#include <L3G4200D.hh>

Inheritance diagram for L3G4200D:

Collaboration diagram for L3G4200D:

Classes
union	ctrl_reg1_t

union	ctrl_reg2_t

union	ctrl_reg3_t

union	ctrl_reg4_t

union	ctrl_reg5_t

union	fifo_ctrl_reg_t

union	fifo_src_reg_t

union	int1_cfg_t

struct	int1_duration_t

struct	int1_src_t

struct	sample_t

union	status_reg_t

Public Member Functions
	L3G4200D (uint8_t subaddr=0)

bool	begin ()

bool	end ()

void	sample (sample_t &s)

Protected Types
enum	Register { WHO_A_I = 0x0F, CTRL_REG1 = 0x20, CTRL_REG2 = 0x21, CTRL_REG3 = 0x22, CTRL_REG4 = 0x23, CTRL_REG5 = 0x24, REFERENCE = 0x25, OUT_TEMP = 0x26, STATUS_REG = 0x27, OUT = 0x28, OUT_X = 0x28, OUT_X_L = 0x28, OUT_X_H = 0x29, OUT_Y = 0x2A, OUT_Y_L = 0x2A, OUT_Y_H = 0x2B, OUT_Z = 0x2C, OUT_Z_L = 0x2C, OUT_Z_H = 0x2D, FIFO_CTRL_REG = 0x2E, FIFO_SRC_REG = 0x2F, INT1_CFG = 0x30, INT1_SRC = 0x31, INT1_TSH = 0x32, INT1_TSH_XH = 0x32, INT1_TSH_XL = 0x33, INT1_TSH_YH = 0x34, INT1_TSH_YL = 0x35, INT1_TSH_ZH = 0x36, INT1_TSH_ZL = 0x37, INT1_DURATION = 0x38 }

enum	{ DR_100_HZ, DR_200_HZ, DR_400_HZ, DR_800_HZ }

enum	{ BW_12_5, BW_25, BW_50, BW_110 }

enum	{ HPM_NORMAL = 0, HPM_MODE = 1, HPM_AUTORESET = 3 }

enum	{ FM_BYPASS, FM_FIFO, FM_STREAM, FM_STREAM_TO_FIFO, FM_BYPASS_TO_STREAM }

Protected Member Functions
void	write (Register reg, uint8_t value)

void	write (Register reg, void *buffer, uint8_t count)

uint8_t	read (Register reg)

void	read (Register reg, void *buffer, uint8_t count)

Static Protected Attributes
static const uint8_t	AUTO_INC = 0x80

Private Member Functions
bool	is_async () const

void	sync_request ()

void	async_request ()

virtual void	on_completion (uint8_t type, int count)

Private Attributes
uint8_t	m_addr

bool	m_async

Detailed Description

Cosa TWI driver for STMicroelectronics, L3G4200D, MEMS motion sensor: ultra-stable three-axis digital output gyroscope. Doc ID 17116 Rev 3.

Circuit

The GY-80 10DOF module with pull-up resistors (4K7) for TWI signals and 3V3 internal voltage converter.

                          GY-80
                      +------------+
(VCC)---------------1-|VCC         |
                    2-|3V3         |
(GND)---------------3-|GND         |
(A5/SCL)------------4-|SCL         |
(A4/SDA)------------5-|SDA         |
                    6-|M-DRDY      |
                    7-|A-INT1      |
(Dn/EXTn)-----------8-|T-INT1      |
                    9-|P-XCLR      |
                   10-|P-EOC       |
                      +------------+

References

http://www.st.com/st-web-ui/static/active/en/resource/technical/ document/datasheet/CD00265057.pdf

Definition at line 55 of file L3G4200D.hh.

Member Enumeration Documentation

anonymous enum

protected

Enumerator
DR_100_HZ	Data rate (table 22). 100 Hz.
DR_200_HZ	200 Hz.
DR_400_HZ	400 Hz.
DR_800_HZ	800 Hz.

Definition at line 159 of file L3G4200D.hh.

anonymous enum

protected

Enumerator
BW_12_5	Bandwidth selection (table 22). Note: Higher with 800 Hz.
BW_25
BW_50
BW_110

Definition at line 165 of file L3G4200D.hh.

anonymous enum

protected

Enumerator

HPM_NORMAL

High pass filter mode (table 26).

Normal moden (reset reading).

HPM_MODE

Reference signal for filtering.

