Driver for the ST L3GD20 MEMS and L3GD20H mems gyros connected via SPI. More...

#include <drivers/device/spi.h>
#include <lib/conversion/rotation.h>
#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
#include <perf/perf_counter.h>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>

Include dependency graph for l3gd20.cpp:

Classes
class	L3GD20

Namespaces
	l3gd20
	Local functions in support of the shell command.

Macros
#define	L3GD20_DEVICE_PATH "/dev/l3gd20"

#define	SENSOR_BOARD_ROTATION_000_DEG 0

#define	SENSOR_BOARD_ROTATION_090_DEG 1

#define	SENSOR_BOARD_ROTATION_180_DEG 2

#define	SENSOR_BOARD_ROTATION_270_DEG 3

#define	DIR_READ (1<<7)

#define	DIR_WRITE (0<<7)

#define	ADDR_INCREMENT (1<<6)

#define	ADDR_WHO_AM_I 0x0F

#define	WHO_I_AM_H 0xD7

#define	WHO_I_AM 0xD4

#define	WHO_I_AM_L3G4200D 0xD3 /* for L3G4200D */

#define	ADDR_CTRL_REG1 0x20

#define	REG1_RATE_LP_MASK 0xF0 /* Mask to guard partial register update */

#define	RATE_95HZ_LP_25HZ ((0<<7) \| (0<<6) \| (0<<5) \| (1<<4))

#define	RATE_190HZ_LP_25HZ ((0<<7) \| (1<<6) \| (0<<5) \| (1<<4))

#define	RATE_190HZ_LP_50HZ ((0<<7) \| (1<<6) \| (1<<5) \| (0<<4))

#define	RATE_190HZ_LP_70HZ ((0<<7) \| (1<<6) \| (1<<5) \| (1<<4))

#define	RATE_380HZ_LP_20HZ ((1<<7) \| (0<<6) \| (1<<5) \| (0<<4))

#define	RATE_380HZ_LP_25HZ ((1<<7) \| (0<<6) \| (0<<5) \| (1<<4))

#define	RATE_380HZ_LP_50HZ ((1<<7) \| (0<<6) \| (1<<5) \| (0<<4))

#define	RATE_380HZ_LP_100HZ ((1<<7) \| (0<<6) \| (1<<5) \| (1<<4))

#define	RATE_760HZ_LP_30HZ ((1<<7) \| (1<<6) \| (0<<5) \| (0<<4))

#define	RATE_760HZ_LP_35HZ ((1<<7) \| (1<<6) \| (0<<5) \| (1<<4))

#define	RATE_760HZ_LP_50HZ ((1<<7) \| (1<<6) \| (1<<5) \| (0<<4))

#define	RATE_760HZ_LP_100HZ ((1<<7) \| (1<<6) \| (1<<5) \| (1<<4))

#define	ADDR_CTRL_REG2 0x21

#define	ADDR_CTRL_REG3 0x22

#define	ADDR_CTRL_REG4 0x23

#define	REG4_RANGE_MASK 0x30 /* Mask to guard partial register update */

#define	RANGE_250DPS (0<<4)

#define	RANGE_500DPS (1<<4)

#define	RANGE_2000DPS (3<<4)

#define	ADDR_CTRL_REG5 0x24

#define	ADDR_REFERENCE 0x25

#define	ADDR_OUT_TEMP 0x26

#define	ADDR_STATUS_REG 0x27

#define	ADDR_OUT_X_L 0x28

#define	ADDR_OUT_X_H 0x29

#define	ADDR_OUT_Y_L 0x2A

#define	ADDR_OUT_Y_H 0x2B

#define	ADDR_OUT_Z_L 0x2C

#define	ADDR_OUT_Z_H 0x2D

#define	ADDR_FIFO_CTRL_REG 0x2E

#define	ADDR_FIFO_SRC_REG 0x2F

#define	ADDR_INT1_CFG 0x30

#define	ADDR_INT1_SRC 0x31

#define	ADDR_INT1_TSH_XH 0x32

#define	ADDR_INT1_TSH_XL 0x33

#define	ADDR_INT1_TSH_YH 0x34

#define	ADDR_INT1_TSH_YL 0x35

#define	ADDR_INT1_TSH_ZH 0x36

#define	ADDR_INT1_TSH_ZL 0x37

#define	ADDR_INT1_DURATION 0x38

#define	ADDR_LOW_ODR 0x39

#define	REG1_POWER_NORMAL (1<<3)

#define	REG1_Z_ENABLE (1<<2)

