aboutsummaryrefslogtreecommitdiff
path: root/lib/chibios/os/ex/devices/ST/l3gd20.h
diff options
context:
space:
mode:
Diffstat (limited to 'lib/chibios/os/ex/devices/ST/l3gd20.h')
-rw-r--r--lib/chibios/os/ex/devices/ST/l3gd20.h725
1 files changed, 725 insertions, 0 deletions
diff --git a/lib/chibios/os/ex/devices/ST/l3gd20.h b/lib/chibios/os/ex/devices/ST/l3gd20.h
new file mode 100644
index 000000000..5528ecc05
--- /dev/null
+++ b/lib/chibios/os/ex/devices/ST/l3gd20.h
@@ -0,0 +1,725 @@
1/*
2 ChibiOS - Copyright (C) 2016..2019 Rocco Marco Guglielmi
3
4 This file is part of ChibiOS.
5
6 ChibiOS is free software; you can redistribute it and/or modify
7 it under the terms of the GNU General Public License as published by
8 the Free Software Foundation; either version 3 of the License, or
9 (at your option) any later version.
10
11 ChibiOS is distributed in the hope that it will be useful,
12 but WITHOUT ANY WARRANTY; without even the implied warranty of
13 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14 GNU General Public License for more details.
15
16 You should have received a copy of the GNU General Public License
17 along with this program. If not, see <http://www.gnu.org/licenses/>.
18
19*/
20
21/**
22 * @file l3gd20.h
23 * @brief L3GD20 MEMS interface module header.
24 *
25 * @addtogroup L3GD20
26 * @ingroup EX_ST
27 * @{
28 */
29#ifndef _L3GD20_H_
30#define _L3GD20_H_
31
32#include "ex_gyroscope.h"
33
34/*===========================================================================*/
35/* Driver constants. */
36/*===========================================================================*/
37
38/**
39 * @name Version identification
40 * @{
41 */
42/**
43 * @brief L3GD20 driver version string.
44 */
45#define EX_L3GD20_VERSION "1.1.2"
46
47/**
48 * @brief L3GD20 driver version major number.
49 */
50#define EX_L3GD20_MAJOR 1
51
52/**
53 * @brief L3GD20 driver version minor number.
54 */
55#define EX_L3GD20_MINOR 1
56
57/**
58 * @brief L3GD20 driver version patch number.
59 */
60#define EX_L3GD20_PATCH 2
61/** @} */
62
63/**
64 * @brief L3GD20 gyroscope system characteristics.
65 * @note Sensitivity is expressed as DPS/LSB whereas DPS stand for Degree
66 * per second [°/s].
67 * @note Bias is expressed as DPS.
68 *
69 * @{
70 */
71#define L3GD20_GYRO_NUMBER_OF_AXES 3U
72
73#define L3GD20_250DPS 250.0f
74#define L3GD20_500DPS 500.0f
75#define L3GD20_2000DPS 2000.0f
76
77#define L3GD20_GYRO_SENS_250DPS 0.00875f
78#define L3GD20_GYRO_SENS_500DPS 0.01750f
79#define L3GD20_GYRO_SENS_2000DPS 0.07000f
80
81#define L3GD20_GYRO_BIAS 0.0f
82/** @} */
83
84/**
85 * @name L3GD20 communication interfaces related bit masks
86 * @{
87 */
88#define L3GD20_DI_MASK 0xFF
89#define L3GD20_DI(n) (1 << n)
90#define L3GD20_AD_MASK 0x3F
91#define L3GD20_AD(n) (1 << n)
92#define L3GD20_MS (1 << 6)
93#define L3GD20_RW (1 << 7)
94/** @} */
95
96/**
97 * @name L3GD20 register addresses
98 * @{
99 */
100#define L3GD20_AD_WHO_AM_I 0x0F