HPM_AUTORESET

Autoreset on interrupt event.

Definition at line 191 of file L3G4200D.hh.

anonymous enum

protected

Enumerator
FM_BYPASS	FIFO mode configuration (table 45). Bypass mode.
FM_FIFO	FIFO mode.
FM_STREAM	Stream.
FM_STREAM_TO_FIFO	Stream-to-FIFO.
FM_BYPASS_TO_STREAM	Bypass-to-Stream.

Definition at line 310 of file L3G4200D.hh.

enum L3G4200D::Register

protected

Register address map (See tab. 18, pp. 27).

Enumerator
WHO_A_I	Device identification register.
CTRL_REG1	Control register#1.
CTRL_REG2	Control register#2.
CTRL_REG3	Control register#3.
CTRL_REG4	Control register#4.
CTRL_REG5	Control register#5.
REFERENCE	Reference value for interrupt generation.
OUT_TEMP	Temperature data.
STATUS_REG	Status register.
OUT	X,Y,Z-axis angular rate data.
OUT_X	X axis angular rate data.
OUT_X_L	X low byte.
OUT_X_H	X high byte.
OUT_Y	Y axis angular rate data.
OUT_Y_L	Y low byte.
OUT_Y_H	Y high byte.
OUT_Z	Y axis angular rate data.
OUT_Z_L	Z low byte.
OUT_Z_H	Z high byte.
FIFO_CTRL_REG	FIFO control register.
FIFO_SRC_REG	FIFO status register.
INT1_CFG	Interrupt configuration.
INT1_SRC	Interrupt source register.
INT1_TSH	Interrupt threshold.
INT1_TSH_XH	X high threshold.
INT1_TSH_XL	X low threshold.
INT1_TSH_YH	Y high threshold.
INT1_TSH_YL	Y low threshold.
INT1_TSH_ZH	Z high threshold.
INT1_TSH_ZL	Z low threshold.
INT1_DURATION	Wait duration.

Definition at line 100 of file L3G4200D.hh.

Constructor & Destructor Documentation

L3G4200D::L3G4200D ( uint8_t subaddr = 0 )

inline

Construct L3G4200D digital gyroscope driver with given sub-address. Default is zero(0).

Parameters

[in] subaddr sub-address (0..1, default 0)

Definition at line 62 of file L3G4200D.hh.

Member Function Documentation

bool L3G4200D::begin ( )

Start interaction with device. Turn on measurements.

Returns: true(1) if successful otherwise false(0)

Definition at line 24 of file L3G4200D.cpp.

bool L3G4200D::end ( )

Stop sequence of interaction with device. Turn off measurements and power down.

Returns: true(1) if successful otherwise false(0)

Definition at line 36 of file L3G4200D.cpp.

uint8_t L3G4200D::read ( Register reg )

protected

Read contents of register.

Parameters

[in] reg register address.

Returns: register value.

Definition at line 59 of file L3G4200D.cpp.

void L3G4200D::read	(	Register	reg,
		void *	buffer,
		uint8_t	count
	)

protected

Read contents of registers, multiple values from give address.

Parameters

[in]	reg	register address.
[in]	buffer	storage.
[in]	count	number of bytes.

Definition at line 70 of file L3G4200D.cpp.

void L3G4200D::sample ( sample_t & s )

inline

Sample gyroscope and return values in given data structure

Parameters

[in] s sample storage.

Definition at line 90 of file L3G4200D.hh.

void L3G4200D::write	(	Register	reg,
		uint8_t	value
	)

protected

Write given value to register.

Parameters

[in]	reg	register address.
[in]	value	register value.

Definition at line 43 of file L3G4200D.cpp.

void L3G4200D::write	(	Register	reg,
		void *	buffer,
		uint8_t	count
	)

protected

Write multiple registers with values from give address.

Parameters

[in]	reg	register address.
[in]	buffer	storage.
[in]	count	number of bytes.

Definition at line 51 of file L3G4200D.cpp.

Member Data Documentation

const uint8_t L3G4200D::AUTO_INC = 0x80

staticprotected

Auto increment address.

Definition at line 135 of file L3G4200D.hh.

The documentation for this class was generated from the following files:

libraries/L3G4200D/L3G4200D.hh
libraries/L3G4200D/L3G4200D.cpp

Classes

Public Member Functions

Protected Types

Protected Member Functions

Static Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Circuit

References

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation