Gyroscope Sensor

This sensor interface allows to control the gyroscope of the INGA sensor platform. More...

Data Output Channels
GYRO_X/Y/Z provide values for the respective axis in degree pre seconds (dps). GYRO_X/Y/Z_RAW provide raw output values.
#define	GYRO_X   0
#define	GYRO_Y   1
#define	GYRO_Z   2
#define	GYRO_X_RAW   3
#define	GYRO_Y_RAW   4
#define	GYRO_Z_RAW   5
#define	GYRO_TEMP   6

Configuration Types
Sensor specific configuration types.
#define	GYRO_CONF_SENSITIVITY   10
	Configures the sensitivity. More...
#define	GYRO_CONF_DATA_RATE   20
	Configures the output data rate. More...

SENSITIVITY Values
See Also GYRO_CONF_SENSITIVITY
#define	GYRO_250DPS   250
#define	GYRO_500DPS   500
#define	GYRO_2000DPS   2000

DATA_RATE Values.
See Also GYRO_CONF_DATA_RATE
#define	GYRO_100HZ   100
#define	GYRO_200HZ   200
#define	GYRO_400HZ   400
#define	GYRO_800HZ   800

Detailed Description

This sensor interface allows to control the gyroscope of the INGA sensor platform.

Note

This interface provides only a subset of the full sensor features. If you require extended configuration, consider using the underlying sensor driver.

Configure sensor

acc_sensor.configure(type, value)

The sensor interface allows to configure:

• Sensitivity (GYRO_CONF_SENSITIVITY)
• Data rate (GYRO_CONF_DATA_RATE)

Details of the different configurations are given in the documentation of respective config.

Query measurements

acc_sensor.value(channel)

The sensor provides 7 data channels.

• 3 provide dps values
• 3 provide unprocessed raw values
• 1 provides temperature value

Note

Measurement values are updated only if one channel is read twice. I.e. reading x,y, and z channel will provide values from a single measurement. If then one of these channels is read again, a new measurement is initated.

Example Usage

#include <sensors.h>
[...]
struct sensors_sensor gyrosensor = find_sensor("Gyro");
ACTIVATE_SENSOR(gyrosensor);
gyrosensor.configure(GYRO_CONF_SENSITIVITY, GYRO_250DPS);
[...]
int x = gyrosensor.value(GYRO_X);
int y = gyrosensor.value(GYRO_Y);
int z = gyrosensor.value(GYRO_Z);

Macro Definition Documentation

#define GYRO_CONF_DATA_RATE   20

Configures the output data rate.

The sensor can operate at different update rates (100,200,400,800 [Hz]). Allowed values can be found in DATA_RATE Values

Definition at line 129 of file gyro-sensor.h.

#define GYRO_CONF_SENSITIVITY   10

Configures the sensitivity.

The sensor can operate at three different sensitivity levels (+/-250,+/-500,+/-2000 [dps]). Possible values can be found in SENSITIVITY Values

Definition at line 124 of file gyro-sensor.h.