101#define L3GD20_AD_CTRL_REG1 0x20
102#define L3GD20_AD_CTRL_REG2 0x21
103#define L3GD20_AD_CTRL_REG3 0x22
104#define L3GD20_AD_CTRL_REG4 0x23
105#define L3GD20_AD_CTRL_REG5 0x24
106#define L3GD20_AD_REFERENCE 0x25
107#define L3GD20_AD_OUT_TEMP 0x26
108#define L3GD20_AD_STATUS_REG 0x27
109#define L3GD20_AD_OUT_X_L 0x28
110#define L3GD20_AD_OUT_X_H 0x29
111#define L3GD20_AD_OUT_Y_L 0x2A
112#define L3GD20_AD_OUT_Y_H 0x2B
113#define L3GD20_AD_OUT_Z_L 0x2C
114#define L3GD20_AD_OUT_Z_H 0x2D
115#define L3GD20_AD_FIFO_CTRL_REG 0x2E
116#define L3GD20_AD_FIFO_SRC_REG 0x2F
117#define L3GD20_AD_INT1_CFG 0x30
118#define L3GD20_AD_INT1_SRC 0x31
119#define L3GD20_AD_INT1_THS_XH 0x32
120#define L3GD20_AD_INT1_THS_XL 0x33
121#define L3GD20_AD_INT1_THS_YH 0x34
122#define L3GD20_AD_INT1_THS_YL 0x35
123#define L3GD20_AD_INT1_THS_ZH 0x36
124#define L3GD20_AD_INT1_THS_ZL 0x37
125#define L3GD20_AD_INT1_DURATION 0x38
126/** @} */
127
128/**
129 * @name L3GD20_CTRL_REG1 register bits definitions
130 * @{
131 */
132#define L3GD20_CTRL_REG1_MASK 0xFF
133#define L3GD20_CTRL_REG1_XEN (1 << 0)
134#define L3GD20_CTRL_REG1_YEN (1 << 1)
135#define L3GD20_CTRL_REG1_ZEN (1 << 2)
136#define L3GD20_CTRL_REG1_PD (1 << 3)
137#define L3GD20_CTRL_REG1_BW0 (1 << 4)
138#define L3GD20_CTRL_REG1_BW1 (1 << 5)
139#define L3GD20_CTRL_REG1_DR0 (1 << 6)
140#define L3GD20_CTRL_REG1_DR1 (1 << 7)
141/** @} */
142
143/**
144 * @name L3GD20_CTRL_REG2 register bits definitions
145 * @{
146 */
147#define L3GD20_CTRL_REG2_MASK 0x3F
148#define L3GD20_CTRL_REG2_HPCF0 (1 << 0)
149#define L3GD20_CTRL_REG2_HPCF1 (1 << 1)
150#define L3GD20_CTRL_REG2_HPCF2 (1 << 2)
151#define L3GD20_CTRL_REG2_HPCF3 (1 << 3)
152#define L3GD20_CTRL_REG2_HPM0 (1 << 4)
153#define L3GD20_CTRL_REG2_HPM1 (1 << 5)
154/** @} */
155
156/**
157 * @name L3GD20_CTRL_REG3 register bits definitions
158 * @{
159 */
160#define L3GD20_CTRL_REG3_MASK 0xFF
161#define L3GD20_CTRL_REG3_I2_EMPTY (1 << 0)
162#define L3GD20_CTRL_REG3_I2_ORUN (1 << 1)
163#define L3GD20_CTRL_REG3_I2_WTM (1 << 2)
164#define L3GD20_CTRL_REG3_I2_DRDY (1 << 3)
165#define L3GD20_CTRL_REG3_PP_OD (1 << 4)
166#define L3GD20_CTRL_REG3_H_LACTIVE (1 << 5)
167#define L3GD20_CTRL_REG3_I1_BOOT (1 << 6)
168#define L3GD20_CTRL_REG3_I1_INT1 (1 << 7)
169/** @} */
170
171/**
172 * @name L3GD20_CTRL_REG4 register bits definitions
173 * @{
174 */
175#define L3GD20_CTRL_REG4_MASK 0xF1
176#define L3GD20_CTRL_REG4_SIM (1 << 0)
177#define L3GD20_CTRL_REG4_FS_MASK 0x30
178#define L3GD20_CTRL_REG4_FS0 (1 << 4)
179#define L3GD20_CTRL_REG4_FS1 (1 << 5)
180#define L3GD20_CTRL_REG4_BLE (1 << 6)
181#define L3GD20_CTRL_REG4_BDU (1 << 7)
182/** @} */
183
184/**
185 * @name L3GD20_CTRL_REG5 register bits definitions
186 * @{
187 */
188#define L3GD20_CTRL_REG5_MASK 0xDF
189#define L3GD20_CTRL_REG5_OUT_SEL0 (1 << 0)
190#define L3GD20_CTRL_REG5_OUT_SEL1 (1 << 1)
191#define L3GD20_CTRL_REG5_INT1_SEL0 (1 << 2)
192#define L3GD20_CTRL_REG5_INT1_SEL1 (1 << 3)
