diff options
Diffstat (limited to 'os/ex/ST/l3gd20.h')
| -rw-r--r-- | os/ex/ST/l3gd20.h | 678 |
1 files changed, 339 insertions, 339 deletions
diff --git a/os/ex/ST/l3gd20.h b/os/ex/ST/l3gd20.h index fdeb600f6..bea56432c 100644 --- a/os/ex/ST/l3gd20.h +++ b/os/ex/ST/l3gd20.h @@ -1,72 +1,72 @@ -/*
- ChibiOS - Copyright (C) 2016..2018 Rocco Marco Guglielmi
-
- This file is part of ChibiOS.
-
- ChibiOS is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 3 of the License, or
- (at your option) any later version.
-
- ChibiOS is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program. If not, see <http://www.gnu.org/licenses/>.
-
-*/
-
-/**
- * @file l3gd20.h
- * @brief L3GD20 MEMS interface module header.
- *
- * @addtogroup L3GD20
- * @ingroup EX_ST
- * @{
- */
-#ifndef _L3GD20_H_
-#define _L3GD20_H_
-
-#include "hal_gyroscope.h"
-
-/*===========================================================================*/
-/* Driver constants. */
-/*===========================================================================*/
-
-/**
- * @name Version identification
- * @{
- */
-/**
- * @brief L3GD20 driver version string.
- */
-#define EX_L3GD20_VERSION "1.1.0"
-
-/**
- * @brief L3GD20 driver version major number.
- */
-#define EX_L3GD20_MAJOR 1
-
-/**
- * @brief L3GD20 driver version minor number.
- */
-#define EX_L3GD20_MINOR 1
-
-/**
- * @brief L3GD20 driver version patch number.
- */
-#define EX_L3GD20_PATCH 0
-/** @} */
-
-/**
- * @brief L3GD20 gyroscope system characteristics.
- * @note Sensitivity is expressed as DPS/LSB whereas DPS stand for Degree
- * per second [°/s].
- * @note Bias is expressed as DPS.
- *
- * @{
+/* + ChibiOS - Copyright (C) 2016..2018 Rocco Marco Guglielmi + + This file is part of ChibiOS. + + ChibiOS is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 3 of the License, or + (at your option) any later version. + + ChibiOS is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see <http://www.gnu.org/licenses/>. + +*/ + +/** + * @file l3gd20.h + * @brief L3GD20 MEMS interface module header. + * + * @addtogroup L3GD20 + * @ingroup EX_ST + * @{ + */ +#ifndef _L3GD20_H_ +#define _L3GD20_H_ + +#include "hal_gyroscope.h" + +/*===========================================================================*/ +/* Driver constants. */ +/*===========================================================================*/ + +/** + * @name Version identification + * @{ + */ +/** + * @brief L3GD20 driver version string. + */ +#define EX_L3GD20_VERSION "1.1.1" + +/** + * @brief L3GD20 driver version major number. + */ +#define EX_L3GD20_MAJOR 1 + +/** + * @brief L3GD20 driver version minor number. + */ +#define EX_L3GD20_MINOR 1 + +/** + * @brief L3GD20 driver version patch number. + */ +#define EX_L3GD20_PATCH 1 +/** @} */ + +/** + * @brief L3GD20 gyroscope system characteristics. + * @note Sensitivity is expressed as DPS/LSB whereas DPS stand for Degree + * per second [°/s]. + * @note Bias is expressed as DPS. + * + * @{ */ #define L3GD20_GYRO_NUMBER_OF_AXES 3U @@ -76,8 +76,8 @@ #define L3GD20_GYRO_SENS_250DPS 0.00875f #define L3GD20_GYRO_SENS_500DPS 0.01750f -#define L3GD20_GYRO_SENS_2000DPS 0.07000f
-
+#define L3GD20_GYRO_SENS_2000DPS 0.07000f + #define L3GD20_GYRO_BIAS 0.0f /** @} */ @@ -194,36 +194,36 @@ #define L3GD20_CTRL_REG5_FIFO_EN (1 << 6) #define L3GD20_CTRL_REG5_BOOT (1 << 7) /** @} */ -
-/**
- * @name L3GD20_INT1_CFG register bits definitions
- * @{
- */
-#define L3GD20_INT1_CFG_MASK 0xFF
-#define L3GD20_INT1_CFG_XLIE (1 << 0)
-#define L3GD20_INT1_CFG_XHIE (1 << 1)
-#define L3GD20_INT1_CFG_YLIE (1 << 2)
-#define L3GD20_INT1_CFG_YHIE (1 << 3)
-#define L3GD20_INT1_CFG_ZLIE (1 << 4)
-#define L3GD20_INT1_CFG_ZHIE (1 << 5)
-#define L3GD20_INT1_CFG_LIR (1 << 6)
-#define L3GD20_INT1_CFG_AND_OR (1 << 7)
-/** @} */
-
-/**
- * @name L3GD20_INT1_SRC register bits definitions
- * @{
- */
-#define L3GD20_INT1_SRC_MASK 0x7F
-#define L3GD20_INT1_SRC_XL (1 << 0)
-#define L3GD20_INT1_SRC_XH (1 << 1)
-#define L3GD20_INT1_SRC_YL (1 << 2)
-#define L3GD20_INT1_SRC_YH (1 << 3)
-#define L3GD20_INT1_SRC_ZL (1 << 4)
-#define L3GD20_INT1_SRC_ZH (1 << 5)
-#define L3GD20_INT1_SRC_IA (1 << 6)
-/** @} */
-
+ +/** + * @name L3GD20_INT1_CFG register bits definitions + * @{ + */ +#define L3GD20_INT1_CFG_MASK 0xFF +#define L3GD20_INT1_CFG_XLIE (1 << 0) +#define L3GD20_INT1_CFG_XHIE (1 << 1) +#define L3GD20_INT1_CFG_YLIE (1 << 2) +#define L3GD20_INT1_CFG_YHIE (1 << 3) +#define L3GD20_INT1_CFG_ZLIE (1 << 4) +#define L3GD20_INT1_CFG_ZHIE (1 << 5) +#define L3GD20_INT1_CFG_LIR (1 << 6) +#define L3GD20_INT1_CFG_AND_OR (1 << 7) +/** @} */ + +/** + * @name L3GD20_INT1_SRC register bits definitions + * @{ + */ +#define L3GD20_INT1_SRC_MASK 0x7F +#define L3GD20_INT1_SRC_XL (1 << 0) +#define L3GD20_INT1_SRC_XH (1 << 1) +#define L3GD20_INT1_SRC_YL (1 << 2) +#define L3GD20_INT1_SRC_YH (1 << 3) +#define L3GD20_INT1_SRC_ZL (1 << 4) +#define L3GD20_INT1_SRC_ZH (1 << 5) +#define L3GD20_INT1_SRC_IA (1 << 6) +/** @} */ + /*===========================================================================*/ /* Driver pre-compile time settings. */ /*===========================================================================*/ @@ -232,52 +232,52 @@ * @name Configuration options * @{ */ -/**
- * @brief L3GD20 SPI interface switch.
- * @details If set to @p TRUE the support for SPI is included.
- * @note The default is @p TRUE.
- */
-#if !defined(L3GD20_USE_SPI) || defined(__DOXYGEN__)
-#define L3GD20_USE_SPI TRUE
-#endif
-
-/**
- * @brief L3GD20 shared SPI switch.
- * @details If set to @p TRUE the device acquires SPI bus ownership
- * on each transaction.
- * @note The default is @p FALSE. Requires SPI_USE_MUTUAL_EXCLUSION.
- */
-#if !defined(L3GD20_SHARED_SPI) || defined(__DOXYGEN__)
-#define L3GD20_SHARED_SPI FALSE
-#endif
-
-/**
- * @brief L3GD20 I2C interface switch.
- * @details If set to @p TRUE the support for I2C is included.
- * @note The default is @p FALSE.
- */
-#if !defined(L3GD20_USE_I2C) || defined(__DOXYGEN__)
-#define L3GD20_USE_I2C FALSE
-#endif
-
-/**
- * @brief L3GD20 shared I2C switch.
- * @details If set to @p TRUE the device acquires I2C bus ownership
- * on each transaction.
- * @note The default is @p FALSE. Requires I2C_USE_MUTUAL_EXCLUSION.
