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 elopes
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/*
* Copyright (C) 2014 Freie Universitรคt Berlin
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*/
/**
* @defgroup drivers_l3g4200d L3G4200D gyroscope
* @ingroup drivers_sensors
* @brief Device driver for the L3G4200D gyroscope
* @{
*
* @file
* @brief Device driver interface for the L3G4200D gyroscope
*
* @note The current state of the driver only implements a very basic polling mode.
*
* @author Hauke Petersen <hauke.petersen@fu-berlin.de>
*/
#ifndef L3G4200D_H
#define L3G4200D_H
#include <stdint.h>
#include "periph/i2c.h"
#include "periph/gpio.h"
#ifdef __cplusplus
extern "C" {
#endif
/**
* @brief The sensors default I2C address
*/
#define L3G4200D_DEFAULT_ADDRESS 0x68
/**
* @brief Result vector for gyro measurement
*/
typedef struct {
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 */
} l3g4200d_data_t;
/**
* @brief Measurement scale for the gyro
*/
typedef enum {
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 */
} l3g4200d_scale_t;
/**
* @brief Sampling frequency and bandwidth settings for the gyro
*/
typedef enum {
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 */
} l3g4200d_mode_t;
/**
* @brief Device descriptor for L3G4200D sensors
*/
typedef struct {
i2c_t i2c; /**< I2C device the sensor is connected to */
uint8_t addr; /**< the sensors slave address on the I2C bus */
gpio_t int1; /**< INT1 pin */
gpio_t int2; /**< INT2 (DRDY) pin */
int32_t scale; /**< scaling factor to normalize results */
} l3g4200d_t;
/**
* @brief Data structure holding the device parameters needed for initialization
*/
typedef struct {
i2c_t i2c; /**< I2C bus the device is connected to */
uint8_t addr; /**< the address on that bus */
gpio_t int1_pin; /**< GPIO pin connected to the INT1 line */
gpio_t int2_pin; /**< GPIO pin connected to the INT2 line */
l3g4200d_mode_t mode; /**< sampling mode to use */
l3g4200d_scale_t scale; /**< scaling to use */
} l3g4200d_params_t;
/**
* @brief Initialize a gyro
*
* @param[out] dev device descriptor of sensor to initialize
* @param[in] i2c I2C bus the gyro is connected to
* @param[in] address gyro's I2C slave address
* @param[in] int1_pin INT pin the gyro is connected to
* @param[in] int2_pin DRDY pin the gyro is connected to
* @param[in] mode bandwidth and sampling rate settings
* @param[in] scale scaling of results
*
* @return 0 on success
* @return -1 on error
*/
int l3g4200d_init(l3g4200d_t *dev, i2c_t i2c, uint8_t address,
gpio_t int1_pin, gpio_t int2_pin,
l3g4200d_mode_t mode, l3g4200d_scale_t scale);
/**
* @brief Read angular speed value in degree per second from gyro
*
* @param[in] dev device descriptor of gyro
* @param[out] acc_data result vector in dps per axis
*
* @return 0 on success
* @return -1 on error
*/
int l3g4200d_read(const l3g4200d_t *dev, l3g4200d_data_t *acc_data);
/**
* @brief Power-up the given device
*
* @param[in] dev device to enable
*
* @return 0 on success
* @return -1 on error
*/
int l3g4200d_enable(const l3g4200d_t *dev);
/**
* @brief Power-down the given device
*
* @param[in] dev device to power-down
*
* @return 0 on success
* @return -1 on error
*/
int l3g4200d_disable(const l3g4200d_t *dev);
#ifdef __cplusplus
}
#endif
#endif /* L3G4200D_H */
/** @} */
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