Inheritance diagram for L3GD20:

Collaboration diagram for L3GD20:

Public Member Functions
	L3GD20 (int bus, const char *path, uint32_t device, enum Rotation rotation)

virtual	~L3GD20 ()

virtual int	init ()

void	print_info ()
	Diagnostics - print some basic information about the driver. More...

void	print_registers ()

void	test_error ()

Protected Member Functions
virtual int	probe ()

Private Member Functions
void	start ()
	Start automatic measurement. More...

void	stop ()
	Stop automatic measurement. More...

void	reset ()
	Reset the driver. More...

void	disable_i2c ()
	disable I2C on the chip More...

void	Run () override

void	check_registers (void)
	check key registers for correct values More...

void	measure ()
	Fetch measurements from the sensor and update the report ring. More...

uint8_t	read_reg (unsigned reg)
	Read a register from the L3GD20. More...

void	write_reg (unsigned reg, uint8_t value)
	Write a register in the L3GD20. More...

void	modify_reg (unsigned reg, uint8_t clearbits, uint8_t setbits)
	Modify a register in the L3GD20. More...

void	write_checked_reg (unsigned reg, uint8_t value)
	Write a register in the L3GD20, updating _checked_values. More...

int	set_range (unsigned max_dps)
	Set the L3GD20 measurement range. More...

int	set_samplerate (unsigned frequency)
	Set the L3GD20 internal sampling frequency. More...

	L3GD20 (const L3GD20 &)

L3GD20	operator= (const L3GD20 &)

Private Attributes
PX4Gyroscope	_px4_gyro

unsigned	_current_rate {0}

unsigned	_orientation {SENSOR_BOARD_ROTATION_DEFAULT}

unsigned	_read {0}

perf_counter_t	_sample_perf

perf_counter_t	_errors

perf_counter_t	_bad_registers

perf_counter_t	_duplicates

uint8_t	_register_wait {0}

bool	_is_l3g4200d {false}

enum Rotation	_rotation

uint8_t	_checked_values [L3GD20_NUM_CHECKED_REGISTERS] {}

uint8_t	_checked_next {0}

Static Private Attributes
static constexpr int	L3GD20_NUM_CHECKED_REGISTERS {8}

static constexpr uint8_t	_checked_registers []

Detailed Description

Definition at line 168 of file l3gd20.cpp.

Constructor & Destructor Documentation

◆ L3GD20() [1/2]

L3GD20::L3GD20	(	int	bus,
		const char *	path,
		uint32_t	device,
		enum Rotation	rotation
	)

Definition at line 323 of file l3gd20.cpp.

References _px4_gyro, DRV_GYR_DEVTYPE_L3GD20, and PX4Gyroscope::set_device_type().

Referenced by l3gd20::start().

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◆ ~L3GD20()

L3GD20::~L3GD20 ( )

virtual

Definition at line 336 of file l3gd20.cpp.

References _bad_registers, _duplicates, _errors, _sample_perf, perf_free(), and stop().

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◆ L3GD20() [2/2]

L3GD20::L3GD20 ( const L3GD20 & )

private

Member Function Documentation

◆ check_registers()

void L3GD20::check_registers ( void )

private

check key registers for correct values

Definition at line 590 of file l3gd20.cpp.

References _bad_registers, _checked_next, _checked_registers, _checked_values, _register_wait, L3GD20_NUM_CHECKED_REGISTERS, perf_count(), read_reg(), and write_reg().

Referenced by measure().

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◆ disable_i2c()

void L3GD20::disable_i2c ( void )

private

disable I2C on the chip

Definition at line 535 of file l3gd20.cpp.

References ADDR_LOW_ODR, DEVICE_DEBUG, read_reg(), write_checked_reg(), and write_reg().

Referenced by reset().

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◆ init()

int L3GD20::init ( )

virtual

Definition at line 349 of file l3gd20.cpp.

References ToneAlarmInterface::init(), OK, reset(), and start().

Referenced by l3gd20::start().

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◆ measure()

void L3GD20::measure ( )

private

Fetch measurements from the sensor and update the report ring.

Definition at line 620 of file l3gd20.cpp.

References _bad_registers, _duplicates, _orientation, _px4_gyro, _read, _sample_perf, ADDR_INCREMENT, ADDR_OUT_TEMP, check_registers(), DIR_READ, hrt_absolute_time(), hrt_abstime, L3GD20_TEMP_OFFSET_CELSIUS, perf_begin(), perf_count(), perf_end(), perf_event_count(), SENSOR_BOARD_ROTATION_000_DEG, SENSOR_BOARD_ROTATION_090_DEG, SENSOR_BOARD_ROTATION_180_DEG, SENSOR_BOARD_ROTATION_270_DEG, PX4Gyroscope::set_error_count(), PX4Gyroscope::set_temperature(), status, STATUS_ZYXDA, and PX4Gyroscope::update().

Referenced by Run().

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◆ modify_reg()

void L3GD20::modify_reg	(	unsigned	reg,
		uint8_t	clearbits,
		uint8_t	setbits
	)

private

Modify a register in the L3GD20.

