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_t	data_available	data ready flag
struct i2c_periph *	i2c_p
struct i2c_transaction	i2c_trans
enum Itg3200ConfStatus	init_status	init status
bool_t	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, i2c_transaction::status, and TRUE.

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, FALSE, 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_impl_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_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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