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Diffstat (limited to 'ChibiOS_20.3.2/os/ex/devices/ST/l3gd20.h')
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diff --git a/ChibiOS_20.3.2/os/ex/devices/ST/l3gd20.h b/ChibiOS_20.3.2/os/ex/devices/ST/l3gd20.h new file mode 100644 index 0000000..5528ecc --- /dev/null +++ b/ChibiOS_20.3.2/os/ex/devices/ST/l3gd20.h @@ -0,0 +1,725 @@ +/* + ChibiOS - Copyright (C) 2016..2019 Rocco Marco Guglielmi + + This file is part of ChibiOS. + + ChibiOS is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 3 of the License, or + (at your option) any later version. + + ChibiOS is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see <http://www.gnu.org/licenses/>. + +*/ + +/** + * @file l3gd20.h + * @brief L3GD20 MEMS interface module header. + * + * @addtogroup L3GD20 + * @ingroup EX_ST + * @{ + */ +#ifndef _L3GD20_H_ +#define _L3GD20_H_ + +#include "ex_gyroscope.h" + +/*===========================================================================*/ +/* Driver constants. */ +/*===========================================================================*/ + +/** + * @name Version identification + * @{ + */ +/** + * @brief L3GD20 driver version string. + */ +#define EX_L3GD20_VERSION "1.1.2" + +/** + * @brief L3GD20 driver version major number. + */ +#define EX_L3GD20_MAJOR 1 + +/** + * @brief L3GD20 driver version minor number. + */ +#define EX_L3GD20_MINOR 1 + +/** + * @brief L3GD20 driver version patch number. + */ +#define EX_L3GD20_PATCH 2 +/** @} */ + +/** + * @brief L3GD20 gyroscope system characteristics. + * @note Sensitivity is expressed as DPS/LSB whereas DPS stand for Degree + * per second [°/s]. + * @note Bias is expressed as DPS. + * + * @{ + */ +#define L3GD20_GYRO_NUMBER_OF_AXES 3U + +#define L3GD20_250DPS 250.0f +#define L3GD20_500DPS 500.0f +#define L3GD20_2000DPS 2000.0f + +#define L3GD20_GYRO_SENS_250DPS 0.00875f +#define L3GD20_GYRO_SENS_500DPS 0.01750f +#define L3GD20_GYRO_SENS_2000DPS 0.07000f + +#define L3GD20_GYRO_BIAS 0.0f +/** @} */ + +/** + * @name L3GD20 communication interfaces related bit masks + * @{ + */ +#define L3GD20_DI_MASK 0xFF +#define L3GD20_DI(n) (1 << n) +#define L3GD20_AD_MASK 0x3F +#define L3GD20_AD(n) (1 << n) +#define L3GD20_MS (1 << 6) +#define L3GD20_RW (1 << 7) +/** @} */ + +/** + * @name L3GD20 register addresses + * @{ + */ +#define L3GD20_AD_WHO_AM_I 0x0F +#define L3GD20_AD_CTRL_REG1 0x20 +#define L3GD20_AD_CTRL_REG2 0x21 +#define L3GD20_AD_CTRL_REG3 0x22 +#define L3GD20_AD_CTRL_REG4 0x23 +#define L3GD20_AD_CTRL_REG5 0x24 +#define L3GD20_AD_REFERENCE 0x25 +#define L3GD20_AD_OUT_TEMP 0x26 +#define L3GD20_AD_STATUS_REG 0x27 +#define L3GD20_AD_OUT_X_L 0x28 +#define L3GD20_AD_OUT_X_H 0x29 +#define L3GD20_AD_OUT_Y_L 0x2A +#define L3GD20_AD_OUT_Y_H 0x2B +#define L3GD20_AD_OUT_Z_L 0x2C +#define L3GD20_AD_OUT_Z_H 0x2D +#define L3GD20_AD_FIFO_CTRL_REG 0x2E +#define L3GD20_AD_FIFO_SRC_REG 0x2F +#define L3GD20_AD_INT1_CFG 0x30 +#define L3GD20_AD_INT1_SRC 0x31 +#define L3GD20_AD_INT1_THS_XH 0x32 +#define L3GD20_AD_INT1_THS_XL 0x33 +#define L3GD20_AD_INT1_THS_YH 0x34 +#define L3GD20_AD_INT1_THS_YL 0x35 +#define L3GD20_AD_INT1_THS_ZH 0x36 +#define L3GD20_AD_INT1_THS_ZL 0x37 +#define L3GD20_AD_INT1_DURATION 0x38 +/** @} */ + +/** + * @name L3GD20_CTRL_REG1 register bits