Bits are cleared before bits are set.

Parameters

reg	The register to modify.
clearbits	Bits in the register to clear.
setbits	Bits in the register to set.

Definition at line 435 of file l3gd20.cpp.

References read_reg(), and write_checked_reg().

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◆ operator=()

L3GD20 L3GD20::operator= ( const L3GD20 & )

private

◆ print_info()

void L3GD20::print_info ( )

Diagnostics - print some basic information about the driver.

Definition at line 706 of file l3gd20.cpp.

References _bad_registers, _checked_next, _checked_registers, _checked_values, _duplicates, _errors, _px4_gyro, _read, _sample_perf, L3GD20_NUM_CHECKED_REGISTERS, perf_print_counter(), PX4Gyroscope::print_status(), and read_reg().

Referenced by l3gd20::info().

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◆ print_registers()

void L3GD20::print_registers ( )

Definition at line 731 of file l3gd20.cpp.

References read_reg().

Referenced by l3gd20::regdump().

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◆ probe()

int L3GD20::probe ( )

protectedvirtual

Definition at line 364 of file l3gd20.cpp.

References _checked_values, _is_l3g4200d, _orientation, ADDR_WHO_AM_I, OK, read_reg(), SENSOR_BOARD_ROTATION_180_DEG, SENSOR_BOARD_ROTATION_DEFAULT, WHO_I_AM, WHO_I_AM_H, and WHO_I_AM_L3G4200D.

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◆ read_reg()

uint8_t L3GD20::read_reg ( unsigned reg )

private

Read a register from the L3GD20.

Parameters

The	register to read.

Returns: The value that was read.

Definition at line 398 of file l3gd20.cpp.

References DIR_READ.

Referenced by check_registers(), disable_i2c(), modify_reg(), print_info(), print_registers(), and probe().

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◆ reset()

void L3GD20::reset ( )

private

Reset the driver.

Definition at line 558 of file l3gd20.cpp.

References _read, ADDR_CTRL_REG1, ADDR_CTRL_REG2, ADDR_CTRL_REG3, ADDR_CTRL_REG4, ADDR_CTRL_REG5, ADDR_FIFO_CTRL_REG, disable_i2c(), FIFO_CTRL_BYPASS_MODE, L3GD20_DEFAULT_RANGE_DPS, REG1_POWER_NORMAL, REG1_X_ENABLE, REG1_Y_ENABLE, REG1_Z_ENABLE, REG4_BDU, REG5_FIFO_ENABLE, set_range(), set_samplerate(), and write_checked_reg().

Referenced by init().

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◆ Run()

void L3GD20::Run ( )

overrideprivate

Definition at line 583 of file l3gd20.cpp.

References measure().

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◆ set_range()

int L3GD20::set_range ( unsigned max_dps )

private

Set the L3GD20 measurement range.

Parameters

max_dps The measurement range is set to permit reading at least this rate in degrees per second. Zero selects the maximum supported range.

Returns: OK if the value can be supported, -ERANGE otherwise.

Definition at line 444 of file l3gd20.cpp.

References _px4_gyro, ADDR_CTRL_REG4, f(), M_PI_F, OK, RANGE_2000DPS, RANGE_250DPS, RANGE_500DPS, REG4_BDU, PX4Gyroscope::set_scale(), and write_checked_reg().

Referenced by reset().

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◆ set_samplerate()

int L3GD20::set_samplerate ( unsigned frequency )

private

Set the L3GD20 internal sampling frequency.

Parameters

frequency The internal sampling frequency is set to not less than this value. Zero selects the maximum rate supported.

Returns: OK if the value can be supported.

Definition at line 480 of file l3gd20.cpp.

References _current_rate, _is_l3g4200d, ADDR_CTRL_REG1, OK, RATE_190HZ_LP_50HZ, RATE_380HZ_LP_50HZ, RATE_760HZ_LP_50HZ, RATE_95HZ_LP_25HZ, REG1_POWER_NORMAL, REG1_X_ENABLE, REG1_Y_ENABLE, REG1_Z_ENABLE, and write_checked_reg().

Referenced by reset().

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◆ start()

void L3GD20::start ( )

private

Start automatic measurement.

Definition at line 518 of file l3gd20.cpp.

References L3G4200D_DEFAULT_RATE, L3GD20_TIMER_REDUCTION, and stop().

Referenced by init().

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◆ stop()

void L3GD20::stop ( )

private

Stop automatic measurement.

Definition at line 529 of file l3gd20.cpp.

Referenced by start(), and ~L3GD20().

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◆ test_error()

void L3GD20::test_error ( )

Definition at line 748 of file l3gd20.cpp.

References ADDR_CTRL_REG3, and write_reg().

Referenced by l3gd20::test_error().

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◆ write_checked_reg()

void L3GD20::write_checked_reg	(	unsigned	reg,
		uint8_t	value
	)

private

Write a register in the L3GD20, updating _checked_values.