- */
-#if !defined(L3GD20_SHARED_I2C) || defined(__DOXYGEN__)
-#define L3GD20_SHARED_I2C FALSE
-#endif
-
-/**
- * @brief L3GD20 accelerometer subsystem advanced configurations
- * switch.
- * @details If set to @p TRUE more configurations are available.
- * @note The default is @p FALSE.
- */
-#if !defined(L3GD20_GYRO_USE_ADVANCED) || defined(__DOXYGEN__)
-#define L3GD20_GYRO_USE_ADVANCED FALSE
+/** + * @brief L3GD20 SPI interface switch. + * @details If set to @p TRUE the support for SPI is included. + * @note The default is @p TRUE. + */ +#if !defined(L3GD20_USE_SPI) || defined(__DOXYGEN__) +#define L3GD20_USE_SPI TRUE +#endif + +/** + * @brief L3GD20 shared SPI switch. + * @details If set to @p TRUE the device acquires SPI bus ownership + * on each transaction. + * @note The default is @p FALSE. Requires SPI_USE_MUTUAL_EXCLUSION. + */ +#if !defined(L3GD20_SHARED_SPI) || defined(__DOXYGEN__) +#define L3GD20_SHARED_SPI FALSE +#endif + +/** + * @brief L3GD20 I2C interface switch. + * @details If set to @p TRUE the support for I2C is included. + * @note The default is @p FALSE. + */ +#if !defined(L3GD20_USE_I2C) || defined(__DOXYGEN__) +#define L3GD20_USE_I2C FALSE +#endif + +/** + * @brief L3GD20 shared I2C switch. + * @details If set to @p TRUE the device acquires I2C bus ownership + * on each transaction. + * @note The default is @p FALSE. Requires I2C_USE_MUTUAL_EXCLUSION. + */ +#if !defined(L3GD20_SHARED_I2C) || defined(__DOXYGEN__) +#define L3GD20_SHARED_I2C FALSE +#endif + +/** + * @brief L3GD20 accelerometer subsystem advanced configurations + * switch. + * @details If set to @p TRUE more configurations are available. + * @note The default is @p FALSE. + */ +#if !defined(L3GD20_GYRO_USE_ADVANCED) || defined(__DOXYGEN__) +#define L3GD20_GYRO_USE_ADVANCED FALSE #endif /** @@ -302,32 +302,32 @@ /* Derived constants and error checks. */ /*===========================================================================*/ -#if !(L3GD20_USE_SPI ^ L3GD20_USE_I2C)
-#error "L3GD20_USE_SPI and L3GD20_USE_I2C cannot be both true or both false"
-#endif
-
-#if L3GD20_USE_SPI && !HAL_USE_SPI
-#error "L3GD20_USE_SPI requires HAL_USE_SPI"
-#endif
-
-#if L3GD20_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION
-#error "L3GD20_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION"
-#endif
-
-#if L3GD20_USE_I2C && !HAL_USE_I2C
-#error "L3GD20_USE_I2C requires HAL_USE_I2C"
-#endif
-
-#if L3GD20_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION
-#error "L3GD20_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION"
-#endif
-
-/**
- * @todo Add support for L3GD20 over I2C.
- */
-#if L3GD20_USE_I2C
-#error "L3GD20 over I2C still not supported"
-#endif
+#if !(L3GD20_USE_SPI ^ L3GD20_USE_I2C) +#error "L3GD20_USE_SPI and L3GD20_USE_I2C cannot be both true or both false" +#endif + +#if L3GD20_USE_SPI && !HAL_USE_SPI +#error "L3GD20_USE_SPI requires HAL_USE_SPI" +#endif + +#if L3GD20_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION +#error "L3GD20_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION" +#endif + +#if L3GD20_USE_I2C && !HAL_USE_I2C +#error "L3GD20_USE_I2C requires HAL_USE_I2C" +#endif + +#if L3GD20_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION +#error "L3GD20_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION" +#endif + +/** + * @todo Add support for L3GD20 over I2C. + */ +#if L3GD20_USE_I2C +#error "L3GD20 over I2C still not supported" +#endif /*===========================================================================*/ /* Driver data structures and types. */ @@ -336,11 +336,11 @@ /** * @name L3GD20 data structures and types. * @{ - */
-/**
- * @brief Structure representing a L3GD20 driver.