definitions + * @{ + */ +#define L3GD20_CTRL_REG1_MASK 0xFF +#define L3GD20_CTRL_REG1_XEN (1 << 0) +#define L3GD20_CTRL_REG1_YEN (1 << 1) +#define L3GD20_CTRL_REG1_ZEN (1 << 2) +#define L3GD20_CTRL_REG1_PD (1 << 3) +#define L3GD20_CTRL_REG1_BW0 (1 << 4) +#define L3GD20_CTRL_REG1_BW1 (1 << 5) +#define L3GD20_CTRL_REG1_DR0 (1 << 6) +#define L3GD20_CTRL_REG1_DR1 (1 << 7) +/** @} */ + +/** + * @name L3GD20_CTRL_REG2 register bits definitions + * @{ + */ +#define L3GD20_CTRL_REG2_MASK 0x3F +#define L3GD20_CTRL_REG2_HPCF0 (1 << 0) +#define L3GD20_CTRL_REG2_HPCF1 (1 << 1) +#define L3GD20_CTRL_REG2_HPCF2 (1 << 2) +#define L3GD20_CTRL_REG2_HPCF3 (1 << 3) +#define L3GD20_CTRL_REG2_HPM0 (1 << 4) +#define L3GD20_CTRL_REG2_HPM1 (1 << 5) +/** @} */ + +/** + * @name L3GD20_CTRL_REG3 register bits definitions + * @{ + */ +#define L3GD20_CTRL_REG3_MASK 0xFF +#define L3GD20_CTRL_REG3_I2_EMPTY (1 << 0) +#define L3GD20_CTRL_REG3_I2_ORUN (1 << 1) +#define L3GD20_CTRL_REG3_I2_WTM (1 << 2) +#define L3GD20_CTRL_REG3_I2_DRDY (1 << 3) +#define L3GD20_CTRL_REG3_PP_OD (1 << 4) +#define L3GD20_CTRL_REG3_H_LACTIVE (1 << 5) +#define L3GD20_CTRL_REG3_I1_BOOT (1 << 6) +#define L3GD20_CTRL_REG3_I1_INT1 (1 << 7) +/** @} */ + +/** + * @name L3GD20_CTRL_REG4 register bits definitions + * @{ + */ +#define L3GD20_CTRL_REG4_MASK 0xF1 +#define L3GD20_CTRL_REG4_SIM (1 << 0) +#define L3GD20_CTRL_REG4_FS_MASK 0x30 +#define L3GD20_CTRL_REG4_FS0 (1 << 4) +#define L3GD20_CTRL_REG4_FS1 (1 << 5) +#define L3GD20_CTRL_REG4_BLE (1 << 6) +#define L3GD20_CTRL_REG4_BDU (1 << 7) +/** @} */ + +/** + * @name L3GD20_CTRL_REG5 register bits definitions + * @{ + */ +#define L3GD20_CTRL_REG5_MASK 0xDF +#define L3GD20_CTRL_REG5_OUT_SEL0 (1 << 0) +#define L3GD20_CTRL_REG5_OUT_SEL1 (1 << 1) +#define L3GD20_CTRL_REG5_INT1_SEL0 (1 << 2) +#define L3GD20_CTRL_REG5_INT1_SEL1 (1 << 3) +#define L3GD20_CTRL_REG5_HPEN (1 << 4) +#define L3GD20_CTRL_REG5_FIFO_EN (1 << 6) +#define L3GD20_CTRL_REG5_BOOT (1 << 7) +/** @} */ + +/** + * @name L3GD20_INT1_CFG register bits definitions + * @{ + */ +#define L3GD20_INT1_CFG_MASK 0xFF +#define L3GD20_INT1_CFG_XLIE (1 << 0) +#define L3GD20_INT1_CFG_XHIE (1 << 1) +#define L3GD20_INT1_CFG_YLIE (1 << 2) +#define L3GD20_INT1_CFG_YHIE (1 << 3) +#define L3GD20_INT1_CFG_ZLIE (1 << 4) +#define L3GD20_INT1_CFG_ZHIE (1 << 5) +#define L3GD20_INT1_CFG_LIR (1 << 6) +#define L3GD20_INT1_CFG_AND_OR (1 << 7) +/** @} */ + +/** + * @name L3GD20_INT1_SRC register bits definitions + * @{ + */ +#define L3GD20_INT1_SRC_MASK 0x7F +#define L3GD20_INT1_SRC_XL (1 << 0) +#define L3GD20_INT1_SRC_XH (1 << 1) +#define L3GD20_INT1_SRC_YL (1 << 2) +#define L3GD20_INT1_SRC_YH (1 << 3) +#define L3GD20_INT1_SRC_ZL (1 << 4) +#define L3GD20_INT1_SRC_ZH (1 << 5) +#define L3GD20_INT1_SRC_IA (1 << 6) +/** @} */ + +/*===========================================================================*/ +/* Driver pre-compile time settings. */ +/*===========================================================================*/ + +/** + * @name Configuration options + * @{ + */ +/** + * @brief L3GD20 SPI interface switch. + * @details If set to @p TRUE the support for SPI is included. + * @note The default is @p TRUE. + */ +#if !defined(L3GD20_USE_SPI) || defined(__DOXYGEN__) +#define L3GD20_USE_SPI TRUE +#endif + +/** + * @brief L3GD20 shared SPI