#define	REG1_Y_ENABLE (1<<1)

#define	REG1_X_ENABLE (1<<0)

#define	REG4_BDU (1<<7)

#define	REG4_BLE (1<<6)

#define	REG5_FIFO_ENABLE (1<<6)

#define	REG5_REBOOT_MEMORY (1<<7)

#define	STATUS_ZYXOR (1<<7)

#define	STATUS_ZOR (1<<6)

#define	STATUS_YOR (1<<5)

#define	STATUS_XOR (1<<4)

#define	STATUS_ZYXDA (1<<3)

#define	STATUS_ZDA (1<<2)

#define	STATUS_YDA (1<<1)

#define	STATUS_XDA (1<<0)

#define	FIFO_CTRL_BYPASS_MODE (0<<5)

#define	FIFO_CTRL_FIFO_MODE (1<<5)

#define	FIFO_CTRL_STREAM_MODE (1<<6)

#define	FIFO_CTRL_STREAM_TO_FIFO_MODE (3<<5)

#define	FIFO_CTRL_BYPASS_TO_STREAM_MODE (1<<7)

#define	L3GD20_DEFAULT_RATE 760

#define	L3G4200D_DEFAULT_RATE 800

#define	L3GD20_MAX_OUTPUT_RATE 280

#define	L3GD20_DEFAULT_RANGE_DPS 2000

#define	L3GD20_DEFAULT_FILTER_FREQ 30

#define	L3GD20_TEMP_OFFSET_CELSIUS 40

#define	L3GD20_MAX_OFFSET 0.45f
	max offset: 25 degrees/s More...

#define	SENSOR_BOARD_ROTATION_DEFAULT SENSOR_BOARD_ROTATION_270_DEG

#define	L3GD20_TIMER_REDUCTION 600

Functions
__EXPORT int	l3gd20_main (int argc, char *argv[])

void	l3gd20::usage ()
	Prints info about the driver argument usage. More...

void	l3gd20::start (bool external_bus, enum Rotation rotation)
	Start the driver. More...

void	l3gd20::info ()
	Print a little info about the driver. More...

void	l3gd20::regdump (void)
	Dump the register information. More...

void	l3gd20::test_error (void)
	trigger an error More...

Variables
L3GD20 *	l3gd20::g_dev

Detailed Description

Driver for the ST L3GD20 MEMS and L3GD20H mems gyros connected via SPI.

Note: With the exception of the self-test feature, the ST L3G4200D is also supported by this driver.

Definition in file l3gd20.cpp.

Macro Definition Documentation

◆ ADDR_CTRL_REG1

#define ADDR_CTRL_REG1 0x20

Definition at line 68 of file l3gd20.cpp.

Referenced by L3GD20::reset(), and L3GD20::set_samplerate().

◆ ADDR_CTRL_REG2

#define ADDR_CTRL_REG2 0x21

Definition at line 85 of file l3gd20.cpp.

Referenced by L3GD20::reset().

◆ ADDR_CTRL_REG3

#define ADDR_CTRL_REG3 0x22

Definition at line 86 of file l3gd20.cpp.

Referenced by L3GD20::reset(), and L3GD20::test_error().

◆ ADDR_CTRL_REG4

#define ADDR_CTRL_REG4 0x23

Definition at line 87 of file l3gd20.cpp.

Referenced by L3GD20::reset(), and L3GD20::set_range().

◆ ADDR_CTRL_REG5

#define ADDR_CTRL_REG5 0x24

Definition at line 93 of file l3gd20.cpp.

Referenced by LSM303D::mag_set_samplerate(), LSM303D::reset(), L3GD20::reset(), and LIS3MDL::set_default_register_values().

◆ ADDR_FIFO_CTRL_REG

#define ADDR_FIFO_CTRL_REG 0x2E

Definition at line 103 of file l3gd20.cpp.

Referenced by L3GD20::reset().

◆ ADDR_FIFO_SRC_REG

#define ADDR_FIFO_SRC_REG 0x2F

Definition at line 104 of file l3gd20.cpp.

◆ ADDR_INCREMENT

#define ADDR_INCREMENT (1<<6)

Definition at line 60 of file l3gd20.cpp.

Referenced by L3GD20::measure().

◆ ADDR_INT1_CFG

#define ADDR_INT1_CFG 0x30

Definition at line 105 of file l3gd20.cpp.

◆ ADDR_INT1_DURATION

#define ADDR_INT1_DURATION 0x38

Definition at line 113 of file l3gd20.cpp.

