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/*
ChibiOS - Copyright (C) 2016 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.
*
* @{
*/
#ifndef _L3GD20_H_
#define _L3GD20_H_
#include "hal_gyroscope.h"
/*===========================================================================*/
/* Driver constants. */
/*===========================================================================*/
/**
* @name Version identification
* @{
*/
/**
* @brief L3GD20 driver version string.
*/
#define EX_L3GD20_VERSION "1.0.0"
/**
* @brief L3GD20 driver version major number.
*/
#define EX_L3GD20_MAJOR 1
/**
* @brief L3GD20 driver version minor number.
*/
#define EX_L3GD20_MINOR 0
/**
* @brief L3GD20 driver version patch number.
*/
#define EX_L3GD20_PATCH 0
/** @} */
/**
* @brief L3GD20 characteristics
*
* @{
*/
#define L3GD20_NUMBER_OF_AXES 3U
#define L3GD20_250DPS 250.0f
#define L3GD20_500DPS 500.0f
#define L3GD20_2000DPS 2000.0f
#define L3GD20_SENS_250DPS 0.00875f
#define L3GD20_SENS_500DPS 0.01750f
#define L3GD20_SENS_2000DPS 0.07000f
/** @} */
/**
* @name L3GD20 communication interfaces related bit masks
* @{
*/
#define L3GD20_DI_MASK 0xFF /**< Data In mask */
#define L3GD20_DI(n) (1 << n) /**< Data In bit n */
#define L3GD20_AD_MASK 0x3F /**< Address Data mask */
#define L3GD20_AD(n) (1 << n) /**< Address Data bit n */
#define L3GD20_MS (1 << 6) /**< Multiple read write */
#define L3GD20_RW (1 << 7) /**< Read Write selector */
/** @} */
/**
* @name L3GD20 register addresses
* @{
*/
#define L3GD20_AD_WHO_AM_I 0x0F
#define L3GD20_AD_CTRL_REG1 0x20
#define L3GD20_AD_CTRL_REG2 0x21
#define L3GD20_AD_CTRL_REG3 0x22
#define L3GD20_AD_CTRL_REG4 0x23
#define L3GD20_AD_CTRL_REG5 0x24
#define L3GD20_AD_REFERENCE 0x25
#define L3GD20_AD_OUT_TEMP 0x26
#define L3GD20_AD_STATUS_REG 0x27
#define L3GD20_AD_OUT_X_L 0x28
#define L3GD20_AD_OUT_X_H 0x29
#define L3GD20_AD_OUT_Y_L 0x2A
#define L3GD20_AD_OUT_Y_H 0x2B
#define L3GD20_AD_OUT_Z_L 0x2C
#define L3GD20_AD_OUT_Z_H 0x2D
#define L3GD20_AD_FIFO_CTRL_REG 0x2E
#define L3GD20_AD_FIFO_SRC_REG 0x2F
#define L3GD20_AD_INT1_CFG 0x30
#define L3GD20_AD_INT1_SRC 0x31
#define L3GD20_AD_INT1_TSH_XH 0x32
#define L3GD20_AD_INT1_TSH_XL 0x33
#define L3GD20_AD_INT1_TSH_YH 0x34
#define L3GD20_AD_INT1_TSH_YL 0x35
#define L3GD20_AD_INT1_TSH_ZH 0x36
#define L3GD20_AD_INT1_TSH_ZL 0x37
#define L3GD20_AD_INT1_DURATION 0x38
/** @} */
/**
* @name L3GD20_CTRL_REG1 register bits definitions
* @{
*/
#define L3GD20_CTRL_REG1_MASK 0xFF /**< L3GD20_CTRL_REG1 mask */
#define L3GD20_CTRL_REG1_XEN (1 << 0) /**< X axis enable */
#define L3GD20_CTRL_REG1_YEN (1 << 1) /**< Y axis enable */
#define L3GD20_CTRL_REG1_ZEN (1 << 2) /**< Z axis enable */
#define L3GD20_CTRL_REG1_PD (1 << 3) /**< Power-down mode enable */
#define L3GD20_CTRL_REG1_BW0 (1 << 4) /**< Bandwidth bit 0 */
#define L3GD20_CTRL_REG1_BW1 (1 << 5) /**< Bandwidth bit 1 */
#define L3GD20_CTRL_REG1_DR0 (1 << 6) /**< Output data rate bit 0 */
#define L3GD20_CTRL_REG1_DR1 (1 << 7) /**< Output data rate bit 1 */