switch. + * @details If set to @p TRUE the device acquires SPI bus ownership + * on each transaction. + * @note The default is @p FALSE. Requires SPI_USE_MUTUAL_EXCLUSION. + */ +#if !defined(L3GD20_SHARED_SPI) || defined(__DOXYGEN__) +#define L3GD20_SHARED_SPI FALSE +#endif + +/** + * @brief L3GD20 I2C interface switch. + * @details If set to @p TRUE the support for I2C is included. + * @note The default is @p FALSE. + */ +#if !defined(L3GD20_USE_I2C) || defined(__DOXYGEN__) +#define L3GD20_USE_I2C FALSE +#endif + +/** + * @brief L3GD20 shared I2C switch. + * @details If set to @p TRUE the device acquires I2C bus ownership + * on each transaction. + * @note The default is @p FALSE. Requires I2C_USE_MUTUAL_EXCLUSION. + */ +#if !defined(L3GD20_SHARED_I2C) || defined(__DOXYGEN__) +#define L3GD20_SHARED_I2C FALSE +#endif + +/** + * @brief L3GD20 advanced configurations switch. + * @details If set to @p TRUE more configurations are available. + * @note The default is @p FALSE. + */ +#if !defined(L3GD20_USE_ADVANCED) || defined(__DOXYGEN__) +#define L3GD20_USE_ADVANCED FALSE +#endif + +/** + * @brief Number of acquisitions for bias removal + * @details This is the number of acquisitions performed to compute the + * bias. A repetition is required in order to remove noise. + */ +#if !defined(L3GD20_BIAS_ACQ_TIMES) || defined(__DOXYGEN__) +#define L3GD20_BIAS_ACQ_TIMES 50 +#endif + +/** + * @brief Settling time for bias removal + * @details This is the time between each bias acquisition. + */ +#if !defined(L3GD20_BIAS_SETTLING_US) || defined(__DOXYGEN__) +#define L3GD20_BIAS_SETTLING_US 5000 +#endif +/** @} */ + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +#if !(L3GD20_USE_SPI ^ L3GD20_USE_I2C) +#error "L3GD20_USE_SPI and L3GD20_USE_I2C cannot be both true or both false" +#endif + +#if L3GD20_USE_SPI && !HAL_USE_SPI +#error "L3GD20_USE_SPI requires HAL_USE_SPI" +#endif + +#if L3GD20_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION +#error "L3GD20_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION" +#endif + +#if L3GD20_USE_I2C && !HAL_USE_I2C +#error "L3GD20_USE_I2C requires HAL_USE_I2C" +#endif + +#if L3GD20_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION +#error "L3GD20_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION" +#endif + +/* + * CHTODO: Add support for L3GD20 over I2C. + */ +#if L3GD20_USE_I2C +#error "L3GD20 over I2C still not supported" +#endif + +/*===========================================================================*/ +/* Driver data structures and types. */ +/*===========================================================================*/ + +/** + * @name L3GD20 data structures and types. + * @{ + */ +/** + * @brief Structure representing a L3GD20 driver. + */ +typedef struct L3GD20Driver L3GD20Driver; + +/** + * @brief L3GD20 full scale. + */ +typedef enum { + L3GD20_FS_250DPS = 0x00, /**< Full scale 250 degree per second. */ + L3GD20_FS_500DPS = 0x10, /**< Full scale 500 degree per second. */ + L3GD20_FS_2000DPS = 0x20 /**< Full scale 2000 degree per second. */ +} l3gd20_fs_t; + +/** + * @brief L3GD20 output data rate and bandwidth. + */ +typedef enum { + L3GD20_ODR_95HZ = 0x00, /**< Output data rate 95 Hz. */ + L3GD20_ODR_190HZ = 0x40, /**< Output data rate 190 Hz. */ + L3GD20_ODR_380HZ = 0x80, /**< Output