Paparazzi UAS  v5.15_devel-47-g0391b4d
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itg3200.h File Reference

Driver for the gyro ITG3200 from InvenSense. More...

#include "std.h"
#include "math/pprz_algebra_int.h"
#include "mcu_periph/i2c.h"
#include "peripherals/itg3200_regs.h"
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Go to the source code of this file.

Data Structures

struct  Itg3200Config
 
struct  Itg3200
 
union  Itg3200.data
 

Macros

#define ITG3200_DEFAULT_SMPLRT_DIV   0
 Default sample rate divider. More...
 
#define ITG3200_DEFAULT_FS_SEL   3
 Default full scale range +- 2000°/s. More...
 
#define ITG3200_DEFAULT_DLPF_CFG   ITG3200_DLPF_42HZ
 Default internal sampling (1kHz, 42Hz LP Bandwidth) More...
 
#define ITG3200_DEFAULT_INT_CFG   1
 Default interrupt config: RAW_RDY_EN. More...
 
#define ITG3200_DEFAULT_CLK_SEL   1
 Default clock: PLL with X gyro reference. More...
 

Enumerations

enum  Itg3200ConfStatus {
  ITG_CONF_UNINIT, ITG_CONF_SD, ITG_CONF_DF, ITG_CONF_INT,
  ITG_CONF_PWR, ITG_CONF_DONE
}
 config status states More...
 

Functions

void itg3200_init (struct Itg3200 *itg, struct i2c_periph *i2c_p, uint8_t i2c_address)
 Initialize Itg3200 struct and set default config options. More...
 
void itg3200_set_default_config (struct Itg3200Config *conf)
 
void itg3200_start_configure (struct Itg3200 *itg)
 
void itg3200_read (struct Itg3200 *itg)
 
void itg3200_event (struct Itg3200 *itg)
 
static void itg3200_periodic (struct Itg3200 *itg)
 convenience function: read or start configuration if not already initialized More...
 

Detailed Description

Driver for the gyro ITG3200 from InvenSense.

Definition in file itg3200.h.


Data Structure Documentation

struct Itg3200Config

Definition at line 52 of file itg3200.h.

Data Fields
uint8_t clk_sel Clock select.
enum Itg3200DLPF dlpf_cfg Digital Low Pass Filter.
uint8_t fs_sel Full scale range.
uint8_t int_cfg Interrupt config.
uint8_t smplrt_div Sample rate divider.
struct Itg3200

Definition at line 70 of file itg3200.h.

+ Collaboration diagram for Itg3200:
Data Fields
struct Itg3200Config config
union Itg3200 data
volatile bool data_available data ready flag
struct i2c_periph * i2c_p
struct i2c_transaction i2c_trans
enum Itg3200ConfStatus init_status init status
bool initialized config done flag
union Itg3200.data

Definition at line 76 of file itg3200.h.

Data Fields
struct Int32Rates rates data as angular rates in gyro coordinate system
int32_t value[3] data values accessible by channel index

Macro Definition Documentation

#define ITG3200_DEFAULT_CLK_SEL   1

Default clock: PLL with X gyro reference.

Definition at line 49 of file itg3200.h.

Referenced by itg3200_set_default_config().

#define ITG3200_DEFAULT_DLPF_CFG   ITG3200_DLPF_42HZ

Default internal sampling (1kHz, 42Hz LP Bandwidth)

Definition at line 45 of file itg3200.h.

Referenced by itg3200_set_default_config().

#define ITG3200_DEFAULT_FS_SEL   3

Default full scale range +- 2000°/s.

Definition at line 43 of file itg3200.h.

Referenced by itg3200_set_default_config().

#define ITG3200_DEFAULT_INT_CFG   1

Default interrupt config: RAW_RDY_EN.

Definition at line 47 of file itg3200.h.

Referenced by itg3200_set_default_config().

#define ITG3200_DEFAULT_SMPLRT_DIV   0

Default sample rate divider.

Definition at line 41 of file itg3200.h.

Referenced by itg3200_set_default_config().

Enumeration Type Documentation

config status states

Enumerator
ITG_CONF_UNINIT 
ITG_CONF_SD 
ITG_CONF_DF 
ITG_CONF_INT 
ITG_CONF_PWR 
ITG_CONF_DONE 

Definition at line 61 of file itg3200.h.

Function Documentation

void itg3200_init ( struct Itg3200 itg,
struct i2c_periph i2c_p,
uint8_t  addr 
)

Initialize Itg3200 struct and set default config options.

Parameters
itgItg3200 struct
i2c_pI2C periperal to use
addrI2C address of ITG3200

Definition at line 49 of file itg3200.c.

References Itg3200::config, Itg3200::i2c_p, Itg3200::i2c_trans, I2CTransDone, Itg3200::init_status, Itg3200::initialized, itg3200_set_default_config(), ITG_CONF_UNINIT, i2c_transaction::slave_addr, and i2c_transaction::status.

Referenced by imu_aspirin_i2c_init(), imu_aspirin_init(), imu_navgo_init(), imu_ppzuav_init(), and imu_umarim_init().

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static void itg3200_periodic ( struct Itg3200 itg)
inlinestatic

convenience function: read or start configuration if not already initialized

Definition at line 93 of file itg3200.h.

References Itg3200::initialized, itg3200_read(), and itg3200_start_configure().

Referenced by imu_aspirin_i2c_periodic(), imu_aspirin_periodic(), imu_navgo_periodic(), imu_ppzuav_periodic(), and imu_umarim_periodic().

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void itg3200_read ( struct Itg3200 itg)

Definition at line 113 of file itg3200.c.

References i2c_transaction::buf, Itg3200::i2c_p, i2c_submit(), Itg3200::i2c_trans, I2CTransDone, I2CTransTxRx, Itg3200::initialized, ITG3200_REG_INT_STATUS, i2c_transaction::len_r, i2c_transaction::len_w, i2c_transaction::status, and i2c_transaction::type.

Referenced by itg3200_periodic().

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void itg3200_start_configure ( struct Itg3200 itg)

Definition at line 102 of file itg3200.c.

References Itg3200::i2c_trans, I2CTransDone, I2CTransSuccess, Itg3200::init_status, itg3200_send_config(), ITG_CONF_UNINIT, and i2c_transaction::status.

Referenced by itg3200_periodic().

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