- */
-typedef struct L3GD20Driver L3GD20Driver;
+ */ +/** + * @brief Structure representing a L3GD20 driver. + */ +typedef struct L3GD20Driver L3GD20Driver; /** * @brief L3GD20 full scale. @@ -369,7 +369,7 @@ typedef enum { L3GD20_BW1 = 0x40, /**< LPF1 bandwidth. Depends on ODR. */ L3GD20_BW2 = 0x80, /**< LPF1 bandwidth. Depends on ODR. */ L3GD20_BW3 = 0xC0 /**< LPF1 bandwidth. Depends on ODR. */ -} l3gd20_bw_t;
+} l3gd20_bw_t; /** * @brief L3GD20 block data update. @@ -430,7 +430,7 @@ typedef enum { L3GD20_STOP = 1, /**< Stopped. */ L3GD20_READY = 2 /**< Ready. */ } l3gd20_state_t; -
+ /** * @brief L3GD20 configuration structure. */ @@ -463,7 +463,7 @@ typedef struct { /** * @brief L3GD20 gyroscope system initial bias. */ - float *gyrobias;
+ float *gyrobias; /** * @brief L3GD20 gyroscope system initial full scale value. */ @@ -500,20 +500,20 @@ typedef struct { l3gd20_lp2m_t gyrolp2mode; #endif } L3GD20Config; -
-/**
- * @brief @p L3GD20 specific methods.
- */
-#define _l3gd20_methods_alone \
- /* Change full scale value of L3GD20.*/ \
- msg_t (*gyro_set_full_scale)(L3GD20Driver *devp, l3gd20_fs_t fs);
+ +/** + * @brief @p L3GD20 specific methods. + */ +#define _l3gd20_methods_alone \ + /* Change full scale value of L3GD20.*/ \ + msg_t (*gyro_set_full_scale)(L3GD20Driver *devp, l3gd20_fs_t fs); /** * @brief @p L3GD20 specific methods with inherited ones. */ #define _l3gd20_methods \ _base_object_methods \ - _l3gd20_methods_alone
+ _l3gd20_methods_alone /** * @extends BaseObjectVMT @@ -532,8 +532,8 @@ struct L3GD20VMT { /* Driver state.*/ \ l3gd20_state_t state; \ /* Current configuration data.*/ \ - const L3GD20Config *config; \
- /* Gyroscope subsystem axes number.*/ \
+ const L3GD20Config *config; \ + /* Gyroscope subsystem axes number.*/ \ size_t gyroaxes; \ /* Gyroscope subsystem current sensitivity.*/ \ float gyrosensitivity[L3GD20_GYRO_NUMBER_OF_AXES]; \ @@ -547,8 +547,8 @@ struct L3GD20VMT { */ struct L3GD20Driver { /** @brief Virtual Methods Table. */ - const struct L3GD20VMT *vmt;
- /** @brief Base gyroscope interface.*/
+ const struct L3GD20VMT *vmt; + /** @brief Base gyroscope interface.*/ BaseGyroscope gyro_if; _l3gd20_data }; @@ -557,154 +557,154 @@ struct L3GD20Driver { /*===========================================================================*/ /* Driver macros. */ /*===========================================================================*/ -
-/**
- * @brief Return the number of axes of the BaseGyroscope.
- *
- * @param[in] devp pointer to @p L3GD20Driver.
- *
- * @return the number of axes.
- *
- * @api
- */
-#define l3gd20GyroscopeGetAxesNumber(devp) \
- gyroscopeGetAxesNumber(&((devp)->gyro_if))
+ +/** + * @brief Return the number of axes of the BaseGyroscope. + * + * @param[in] devp pointer to @p L3GD20Driver. + * + * @return the number of axes. + * + * @api + */ +#define l3gd20GyroscopeGetAxesNumber(devp) \ + gyroscopeGetAxesNumber(&((devp)->gyro_if)) -/**
- * @brief Retrieves raw data from the BaseGyroscope.
- * @note This data is retrieved from MEMS register without any algebraical
- * manipulation.
- * @note The axes array must be at least the same size of the
- * BaseGyroscope axes number.
