Kenji Arai / L3GD20

L3GD20 & L3G4200D / STMicroelectronics / MEMS motion sensor, three-axis gyroscope library

Dependents:   GR-PEACH_test_wo_rtos GR-PEACH_test_on_rtos_works_well

Embed: (wiki syntax)

« Back to documentation index

L3GX_GYRO Class Reference
Public Member Functions

L3GX_GYRO Class Reference

Interface for STMicronics MEMS motion sensor: 3-axis digital gyroscope Chip: L3GD20 (new one) and L3G4200 (old one) More...

#include <L3GD20.h>

Public Member Functions

 L3GX_GYRO (PinName p_sda, PinName p_scl, uint8_t addr, uint8_t data_rate, uint8_t bandwidth, uint8_t fullscale)
 Configure data pin.
 L3GX_GYRO (PinName p_sda, PinName p_scl, uint8_t addr)
 Configure data pin.
 L3GX_GYRO (I2C &p_i2c, uint8_t addr, uint8_t data_rate, uint8_t bandwidth, uint8_t fullscale)
 Configure data pin (with other devices on I2C line)
 L3GX_GYRO (I2C &p_i2c, uint8_t addr)
 Configure data pin (with other devices on I2C line)
int8_t read_temp ()
 Read a tow's complemet type data from Gyro.
void read_data (float *dt_usr)
 Read a float type data from Gyro.
uint8_t read_id ()
 Read a Gyro ID number.
uint8_t data_ready ()
 Read Data Ready flag.
void frequency (int hz)
 Set I2C clock frequency.
uint8_t read_reg (uint8_t addr)
 Read register (general purpose)
void write_reg (uint8_t addr, uint8_t data)
 Write register (general purpose)

Detailed Description

Interface for STMicronics MEMS motion sensor: 3-axis digital gyroscope Chip: L3GD20 (new one) and L3G4200 (old one) 

 #include "mbed.h"

 // I2C Communication
 L3GX_GYRO gyro(p_sda, p_scl, chip_addr, datarate, bandwidth, fullscale);
 // If you connected I2C line not only this device but also other devices,
 //     you need to declare following method.
 I2C i2c(dp5,dp27);              // SDA, SCL
 L3GX_GYRO gyro(i2c, chip_addr, datarate, bandwidth, fullscale);

 int main() {
 float f[3];
 int8_t t;

   if (gyro.read_id() == I_AM_L3G4200D){
      t = gyro.read_temp();
      gyro.read_data(f);
   }
 }

Definition at line 129 of file L3GD20.h.

Constructor & Destructor Documentation

L3GX_GYRO ( PinName  p_sda,
PinName  p_scl,
uint8_t  addr,
uint8_t  data_rate,
uint8_t  bandwidth,
uint8_t  fullscale 
)

Configure data pin.

Parameters:
dataSDA and SCL pins
deviceaddress L3G4200D(SA0=0 or 1) or L3GD20(SA0=0 or 1)
->L3G4200D_G_CHIP_ADDRto L3GD20_V_CHIP_ADDR
outputdata rate selection, DR_100HZ/DR_95HZ to DR_800HZ/DR_760HZ
bandwidthselection, BW_LOW to BW_HI
fullscale selection, FS_250DPS, FS_500DPS, FS_2000DPS

Definition at line 19 of file L3GD20.cpp.

L3GX_GYRO ( PinName  p_sda,
PinName  p_scl,
uint8_t  addr 
)

Configure data pin.

Parameters:
dataSDA and SCL pins
deviceaddress L3G4200D(SA0=0 or 1) or L3GD20(SA0=0 or 1)
->L3G4200D_G_CHIP_ADDRto L3GD20_V_CHIP_ADDR output data rate selection = DR_100HZ/DR_95HZ bandwidth selection = BW_HI full scale selection = FS_250DPS

Definition at line 27 of file L3GD20.cpp.

L3GX_GYRO ( I2C &  p_i2c,
uint8_t  addr,
uint8_t  data_rate,
uint8_t  bandwidth,
uint8_t  fullscale 
)

Configure data pin (with other devices on I2C line)

Parameters:
I2Cprevious definition
otherparameters -> please see L3GX_GYRO(PinName p_sda, PinName p_scl,...)

Definition at line 34 of file L3GD20.cpp.

L3GX_GYRO ( I2C &  p_i2c,
uint8_t  addr 
)

Configure data pin (with other devices on I2C line)

Parameters:
I2Cprevious definition
otherparameters -> please see L3GX_GYRO(PinName p_sda, PinName p_scl,...) output data rate selection = DR_100HZ/DR_95HZ bandwidth selection = BW_HI full scale selection = FS_250DPS

Definition at line 42 of file L3GD20.cpp.

Member Function Documentation

uint8_t data_ready (  )

Read Data Ready flag.

Parameters:
none
Returns:
1 = Ready

Definition at line 141 of file L3GD20.cpp.

void frequency ( int  hz )

Set I2C clock frequency.

Parameters:
freq.
Returns:
none

Definition at line 154 of file L3GD20.cpp.

void read_data ( float *  dt_usr )

Read a float type data from Gyro.

Parameters:
floattype of three arry's address, e.g. float dt_usr[3];
Returns:
Gyro motion data unit in param array:dps(degree per second)
dt_usr[0]->x, dt_usr[1]->y, dt_usr[2]->z

Definition at line 96 of file L3GD20.cpp.

uint8_t read_id (  )

Read a Gyro ID number.

Parameters:
none
Returns:
if STM MEMS Gyro, it should be I_AM_L3G4200D(0xd3) or I_AM_L3GD20(0xd4)

Definition at line 133 of file L3GD20.cpp.

uint8_t read_reg ( uint8_t  addr )

Read register (general purpose)

Parameters:
register'saddress
Returns:
register data

Definition at line 159 of file L3GD20.cpp.

int8_t read_temp (  )

Read a tow's complemet type data from Gyro.

Parameters:
none
Returns:
temperature unit:degreeC(Celsius)

Definition at line 121 of file L3GD20.cpp.

void write_reg ( uint8_t  addr,
uint8_t  data 
)

Write register (general purpose)

Parameters:
register'saddress
data
Returns:
none

Definition at line 171 of file L3GD20.cpp.

Generated on Wed Jul 27 2022 22:57:45 by  doxygen 1.7.2