/** @} */
/**
* @name L3GD20_CTRL_REG2 register bits definitions
* @{
*/
#define L3GD20_CTRL_REG2_MASK 0x3F /**< L3GD20_CTRL_REG2 mask */
#define L3GD20_CTRL_REG2_HPCF0 (1 << 0) /**< HP filter cutoff bit 0 */
#define L3GD20_CTRL_REG2_HPCF1 (1 << 1) /**< HP filter cutoff bit 1 */
#define L3GD20_CTRL_REG2_HPCF2 (1 << 2) /**< HP filter cutoff bit 2 */
#define L3GD20_CTRL_REG2_HPCF3 (1 << 3) /**< HP filter cutoff bit 3 */
#define L3GD20_CTRL_REG2_HPM0 (1 << 4) /**< HP filter mode bit 0 */
#define L3GD20_CTRL_REG2_HPM1 (1 << 5) /**< HP filter mode bit 1 */
/** @} */
/**
* @name L3GD20_CTRL_REG3 register bits definitions
* @{
*/
#define L3GD20_CTRL_REG3_MASK 0xFF /**< L3GD20_CTRL_REG3 mask */
#define L3GD20_CTRL_REG3_I2_EMPTY (1 << 0) /**< FIFO empty IRQ */
#define L3GD20_CTRL_REG3_I2_ORUN (1 << 1) /**< FIFO overrun IRQ */
#define L3GD20_CTRL_REG3_I2_WTM (1 << 2) /**< FIFO watermark IRQ */
#define L3GD20_CTRL_REG3_I2_DRDY (1 << 3) /**< Data ready */
#define L3GD20_CTRL_REG3_PP_OD (1 << 4) /**< Push-pull / Open Drain */
#define L3GD20_CTRL_REG3_H_LACTIVE (1 << 5) /**< IRQ active */
#define L3GD20_CTRL_REG3_I1_BOOT (1 << 6) /**< Boot status available */
#define L3GD20_CTRL_REG3_I1_INT1 (1 << 7) /**< IRQ enable */
/** @} */
/**
* @name L3GD20_CTRL_REG4 register bits definitions
* @{
*/
#define L3GD20_CTRL_REG4_MASK 0xF1 /**< L3GD20_CTRL_REG4 mask */
#define L3GD20_CTRL_REG4_SIM (1 << 0) /**< SPI mode */
#define L3GD20_CTRL_REG4_FS_MASK (3 << 4) /**< Full scale mask */
#define L3GD20_CTRL_REG4_FS0 (1 << 4) /**< Full scale bit 0 */
#define L3GD20_CTRL_REG4_FS1 (1 << 5) /**< Full scale bit 1 */
#define L3GD20_CTRL_REG4_BLE (1 << 6) /**< Big/little endian data */
#define L3GD20_CTRL_REG4_BDU (1 << 7) /**< Block data update */
/** @} */
/**
* @name L3GD20_CTRL_REG5 register bits definitions
* @{
*/
#define L3GD20_CTRL_REG5_MASK 0xDF /**< L3GD20_CTRL_REG5 mask */
#define L3GD20_CTRL_REG5_OUT_SEL0 (1 << 0) /**< Out selection bit 0 */
#define L3GD20_CTRL_REG5_OUT_SEL1 (1 << 1) /**< Out selection bit 1 */
#define L3GD20_CTRL_REG5_INT1_SEL0 (1 << 2) /**< INT1 selection bit 0 */
#define L3GD20_CTRL_REG5_INT1_SEL1 (1 << 3) /**< INT1 selection bit 1 */
#define L3GD20_CTRL_REG5_HPEN (1 << 4) /**< HP filter enable */
#define L3GD20_CTRL_REG5_FIFO_EN (1 << 6) /**< FIFO enable */
#define L3GD20_CTRL_REG5_BOOT (1 << 7) /**< Reboot memory content */
/** @} */
/**
* @name L3GD20_INT1_CFG register bits definitions
* @{
*/
#define L3GD20_INT1_CFG_MASK 0xFF /**< L3GD20_INT1_CFG mask */
#define L3GD20_INT1_CFG_XLIE (1 << 0) /**< Enable INT1 on X low */
#define L3GD20_INT1_CFG_XHIE (1 << 1) /**< Enable INT1 on X high */
#define L3GD20_INT1_CFG_YLIE (1 << 2) /**< Enable INT1 on Y low */
#define L3GD20_INT1_CFG_YHIE (1 << 3) /**< Enable INT1 on Y high */
#define L3GD20_INT1_CFG_ZLIE (1 << 4) /**< Enable INT1 on Z low */
#define L3GD20_INT1_CFG_ZHIE (1 << 5) /**< Enable INT1 on Z high */
#define L3GD20_INT1_CFG_LIR (1 << 6) /**< Latch INT1 */
#define L3GD20_INT1_CFG_AND_OR (1 << 7) /**< AND OR combination */
