L3G4200D_U.h File Reference

#include "WProgram.h"
#include <Adafruit_Sensor.h>
#include <SPI.h>

Go to the source code of this file.

Classes
class	L3G4200D_Unified
	Class for interfacing with an L3G4200D gyroscope, using the Adafruit Unified Sensor API. Most common methods: L4G4200D_Unified::begin and L3G4200D_Unified::getEvent. More...

Macros
#define	CTRL3_DRIVE_HIGH_AND_LOW   (0b0 << 4)
	REG_CTRL_3 value to indicate that the gyro chip should drive output pins HIGH and LOW, instead of using a pull-up resistor for logic HIGH.
#define	CTRL3_USE_PULL_UP_FOR_HIGH   (0b1 << 4)
	REG_CTRL_3 value to indicate that the gyro chip should not drive output pins HIGH, and instead use a pull-up resistor for logic HIGH.
#define	CTRL5_NO_FILTERING   ((0b00 << 0) | (0b0 << 4))
	REG_CTRL_5 value to disable both the low pass and high pass filter.
#define	CTRL5_HIGH_PASS_FILTERING   ((0b01 << 0) | (0b0 << 4))
	REG_CTRL_5 value to enable the high pass filter only.
#define	CTRL5_LOW_PASS_FILTERING   ((0b10 << 0) | (0b0 << 4))
	REG_CTRL_5 value to enable the low pass filter only.
#define	CTRL5_BAND_PASS_FILTERING   ((0b10 << 0) | (0b1 << 4))
	REG_CTRL_5 value to enable both the band pass filter (both high pass and low pass).
Addresses
#define	REG_WHO_AM_I   (0x0F)
	The address of the chip ID register. Should always read as 0xd3. More...
#define	REG_CTRL_1   (0x20)
	The address of CTRL_REG1, which is used for bandwidth, data rate, and power selection. More...
#define	REG_CTRL_2   (0x21)
	The address of CTRL_REG2, which is used for configuring the high pass filter. More...
#define	REG_CTRL_3   (0x22)
	The address of CTRL_REG3, which is used for configuring the electrical characteristics of the pins on the chip. More...
#define	REG_CTRL_4   (0x23)
	The address of CTRL_REG4, which is used for setting the gyroscope range. More...
#define	REG_CTRL_5   (0x24)
	The address of CTRL_REG5, which is used for enabling different kinds of filtering. More...
#define	REG_OUT_X_L   (0x28)
	The address of OUT_X_L, which contains the low byte of the X-axis angular data, as two's complement.
#define	REG_OUT_X_H   (0x29)
	The address of OUT_X_L, which contains the high byte of the X-axis angular data, as two's complement.
#define	REG_OUT_Y_L   (0x2a)
	The address of OUT_X_H, which contains the low byte of the Y-axis angular data, as two's complement.
#define	REG_OUT_Y_H   (0x2b)
	The address of OUT_Y_L, which contains the high byte of the Y-axis angular data, as two's complement.
#define	REG_OUT_Z_L   (0x2c)
	The address of OUT_X_L, which contains the low byte of the Z-axis angular data, as two's complement.
#define	REG_OUT_Z_H   (0x2d)
	The address of OUT_X_L, which contains the high byte of the Z-axis angular data, as two's complement.
#define	L3G4200D_CHIP_ID   (0xd3)
	The chip ID constant value of REG_WHO_AM_I: 0xd3. More...
Output data rate and filtering
These values of REG_CTRL_1 set the output data rate and the "low-pass" filtering bandwidth. The low-pass filtering is for "smoothing out" changes that occur too quickly to be useful. These values can be or'd with other CTRL1_ values when writing to REG_CTRL_1.