◆ ADDR_INT1_SRC

#define ADDR_INT1_SRC 0x31

Definition at line 106 of file l3gd20.cpp.

◆ ADDR_INT1_TSH_XH

#define ADDR_INT1_TSH_XH 0x32

Definition at line 107 of file l3gd20.cpp.

◆ ADDR_INT1_TSH_XL

#define ADDR_INT1_TSH_XL 0x33

Definition at line 108 of file l3gd20.cpp.

◆ ADDR_INT1_TSH_YH

#define ADDR_INT1_TSH_YH 0x34

Definition at line 109 of file l3gd20.cpp.

◆ ADDR_INT1_TSH_YL

#define ADDR_INT1_TSH_YL 0x35

Definition at line 110 of file l3gd20.cpp.

◆ ADDR_INT1_TSH_ZH

#define ADDR_INT1_TSH_ZH 0x36

Definition at line 111 of file l3gd20.cpp.

◆ ADDR_INT1_TSH_ZL

#define ADDR_INT1_TSH_ZL 0x37

Definition at line 112 of file l3gd20.cpp.

◆ ADDR_LOW_ODR

#define ADDR_LOW_ODR 0x39

Definition at line 114 of file l3gd20.cpp.

Referenced by L3GD20::disable_i2c().

◆ ADDR_OUT_TEMP

#define ADDR_OUT_TEMP 0x26

Definition at line 95 of file l3gd20.cpp.

Referenced by L3GD20::measure().

◆ ADDR_OUT_X_H

#define ADDR_OUT_X_H 0x29

Definition at line 98 of file l3gd20.cpp.

◆ ADDR_OUT_X_L

#define ADDR_OUT_X_L 0x28

Definition at line 97 of file l3gd20.cpp.

Referenced by LIS3MDL::collect().

◆ ADDR_OUT_Y_H

#define ADDR_OUT_Y_H 0x2B

Definition at line 100 of file l3gd20.cpp.

◆ ADDR_OUT_Y_L

#define ADDR_OUT_Y_L 0x2A

Definition at line 99 of file l3gd20.cpp.

◆ ADDR_OUT_Z_H

#define ADDR_OUT_Z_H 0x2D

Definition at line 102 of file l3gd20.cpp.

◆ ADDR_OUT_Z_L

#define ADDR_OUT_Z_L 0x2C

Definition at line 101 of file l3gd20.cpp.

◆ ADDR_REFERENCE

#define ADDR_REFERENCE 0x25

Definition at line 94 of file l3gd20.cpp.

◆ ADDR_STATUS_REG

#define ADDR_STATUS_REG 0x27

Definition at line 96 of file l3gd20.cpp.

◆ ADDR_WHO_AM_I

#define ADDR_WHO_AM_I 0x0F

Definition at line 63 of file l3gd20.cpp.

Referenced by L3GD20::probe().

◆ DIR_READ

#define DIR_READ (1<<7)

Definition at line 58 of file l3gd20.cpp.

Referenced by L3GD20::measure(), and L3GD20::read_reg().

◆ DIR_WRITE

#define DIR_WRITE (0<<7)

Definition at line 59 of file l3gd20.cpp.

Referenced by L3GD20::write_reg().

◆ FIFO_CTRL_BYPASS_MODE

#define FIFO_CTRL_BYPASS_MODE (0<<5)

Definition at line 139 of file l3gd20.cpp.

Referenced by L3GD20::reset().

◆ FIFO_CTRL_BYPASS_TO_STREAM_MODE

#define FIFO_CTRL_BYPASS_TO_STREAM_MODE (1<<7)

Definition at line 143 of file l3gd20.cpp.

◆ FIFO_CTRL_FIFO_MODE

#define FIFO_CTRL_FIFO_MODE (1<<5)

Definition at line 140 of file l3gd20.cpp.

◆ FIFO_CTRL_STREAM_MODE

#define FIFO_CTRL_STREAM_MODE (1<<6)

Definition at line 141 of file l3gd20.cpp.

◆ FIFO_CTRL_STREAM_TO_FIFO_MODE

#define FIFO_CTRL_STREAM_TO_FIFO_MODE (3<<5)

Definition at line 142 of file l3gd20.cpp.

◆ L3G4200D_DEFAULT_RATE

#define L3G4200D_DEFAULT_RATE 800

Definition at line 146 of file l3gd20.cpp.

Referenced by L3GD20::start().