- *
- * @param[in] devp pointer to @p L3GD20Driver.
- * @param[out] axes a buffer which would be filled with raw data.
- *
- * @return The operation status.
- * @retval MSG_OK if the function succeeded.
- *
- * @api
- */
-#define l3gd20GyroscopeReadRaw(devp, axes) \
+/** + * @brief Retrieves raw data from the BaseGyroscope. + * @note This data is retrieved from MEMS register without any algebraical + * manipulation. + * @note The axes array must be at least the same size of the + * BaseGyroscope axes number. + * + * @param[in] devp pointer to @p L3GD20Driver. + * @param[out] axes a buffer which would be filled with raw data. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * + * @api + */ +#define l3gd20GyroscopeReadRaw(devp, axes) \ gyroscopeReadRaw(&((devp)->gyro_if), axes) -
-/**
- * @brief Retrieves cooked data from the BaseGyroscope.
- * @note This data is manipulated according to the formula
- * cooked = (raw * sensitivity) - bias.
- * @note Final data is expressed as DPS.
- * @note The axes array must be at least the same size of the
- * BaseGyroscope axes number.
- *
- * @param[in] devp pointer to @p L3GD20Driver.
- * @param[out] axes a buffer which would be filled with cooked data.
- *
- * @return The operation status.
- * @retval MSG_OK if the function succeeded.
- *
- * @api
- */
-#define l3gd20GyroscopeReadCooked(devp, axes) \
- gyroscopeReadCooked(&((devp)->gyro_if), axes)
-
-/**
- * @brief Samples bias values for the BaseGyroscope.
- * @note The L3GD20 shall not be moved during the whole procedure.
- * @note After this function internal bias is automatically updated.
- * @note The behavior of this function depends on @P L3GD20_BIAS_ACQ_TIMES
- * and @p L3GD20_BIAS_SETTLING_US.
- *
- * @param[in] devp pointer to @p L3GD20Driver.
- *
- * @return The operation status.
- * @retval MSG_OK if the function succeeded.
- *
- * @api
- */
-#define l3gd20GyroscopeSampleBias(devp) \
- gyroscopeSampleBias(&((devp)->gyro_if))
-
-/**
- * @brief Set bias values for the BaseGyroscope.
- * @note Bias must be expressed as DPS.
- * @note The bias buffer must be at least the same size of the BaseGyroscope
- * axes number.
- *
- * @param[in] devp pointer to @p L3GD20Driver.
- * @param[in] bp a buffer which contains biases.
- *
- * @return The operation status.
- * @retval MSG_OK if the function succeeded.
- *
- * @api
- */
-#define l3gd20GyroscopeSetBias(devp, bp) \
- gyroscopeSetBias(&((devp)->gyro_if), bp)
-
-/**
- * @brief Reset bias values for the BaseGyroscope.
- * @note Default biases value are obtained from device datasheet when
- * available otherwise they are considered zero.
- *
- * @param[in] devp pointer to @p L3GD20Driver.
- *
- * @return The operation status.
- * @retval MSG_OK if the function succeeded.
- *
- * @api
- */
-#define l3gd20GyroscopeResetBias(devp) \
- gyroscopeResetBias(&((devp)->gyro_if))
-
-/**
- * @brief Set sensitivity values for the BaseGyroscope.
- * @note Sensitivity must be expressed as DPS/LSB.
- * @note The sensitivity buffer must be at least the same size of the
- * BaseGyroscope axes number.
- *
- * @param[in] devp pointer to @p L3GD20Driver.
- * @param[in] sp a buffer which contains sensitivities.
- *
- * @return The operation status.
- * @retval MSG_OK if the function succeeded.
- *
- * @api
- */
-#define l3gd20GyroscopeSetSensitivity(devp, sp) \
- gyroscopeSetSensitivity(&((devp)->gyro_if), sp)
-
-/**
- * @brief Reset sensitivity values for the BaseGyroscope.
- * @note Default sensitivities value are obtained from device datasheet.
- *
- * @param[in] devp pointer to @p L3GD20Driver.
- *
- * @return The operation status.
- * @retval MSG_OK if the function succeeded.
- * @retval MSG_RESET otherwise.