193#define L3GD20_CTRL_REG5_HPEN (1 << 4)
194#define L3GD20_CTRL_REG5_FIFO_EN (1 << 6)
195#define L3GD20_CTRL_REG5_BOOT (1 << 7)
196/** @} */
197
198/**
199 * @name L3GD20_INT1_CFG register bits definitions
200 * @{
201 */
202#define L3GD20_INT1_CFG_MASK 0xFF
203#define L3GD20_INT1_CFG_XLIE (1 << 0)
204#define L3GD20_INT1_CFG_XHIE (1 << 1)
205#define L3GD20_INT1_CFG_YLIE (1 << 2)
206#define L3GD20_INT1_CFG_YHIE (1 << 3)
207#define L3GD20_INT1_CFG_ZLIE (1 << 4)
208#define L3GD20_INT1_CFG_ZHIE (1 << 5)
209#define L3GD20_INT1_CFG_LIR (1 << 6)
210#define L3GD20_INT1_CFG_AND_OR (1 << 7)
211/** @} */
212
213/**
214 * @name L3GD20_INT1_SRC register bits definitions
215 * @{
216 */
217#define L3GD20_INT1_SRC_MASK 0x7F
218#define L3GD20_INT1_SRC_XL (1 << 0)
219#define L3GD20_INT1_SRC_XH (1 << 1)
220#define L3GD20_INT1_SRC_YL (1 << 2)
221#define L3GD20_INT1_SRC_YH (1 << 3)
222#define L3GD20_INT1_SRC_ZL (1 << 4)
223#define L3GD20_INT1_SRC_ZH (1 << 5)
224#define L3GD20_INT1_SRC_IA (1 << 6)
225/** @} */
226
227/*===========================================================================*/
228/* Driver pre-compile time settings. */
229/*===========================================================================*/
230
231/**
232 * @name Configuration options
233 * @{
234 */
235/**
236 * @brief L3GD20 SPI interface switch.
237 * @details If set to @p TRUE the support for SPI is included.
238 * @note The default is @p TRUE.
239 */
240#if !defined(L3GD20_USE_SPI) || defined(__DOXYGEN__)
241#define L3GD20_USE_SPI TRUE
242#endif
243
244/**
245 * @brief L3GD20 shared SPI switch.
246 * @details If set to @p TRUE the device acquires SPI bus ownership
247 * on each transaction.
248 * @note The default is @p FALSE. Requires SPI_USE_MUTUAL_EXCLUSION.
249 */
250#if !defined(L3GD20_SHARED_SPI) || defined(__DOXYGEN__)
251#define L3GD20_SHARED_SPI FALSE
252#endif
253
254/**
255 * @brief L3GD20 I2C interface switch.
256 * @details If set to @p TRUE the support for I2C is included.
257 * @note The default is @p FALSE.
258 */
259#if !defined(L3GD20_USE_I2C) || defined(__DOXYGEN__)
260#define L3GD20_USE_I2C FALSE
261#endif
262
263/**
264 * @brief L3GD20 shared I2C switch.
265 * @details If set to @p TRUE the device acquires I2C bus ownership
266 * on each transaction.
267 * @note The default is @p FALSE. Requires I2C_USE_MUTUAL_EXCLUSION.
268 */
269#if !defined(L3GD20_SHARED_I2C) || defined(__DOXYGEN__)
270#define L3GD20_SHARED_I2C FALSE
271#endif
272
273/**
274 * @brief L3GD20 advanced configurations switch.
275 * @details If set to @p TRUE more configurations are available.
276 * @note The default is @p FALSE.
277 */
278#if !defined(L3GD20_USE_ADVANCED) || defined(__DOXYGEN__)
279#define L3GD20_USE_ADVANCED FALSE
280#endif
281
282/**
283 * @brief Number of acquisitions for bias removal
284 * @details This is the number of acquisitions performed to compute the
285 * bias. A repetition is required in order to remove noise.