/** @} */
/**
* @name L3GD20_INT1_SRC register bits definitions
* @{
*/
#define L3GD20_INT1_SRC_MASK 0x7F /**< L3GD20_INT1_SRC mask */
#define L3GD20_INT1_SRC_XL (1 << 0) /**< X low event */
#define L3GD20_INT1_SRC_XH (1 << 1) /**< X high event */
#define L3GD20_INT1_SRC_YL (1 << 2) /**< Y low event */
#define L3GD20_INT1_SRC_YH (1 << 3) /**< Y high event */
#define L3GD20_INT1_SRC_ZL (1 << 4) /**< Z low event */
#define L3GD20_INT1_SRC_ZH (1 << 5) /**< Z high event */
#define L3GD20_INT1_SRC_IA (1 << 6) /**< Interrupt active */
/** @} */
/*===========================================================================*/
/* Driver pre-compile time settings. */
/*===========================================================================*/
/**
* @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 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 advanced configurations switch.
* @details If set to @p TRUE more configurations are available.
* @note The default is @p FALSE.
*/
#if !defined(L3GD20_USE_ADVANCED) || defined(__DOXYGEN__)
#define L3GD20_USE_ADVANCED FALSE
#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 Number of acquisitions for bias removal
* @details This is the number of acquisitions performed to compute the
* bias. A repetition is required in order to remove noise.
*/
#if !defined(L3GD20_BIAS_ACQ_TIMES) || defined(__DOXYGEN__)
#define L3GD20_BIAS_ACQ_TIMES 50
#endif
/**
* @brief Settling time for bias removal
* @details This is the time between each bias acquisition.
*/
#if !defined(L3GD20_BIAS_SETTLING_uS) || defined(__DOXYGEN__)
#define L3GD20_BIAS_SETTLING_uS 5000
#endif
/** @} */
/*===========================================================================*/
/* 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
//TODO: add I2C support.
#if L3GD20_USE_I2C
#error "L3GD20 over I2C still not supported"
#endif
#if L3GD20_USE_I2C && !HAL_USE_I2C
#error "L3GD20_USE_I2C requires HAL_USE_I2C"
#endif
#if L3GD20_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION
#error "L3GD20_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION"
#endif
/*===========================================================================*/
/* Driver data structures and types. */
/*===========================================================================*/
/**
* @name L3GD20 data structures and types.
* @{
*/
/**
* @brief L3GD20 full scale.
*/
typedef enum {
L3GD20_FS_250DPS = 0x00, /**< Full scale 250 degree per second. */
L3GD20_FS_500DPS = 0x10, /**< Full scale 500 degree per second. */
L3GD20_FS_2000DPS = 0x20 /**< Full scale 2000 degree per second. */
}l3gd20_fs_t;
/**
* @brief L3GD20 output data rate and bandwidth.
*/
typedef enum {
L3GD20_ODR_95HZ = 0x00, /**< Output data rate 95 Hz. */
L3GD20_ODR_190HZ = 0x40, /**< Output data rate 190 Hz. */
L3GD20_ODR_380HZ = 0x80, /**< Output data rate 380 Hz. */
L3GD20_ODR_760HZ = 0xC0 /**< Output data rate 760 Hz. */
}l3gd20_odr_t;
/**
* @brief L3GD20 low pass filter 1 bandwidth.
