ST L3G4200D 3-axis Gyroscope interface

Details about sensors functionality can be found in corresponding datasheet. More...

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.

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...
uint8_t	l3g4200d_read8bit (uint8_t addr)
	Reads 8 bit register from gyroscopes. More...
uint16_t	l3g4200d_read16bit (uint8_t addr)
	Reads 2x8 bit register from gyroscopes. More...
void	l3g4200d_write8bit (uint8_t addr, uint8_t data)
	Writes 8 bit to gyroscope register. More...

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)

Detailed Description

Details about sensors functionality can be found in corresponding datasheet.

Registers and bit positions are named according to their datasheet names.

Function Documentation

int8_t l3g4200d_available

(

void

)

Checks if l3g4200d is avialable.

Return values

1	is available
0	not available

Definition at line 57 of file l3g4200d.c.

References l3g4200d_read8bit(), and L3G4200D_WHO_AM_I_REG.

Referenced by l3g4200d_init().

int8_t l3g4200d_deinit

(

void

)

Deinit the gyroscope.

Definition at line 89 of file l3g4200d.c.

References L3G4200D_CTRL_REG1, and l3g4200d_write8bit().

int8_t l3g4200d_fifo_overrun

(

void

)

Checks for fifo overrun.

Returns

0 = no overrun, else overrun

Definition at line 144 of file l3g4200d.c.

References L3G4200D_FIFO_SRC_REG, L3G4200D_OVRN, and l3g4200d_read8bit().

angle_data_t l3g4200d_get_angle

(

void

)

Reads data for x,y and z angle.

Note

If all channels are required, this function is faster than reading values with l3g4200d_get_x/y/z_angle, because only a single readout is performed!

Definition at line 150 of file l3g4200d.c.

References i2c_stop(), i2c_write(), and L3G4200D_OUT_X_L.

Referenced by l3g4200d_get_angle_fifo().

int8_t l3g4200d_get_angle_fifo

(

angle_data_t *

ret

)

Reads angle values from fifo.

Note

This will only work if fifo/stream mode is enabled.

Parameters

ret	Output data is written to this address

Returns

Number of data sets read (max. L3G4200D_FIFO_SIZE)

Definition at line 171 of file l3g4200d.c.

References L3G4200D_FIFO_SRC_REG, l3g4200d_get_angle(), and l3g4200d_read8bit().

int8_t l3g4200d_get_temp

(

void

)

Reads temperature value.

Returns

1 degree/digit

Definition at line 203 of file l3g4200d.c.

References L3G4200D_OUT_TEMP, and l3g4200d_read8bit().

int16_t l3g4200d_get_x_angle

(

void

)

Reads x angle value.

Returns

x angle value

Definition at line 184 of file l3g4200d.c.

References L3G4200D_OUT_X_L, and l3g4200d_read16bit().

int16_t l3g4200d_get_y_angle

(

void

)

Reads y angle value.

Returns

y angle value

Definition at line 190 of file l3g4200d.c.

References L3G4200D_OUT_Y_L, and l3g4200d_read16bit().

int16_t l3g4200d_get_z_angle

(

void

)

Reads z angle value.

Returns

z angle value

Definition at line 196 of file l3g4200d.c.

References L3G4200D_OUT_Z_L, and l3g4200d_read16bit().

int8_t l3g4200d_init

(

void

)

Inits the gyroscope.

Return values

0	if init succeeded
1	if init failed

Definition at line 72 of file l3g4200d.c.

References l3g4200d_available(), L3G4200D_CTRL_REG1, L3G4200D_PD, l3g4200d_set_dps(), l3g4200d_write8bit(), L3G4200D_XEN, L3G4200D_YEN, and L3G4200D_ZEN.

uint16_t l3g4200d_read16bit

(

uint8_t

addr

)

Reads 2x8 bit register from gyroscopes.

Parameters

addr	address to read from (lower byte)

Returns

register content

Definition at line 221 of file l3g4200d.c.

References i2c_stop(), and i2c_write().

Referenced by l3g4200d_get_x_angle(), l3g4200d_get_y_angle(), and l3g4200d_get_z_angle().

uint8_t l3g4200d_read8bit

(

uint8_t

addr

)

Reads 8 bit register from gyroscopes.

Parameters

addr	address to read from

Returns

register content

Definition at line 209 of file l3g4200d.c.

References i2c_stop(), and i2c_write().

Referenced by l3g4200d_available(), l3g4200d_fifo_overrun(), l3g4200d_get_angle_fifo(), l3g4200d_get_temp(), l3g4200d_set_data_rate(), l3g4200d_set_dps(), and l3g4200d_set_fifomode().

uint8_t l3g4200d_set_data_rate

(

uint8_t

set

)

Sets the data rate [Hz].

Parameters

set	one of L3G4200D_ODR_100HZ, L3G4200D_ODR_200HZ, L3G4200D_ODR_400HZ, L3G4200D_ODR_800HZ

Returns

Definition at line 119 of file l3g4200d.c.

References L3G4200D_CTRL_REG1, l3g4200d_read8bit(), and l3g4200d_write8bit().

uint8_t l3g4200d_set_dps

(

uint8_t

set

)

Sets the sensitivity value [dps].

Parameters

set	One of L3G4200D_250DPS, L3G4200D_500DPS or L3G4200D_2000DBS

Definition at line 97 of file l3g4200d.c.

References L3G4200D_CTRL_REG4, l3g4200d_read8bit(), and l3g4200d_write8bit().

Referenced by l3g4200d_init().

void l3g4200d_set_fifomode

(

uint8_t

set

)

Sets the fifo mode.

Note

To use stream or fifo mode, the fifo has to be enabled with l3g4200d_fifo_enable().

Parameters

set	One of L3G4200D_BYPASS, L3G4200D_FIFO, L3G4200D_STREAM, L3G4200D_STREAM_TO_FIFO or L3G4200D_BYPASS_TO_STREAM

Definition at line 131 of file l3g4200d.c.

References L3G4200D_FIFO_CTRL_REG, l3g4200d_read8bit(), and l3g4200d_write8bit().

void l3g4200d_write8bit	(	uint8_t	addr,
		uint8_t	data
	)

Writes 8 bit to gyroscope register.

Parameters

addr	address to write to
data	data to write

Definition at line 234 of file l3g4200d.c.

References i2c_stop(), and i2c_write().

Referenced by l3g4200d_deinit(), l3g4200d_fifo_enable(), l3g4200d_init(), l3g4200d_set_data_rate(), l3g4200d_set_dps(), and l3g4200d_set_fifomode().