- *
- * @api
- */
-#define l3gd20GyroscopeResetSensitivity(devp) \
- gyroscopeResetSensitivity(&((devp)->gyro_if))
-
-/**
- * @brief Changes the L3GD20Driver gyroscope fullscale value.
- * @note This function also rescale sensitivities and biases based on
- * previous and next fullscale value.
- * @note A recalibration is highly suggested after calling this function.
- *
- * @param[in] devp pointer to @p L3GD20Driver.
- * @param[in] fs new fullscale value.
- *
- * @return The operation status.
- * @retval MSG_OK if the function succeeded.
- * @retval MSG_RESET otherwise.
- *
- * @api
- */
-#define l3gd20GyroscopeSetFullScale(devp, fs) \
- (devp)->vmt->acc_set_full_scale(devp, fs)
+ +/** + * @brief Retrieves cooked data from the BaseGyroscope. + * @note This data is manipulated according to the formula + * cooked = (raw * sensitivity) - bias. + * @note Final data is expressed as DPS. + * @note The axes array must be at least the same size of the + * BaseGyroscope axes number. + * + * @param[in] devp pointer to @p L3GD20Driver. + * @param[out] axes a buffer which would be filled with cooked data. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * + * @api + */ +#define l3gd20GyroscopeReadCooked(devp, axes) \ + gyroscopeReadCooked(&((devp)->gyro_if), axes) + +/** + * @brief Samples bias values for the BaseGyroscope. + * @note The L3GD20 shall not be moved during the whole procedure. + * @note After this function internal bias is automatically updated. + * @note The behavior of this function depends on @p L3GD20_BIAS_ACQ_TIMES + * and @p L3GD20_BIAS_SETTLING_US. + * + * @param[in] devp pointer to @p L3GD20Driver. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * + * @api + */ +#define l3gd20GyroscopeSampleBias(devp) \ + gyroscopeSampleBias(&((devp)->gyro_if)) + +/** + * @brief Set bias values for the BaseGyroscope. + * @note Bias must be expressed as DPS. + * @note The bias buffer must be at least the same size of the BaseGyroscope + * axes number. + * + * @param[in] devp pointer to @p L3GD20Driver. + * @param[in] bp a buffer which contains biases. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * + * @api + */ +#define l3gd20GyroscopeSetBias(devp, bp) \ + gyroscopeSetBias(&((devp)->gyro_if), bp) + +/** + * @brief Reset bias values for the BaseGyroscope. + * @note Default biases value are obtained from device datasheet when + * available otherwise they are considered zero. + * + * @param[in] devp pointer to @p L3GD20Driver. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * + * @api + */ +#define l3gd20GyroscopeResetBias(devp) \ + gyroscopeResetBias(&((devp)->gyro_if)) + +/** + * @brief Set sensitivity values for the BaseGyroscope. + * @note Sensitivity must be expressed as DPS/LSB. + * @note The sensitivity buffer must be at least the same size of the + * BaseGyroscope axes number. + * + * @param[in] devp pointer to @p L3GD20Driver. + * @param[in] sp a buffer which contains sensitivities. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * + * @api + */ +#define l3gd20GyroscopeSetSensitivity(devp, sp) \ + gyroscopeSetSensitivity(&((devp)->gyro_if), sp) + +/** + * @brief Reset sensitivity values for the BaseGyroscope. + * @note Default sensitivities value are obtained from device datasheet. + * + * @param[in] devp pointer to @p L3GD20Driver. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * @retval MSG_RESET otherwise. + * + * @api + */ +#define l3gd20GyroscopeResetSensitivity(devp) \ + gyroscopeResetSensitivity(&((devp)->gyro_if)) + +/** + * @brief Changes the L3GD20Driver gyroscope fullscale value. + * @note This function also rescale sensitivities and biases based on + * previous and next fullscale value. + * @note A recalibration is highly suggested after calling this function. + * + * @param[in] devp pointer to @p L3GD20Driver. + * @param[in] fs new fullscale value. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * @retval MSG_RESET otherwise. + * + * @api + */ +#define l3gd20GyroscopeSetFullScale(devp, fs) \ + (devp)->vmt->acc_set_full_scale(devp, fs) /*===========================================================================*/ /* External declarations. */ |