Device driver for InvenSense ITG320X 3-axis gyroscope. More...

Detailed Description

Device driver for InvenSense ITG320X 3-axis gyroscope.

The driver can be used with InvenSense ITG3200, ITG3205, and MPU3050. The latter one can be used only with reduced feature set.

The driver implements polling mode as well as interrupt mode. Thus, the application may use two different approaches to retrieve new data, either

periodically fetching the data at a rate lower than the sensor's output data rate (ODR), or
fetching the data when the data-ready interrupt is triggered.

To use the latter approach, module itg320x_int has to be enabled and the GPIO to which the sensor's INT output pin is connected has to be configured.

This driver provides [S]ensor [A]ctuator [U]ber [L]ayer capabilities.

Files
file	itg320x.h
	Device driver for InvenSense ITG320X 3-axis gyroscope.

file	itg320x_params.h
	Default configuration for InvenSense ITG320X 3-axis gyroscope.

file	itg320x_regs.h
	Register definitions for InvenSense ITG320X 3-axis gyroscope.

Data Structures
struct	itg320x_data_t
	Angular rate values in tenths of a degree per second. More...

struct	itg320x_raw_data_t
	Raw data set as two complements. More...

struct	itg320x_params_t
	ITG320X device initialization parameters. More...

struct	itg320x_t
	ITG320X sensor device data structure type. More...

Macros
#define	ITG320X_ID (0x68)
	ITG320X chip id defined in Who Am I.

Typedefs
typedef void(*	itg320x_drdy_int_cb_t) (void *)
	ITG320X data ready interrupt (DRDY) callback function type.

Enumerations
enum	itg320x_error_codes_t { ITG320X_OK = 0 , ITG320X_ERROR_I2C = -1 , ITG320X_ERROR_WRONG_ID = -2 , ITG320X_ERROR_NO_DATA = -3 , ITG320X_ERROR_RAW_DATA = -4 }
	Named return values. More...

enum	itg320x_lpf_bw_t { ITG320X_LPF_BW_256 = 0 , ITG320X_LPF_BW_188 , ITG320X_LPF_BW_98 , ITG320X_LPF_BW_42 , ITG320X_LPF_BW_20 , ITG320X_LPF_BW_10 , ITG320X_LPF_BW_5 }
	Low pass filter bandwidth. More...

enum	itg320x_int_level_t { ITG320X_INT_HIGH = 0x00 , ITG320X_INT_LOW = 0x80 }
	Logic level for INT output pin (ITG320X_REG_INT_CFG<7>) More...

enum	itg320x_int_drive_t { ITG320X_INT_PUSH_PULL = 0x00 , ITG320X_INT_OPEN_DRAIN = 0x40 }
	Drive type for INT output pin (ITG320X_REG_INT_CFG<6>) More...

enum	itg320x_clk_sel_t { ITG320X_CLK_INTERNAL = 0 , ITG320X_CLK_PLL_X_GYRO , ITG320X_CLK_PLL_Y_GYRO , ITG320X_CLK_PLL_Z_GYRO , ITG320X_CLK_PLL_32K , ITG320X_CLK_PLL_19M }
	Clock source selection (ITG320X_REG_PWR_MGM<2:0>) More...

Functions
int	itg320x_init (itg320x_t dev, const itg320x_params_t params)
	Initialize the ITG320X sensor device.

int	itg320x_init_int (const itg320x_t dev, itg320x_drdy_int_cb_t cb, void arg)
	Initialize and activate the DRDY interrupt of ITG320X sensor device.

int	itg320x_data_ready (const itg320x_t *dev)
	Data-ready status function.

int	itg320x_read (const itg320x_t dev, itg320x_data_t data)
	Read one sample of angular rates in tenths of a degree per second.

int	itg320x_read_raw (const itg320x_t dev, itg320x_raw_data_t raw)
	Read one sample of raw sensor data as 16 bit two's complements.

int	itg320x_read_temp (const itg320x_t dev, int16_t temp)
	Read temperature in tenths of a degree Celsius.

int	itg320x_power_down (itg320x_t *dev)
	Power down the sensor.

int	itg320x_power_up (itg320x_t *dev)
	Power up the sensor.

I2C addresses
#define	ITG320X_I2C_ADDRESS_1 (0x68)
	AD0 pin low.

#define	ITG320X_I2C_ADDRESS_2 (0x69)
	AD0 pin high.

Macro Definition Documentation

◆ ITG320X_I2C_ADDRESS_1

#define ITG320X_I2C_ADDRESS_1 (0x68)

AD0 pin low.

Definition at line 58 of file itg320x.h.

◆ ITG320X_I2C_ADDRESS_2

#define ITG320X_I2C_ADDRESS_2 (0x69)

AD0 pin high.

Definition at line 59 of file itg320x.h.

◆ ITG320X_ID

#define ITG320X_ID (0x68)

ITG320X chip id defined in Who Am I.

Definition at line 63 of file itg320x.h.

Typedef Documentation

◆ itg320x_drdy_int_cb_t

typedef void(* itg320x_drdy_int_cb_t) (void *)

ITG320X data ready interrupt (DRDY) callback function type.

Function prototype for the function which is called on DRDY interrupt if the interrupt is activated by itg320x_init_int

Note: The cb function is called in interrupt context. The application should do nothing time consuming and not directly access sensor data.

