 ST L3G4200D 3-axis Gyroscope interface definitions

More...

#include "../dev/i2c.h"
#include <util/delay.h>

Data Structures
struct	angle_data_t
	Angle data type. More...

Macros
#define	l3g4200d_raw_to_dps(raw) (int16_t) (((int32_t) raw * l3g4200d_dps_scale) / 4000)
	Convert raw values to dps.

Register addresses.
Naming convention of the datasheet with prefix L3G4200D_ is used.
#define	L3G4200D_WHO_AM_I_REG 0x0F
	Device identification register.

#define	L3G4200D_CTRL_REG1 0x20
	Control register 1.

#define	L3G4200D_CTRL_REG2 0x21
	Control register 2.

#define	L3G4200D_CTRL_REG3 0x22
	Control register 3.

#define	L3G4200D_CTRL_REG4 0x23
	Control register 4.

#define	L3G4200D_CTRL_REG5 0x24
	Control register 5.

#define	L3G4200D_REFERENCE 0x25
	Reference value for Interrupt generation.

#define	L3G4200D_OUT_TEMP 0x26
	Temperature data.

#define	L3G4200D_STATUS_REG 0x27
	Status register.

#define	L3G4200D_OUT_X_L 0x28
	X-axis angular rate data. (low)

#define	L3G4200D_OUT_X_H 0x29
	X-axis angular rate data. (high)

#define	L3G4200D_OUT_Y_L 0x2A
	Y-axis angular rate data. (low)

#define	L3G4200D_OUT_Y_H 0x2B
	Y-axis angular rate data. (high)

#define	L3G4200D_OUT_Z_L 0x2C
	Z-axis angular rate data. (low)

#define	L3G4200D_OUT_Z_H 0x2D
	Z-axis angular rate data. (high)

#define	L3G4200D_FIFO_CTRL_REG 0x2E
	Fifo control register.

#define	L3G4200D_FIFO_SRC_REG 0x2F
	Fifo source register.

Bit addresses for CTRL_REG1
#define	L3G4200D_DR1 7
	Output Data Rate selection (higher)

#define	L3G4200D_DR0 6
	Output Data Rate selection (lower)

#define	L3G4200D_BW1 5
	Bandwidth selection (higher)

#define	L3G4200D_BW0 4
	Bandwidth selection (lower)

#define	L3G4200D_PD 3
	Power down mode enable.

#define	L3G4200D_ZEN 2
	Z axis enable.

#define	L3G4200D_YEN 1
	Y axis enable.

#define	L3G4200D_XEN 0
	X axis enable.

Bit addresses for CTRL_REG2.
#define	L3G4200D_HPM1 5
	High Pass filter Mode Selection (higher)

#define	L3G4200D_HPM0 4
	High Pass filter Mode Selection (lower)

#define	L3G4200D_HPCF3 3
	High Pass filter Cutt Off frequency selection (highest)

#define	L3G4200D_HPCF2 2
	High Pass filter Cutt Off frequency selection.

#define	L3G4200D_HPCF1 1
	High Pass filter Cutt Off frequency selection.

#define	L3G4200D_HPCF0 0
	High Pass filter Cutt Off frequency selection (lowest)

Bit addresses for CTRL_REG3.
#define	L3G4200D_I1_INT1 7
	Interrupt enable on INT1 pin.

#define	L3G4200D_I1_BOOT 6
	Boot status available on INT1.

#define	L3G4200D_H_LACTIVE 5
	Interrupt active configuration on INT1.

#define	L3G4200D_PP_OD 4
	Push-Pull / Open drain.

#define	L3G4200D_I2_DRDY 3
	Data Ready on DRDY/INT2.

#define	L3G4200D_I2_WTM 2
	FIFO Watermark interrupt on DRDY/INT2.

#define	L3G4200D_I2_ORUN 1
	FIFO Overrun interrupt on DRDY/INT2.

#define	L3G4200D_I2_EMPTY 0
	FIFO Empty interrupt on DRDY/INT2.

Bit addresses for CTRL_REG4.
#define	L3G4200D_BDU 7
	Block Data Update.

#define	L3G4200D_BLE 6
	Big/Little Endian Data Selection.

#define	L3G4200D_FS1 5
	Full Scale Selection (higher)

#define	L3G4200D_FS0 4
	Full Scale Selection (lower)

#define	L3G4200D_ST1 2
	Self Test Enable (higher)

#define	L3G4200D_ST0 1
	Self Test Enable (lower)

#define	L3G4200D_SIM 0
	SPI Serial Interface mode selection.

Bit addresses for CTRL_REG5.
#define	L3G4200D_BOOT 7
	Reboot memory content.

#define	L3G4200D_FIFO_EN 6
	FIFO enable.

#define	L3G4200D_HPEN 4
	High Pass filter Enable.

#define	L3G4200D_INT1_SEL1 3
	INT1 selection configuration (higher)

#define	L3G4200D_INT1_SEL0 2
	INT1 selection configuration (lower)

#define	L3G4200D_OUT_SEL1 1
	Out selection configuration (higher)

#define	L3G4200D_OUT_SEL0 0
	Out selection configuration (lower)

Bit addresses for STATUS_REG.
#define	L3G4200D_ZYXOR 7
	X, Y, Z-axis data overrun.

#define	L3G4200D_ZOR 6
	Z axis data overrun.

#define	L3G4200D_YOR 5
	Y axis data overrun.

#define	L3G4200D_XOR 4
	X axis data overrun.

#define	L3G4200D_ZYXDA 3
	X, Y, Z-axis new data available.

#define	L3G4200D_ZDA 2
	Z axis new data available.

#define	L3G4200D_YDA 1
	Y axis new data available.

#define	L3G4200D_XDA 0
	X axis new data available.

Bit addresses for FIFO_CTRL_REG.
#define	L3G4200D_FM2 7
	FIFO mode selection.

#define	L3G4200D_FM1 6
	FIFO mode selection.

#define	L3G4200D_FM0 5
	FIFO mode selection.

#define	L3G4200D_WTM4 4
	FIFO threshold. Watermark level setting (highest)

#define	L3G4200D_WTM3 3
	FIFO threshold. Watermark level setting.

#define	L3G4200D_WTM2 2
	FIFO threshold. Watermark level setting.

#define	L3G4200D_WTM1 1
	FIFO threshold. Watermark level setting.

#define	L3G4200D_WTM0 0
	FIFO threshold. Watermark level setting (lowest)

Bit addresses for FIFO_SRC_REG.
#define	L3G4200D_WTM 7
	Watermark status.

#define	L3G4200D_OVRN 6
	Overrun bit status.

#define	L3G4200D_EMPTY 5
	FIFO empty bit.

#define	L3G4200D_FSS4 4
	FIFO stored data level (highest)

#define	L3G4200D_FSS3 3
	FIFO stored data level.

#define	L3G4200D_FSS2 2
	FIFO stored data level.

#define	L3G4200D_FSS1 1
	FIFO stored data level.

#define	L3G4200D_FSS0 0
	FIFO stored data level (lowest)

Resolution Settings.
#define	L3G4200D_250DPS (0x00 << L3G4200D_FS0)

#define	L3G4200D_500DPS (0x01 << L3G4200D_FS0)

#define	L3G4200D_2000DPS (0x02 << L3G4200D_FS0)

Data rate Settings.
#define	L3G4200D_ODR_100HZ (0x0 << L3G4200D_DR0)
	ODR: 100Hz.

#define	L3G4200D_ODR_200HZ (0x1 << L3G4200D_DR0)
	ODR: 200Hz.

#define	L3G4200D_ODR_400HZ (0x2 << L3G4200D_DR0)
	ODR: 400Hz.

#define	L3G4200D_ODR_800HZ (0x3 << L3G4200D_DR0)
	ODR: 800Hz.

Mode Settings.
#define	L3G4200D_BYPASS (0x00 << L3G4200D_FM0)

#define	L3G4200D_FIFO (0x01 << L3G4200D_FM0)

#define	L3G4200D_STREAM (0x02 << L3G4200D_FM0)

#define	L3G4200D_STREAM_TO_FIFO (0x03 << L3G4200D_FM0)

#define	L3G4200D_BYPASS_TO_STREAM (0x04 << L3G4200D_FM0)

Functions
int8_t	l3g4200d_available (void)
	Checks if l3g4200d is avialable. More...

int8_t	l3g4200d_init (void)
	Inits the gyroscope. More...

int8_t	l3g4200d_deinit (void)
	Deinit the gyroscope. More...

uint8_t	l3g4200d_set_dps (uint8_t set)
	Sets the sensitivity value [dps]. More...

uint8_t	l3g4200d_set_data_rate (uint8_t set)
	Sets the data rate [Hz]. More...

void	l3g4200d_set_fifomode (uint8_t set)
	Sets the fifo mode. More...

void	l3g4200d_fifo_enable (void)
	Enables fifo mode.

int8_t	l3g4200d_fifo_overrun (void)
	Checks for fifo overrun. More...

angle_data_t	l3g4200d_get_angle (void)
	Reads data for x,y and z angle. More...

int8_t	l3g4200d_get_angle_fifo (angle_data_t *ret)
	Reads angle values from fifo. More...

int16_t	l3g4200d_get_x_angle (void)
	Reads x angle value. More...

int16_t	l3g4200d_get_y_angle (void)
	Reads y angle value. More...

int16_t	l3g4200d_get_z_angle (void)
	Reads z angle value. More...

int8_t	l3g4200d_get_temp (void)
	Reads temperature value. More...

uint16_t	l3g4200d_read16bit (uint8_t addr)
	Reads 2x8 bit register from gyroscopes. More...

uint8_t	l3g4200d_read8bit (uint8_t addr)
	Reads 8 bit register from gyroscopes. More...

void	l3g4200d_write8bit (uint8_t addr, uint8_t data)
	Writes 8 bit to gyroscope register. More...

Detailed Description

 ST L3G4200D 3-axis Gyroscope interface definitions

Author: Ulf Kulau kulau.nosp@m.@ibr.nosp@m..cs.t.nosp@m.u-bs.nosp@m..de Enrico Jörns e.joe.nosp@m.rns@.nosp@m.tu-bs.nosp@m..de

Definition in file l3g4200d.h.

Data Structures

Macros

Functions

Detailed Description