Revision b4885314 include/amiro/gyro/l3g4200d.hpp

View differences:

include/amiro/gyro/l3g4200d.hpp
15 15 
    DR_200_HZ   = 0x40,
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    DR_400_HZ   = 0x80,
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    DR_800_HZ   = 0xC0,
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    DR_MASK     = 0xC0,
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  };
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  enum {
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    BW_12_5  = 0x00,
......
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    BW_50    = 0x20,
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    BW_70    = 0x30,
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    BW_110   = 0x30,
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    BW_MASK  = 0x30,
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  };
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  enum {
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    PD  = 0x08,
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    ZEN = 0x04,
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    YEN = 0x02,
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    XEN = 0x01,
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    PD       = 0x08,
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    ZEN      = 0x04,
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    YEN      = 0x02,
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    XEN      = 0x01,
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    EN_MASK  = 0x0F,
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  };
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  enum {
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    HPM_NORMAL_RST = 0x00,
......
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    ST_EN       = 0x02,
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    SIM_3W      = 0x01,
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    SIM_4W      = 0x00,
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    FS_MASK     = 0x20,
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  };
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  enum {
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    BOOT          = 0x80,
......
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  chibios_rt::EvtSource* getEventSource();
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  msg_t configure(const L3G4200DConfig* config);
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  int16_t angularRate[AXIS_Z - AXIS_X + 1];
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  int32_t angular[AXIS_Z - AXIS_X + 1];
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  int16_t getAngularRate(const uint8_t axis);


  		




  
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  int32_t getAngularRate_udps(const uint8_t axis);


  		




  
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  int32_t getAngular(const uint8_t axis);


  		




  
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  int32_t getAngular_ud(const uint8_t axis);


  		




  
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  void angularReset();


  		




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  /**


  		




  ......




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 private:


  		




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  inline void updateSensorData();


  		




  
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  inline void calcAngular();


  		




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 private:


  		




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  HWSPIDriver* driver;


  		




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  chibios_rt::EvtSource eventSource;


  		




  
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  uint32_t integrationTic;


  		




  
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  uint32_t udpsPerTic; // Resolution: Micro-degree-per-second per digit


  		




  
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  uint32_t period_us;


  		




  
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  uint32_t period_ms;


  		




  
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  systime_t period_st;


  		




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};


  		




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