286 */
287#if !defined(L3GD20_BIAS_ACQ_TIMES) || defined(__DOXYGEN__)
288#define L3GD20_BIAS_ACQ_TIMES 50
289#endif
290
291/**
292 * @brief Settling time for bias removal
293 * @details This is the time between each bias acquisition.
294 */
295#if !defined(L3GD20_BIAS_SETTLING_US) || defined(__DOXYGEN__)
296#define L3GD20_BIAS_SETTLING_US 5000
297#endif
298/** @} */
299
300/*===========================================================================*/
301/* Derived constants and error checks. */
302/*===========================================================================*/
303
304#if !(L3GD20_USE_SPI ^ L3GD20_USE_I2C)
305#error "L3GD20_USE_SPI and L3GD20_USE_I2C cannot be both true or both false"
306#endif
307
308#if L3GD20_USE_SPI && !HAL_USE_SPI
309#error "L3GD20_USE_SPI requires HAL_USE_SPI"
310#endif
311
312#if L3GD20_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION
313#error "L3GD20_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION"
314#endif
315
316#if L3GD20_USE_I2C && !HAL_USE_I2C
317#error "L3GD20_USE_I2C requires HAL_USE_I2C"
318#endif
319
320#if L3GD20_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION
321#error "L3GD20_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION"
322#endif
323
324/*
325 * CHTODO: Add support for L3GD20 over I2C.
326 */
327#if L3GD20_USE_I2C
328#error "L3GD20 over I2C still not supported"
329#endif
330
331/*===========================================================================*/
332/* Driver data structures and types. */
333/*===========================================================================*/
334
335/**
336 * @name L3GD20 data structures and types.
337 * @{
338 */
339/**
340 * @brief Structure representing a L3GD20 driver.
341 */
342typedef struct L3GD20Driver L3GD20Driver;
343
344/**
345 * @brief L3GD20 full scale.
346 */
347typedef enum {
348 L3GD20_FS_250DPS = 0x00, /**< Full scale 250 degree per second. */
349 L3GD20_FS_500DPS = 0x10, /**< Full scale 500 degree per second. */
350 L3GD20_FS_2000DPS = 0x20 /**< Full scale 2000 degree per second. */
351} l3gd20_fs_t;
352
353/**
354 * @brief L3GD20 output data rate and bandwidth.
355 */
356typedef enum {
357 L3GD20_ODR_95HZ = 0x00, /**< Output data rate 95 Hz. */
358 L3GD20_ODR_190HZ = 0x40, /**< Output data rate 190 Hz. */
359 L3GD20_ODR_380HZ = 0x80, /**< Output data rate 380 Hz. */
360 L3GD20_ODR_760HZ = 0xC0 /**< Output data rate 760 Hz. */
361} l3gd20_odr_t;
362
363/**
364 * @brief L3GD20 low pass filter 1 bandwidth.
365 */
366typedef enum {
367 L3GD20_BW0 = 0x00, /**< LPF1 bandwidth. Depends on ODR. */
368 L3GD20_BW1 = 0x40, /**< LPF1 bandwidth. Depends on ODR. */
369 L3GD20_BW2 = 0x80, /**< LPF1 bandwidth. Depends on ODR. */
370 L3GD20_BW3 = 0xC0 /**< LPF1 bandwidth. Depends on ODR. */
371} l3gd20_bw_t;
372
373/**
374 * @brief L3GD20 block data update.
375 */
376typedef enum {
377 L3GD20_BDU_CONTINUOUS = 0x00, /**< Block data continuously updated. */
378 L3GD20_BDU_BLOCKED = 0x80 /**< Block data updated after reading. */
379} l3gd20_bdu_t;
380
381/**
382 * @brief L3GD20 HP filter mode.
383 */
384typedef enum {
385 L3GD20_HPM_NORMAL = 0x00, /**< Normal mode. */
386 L3GD20_HPM_REFERENCE = 0x10, /**< Reference signal for filtering. */
387 L3GD20_HPM_AUTORESET = 0x30, /**< Autoreset on interrupt event. */
388 L3GD20_HPM_BYPASSED = 0xFF /**< HP filter bypassed */
389} l3gd20_hpm_t;
390
391/**
392 * @brief L3GD20 HP configuration.