*/
typedef enum {
L3GD20_BW0 = 0x00, /**< LPF1 bandwidth. Depends on ODR. */
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;
/**
* @brief L3GD20 block data update.
*/
typedef enum {
L3GD20_BDU_CONTINUOUS = 0x00, /**< Block data continuously updated. */
L3GD20_BDU_BLOCKED = 0x80 /**< Block data updated after reading. */
}l3gd20_bdu_t;
/**
* @brief L3GD20 HP filter mode.
*/
typedef enum {
L3GD20_HPM_NORMAL = 0x00, /**< Normal mode. */
L3GD20_HPM_REFERENCE = 0x10, /**< Reference signal for filtering. */
L3GD20_HPM_AUTORESET = 0x30, /**< Autoreset on interrupt event. */
L3GD20_HPM_BYPASSED = 0xFF /**< HP filter bypassed */
}l3gd20_hpm_t;
/**
* @brief L3GD20 HP configuration.
*/
typedef enum {
L3GD20_HPCF_0 = 0x00, /**< Depends on ODR (Table 26 for more).*/
L3GD20_HPCF_1 = 0x01, /**< Depends on ODR (Table 26 for more).*/
L3GD20_HPCF_2 = 0x02, /**< Depends on ODR (Table 26 for more).*/
L3GD20_HPCF_3 = 0x03, /**< Depends on ODR (Table 26 for more).*/
L3GD20_HPCF_4 = 0x04, /**< Depends on ODR (Table 26 for more).*/
L3GD20_HPCF_5 = 0x05, /**< Depends on ODR (Table 26 for more).*/
L3GD20_HPCF_6 = 0x06, /**< Depends on ODR (Table 26 for more).*/
L3GD20_HPCF_7 = 0x07, /**< Depends on ODR (Table 26 for more).*/
L3GD20_HPCF_8 = 0x08, /**< Depends on ODR (Table 26 for more).*/
L3GD20_HPCF_9 = 0x09 /**< Depends on ODR (Table 26 for more).*/
}l3gd20_hpcf_t;
/**
* @brief L3GD20 LP2 filter mode.
* @detail To activate LP2 HP should be active
*/
typedef enum {
L3GD20_LP2M_ON = 0x00, /**< LP2 filter activated. */
L3GD20_LP2M_BYPASSED = 0xFF, /**< LP2 filter bypassed. */
}l3gd20_lp2m_t;
/**
* @brief L3GD20 endianness.
*/
typedef enum {
L3GD20_END_LITTLE = 0x00, /**< Little endian. */
L3GD20_END_BIG = 0x40 /**< Big endian. */
}l3gd20_end_t;
/**
* @brief L3GD20 measurement unit.
*/
typedef enum {
L3GD20_UNIT_DPS = 0x00, /**< Cooked data in degrees per seconds.*/
L3GD20_UNIT_RPS = 0x01, /**< Cooked data in radians per seconds.*/
} l3gd20_unit_t;
/**
* @brief Driver state machine possible states.
*/
typedef enum {
L3GD20_UNINIT = 0, /**< Not initialized. */
L3GD20_STOP = 1, /**< Stopped. */
L3GD20_READY = 2, /**< Ready. */
} l3gd20_state_t;
/**
* @brief L3GD20 configuration structure.
*/
typedef struct {
#if L3GD20_USE_SPI || defined(__DOXYGEN__)
/**
* @brief SPI driver associated to this L3GD20.
*/
SPIDriver *spip;
/**
* @brief SPI configuration associated to this L3GD20.
*/
const SPIConfig *spicfg;
#endif /* L3GD20_USE_SPI */
#if L3GD20_USE_I2C || defined(__DOXYGEN__)
/**
* @brief I2C driver associated to this L3GD20.
*/
I2CDriver *i2cp;
/**
* @brief I2C configuration associated to this L3GD20.
*/
const I2CConfig *i2ccfg;
#endif /* L3GD20_USE_I2C */
/**
* @brief L3GD20 initial sensitivity.
*/
float sensitivity[L3GD20_NUMBER_OF_AXES];
/**
* @brief L3GD20 initial bias.
*/
float bias[L3GD20_NUMBER_OF_AXES];
/**
* @brief L3GD20 initial measurement unit.