data rate 380 Hz. */ + L3GD20_ODR_760HZ = 0xC0 /**< Output data rate 760 Hz. */ +} l3gd20_odr_t; + +/** + * @brief L3GD20 low pass filter 1 bandwidth. + */ +typedef enum { + L3GD20_BW0 = 0x00, /**< LPF1 bandwidth. Depends on ODR. */ + L3GD20_BW1 = 0x40, /**< LPF1 bandwidth. Depends on ODR. */ + L3GD20_BW2 = 0x80, /**< LPF1 bandwidth. Depends on ODR. */ + L3GD20_BW3 = 0xC0 /**< LPF1 bandwidth. Depends on ODR. */ +} l3gd20_bw_t; + +/** + * @brief L3GD20 block data update. + */ +typedef enum { + L3GD20_BDU_CONTINUOUS = 0x00, /**< Block data continuously updated. */ + L3GD20_BDU_BLOCKED = 0x80 /**< Block data updated after reading. */ +} l3gd20_bdu_t; + +/** + * @brief L3GD20 HP filter mode. + */ +typedef enum { + L3GD20_HPM_NORMAL = 0x00, /**< Normal mode. */ + L3GD20_HPM_REFERENCE = 0x10, /**< Reference signal for filtering. */ + L3GD20_HPM_AUTORESET = 0x30, /**< Autoreset on interrupt event. */ + L3GD20_HPM_BYPASSED = 0xFF /**< HP filter bypassed */ +} l3gd20_hpm_t; + +/** + * @brief L3GD20 HP configuration. + */ +typedef enum { + L3GD20_HPCF_0 = 0x00, /**< Depends on ODR (Table 26 for more).*/ + L3GD20_HPCF_1 = 0x01, /**< Depends on ODR (Table 26 for more).*/ + L3GD20_HPCF_2 = 0x02, /**< Depends on ODR (Table 26 for more).*/ + L3GD20_HPCF_3 = 0x03, /**< Depends on ODR (Table 26 for more).*/ + L3GD20_HPCF_4 = 0x04, /**< Depends on ODR (Table 26 for more).*/ + L3GD20_HPCF_5 = 0x05, /**< Depends on ODR (Table 26 for more).*/ + L3GD20_HPCF_6 = 0x06, /**< Depends on ODR (Table 26 for more).*/ + L3GD20_HPCF_7 = 0x07, /**< Depends on ODR (Table 26 for more).*/ + L3GD20_HPCF_8 = 0x08, /**< Depends on ODR (Table 26 for more).*/ + L3GD20_HPCF_9 = 0x09 /**< Depends on ODR (Table 26 for more).*/ +} l3gd20_hpcf_t; + +/** + * @brief L3GD20 LP2 filter mode. + * @details To activate LP2 HP should be active + */ +typedef enum { + L3GD20_LP2M_ON = 0x00, /**< LP2 filter activated. */ + L3GD20_LP2M_BYPASSED = 0xFF, /**< LP2 filter bypassed. */ +} l3gd20_lp2m_t; + +/** + * @brief L3GD20 endianness. + */ +typedef enum { + L3GD20_END_LITTLE = 0x00, /**< Little endian. */ + L3GD20_END_BIG = 0x40 /**< Big endian. */ +} l3gd20_end_t; + +/** + * @brief Driver state machine possible states. + */ +typedef enum { + L3GD20_UNINIT = 0, /**< Not initialized. */ + L3GD20_STOP = 1, /**< Stopped. */ + L3GD20_READY = 2 /**< Ready. */ +} l3gd20_state_t; + +/** + * @brief L3GD20 configuration structure. + */ +typedef struct { + +#if L3GD20_USE_SPI || defined(__DOXYGEN__) + /** + * @brief SPI driver associated to this L3GD20. + */ + SPIDriver *spip; + /** + * @brief SPI configuration associated to this L3GD20. + */ + const SPIConfig *spicfg; +#endif /* L3GD20_USE_SPI */ +#if L3GD20_USE_I2C || defined(__DOXYGEN__) + /** + * @brief I2C driver associated to this L3GD20. + */ + I2CDriver *i2cp; + /** + * @brief I2C configuration associated to this L3GD20. + */ + const I2CConfig *i2ccfg; +#endif /* L3GD20_USE_I2C */ + /** + * @brief L3GD20 gyroscope system initial sensitivity. + */ + float *gyrosensitivity; + /** + * @brief L3GD20 gyroscope system initial bias. + */ + float *gyrobias; + /** + * @brief L3GD20 gyroscope system initial full scale value. + */ + l3gd20_fs_t gyrofullscale; + /** + * @brief L3GD20 gyroscope system output data rate selection. + */ + l3gd20_odr_t gyrooutputdatarate; +#if