393 */
394typedef enum {
395 L3GD20_HPCF_0 = 0x00, /**< Depends on ODR (Table 26 for more).*/
396 L3GD20_HPCF_1 = 0x01, /**< Depends on ODR (Table 26 for more).*/
397 L3GD20_HPCF_2 = 0x02, /**< Depends on ODR (Table 26 for more).*/
398 L3GD20_HPCF_3 = 0x03, /**< Depends on ODR (Table 26 for more).*/
399 L3GD20_HPCF_4 = 0x04, /**< Depends on ODR (Table 26 for more).*/
400 L3GD20_HPCF_5 = 0x05, /**< Depends on ODR (Table 26 for more).*/
401 L3GD20_HPCF_6 = 0x06, /**< Depends on ODR (Table 26 for more).*/
402 L3GD20_HPCF_7 = 0x07, /**< Depends on ODR (Table 26 for more).*/
403 L3GD20_HPCF_8 = 0x08, /**< Depends on ODR (Table 26 for more).*/
404 L3GD20_HPCF_9 = 0x09 /**< Depends on ODR (Table 26 for more).*/
405} l3gd20_hpcf_t;
406
407/**
408 * @brief L3GD20 LP2 filter mode.
409 * @details To activate LP2 HP should be active
410 */
411typedef enum {
412 L3GD20_LP2M_ON = 0x00, /**< LP2 filter activated. */
413 L3GD20_LP2M_BYPASSED = 0xFF, /**< LP2 filter bypassed. */
414} l3gd20_lp2m_t;
415
416/**
417 * @brief L3GD20 endianness.
418 */
419typedef enum {
420 L3GD20_END_LITTLE = 0x00, /**< Little endian. */
421 L3GD20_END_BIG = 0x40 /**< Big endian. */
422} l3gd20_end_t;
423
424/**
425 * @brief Driver state machine possible states.
426 */
427typedef enum {
428 L3GD20_UNINIT = 0, /**< Not initialized. */
429 L3GD20_STOP = 1, /**< Stopped. */
430 L3GD20_READY = 2 /**< Ready. */
431} l3gd20_state_t;
432
433/**
434 * @brief L3GD20 configuration structure.
435 */
436typedef struct {
437
438#if L3GD20_USE_SPI || defined(__DOXYGEN__)
439 /**
440 * @brief SPI driver associated to this L3GD20.
441 */
442 SPIDriver *spip;
443 /**
444 * @brief SPI configuration associated to this L3GD20.
445 */
446 const SPIConfig *spicfg;
447#endif /* L3GD20_USE_SPI */
448#if L3GD20_USE_I2C || defined(__DOXYGEN__)
449 /**
450 * @brief I2C driver associated to this L3GD20.
451 */
452 I2CDriver *i2cp;
453 /**
454 * @brief I2C configuration associated to this L3GD20.
455 */
456 const I2CConfig *i2ccfg;
457#endif /* L3GD20_USE_I2C */
458 /**
459 * @brief L3GD20 gyroscope system initial sensitivity.
460 */
461 float *gyrosensitivity;
462 /**
463 * @brief L3GD20 gyroscope system initial bias.
464 */
465 float *gyrobias;
466 /**
467 * @brief L3GD20 gyroscope system initial full scale value.
468 */
469 l3gd20_fs_t gyrofullscale;
470 /**
471 * @brief L3GD20 gyroscope system output data rate selection.
472 */
473 l3gd20_odr_t gyrooutputdatarate;
474#if L3GD20_USE_ADVANCED || defined(__DOXYGEN__)
475 /**
476 * @brief L3GD20 gyroscope system block data update.
477 */
478 l3gd20_bdu_t gyroblockdataupdate;
479 /**
480 * @brief L3GD20 gyroscope system endianness.
481 */
482 l3gd20_end_t gyroendianness;
483 /**
484 * @brief L3GD20 gyroscope system LP1 filter bandwidth.
485 */
486 l3gd20_bw_t gyrobandwidth;
487 /**
488 * @brief L3GD20 gyroscope system HP filter mode.
