz
L3G4200D_MODE_200_25 = 0x5
data rate: 200Hz, cut-off: 25Hz
L3G4200D_MODE_200_50 = 0x6
data rate: 200Hz, cut-off: 50Hz
L3G4200D_MODE_200_70 = 0x7
data rate: 200Hz, cut-off: 70Hz
L3G4200D_MODE_400_20 = 0x8
data rate: 400Hz, cut-off: 20Hz
L3G4200D_MODE_400_25 = 0x9
data rate: 400Hz, cut-off: 25Hz
L3G4200D_MODE_400_50 = 0xa
data rate: 400Hz, cut-off: 50Hz
L3G4200D_MODE_400_110 = 0xb
data rate: 400Hz, cut-off: 110Hz
L3G4200D_MODE_800_30 = 0xc
data rate: 800Hz, cut-off: 30Hz
L3G4200D_MODE_800_35 = 0xd
data rate: 800Hz, cut-off: 35Hz
L3G4200D_MODE_800_50 = 0xe
data rate: 800Hz, cut-off: 50Hz
L3G4200D_MODE_800_110 = 0xf
data rate: 800Hz, cut-off: 110Hz
int l3g4200d_init(l3g4200d_t * dev, const l3g4200d_params_t * params)

Initialize a gyro.

Parameters

dev:device descriptor of sensor to initialize
params:initialization parameters

Return values

  • 0 on success
  • -1 on error
int l3g4200d_read(const l3g4200d_t * dev, l3g4200d_data_t * acc_data)

Read angular speed value in degree per second from gyro.

Parameters

dev:device descriptor of gyro
acc_data:result vector in dps per axis

Return values

  • 0 on success
  • -1 on error
int l3g4200d_enable(const l3g4200d_t * dev)

Power-up the given device.

Parameters

dev:device to enable

Return values

  • 0 on success
  • -1 on error
int l3g4200d_disable(const l3g4200d_t * dev)

Power-down the given device.

Parameters

dev:device to power-down

Return values

  • 0 on success
  • -1 on error
L3G4200D_DEFAULT_ADDRESS

The sensors default I2C address. 

1
0x68
struct l3g4200d_data_t

Result vector for gyro measurement.

int16_t acc_x

roll rate in dgs (degree per second)

int16_t acc_y

pitch rate in dgs

int16_t acc_z

yaw rate in dgs

struct l3g4200d_params_t

Device initialization parameters.

i2c.h::i2c_t i2c

I2C device the sensor is connected to.

uint8_t addr

the sensors slave address on the I2C bus

gpio.h::gpio_t int1

INT1 pin.

gpio.h::gpio_t int2

INT2 (DRDY) pin.

l3g4200d.h::l3g4200d_mode_t mode

sampling frequency and bandwidth mode

l3g4200d.h::l3g4200d_scale_t scale

scaling factor to normalize results

struct l3g4200d_t

Device descriptor for L3G4200D sensors.

l3g4200d_params_t params

device initialization parameters

int scale

internal scaling factor to normalize results