L3GD20_USE_ADVANCED || defined(__DOXYGEN__) + /** + * @brief L3GD20 gyroscope system block data update. + */ + l3gd20_bdu_t gyroblockdataupdate; + /** + * @brief L3GD20 gyroscope system endianness. + */ + l3gd20_end_t gyroendianness; + /** + * @brief L3GD20 gyroscope system LP1 filter bandwidth. + */ + l3gd20_bw_t gyrobandwidth; + /** + * @brief L3GD20 gyroscope system HP filter mode. + */ + l3gd20_hpm_t gyrohpmode; + /** + * @brief L3GD20 gyroscope system HP configuration. + */ + l3gd20_hpcf_t gyrohpconfiguration; + /** + * @brief L3GD20 gyroscope system LP2 filter mode. + * @details To activate LP2 HP should be active + */ + l3gd20_lp2m_t gyrolp2mode; +#endif +} L3GD20Config; + +/** + * @brief @p L3GD20 specific methods. + */ +#define _l3gd20_methods_alone \ + /* Change full scale value of L3GD20.*/ \ + msg_t (*gyro_set_full_scale)(L3GD20Driver *devp, l3gd20_fs_t fs); + +/** + * @brief @p L3GD20 specific methods with inherited ones. + */ +#define _l3gd20_methods \ + _base_object_methods \ + _l3gd20_methods_alone + +/** + * @extends BaseObjectVMT + * + * @brief @p L3GD20 virtual methods table. + */ +struct L3GD20VMT { + _l3gd20_methods +}; + +/** + * @brief @p L3GD20Driver specific data. + */ +#define _l3gd20_data \ + _base_sensor_data \ + /* Driver state.*/ \ + l3gd20_state_t state; \ + /* Current configuration data.*/ \ + const L3GD20Config *config; \ + /* Gyroscope subsystem axes number.*/ \ + size_t gyroaxes; \ + /* Gyroscope subsystem current sensitivity.*/ \ + float gyrosensitivity[L3GD20_GYRO_NUMBER_OF_AXES]; \ + /* Gyroscope subsystem current Bias.*/ \ + float gyrobias[L3GD20_GYRO_NUMBER_OF_AXES]; \ + /* Gyroscope subsystem current full scale value.*/ \ + float gyrofullscale; + +/** + * @brief L3GD20 3-axis gyroscope class. + */ +struct L3GD20Driver { + /** @brief Virtual Methods Table. */ + const struct L3GD20VMT *vmt; + /** @brief Base gyroscope interface.*/ + BaseGyroscope gyro_if; + _l3gd20_data +}; +/** @} */ + +/*===========================================================================*/ +/* Driver macros. */ +/*===========================================================================*/ + +/** + * @brief Return the number of axes of the BaseGyroscope. + * + * @param[in] devp pointer to @p L3GD20Driver. + * + * @return the number of axes. + * + * @api + */ +#define l3gd20GyroscopeGetAxesNumber(devp) \ + gyroscopeGetAxesNumber(&((devp)->gyro_if)) + +/** + * @brief Retrieves raw data from the BaseGyroscope. + * @note This data is retrieved from MEMS register without any algebraical + * manipulation. + * @note The axes array must be at least the same size of the + * BaseGyroscope axes number. + * + * @param[in] devp pointer to @p L3GD20Driver. + * @param[out] axes a buffer which would be filled with raw data. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * + * @api + */ +#define l3gd20GyroscopeReadRaw(devp, axes) \ + gyroscopeReadRaw(&((devp)->gyro_if), axes) + +/** + * @brief Retrieves cooked data from the BaseGyroscope. + * @note This data is manipulated according to the formula + * cooked = (raw * sensitivity) - bias. + * @note Final data is expressed as DPS. + * @note The axes array must be at least the same size of the + * BaseGyroscope axes number. + * + * @param[in] devp pointer to @p L3GD20Driver. + * @param[out] axes a buffer which would be filled with cooked data. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * + * @api + */ +#define l3gd20GyroscopeReadCooked(devp, axes) \ + gyroscopeReadCooked(&((devp)->gyro_if), axes) + +/** + * @brief Samples bias values for the BaseGyroscope. + * @note The L3GD20 shall not be moved during the whole procedure. + * @note After this function internal bias is automatically updated. + * @note The behavior of this function depends on @p L3GD20_BIAS_ACQ_TIMES + * and @p L3GD20_BIAS_SETTLING_US. + * + * @param[in] devp pointer to @p L3GD20Driver. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * + * @api + */ +#define l3gd20GyroscopeSampleBias(devp) \ + gyroscopeSampleBias(&((devp)->gyro_if)) + +/** + * @brief Set bias values for the BaseGyroscope. + * @note Bias must be expressed as DPS. + * @note The bias buffer must be at least the same size of the BaseGyroscope + * axes number. + * + * @param[in] devp pointer to @p L3GD20Driver. + * @param[in] bp a buffer which contains biases. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * + * @api + */ +#define l3gd20GyroscopeSetBias(devp, bp) \ + gyroscopeSetBias(&((devp)->gyro_if), bp) + +/** + * @brief Reset bias values for the BaseGyroscope. + * @note Default biases value are obtained from device datasheet when + * available otherwise they are considered zero. + * + * @param[in] devp pointer to @p L3GD20Driver. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * + * @api + */ +#define l3gd20GyroscopeResetBias(devp) \ + gyroscopeResetBias(&((devp)->gyro_if)) + +/** + * @brief Set sensitivity values for the BaseGyroscope. + * @note Sensitivity must be expressed as DPS/LSB. + * @note The sensitivity buffer must be at least the same size of the + * BaseGyroscope axes number. + * + * @param[in] devp pointer to @p L3GD20Driver. + * @param[in] sp a buffer which contains sensitivities. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * + * @api + */ +#define l3gd20GyroscopeSetSensitivity(devp, sp) \ + gyroscopeSetSensitivity(&((devp)->gyro_if), sp) + +/** + * @brief Reset sensitivity values for the BaseGyroscope. + * @note Default sensitivities value are obtained from device datasheet. + * + * @param[in] devp pointer to @p L3GD20Driver. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * @retval MSG_RESET otherwise. + * + * @api + */ +#define l3gd20GyroscopeResetSensitivity(devp) \ + gyroscopeResetSensitivity(&((devp)->gyro_if)) + +/** + * @brief Changes the L3GD20Driver gyroscope fullscale value. + * @note This function also rescale sensitivities and biases based on + * previous and next fullscale value. + * @note A recalibration is highly suggested after calling this function. + * + * @param[in] devp pointer to @p L3GD20Driver. + * @param[in] fs new fullscale value. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * @retval MSG_RESET otherwise. + * + * @api + */ +#define l3gd20GyroscopeSetFullScale(devp, fs) \ + (devp)->vmt->acc_set_full_scale(devp, fs) + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +#ifdef __cplusplus +extern "C" { +#endif + void l3gd20ObjectInit(L3GD20Driver *devp); + void l3gd20Start(L3GD20Driver *devp, const L3GD20Config *config); + void l3gd20Stop(L3GD20Driver *devp); +#ifdef __cplusplus +} +#endif + +#endif /* _L3GD20_H_ */ + +/** @} */ + |