489 */
490 l3gd20_hpm_t gyrohpmode;
491 /**
492 * @brief L3GD20 gyroscope system HP configuration.
493 */
494 l3gd20_hpcf_t gyrohpconfiguration;
495 /**
496 * @brief L3GD20 gyroscope system LP2 filter mode.
497 * @details To activate LP2 HP should be active
498 */
499 l3gd20_lp2m_t gyrolp2mode;
500#endif
501} L3GD20Config;
502
503/**
504 * @brief @p L3GD20 specific methods.
505 */
506#define _l3gd20_methods_alone \
507 /* Change full scale value of L3GD20.*/ \
508 msg_t (*gyro_set_full_scale)(L3GD20Driver *devp, l3gd20_fs_t fs);
509
510/**
511 * @brief @p L3GD20 specific methods with inherited ones.
512 */
513#define _l3gd20_methods \
514 _base_object_methods \
515 _l3gd20_methods_alone
516
517/**
518 * @extends BaseObjectVMT
519 *
520 * @brief @p L3GD20 virtual methods table.
521 */
522struct L3GD20VMT {
523 _l3gd20_methods
524};
525
526/**
527 * @brief @p L3GD20Driver specific data.
528 */
529#define _l3gd20_data \
530 _base_sensor_data \
531 /* Driver state.*/ \
532 l3gd20_state_t state; \
533 /* Current configuration data.*/ \
534 const L3GD20Config *config; \
535 /* Gyroscope subsystem axes number.*/ \
536 size_t gyroaxes; \
537 /* Gyroscope subsystem current sensitivity.*/ \
538 float gyrosensitivity[L3GD20_GYRO_NUMBER_OF_AXES]; \
539 /* Gyroscope subsystem current Bias.*/ \
540 float gyrobias[L3GD20_GYRO_NUMBER_OF_AXES]; \
541 /* Gyroscope subsystem current full scale value.*/ \
542 float gyrofullscale;
543
544/**
545 * @brief L3GD20 3-axis gyroscope class.
546 */
547struct L3GD20Driver {
548 /** @brief Virtual Methods Table. */
549 const struct L3GD20VMT *vmt;
550 /** @brief Base gyroscope interface.*/
551 BaseGyroscope gyro_if;
552 _l3gd20_data
553};
554/** @} */
555
556/*===========================================================================*/
557/* Driver macros. */
558/*===========================================================================*/
559
560/**
561 * @brief Return the number of axes of the BaseGyroscope.
562 *
563 * @param[in] devp pointer to @p L3GD20Driver.
564 *
565 * @return the number of axes.
566 *
567 * @api
568 */
569#define l3gd20GyroscopeGetAxesNumber(devp) \
570 gyroscopeGetAxesNumber(&((devp)->gyro_if))
571
572/**
573 * @brief Retrieves raw data from the BaseGyroscope.
574 * @note This data is retrieved from MEMS register without any algebraical
575 * manipulation.
576 * @note The axes array must be at least the same size of the
577 * BaseGyroscope axes number.
578 *
579 * @param[in] devp pointer to @p L3GD20Driver.
580 * @param[out] axes a buffer which would be filled with raw data.
581 *
582 * @return The operation status.
583 * @retval MSG_OK if the function succeeded.
584 *
585 * @api
586 */
587#define l3gd20GyroscopeReadRaw(devp, axes) \
588 gyroscopeReadRaw(&((devp)->gyro_if), axes)
589
590/**
591 * @brief Retrieves cooked data from the BaseGyroscope.
592 * @note This data is manipulated according to the formula
593 * cooked = (raw * sensitivity) - bias.
594 * @note Final data is expressed as DPS.
595 * @note The axes array must be at least the same size of the
596 * BaseGyroscope axes number.
597 *
598 * @param[in] devp pointer to @p L3GD20Driver.
599 * @param[out] axes a buffer which would be filled with cooked data.
600 *
601 * @return The operation status.
602 * @retval MSG_OK if the function succeeded.
603 *
604 * @api
605 */
606#define l3gd20GyroscopeReadCooked(devp, axes) \
607 gyroscopeReadCooked(&((devp)->gyro_if), axes)
608
609/**
610 * @brief Samples bias values for the BaseGyroscope.
