L3GD20 Class Reference

L3GD20 Tri-axis Digital Gyroscope API. More...

Detailed Description

• ID: l3gd20
• Name: L3GD20 Tri-axis Digital Gyroscope
• Category: gyroscope
• Manufacturer: STMicroelectronics
• Connection: iio i2c

The L3GD20 The L3GD20 is a low-power three-axis angular rate sensor.

    // Instantiate a L3GD20 Gyroscope Sensor on iio device 3
    gyroscope = new upm::L3GD20(3);
    gyroscope->setScale(0.001222);
    gyroscope->setSamplingFrequency(95.0);
    gyroscope->enable3AxisChannel();
    gyroscope->installISR(data_callback, NULL);
    gyroscope->enableBuffer(16);

    while (shouldRun) {
        sleep(1);
    }
    gyroscope->disableBuffer();

Data Structures
struct	filter_median_t
struct	gyro_cal_t

Public Member Functions
	L3GD20 (int device)
	~L3GD20 ()
void	installISR (void(*isr)(char *), void *arg)
int64_t	getChannelValue (unsigned char *input, mraa_iio_channel *chan)
bool	enableBuffer (int length)
bool	disableBuffer ()
bool	setScale (const float scale)
bool	setSamplingFrequency (const float sampling_frequency)
bool	enable3AxisChannel ()
bool	extract3Axis (char *data, float *x, float *y, float *z)
void	initCalibrate ()
bool	getCalibratedStatus ()
void	getCalibratedData (float *bias_x, float *bias_y, float *bias_z)
void	loadCalibratedData (float bias_x, float bias_y, float bias_z)
bool	gyroCollect (float x, float y, float z)
void	gyroDenoiseMedian (float *x, float *y, float *z)
float	median (float *queue, unsigned int size)
unsigned int	partition (float *list, unsigned int left, unsigned int right, unsigned int pivot_index)
void	clampGyroReadingsToZero (float *x, float *y, float *z)

Constructor & Destructor Documentation

L3GD20

(

int

device

)

L3GD20 Tri-axis Digital Gyroscope

Parameters

iio	device number

Here is the call graph for this function:

~L3GD20

(

)

L3GD20 destructor

Member Function Documentation

void installISR	(	void(*)(char *)	isr,
		void *	arg
	)

Installs an interrupt service routine (ISR) to be called when an interrupt occurs

Parameters

interrupt	channel
fptr	Pointer to a function to be called on interrupt
arg	Pointer to an object to be supplied as an argument to the ISR.

int64_t getChannelValue	(	unsigned char *	input,
		mraa_iio_channel *	chan
	)

Extract the channel value based on channel type

Parameters

input	Channel data
chan	MRAA iio-layer channel info

Here is the caller graph for this function:

bool enableBuffer

(

int

length

)

Enable trigger buffer

Parameters

trigger

buffer length in string

bool disableBuffer

(

)

Disable trigger buffer

bool setScale

(

const float

scale

)

Set scale

Parameters

scale

in string

bool setSamplingFrequency

(

const float

sampling_frequency

)

Set sampling frequency

Parameters

sampling

frequency in string

bool enable3AxisChannel

(

)

Enable 3 axis scan element

bool extract3Axis	(	char *	data,
		float *	x,
		float *	y,
		float *	z
	)

Process enabled channel buffer and return x, y, z axis

Parameters

data	Enabled channel data, 6 bytes, each axis 2 bytes
x	X-Axis
y	Y-Axis
z	Z-Axis

Here is the call graph for this function:

void initCalibrate

(

)

Reset calibration data and start collect calibration data again

Here is the caller graph for this function:

bool getCalibratedStatus

(

)

Get calibrated status, return true if calibrate successfully

void getCalibratedData	(	float *	bias_x,
		float *	bias_y,
		float *	bias_z
	)

Get calibrated data

void loadCalibratedData	(	float	bias_x,
		float	bias_y,
		float	bias_z
	)

Load calibrated data

bool gyroCollect	(	float	x,
		float	y,
		float	z
	)

Calibrate gyro

Parameters

x	X-Axis
y	Y-Axis
z	Z-Axis

Here is the caller graph for this function:

void gyroDenoiseMedian	(	float *	x,
		float *	y,
		float *	z
	)

Denoise gyro

Parameters

x	X-Axis
y	Y-Axis
z	Z-Axis

Here is the call graph for this function:

Here is the caller graph for this function:

float median	(	float *	queue,
		unsigned int	size
	)

median algorithm

Parameters

queue
size

Here is the call graph for this function:

Here is the caller graph for this function:

unsigned int partition	(	float *	list,
		unsigned int	left,
		unsigned int	right,
		unsigned int	pivot_index
	)

partition algorithm

Parameters

list
left
right
pivot_index

Here is the caller graph for this function:

void clampGyroReadingsToZero	(	float *	x,
		float *	y,
		float *	z
	)

Clamp Gyro Readings to Zero

Parameters

x	X-Axis
y	Y-Axis
z	Z-Axis

Here is the caller graph for this function:

---

The documentation for this class was generated from the following files:

• /iotdk/jenkins/workspace/upm-doc-stable/src/l3gd20/l3gd20.hpp
• /iotdk/jenkins/workspace/upm-doc-stable/src/l3gd20/l3gd20.cxx