Parameters

reg	The register to write.
value	The new value to write.

Definition at line 422 of file l3gd20.cpp.

References _checked_registers, _checked_values, L3GD20_NUM_CHECKED_REGISTERS, and write_reg().

Referenced by disable_i2c(), modify_reg(), reset(), set_range(), and set_samplerate().

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◆ write_reg()

void L3GD20::write_reg	(	unsigned	reg,
		uint8_t	value
	)

private

Write a register in the L3GD20.

Parameters

reg	The register to write.
value	The new value to write.

Definition at line 411 of file l3gd20.cpp.

References DIR_WRITE.

Referenced by check_registers(), disable_i2c(), test_error(), and write_checked_reg().

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Member Data Documentation

◆ _bad_registers

perf_counter_t L3GD20::_bad_registers

private

Definition at line 201 of file l3gd20.cpp.

Referenced by check_registers(), measure(), print_info(), and ~L3GD20().

◆ _checked_next

uint8_t L3GD20::_checked_next {0}

private

Definition at line 227 of file l3gd20.cpp.

Referenced by check_registers(), and print_info().

◆ _checked_registers

constexpr uint8_t L3GD20::_checked_registers

staticprivate

Initial value:

= {
        ADDR_WHO_AM_I,
        ADDR_CTRL_REG1,
        ADDR_CTRL_REG2,
        ADDR_CTRL_REG3,
        ADDR_CTRL_REG4,
        ADDR_CTRL_REG5,
        ADDR_FIFO_CTRL_REG,
        ADDR_LOW_ODR
    }

Definition at line 215 of file l3gd20.cpp.

Referenced by check_registers(), print_info(), and write_checked_reg().

◆ _checked_values

uint8_t L3GD20::_checked_values[L3GD20_NUM_CHECKED_REGISTERS] {}

private

Definition at line 226 of file l3gd20.cpp.

Referenced by check_registers(), print_info(), probe(), and write_checked_reg().

◆ _current_rate

unsigned L3GD20::_current_rate {0}

private

Definition at line 194 of file l3gd20.cpp.

Referenced by set_samplerate().

◆ _duplicates

perf_counter_t L3GD20::_duplicates

private

Definition at line 202 of file l3gd20.cpp.

Referenced by measure(), print_info(), and ~L3GD20().

◆ _errors

perf_counter_t L3GD20::_errors

private

Definition at line 200 of file l3gd20.cpp.

Referenced by print_info(), and ~L3GD20().

◆ _is_l3g4200d

bool L3GD20::_is_l3g4200d {false}

private

Definition at line 207 of file l3gd20.cpp.

Referenced by probe(), and set_samplerate().

◆ _orientation

unsigned L3GD20::_orientation {SENSOR_BOARD_ROTATION_DEFAULT}

private

Definition at line 195 of file l3gd20.cpp.

Referenced by measure(), and probe().

◆ _px4_gyro

PX4Gyroscope L3GD20::_px4_gyro

private

Definition at line 192 of file l3gd20.cpp.

Referenced by L3GD20(), measure(), print_info(), and set_range().

◆ _read

unsigned L3GD20::_read {0}

private

Definition at line 197 of file l3gd20.cpp.

Referenced by measure(), print_info(), and reset().

◆ _register_wait

uint8_t L3GD20::_register_wait {0}

private

Definition at line 204 of file l3gd20.cpp.

Referenced by check_registers().

◆ _rotation

enum Rotation L3GD20::_rotation

private

Definition at line 209 of file l3gd20.cpp.

◆ _sample_perf

perf_counter_t L3GD20::_sample_perf

private

Definition at line 199 of file l3gd20.cpp.

Referenced by measure(), print_info(), and ~L3GD20().

◆ L3GD20_NUM_CHECKED_REGISTERS

constexpr int L3GD20::L3GD20_NUM_CHECKED_REGISTERS {8}

staticprivate

Definition at line 214 of file l3gd20.cpp.

Referenced by check_registers(), print_info(), and write_checked_reg().

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

src/drivers/imu/l3gd20/l3gd20.cpp

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ L3GD20() [1/2]

◆ ~L3GD20()

◆ L3GD20() [2/2]

Member Function Documentation

◆ check_registers()

◆ disable_i2c()

◆ init()

◆ measure()

◆ modify_reg()

◆ operator=()

◆ print_info()

◆ print_registers()

◆ probe()

◆ read_reg()

◆ reset()

◆ Run()

◆ set_range()

◆ set_samplerate()

◆ start()

◆ stop()

◆ test_error()

◆ write_checked_reg()

◆ write_reg()

Member Data Documentation

◆ _bad_registers

◆ _checked_next

◆ _checked_registers

◆ _checked_values

◆ _current_rate

◆ _duplicates

◆ _errors

◆ _is_l3g4200d

◆ _orientation

◆ _px4_gyro

◆ _read

◆ _register_wait

◆ _rotation

◆ _sample_perf

◆ L3GD20_NUM_CHECKED_REGISTERS