#define	CTRL1_RATE_100HZ_CUTOFF_12HZ5   (0b0000 << 4)
	REG_CTRL_1 value for a 100 Hz data rate and a 12.5 Hz cutoff.
#define	CTRL1_RATE_100HZ_CUTOFF_25HZ   (0b0001 << 4)
	REG_CTRL_1 value for a 100 Hz data rate and a 25 Hz cutoff.
#define	CTRL1_RATE_200HZ_CUTOFF_12HZ5   (0b0100 << 4)
	REG_CTRL_1 value for a 200 Hz data rate and a 12.5 Hz cutoff.
#define	CTRL1_RATE_200HZ_CUTOFF_25HZ   (0b0101 << 4)
	REG_CTRL_1 value for a 200 Hz data rate and a 25 Hz cutoff.
#define	CTRL1_RATE_200HZ_CUTOFF_50HZ   (0b0110 << 4)
	REG_CTRL_1 value for a 200 Hz data rate and a 50 Hz cutoff.
#define	CTRL1_RATE_200HZ_CUTOFF_70HZ   (0b0111 << 4)
	REG_CTRL_1 value for a 200 Hz data rate and a 70 Hz cutoff.
#define	CTRL1_RATE_400HZ_CUTOFF_20HZ   (0b1000 << 4)
	REG_CTRL_1 value for a 400 Hz data rate and a 20 Hz cutoff.
#define	CTRL1_RATE_400HZ_CUTOFF_25HZ   (0b1001 << 4)
	REG_CTRL_1 value for a 400 Hz data rate and a 2 Hz cutoff.
#define	CTRL1_RATE_400HZ_CUTOFF_50HZ   (0b1010 << 4)
	REG_CTRL_1 value for a 400 Hz data rate and a 50 Hz cutoff.
#define	CTRL1_RATE_400HZ_CUTOFF_110HZ   (0b1011 << 4)
	REG_CTRL_1 value for a 400 Hz data rate and a 110 Hz cutoff.
#define	CTRL1_RATE_800HZ_CUTOFF_30HZ   (0b1100 << 4)
	REG_CTRL_1 value for a 800 Hz data rate and a 30 Hz cutoff.
#define	CTRL1_RATE_800HZ_CUTOFF_35HZ   (0b1101 << 4)
	REG_CTRL_1 value for a 800 Hz data rate and a 35 Hz cutoff.
#define	CTRL1_RATE_800HZ_CUTOFF_50HZ   (0b1110 << 4)
	REG_CTRL_1 value for a 800 Hz data rate and a 50 Hz cutoff.
#define	CTRL1_RATE_800HZ_CUTOFF_110HZ   (0b1111 << 4)
	REG_CTRL_1 value for a 800 Hz data rate and a 110 Hz cutoff.
Power and axes settings
These values of REG_CTRL_1 set the power mode of the chip as a whole and for each of the X, Y, and Z axes. Turning off unncesseary axes saves power. These values can be or'd with other CTRL1_ values when writing to REG_CTRL_1
#define	CTRL1_POWER_DOWN   (0b0000 << 0)
	REG_CTRL_1 value to power down the gyroscope.
#define	CTRL1_SLEEP   (0b1000 << 0)
	REG_CTRL_1 value to put the gyroscope in sleep mode - on, but with no gyroscope axes enabled.
#define	CTRL1_X_ONLY   (0b1001 << 0)
	REG_CTRL_1 value to enable the X-axis only.
#define	CTRL1_Y_ONLY   (0b1010 << 0)
	REG_CTRL_1 value to enable the Y-axis only.
#define	CTRL1_Z_ONLY   (0b1100 << 0)
	REG_CTRL_1 value to enable the Z-axis only.
#define	CTRL1_XY   (0b1011 << 0)
	REG_CTRL_1 value to enable the X and Y axes only.
#define	CTRL1_YZ   (0b1110 << 0)
	REG_CTRL_1 value to enable the Y and Z axes only.
#define	CTRL1_XZ   (0b1101 << 0)
	REG_CTRL_1 value to enable the X and Z axes only.
#define	CTRL1_XYZ   (0b1111 << 0)
	REG_CTRL_1 value to enable all axes. This is probably what you want.
High pass filter setting
Values for REG_CTRL_2 that control the high pass filter. The high pass filter rejects movements that are too slow to be useful. The value used for filtering is expressed as a fraction of the clock rate. To figure out the filter frequency, divide the output data rate by the number at the end of these constants. For example, if you want to detect gestures, you might not be interested in various slow movements (which wouldn't be part of a sharp gesture). If your data rate were 200 Hz, and you don't care about gestures that happen over less than 1 second, then you might want HIGH_PASS_DIV_200, since 200 Hz / 200 = 1 Hz.