611 * @note The L3GD20 shall not be moved during the whole procedure.
612 * @note After this function internal bias is automatically updated.
613 * @note The behavior of this function depends on @p L3GD20_BIAS_ACQ_TIMES
614 * and @p L3GD20_BIAS_SETTLING_US.
615 *
616 * @param[in] devp pointer to @p L3GD20Driver.
617 *
618 * @return The operation status.
619 * @retval MSG_OK if the function succeeded.
620 *
621 * @api
622 */
623#define l3gd20GyroscopeSampleBias(devp) \
624 gyroscopeSampleBias(&((devp)->gyro_if))
625
626/**
627 * @brief Set bias values for the BaseGyroscope.
628 * @note Bias must be expressed as DPS.
629 * @note The bias buffer must be at least the same size of the BaseGyroscope
630 * axes number.
631 *
632 * @param[in] devp pointer to @p L3GD20Driver.
633 * @param[in] bp a buffer which contains biases.
634 *
635 * @return The operation status.
636 * @retval MSG_OK if the function succeeded.
637 *
638 * @api
639 */
640#define l3gd20GyroscopeSetBias(devp, bp) \
641 gyroscopeSetBias(&((devp)->gyro_if), bp)
642
643/**
644 * @brief Reset bias values for the BaseGyroscope.
645 * @note Default biases value are obtained from device datasheet when
646 * available otherwise they are considered zero.
647 *
648 * @param[in] devp pointer to @p L3GD20Driver.
649 *
650 * @return The operation status.
651 * @retval MSG_OK if the function succeeded.
652 *
653 * @api
654 */
655#define l3gd20GyroscopeResetBias(devp) \
656 gyroscopeResetBias(&((devp)->gyro_if))
657
658/**
659 * @brief Set sensitivity values for the BaseGyroscope.
660 * @note Sensitivity must be expressed as DPS/LSB.
661 * @note The sensitivity buffer must be at least the same size of the
662 * BaseGyroscope axes number.
663 *
664 * @param[in] devp pointer to @p L3GD20Driver.
665 * @param[in] sp a buffer which contains sensitivities.
666 *
667 * @return The operation status.
668 * @retval MSG_OK if the function succeeded.
669 *
670 * @api
671 */
672#define l3gd20GyroscopeSetSensitivity(devp, sp) \
673 gyroscopeSetSensitivity(&((devp)->gyro_if), sp)
674
675/**
676 * @brief Reset sensitivity values for the BaseGyroscope.
677 * @note Default sensitivities value are obtained from device datasheet.
678 *
679 * @param[in] devp pointer to @p L3GD20Driver.
680 *
681 * @return The operation status.
682 * @retval MSG_OK if the function succeeded.
683 * @retval MSG_RESET otherwise.
684 *
685 * @api
686 */
687#define l3gd20GyroscopeResetSensitivity(devp) \
688 gyroscopeResetSensitivity(&((devp)->gyro_if))
689
690/**
691 * @brief Changes the L3GD20Driver gyroscope fullscale value.
692 * @note This function also rescale sensitivities and biases based on
693 * previous and next fullscale value.
694 * @note A recalibration is highly suggested after calling this function.
695 *
696 * @param[in] devp pointer to @p L3GD20Driver.
697 * @param[in] fs new fullscale value.
698 *
699 * @return The operation status.
700 * @retval MSG_OK if the function succeeded.
701 * @retval MSG_RESET otherwise.
702 *
703 * @api
704 */
705#define l3gd20GyroscopeSetFullScale(devp, fs) \
706 (devp)->vmt->acc_set_full_scale(devp, fs)
707
708/*===========================================================================*/
709/* External declarations. */
710/*===========================================================================*/
711
712#ifdef __cplusplus
713extern "C" {
714#endif
715 void l3gd20ObjectInit(L3GD20Driver *devp);
716 void l3gd20Start(L3GD20Driver *devp, const L3GD20Config *config);
717 void l3gd20Stop(L3GD20Driver *devp);
718#ifdef __cplusplus
719}
720#endif
721
722#endif /* _L3GD20_H_ */
723
724/** @} */
725
generated by cgit v1.2.3 (git 2.25.1) at 2025-08-31 21:09:03 +0100