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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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.

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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

enum Itg3200ConfStatus

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_event

(

struct Itg3200 *

itg

)

Definition at line 126 of file itg3200.c.

References i2c_transaction::buf, Itg3200::data, Itg3200::data_available, Itg3200::i2c_trans, I2CTransDone, I2CTransFailed, I2CTransSuccess, Itg3200::init_status, Itg3200::initialized, Int16FromBuf, itg3200_send_config(), ITG_CONF_UNINIT, and i2c_transaction::status.

Referenced by imu_aspirin_event(), imu_aspirin_i2c_event(), imu_navgo_event(), imu_ppzuav_event(), and imu_umarim_event().

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

Initialize Itg3200 struct and set default config options.

Parameters

itg	Itg3200 struct
i2c_p	I2C periperal to use
addr	I2C 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_set_default_config

(

struct Itg3200Config *

conf

)

Definition at line 33 of file itg3200.c.

References Itg3200Config::clk_sel, Itg3200Config::dlpf_cfg, Itg3200Config::fs_sel, Itg3200Config::int_cfg, ITG3200_DEFAULT_CLK_SEL, ITG3200_DEFAULT_DLPF_CFG, ITG3200_DEFAULT_FS_SEL, ITG3200_DEFAULT_INT_CFG, ITG3200_DEFAULT_SMPLRT_DIV, and Itg3200Config::smplrt_div.

Referenced by itg3200_init().

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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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