Initial release. Mbed library for VL53L1CB
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GyroSensor.h
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00001 /** 00002 ****************************************************************************** 00003 * @file GyroSensor.h 00004 * @author AST / EST 00005 * @version V0.0.1 00006 * @date 13-April-2015 00007 * @brief This file contains the abstract class describing in general 00008 * the interfaces of a gyroscope 00009 ****************************************************************************** 00010 * @attention 00011 * 00012 * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2> 00013 * 00014 * Redistribution and use in source and binary forms, with or without modification, 00015 * are permitted provided that the following conditions are met: 00016 * 1. Redistributions of source code must retain the above copyright notice, 00017 * this list of conditions and the following disclaimer. 00018 * 2. Redistributions in binary form must reproduce the above copyright notice, 00019 * this list of conditions and the following disclaimer in the documentation 00020 * and/or other materials provided with the distribution. 00021 * 3. Neither the name of STMicroelectronics nor the names of its contributors 00022 * may be used to endorse or promote products derived from this software 00023 * without specific prior written permission. 00024 * 00025 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00026 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00027 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00028 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE 00029 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 00030 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 00031 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00032 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, 00033 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 00034 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00035 * 00036 ****************************************************************************** 00037 */ 00038 00039 00040 /* Define to prevent from recursive inclusion --------------------------------*/ 00041 00042 #ifndef __GYRO_SENSOR_CLASS_H 00043 #define __GYRO_SENSOR_CLASS_H 00044 00045 00046 /* Includes ------------------------------------------------------------------*/ 00047 00048 #include <Component.h> 00049 00050 00051 /* Classes ------------------------------------------------------------------*/ 00052 00053 /** 00054 * An abstract class for a Gyroscope 00055 */ 00056 class GyroSensor : public Component { 00057 public: 00058 00059 /** 00060 * @brief Get current gyroscope angular rate X/Y/Z-axes values 00061 * in standard data units [mdps] 00062 * @param[out] p_data Pointer to where to store angular rates to. 00063 * p_data must point to an array of (at least) three elements, where: 00064 * p_data[0] corresponds to X-axis, 00065 * p_data[1] corresponds to Y-axis, and 00066 * p_data[2] corresponds to Z-axis. 00067 * @return 0 in case of success, an error code otherwise 00068 */ 00069 virtual int get_g_axes(int32_t *p_data) = 0; 00070 00071 /** 00072 * @brief Get current gyroscope raw data X/Y/Z-axes values 00073 * in device sepcific LSB units 00074 * @param[out] p_data Pointer to where to store gyroscope raw data to. 00075 * p_data must point to an array of (at least) three elements, where: 00076 * p_data[0] corresponds to X-axis, 00077 * p_data[1] corresponds to Y-axis, and 00078 * p_data[2] corresponds to Z-axis. 00079 * @return 0 in case of success, an error code otherwise 00080 */ 00081 virtual int get_g_axes_raw(int16_t *p_data) = 0; 00082 00083 /** 00084 * @brief Get gyroscope's current sensitivity [mdps/LSB] 00085 * @param[out] pf_data Pointer to where the gyroscope's sensitivity is stored to 00086 * @return 0 in case of success, an error code otherwise 00087 */ 00088 virtual int get_g_sensitivity(float *pf_data) = 0; 00089 00090 /** 00091 * @brief Get gyroscope's current output data rate [Hz] 00092 * @param[out] pf_data Pointer to where the gyroscope output data rate is stored to 00093 * @return 0 in case of success, an error code otherwise 00094 */ 00095 virtual int get_g_odr(float *pf_data) = 0; 00096 00097 /** 00098 * @brief Set gyroscope's output data rate 00099 * @param[in] odr New value for gyroscope's output data rate in [Hz] 00100 * @return 0 in case of success, an error code otherwise 00101 */ 00102 virtual int set_g_odr(float odr) = 0; 00103 00104 /** 00105 * @brief Get gyroscope's full scale value 00106 * i.e.\ min/max measurable value [dps] 00107 * @param[out] pf_data Pointer to where the gyroscope full scale value is stored to 00108 * @return 0 in case of success, an error code otherwise 00109 */ 00110 virtual int get_g_fs(float *pf_data) = 0; 00111 00112 /** 00113 * @brief Set gyroscope's full scale value 00114 * i.e.\ min/max measurable value 00115 * @param[in] fs New full scale value for gyroscope in [dps] 00116 * @return 0 in case of success, an error code otherwise 00117 */ 00118 virtual int set_g_fs(float fs) = 0; 00119 00120 /** 00121 * @brief Destructor. 00122 */ 00123 virtual ~GyroSensor() {}; 00124 }; 00125 00126 #endif /* __GYRO_SENSOR_CLASS_H */
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