◆ L3GD20_DEFAULT_FILTER_FREQ

#define L3GD20_DEFAULT_FILTER_FREQ 30

Definition at line 149 of file l3gd20.cpp.

◆ L3GD20_DEFAULT_RANGE_DPS

#define L3GD20_DEFAULT_RANGE_DPS 2000

Definition at line 148 of file l3gd20.cpp.

Referenced by L3GD20::reset().

◆ L3GD20_DEFAULT_RATE

#define L3GD20_DEFAULT_RATE 760

Definition at line 145 of file l3gd20.cpp.

◆ L3GD20_DEVICE_PATH

#define L3GD20_DEVICE_PATH "/dev/l3gd20"

Definition at line 49 of file l3gd20.cpp.

Referenced by l3gd20::start().

◆ L3GD20_MAX_OFFSET

#define L3GD20_MAX_OFFSET 0.45f

max offset: 25 degrees/s

Definition at line 152 of file l3gd20.cpp.

◆ L3GD20_MAX_OUTPUT_RATE

#define L3GD20_MAX_OUTPUT_RATE 280

Definition at line 147 of file l3gd20.cpp.

◆ L3GD20_TEMP_OFFSET_CELSIUS

#define L3GD20_TEMP_OFFSET_CELSIUS 40

Definition at line 150 of file l3gd20.cpp.

Referenced by L3GD20::measure().

◆ L3GD20_TIMER_REDUCTION

#define L3GD20_TIMER_REDUCTION 600

Definition at line 164 of file l3gd20.cpp.

Referenced by L3GD20::start().

◆ RANGE_2000DPS

#define RANGE_2000DPS (3<<4)

Definition at line 91 of file l3gd20.cpp.

Referenced by L3GD20::set_range().

◆ RANGE_250DPS

#define RANGE_250DPS (0<<4)

Definition at line 89 of file l3gd20.cpp.

Referenced by L3GD20::set_range().

◆ RANGE_500DPS

#define RANGE_500DPS (1<<4)

Definition at line 90 of file l3gd20.cpp.

Referenced by L3GD20::set_range().

◆ RATE_190HZ_LP_25HZ

#define RATE_190HZ_LP_25HZ ((0<<7) | (1<<6) | (0<<5) | (1<<4))

Definition at line 73 of file l3gd20.cpp.

◆ RATE_190HZ_LP_50HZ

#define RATE_190HZ_LP_50HZ ((0<<7) | (1<<6) | (1<<5) | (0<<4))

Definition at line 74 of file l3gd20.cpp.

Referenced by L3GD20::set_samplerate().

◆ RATE_190HZ_LP_70HZ

#define RATE_190HZ_LP_70HZ ((0<<7) | (1<<6) | (1<<5) | (1<<4))

Definition at line 75 of file l3gd20.cpp.

◆ RATE_380HZ_LP_100HZ

#define RATE_380HZ_LP_100HZ ((1<<7) | (0<<6) | (1<<5) | (1<<4))

Definition at line 79 of file l3gd20.cpp.

◆ RATE_380HZ_LP_20HZ

#define RATE_380HZ_LP_20HZ ((1<<7) | (0<<6) | (1<<5) | (0<<4))

Definition at line 76 of file l3gd20.cpp.

◆ RATE_380HZ_LP_25HZ

#define RATE_380HZ_LP_25HZ ((1<<7) | (0<<6) | (0<<5) | (1<<4))

Definition at line 77 of file l3gd20.cpp.

◆ RATE_380HZ_LP_50HZ

#define RATE_380HZ_LP_50HZ ((1<<7) | (0<<6) | (1<<5) | (0<<4))

Definition at line 78 of file l3gd20.cpp.

Referenced by L3GD20::set_samplerate().

◆ RATE_760HZ_LP_100HZ

#define RATE_760HZ_LP_100HZ ((1<<7) | (1<<6) | (1<<5) | (1<<4))

Definition at line 83 of file l3gd20.cpp.

◆ RATE_760HZ_LP_30HZ

#define RATE_760HZ_LP_30HZ ((1<<7) | (1<<6) | (0<<5) | (0<<4))

Definition at line 80 of file l3gd20.cpp.

◆ RATE_760HZ_LP_35HZ

#define RATE_760HZ_LP_35HZ ((1<<7) | (1<<6) | (0<<5) | (1<<4))

Definition at line 81 of file l3gd20.cpp.

◆ RATE_760HZ_LP_50HZ

#define RATE_760HZ_LP_50HZ ((1<<7) | (1<<6) | (1<<5) | (0<<4))

Definition at line 82 of file l3gd20.cpp.

