Boardcore::L3GD20 Class Reference

#include <L3GD20.h>

Inheritance diagram for Boardcore::L3GD20:

Collaboration diagram for Boardcore::L3GD20:

Public Types
enum class	FullScaleRange { FS_250 = 250 , FS_500 = 500 , FS_2000 = 2000 }
enum class	OutPutDataRate { ODR_95 = 95 , ODR_190 = 190 , ODR_380 = 380 , ODR_760 = 760 }
Public Types inherited from Boardcore::Sensor< Data >
using	DataType = Data

Public Member Functions
	L3GD20 (SPIBusInterface &bus, miosix::GpioPin cs, FullScaleRange range=FullScaleRange::FS_250, OutPutDataRate odr=OutPutDataRate::ODR_95, uint8_t cutoffFreq=0x03)
	Creates an instance of an L3GD20 sensor.
	L3GD20 (SPIBusInterface &bus, miosix::GpioPin cs, SPIBusConfig cfg, FullScaleRange range=FullScaleRange::FS_250, OutPutDataRate odr=OutPutDataRate::ODR_95, uint8_t cutoffFreq=0x03)
	Creates an instance of an L3GD20 sensor.
void	enableFifo (unsigned int fifoWatermark)
	Enables storing samples in a FIFO, must be called before init().
bool	init ()
	Initialize the sensor.
bool	selfTest ()
	Check if the sensor is working.
L3GD20Data	sampleImpl ()
	Read a data sample from the sensor. In case of errors, the method should return the last available correct sample.
Public Member Functions inherited from Boardcore::SensorFIFO< L3GD20Data, L3GD20_FIFO_SIZE >
	SensorFIFO ()
	SensorFIFO (SensorFIFO &&other)
const std::array< L3GD20Data, FifoSize >	getLastFifo (uint16_t &lastFifoSize)
virtual void	IRQupdateTimestamp (uint64_t ts)
	Called by the interrupt handling routine: provides the timestamp of the last interrupt (if FIFO is disabled) or the last watermark interrupt (if FIFO enabled)
Public Member Functions inherited from Boardcore::Sensor< Data >
	Sensor ()
	Sensor (Sensor &&other)
virtual	~Sensor ()
void	sample () override
	Sample the sensor.
virtual Data	getLastSample ()
Public Member Functions inherited from Boardcore::AbstractSensor
virtual	~AbstractSensor ()
SensorErrors	getLastError ()
	Get last error for debugging purposes. Avoid silent fails.

Additional Inherited Members
Protected Attributes inherited from Boardcore::SensorFIFO< L3GD20Data, L3GD20_FIFO_SIZE >
std::array< L3GD20Data, FifoSize >	lastFifo
uint16_t	lastFifoLevel
uint64_t	lastInterruptTimestamp
uint64_t	interruptTimestampDelta
Protected Attributes inherited from Boardcore::Sensor< Data >
DataType	lastSample
miosix::FastMutex	mutex
Protected Attributes inherited from Boardcore::AbstractSensor
SensorErrors	lastError = SensorErrors::NO_ERRORS

Detailed Description

Definition at line 41 of file L3GD20.h.

Member Enumeration Documentation

FullScaleRange

enum class Boardcore::L3GD20::FullScaleRange

strong

Enumerator
FS_250
FS_500
FS_2000

Definition at line 44 of file L3GD20.h.

OutPutDataRate

enum class Boardcore::L3GD20::OutPutDataRate

strong

Enumerator
ODR_95
ODR_190
ODR_380
ODR_760

Definition at line 51 of file L3GD20.h.

Constructor & Destructor Documentation

L3GD20() [1/2]

Boardcore::L3GD20::L3GD20 ( SPIBusInterface & bus, miosix::GpioPin cs, FullScaleRange range = FullScaleRange::FS_250, OutPutDataRate odr = OutPutDataRate::ODR_95, uint8_t cutoffFreq = 0x03 )

inline

Creates an instance of an L3GD20 sensor.

Parameters

bus	SPI bus the sensor is connected to
cs	Chip Select GPIO
range	Full Scale Range (See datasheet)
odr	Output Data Rate (See datasheet)
cutoffFreq	Low pass filter cutoff frequency (See datasheet)

Definition at line 68 of file L3GD20.h.

L3GD20() [2/2]

Boardcore::L3GD20::L3GD20 ( SPIBusInterface & bus, miosix::GpioPin cs, SPIBusConfig cfg, FullScaleRange range = FullScaleRange::FS_250, OutPutDataRate odr = OutPutDataRate::ODR_95, uint8_t cutoffFreq = 0x03 )

inline

Creates an instance of an L3GD20 sensor.

Parameters

bus	SPI bus the sensor is connected to
cs	Chip Select GPIO
cfg	Custom SPI bus configuration
range	Full Scale Range (See datasheet)
odr	Output Data Rate (See datasheet)
cutoffFreq	Low pass filter cutoff selector (See datasheet)

Definition at line 88 of file L3GD20.h.

Member Function Documentation

enableFifo()

void Boardcore::L3GD20::enableFifo ( unsigned int fifoWatermark )

inline

Enables storing samples in a FIFO, must be called before init().

Parameters

fifoWatermark

How many samples in the FIFO when the fifo watermark input is generated on INT2.

Definition at line 114 of file L3GD20.h.

init()

bool Boardcore::L3GD20::init ( )

inlinevirtual

Initialize the sensor.

Returns

boolean value indicating whether the operation succeded or not

Implements Boardcore::AbstractSensor.

Definition at line 120 of file L3GD20.h.

sampleImpl()

L3GD20Data Boardcore::L3GD20::sampleImpl ( )

inlinevirtual

Read a data sample from the sensor. In case of errors, the method should return the last available correct sample.

Returns

sensor data sample

Implements Boardcore::Sensor< Data >.

Definition at line 198 of file L3GD20.h.

selfTest()

bool Boardcore::L3GD20::selfTest ( )

inlinevirtual

Check if the sensor is working.

Returns

boolean indicating whether the sensor is correctly working or not

Implements Boardcore::AbstractSensor.

Definition at line 196 of file L3GD20.h.

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

• src/shared/sensors/L3GD20/L3GD20.h