#define	CTRL2_HIGH_PASS_DIV_12   (0b0000 << 0)
	REG_CTRL_2 value for filtering based on the data rate divided by 12.
#define	CTRL2_HIGH_PASS_DIV_25   (0b0001 << 0)
	REG_CTRL_2 value for filtering based on the data rate divided by 25.
#define	CTRL2_HIGH_PASS_DIV_50   (0b0010 << 0)
	REG_CTRL_2 value for filtering based on the data rate divided by 50.
#define	CTRL2_HIGH_PASS_DIV_100   (0b0011 << 0)
	REG_CTRL_2 value for filtering based on the data rate divided by 100.
#define	CTRL2_HIGH_PASS_DIV_200   (0b0100 << 0)
	REG_CTRL_2 value for filtering based on the data rate divided by 200.
#define	CTRL2_HIGH_PASS_DIV_500   (0b0101 << 0)
	REG_CTRL_2 value for filtering based on the data rate divided by 500.
#define	CTRL2_HIGH_PASS_DIV_1000   (0b0110 << 0)
	REG_CTRL_2 value for filtering based on the data rate divided by. More...
#define	CTRL2_HIGH_PASS_DIV_2000   (0b0111 << 0)
	REG_CTRL_2 value for filtering based on the data rate divided by. More...
#define	CTRL2_HIGH_PASS_DIV_5000   (0b1000 << 0)
	REG_CTRL_2 value for filtering based on the data rate divided by. More...
#define	CTRL2_HIGH_PASS_DIV_10000   (0b1001 << 0)
	REG_CTRL_2 value for filtering based on the data rate divided by. More...
Output register configuration
These values of REG_CTRL_4 control how the X, Y, and Z axis output registers contain and update their values. These values can be or'd with other CTRL_4 values when writing to REG_CTRL_4.
#define	CTRL4_UPDATE_MSB_AND_LSB_TOGETHER   (0b1 << 7)
	REG_CTRL_4 value to indicate that the high byte and low byte of each output register should not update when we've read one but not the other.
#define	CTRL4_LSB_AT_LOWER_ADDRESS   (0b0 << 6)
	REG_CTRL_4 value to indicate that the low byte of each output register is at the lower address (as is displayed in the datasheet).
#define	CTRL4_MSB_AT_LOWER_ADDRESS   (0b1 << 6)
	REG_CTRL_4 value to indicate that the high byte of each output register is at the higher address.
Gyro range settings
These values of REG_CTRL_4 control the current range of the gyroscope These values can be or'd with other CTRL4_ values when writing to REG_CTRL_4 See also gyroRange_t
#define	CTRL4_FULL_SCALE_250DPS   (0b00 << 4)
	REG_CTRL_4 value for a gyroscope range of 250 deg/s. Corresponds to GYRO_RANGE_4_DOT_36_RAD_PER_SEC (4.36 rad/s).
#define	CTRL4_FULL_SCALE_500DPS   (0b01 << 4)
	REG_CTRL_4 value for a gyroscope range of 500 deg/s. Corresponds to GYRO_RANGE_8_DOT_73_RAD_PER_SEC (8.73 rad/s).
#define	CTRL4_FULL_SCALE_2000DPS   (0b10 << 4)
	REG_CTRL_4 value for a gyroscope range of 2000 deg/s. Corresponds to GYRO_RANGE_34_DOT_91_RAD_PER_SEC (34.91 rad/s).

Enumerations
enum	gyroRange_t { GYRO_RANGE_4_DOT_36_RAD_PER_SEC = CTRL4_FULL_SCALE_250DPS, GYRO_RANGE_8_DOT_73_RAD_PER_SEC = CTRL4_FULL_SCALE_500DPS, GYRO_RANGE_34_DOT_91_RAD_PER_SEC = CTRL4_FULL_SCALE_2000DPS }
	Optional sensititity settings. If not specified in L3G4200D_Unified::begin, defaults to GYRO_RANGE_4_DOT_36_RAD_PER_SEC. More...