Referenced by L3GD20::set_samplerate().

◆ RATE_95HZ_LP_25HZ

#define RATE_95HZ_LP_25HZ ((0<<7) | (0<<6) | (0<<5) | (1<<4))

Definition at line 72 of file l3gd20.cpp.

Referenced by L3GD20::set_samplerate().

◆ REG1_POWER_NORMAL

#define REG1_POWER_NORMAL (1<<3)

Definition at line 118 of file l3gd20.cpp.

Referenced by L3GD20::reset(), and L3GD20::set_samplerate().

◆ REG1_RATE_LP_MASK

#define REG1_RATE_LP_MASK 0xF0 /* Mask to guard partial register update */

Definition at line 69 of file l3gd20.cpp.

◆ REG1_X_ENABLE

#define REG1_X_ENABLE (1<<0)

Definition at line 121 of file l3gd20.cpp.

Referenced by L3GD20::reset(), and L3GD20::set_samplerate().

◆ REG1_Y_ENABLE

#define REG1_Y_ENABLE (1<<1)

Definition at line 120 of file l3gd20.cpp.

Referenced by L3GD20::reset(), and L3GD20::set_samplerate().

◆ REG1_Z_ENABLE

#define REG1_Z_ENABLE (1<<2)

Definition at line 119 of file l3gd20.cpp.

Referenced by L3GD20::reset(), and L3GD20::set_samplerate().

◆ REG4_BDU

#define REG4_BDU (1<<7)

Definition at line 123 of file l3gd20.cpp.

Referenced by L3GD20::reset(), and L3GD20::set_range().

◆ REG4_BLE

#define REG4_BLE (1<<6)

Definition at line 124 of file l3gd20.cpp.

◆ REG4_RANGE_MASK

#define REG4_RANGE_MASK 0x30 /* Mask to guard partial register update */

Definition at line 88 of file l3gd20.cpp.

◆ REG5_FIFO_ENABLE

#define REG5_FIFO_ENABLE (1<<6)

Definition at line 127 of file l3gd20.cpp.

Referenced by L3GD20::reset().

◆ REG5_REBOOT_MEMORY

#define REG5_REBOOT_MEMORY (1<<7)

Definition at line 128 of file l3gd20.cpp.

◆ SENSOR_BOARD_ROTATION_000_DEG

#define SENSOR_BOARD_ROTATION_000_DEG 0

Definition at line 52 of file l3gd20.cpp.

Referenced by L3GD20::measure().

◆ SENSOR_BOARD_ROTATION_090_DEG

#define SENSOR_BOARD_ROTATION_090_DEG 1

Definition at line 53 of file l3gd20.cpp.

Referenced by L3GD20::measure().

◆ SENSOR_BOARD_ROTATION_180_DEG

#define SENSOR_BOARD_ROTATION_180_DEG 2

Definition at line 54 of file l3gd20.cpp.

Referenced by L3GD20::measure(), and L3GD20::probe().

◆ SENSOR_BOARD_ROTATION_270_DEG

#define SENSOR_BOARD_ROTATION_270_DEG 3

Definition at line 55 of file l3gd20.cpp.

Referenced by L3GD20::measure().

◆ SENSOR_BOARD_ROTATION_DEFAULT

#define SENSOR_BOARD_ROTATION_DEFAULT SENSOR_BOARD_ROTATION_270_DEG

Definition at line 155 of file l3gd20.cpp.

Referenced by L3GD20::probe().

◆ STATUS_XDA

#define STATUS_XDA (1<<0)

Definition at line 137 of file l3gd20.cpp.

◆ STATUS_XOR

#define STATUS_XOR (1<<4)

Definition at line 133 of file l3gd20.cpp.

◆ STATUS_YDA

#define STATUS_YDA (1<<1)

Definition at line 136 of file l3gd20.cpp.

◆ STATUS_YOR

#define STATUS_YOR (1<<5)

Definition at line 132 of file l3gd20.cpp.

◆ STATUS_ZDA

#define STATUS_ZDA (1<<2)

Definition at line 135 of file l3gd20.cpp.

◆ STATUS_ZOR

#define STATUS_ZOR (1<<6)

Definition at line 131 of file l3gd20.cpp.

◆ STATUS_ZYXDA

#define STATUS_ZYXDA (1<<3)

Definition at line 134 of file l3gd20.cpp.

Referenced by L3GD20::measure().

◆ STATUS_ZYXOR

#define STATUS_ZYXOR (1<<7)

Definition at line 130 of file l3gd20.cpp.