*/
l3gd20_unit_t unit;
/**
* @brief L3GD20 initial full scale value.
*/
l3gd20_fs_t fullscale;
/**
* @brief L3GD20 output data rate selection.
*/
l3gd20_odr_t outputdatarate;
#if L3GD20_USE_ADVANCED || defined(__DOXYGEN__)
/**
* @brief L3GD20 block data update.
*/
l3gd20_bdu_t blockdataupdate;
/**
* @brief L3GD20 endianness.
*/
l3gd20_end_t endianness;
/**
* @brief L3GD20 LP1 filter bandwidth.
*/
l3gd20_bw_t bandwidth;
/**
* @brief L3GD20 HP filter mode.
*/
l3gd20_hpm_t hpmode;
/**
* @brief L3GD20 HP configuration.
*/
l3gd20_hpcf_t hpconfiguration;
/**
* @brief L3GD20 LP2 filter mode.
* @detail To activate LP2 HP should be active
*/
l3gd20_lp2m_t lp2mode;
#endif
} L3GD20Config;
/**
* @brief Structure representing a L3GD20 driver.
*/
typedef struct L3GD20Driver L3GD20Driver;
/**
* @brief @p L3GD20 specific methods.
*/
#define _l3gd20_methods \
_base_gyroscope_methods \
/* Change full scale value of L3GD20 .*/ \
msg_t (*set_full_scale)(void *instance, l3gd20_fs_t fs); \
/* Change measurement unit of L3GD20 .*/ \
msg_t (*set_meas_unit)(void *instance, l3gd20_unit_t unit); \
/**
* @extends BaseGyroscopeVMT
*
* @brief @p L3GD20 virtual methods table.
*/
struct L3GD20VMT {
_l3gd20_methods
};
/**
* @brief @p L3GD20Driver specific data.
*/
#define _l3gd20_data \
_base_gyroscope_data \
/* Driver state.*/ \
l3gd20_state_t state; \
/* Current configuration data.*/ \
const L3GD20Config *config; \
/* Current sensitivity data.*/ \
float sensitivity[L3GD20_NUMBER_OF_AXES]; \
/* Current Bias data.*/ \
float bias[L3GD20_NUMBER_OF_AXES]; \
/* Current full scale value.*/ \
float fullscale; \
/* Measurement unit.*/ \
l3gd20_unit_t meas_unit;
/**
* @extends BaseGyroscope
*
* @brief L3GD20 3-axis gyroscope class.
* @details This class extends @p BaseGyroscope by adding physical
* driver implementation.
*/
struct L3GD20Driver {
/** @brief BaseSensor Virtual Methods Table. */
const struct BaseSensorVMT *vmt_basesensor;
/** @brief BaseGyroscope Virtual Methods Table. */
const struct BaseGyroscopeVMT *vmt_basegyroscope;
/** @brief L3GD20 Virtual Methods Table. */
const struct L3GD20VMT *vmt_l3gd20;
_l3gd20_data
};
/** @} */
/*===========================================================================*/
/* Driver macros. */
/*===========================================================================*/
/**
* @brief Change gyroscope fullscale value.
*
* @param[in] ip pointer to a @p BaseGyroscope class.
* @param[in] fs the new full scale value.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
* @retval MSG_RESET if one or more errors occurred.
* @api
*/
#define gyroscopeSetFullScale(ip, fs) \
(ip)->vmt_l3gd20->set_full_scale(ip, fs)
/**
* @brief Set gyroscope cooked data measurement unit.
*
* @param[in] ip pointer to a @p BaseGyroscope class.
* @param[in] unit the MEMS measurement unit.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
* @retval MSG_RESET if one or more errors occurred.
* @api
*/
#define gyroscopeSetMeasurementUnit(ip, unit) \
(ip)->vmt_l3gd20->set_meas_unit(ip, unit)
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
#ifdef __cplusplus
extern "C" {
#endif
void l3gd20ObjectInit(L3GD20Driver *devp);
void l3gd20Start(L3GD20Driver *devp, const L3GD20Config *config);
void l3gd20Stop(L3GD20Driver *devp);
#ifdef __cplusplus
}
#endif
#endif /* _L3GD20_H_ */
/** @} */
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