◆ WHO_I_AM

#define WHO_I_AM 0xD4

Definition at line 65 of file l3gd20.cpp.

Referenced by LSM303D::probe(), and L3GD20::probe().

◆ WHO_I_AM_H

#define WHO_I_AM_H 0xD7

Definition at line 64 of file l3gd20.cpp.

Referenced by L3GD20::probe().

◆ WHO_I_AM_L3G4200D

#define WHO_I_AM_L3G4200D 0xD3 /* for L3G4200D */

Definition at line 66 of file l3gd20.cpp.

Referenced by L3GD20::probe().

Function Documentation

◆ l3gd20_main()

int l3gd20_main	(	int	argc,
		char *	argv[]
	)

Definition at line 872 of file l3gd20.cpp.

References l3gd20::info(), l3gd20::regdump(), ROTATION_NONE, l3gd20::start(), l3gd20::test_error(), and l3gd20::usage().

Here is the call graph for this function:

Classes

Namespaces

Macros

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ ADDR_CTRL_REG1

◆ ADDR_CTRL_REG2

◆ ADDR_CTRL_REG3

◆ ADDR_CTRL_REG4

◆ ADDR_CTRL_REG5

◆ ADDR_FIFO_CTRL_REG

◆ ADDR_FIFO_SRC_REG

◆ ADDR_INCREMENT

◆ ADDR_INT1_CFG

◆ ADDR_INT1_DURATION

◆ ADDR_INT1_SRC

◆ ADDR_INT1_TSH_XH

◆ ADDR_INT1_TSH_XL

◆ ADDR_INT1_TSH_YH

◆ ADDR_INT1_TSH_YL

◆ ADDR_INT1_TSH_ZH

◆ ADDR_INT1_TSH_ZL

◆ ADDR_LOW_ODR

◆ ADDR_OUT_TEMP

◆ ADDR_OUT_X_H

◆ ADDR_OUT_X_L

◆ ADDR_OUT_Y_H

◆ ADDR_OUT_Y_L

◆ ADDR_OUT_Z_H

◆ ADDR_OUT_Z_L

◆ ADDR_REFERENCE

◆ ADDR_STATUS_REG

◆ ADDR_WHO_AM_I

◆ DIR_READ

◆ DIR_WRITE

◆ FIFO_CTRL_BYPASS_MODE

◆ FIFO_CTRL_BYPASS_TO_STREAM_MODE

◆ FIFO_CTRL_FIFO_MODE

◆ FIFO_CTRL_STREAM_MODE

◆ FIFO_CTRL_STREAM_TO_FIFO_MODE

◆ L3G4200D_DEFAULT_RATE

◆ L3GD20_DEFAULT_FILTER_FREQ

◆ L3GD20_DEFAULT_RANGE_DPS

◆ L3GD20_DEFAULT_RATE

◆ L3GD20_DEVICE_PATH

◆ L3GD20_MAX_OFFSET

◆ L3GD20_MAX_OUTPUT_RATE

◆ L3GD20_TEMP_OFFSET_CELSIUS

◆ L3GD20_TIMER_REDUCTION

◆ RANGE_2000DPS

◆ RANGE_250DPS

◆ RANGE_500DPS

◆ RATE_190HZ_LP_25HZ

◆ RATE_190HZ_LP_50HZ

◆ RATE_190HZ_LP_70HZ

◆ RATE_380HZ_LP_100HZ

◆ RATE_380HZ_LP_20HZ

◆ RATE_380HZ_LP_25HZ

◆ RATE_380HZ_LP_50HZ

◆ RATE_760HZ_LP_100HZ

◆ RATE_760HZ_LP_30HZ

◆ RATE_760HZ_LP_35HZ

◆ RATE_760HZ_LP_50HZ

◆ RATE_95HZ_LP_25HZ

◆ REG1_POWER_NORMAL

◆ REG1_RATE_LP_MASK

◆ REG1_X_ENABLE

◆ REG1_Y_ENABLE

◆ REG1_Z_ENABLE

◆ REG4_BDU

◆ REG4_BLE

◆ REG4_RANGE_MASK

◆ REG5_FIFO_ENABLE

◆ REG5_REBOOT_MEMORY

◆ SENSOR_BOARD_ROTATION_000_DEG

◆ SENSOR_BOARD_ROTATION_090_DEG

◆ SENSOR_BOARD_ROTATION_180_DEG

◆ SENSOR_BOARD_ROTATION_270_DEG