Definition at line 189 of file itg320x.h.

Enumeration Type Documentation

◆ itg320x_clk_sel_t

enum itg320x_clk_sel_t

Clock source selection (ITG320X_REG_PWR_MGM<2:0>)

Enumerator
ITG320X_CLK_INTERNAL	Internal oscillator.
ITG320X_CLK_PLL_X_GYRO	PLL with X Gyro reference (default)
ITG320X_CLK_PLL_Y_GYRO	PLL with X Gyro reference.
ITG320X_CLK_PLL_Z_GYRO	PLL with X Gyro reference.
ITG320X_CLK_PLL_32K	PLL with external 32.768 kHz reference.
ITG320X_CLK_PLL_19M	PLL with external 19.2 MHz reference.

Definition at line 114 of file itg320x.h.

◆ itg320x_error_codes_t

enum itg320x_error_codes_t

Named return values.

Enumerator
ITG320X_OK	success
ITG320X_ERROR_I2C	I2C communication error.
ITG320X_ERROR_WRONG_ID	wrong id read
ITG320X_ERROR_NO_DATA	no data are available
ITG320X_ERROR_RAW_DATA	reading raw data failed

Definition at line 68 of file itg320x.h.

◆ itg320x_int_drive_t

enum itg320x_int_drive_t

Drive type for INT output pin (ITG320X_REG_INT_CFG<6>)

Enumerator
ITG320X_INT_PUSH_PULL	INT output is of type push/pull (default)
ITG320X_INT_OPEN_DRAIN	INT output is of type open drain.

Definition at line 106 of file itg320x.h.

◆ itg320x_int_level_t

enum itg320x_int_level_t

Logic level for INT output pin (ITG320X_REG_INT_CFG<7>)

Enumerator
ITG320X_INT_HIGH	INT output is active high (default)
ITG320X_INT_LOW	INT output is active low.

Definition at line 98 of file itg320x.h.

◆ itg320x_lpf_bw_t

enum itg320x_lpf_bw_t

Low pass filter bandwidth.

Note: Low pass filter bandwidth determines the internal sample rate (ISR). The internal sample rate (ISR) together with sample rate divider (ISR_DIV) determines the output data rate ODR = ISR / (ISR_DIV + 1) where internal sample rate (ISR) is 8 kHz for ITG320X_LPF_BW_256, or 1 kHz otherwise.

Enumerator
ITG320X_LPF_BW_256	256 Hz, ISR = 8 kHz
ITG320X_LPF_BW_188	188 Hz, ISR = 1 kHz
ITG320X_LPF_BW_98	98 Hz, ISR = 1 kHz
ITG320X_LPF_BW_42	42 Hz, ISR = 1 kHz
ITG320X_LPF_BW_20	20 Hz, ISR = 1 kHz
ITG320X_LPF_BW_10	10 Hz, ISR = 1 kHz
ITG320X_LPF_BW_5	5 Hz, ISR = 1 kHz (default)

Definition at line 85 of file itg320x.h.

Function Documentation

◆ itg320x_data_ready()

int itg320x_data_ready ( const itg320x_t * dev )

Data-ready status function.

The function checks the status register and returns

Parameters

[in] dev device descriptor of ITG320X sensor

Return values

ITG320X_OK	new data available
ITG320X_ERROR_NO_DATA	no new data available
ITG320X_ERROR_*	negative error code, see itg320x_error_codes_t

◆ itg320x_init()

int itg320x_init	(	itg320x_t *	dev,
		const itg320x_params_t *	params
	)

Initialize the ITG320X sensor device.

This function resets the sensor and initializes the sensor according to given initialization parameters. All registers are reset to default values.

Parameters

[in]	dev	device descriptor of ITG320X sensor to be initialized
[in]	params	ITG320X initialization parameters

Return values

ITG320X_OK	on success
ITG320X_ERROR_*	a negative error code on error, see itg320x_error_codes_t

◆ itg320x_init_int()

int itg320x_init_int	(	const itg320x_t *	dev,
		itg320x_drdy_int_cb_t	cb,
		void *	arg
	)

Initialize and activate the DRDY interrupt of ITG320X sensor device.

This function activates the DRDY interrupt and initializes the pin defined as the interrupt pin in the initialization parameters of the device. The cb parameter specifies the function, along with an optional argument arg, which is called when a DRDY interrupt is triggered.

Warning: The given callback function cb is executed in interrupt context. Make sure not to call any driver API function in that context.

Note: This function is only available when module itg320x_int is enabled.

Parameters

[in]	dev	device descriptor of ITG320X sensor
[in]	cb	function called when DRDY interrupt is triggered
[in]	arg	argument for the callback function

◆ itg320x_power_down()

int itg320x_power_down ( itg320x_t * dev )

Power down the sensor.

Changes the sensor operation mode to sleep mode in which almost all including the gyros are switched off.

Parameters

[in] dev Device descriptor of ITG320X device to read from

Return values

ITG320X_OK	on success
ITG320X_ERROR_*	a negative error code on error, see itg320x_error_codes_t

◆ itg320x_power_up()

int itg320x_power_up ( itg320x_t * dev )

Power up the sensor.

Swichtes the sensor back into active operation mode. It takes up to 20 ms since the gyros have to be switched on again.

Parameters

[in] dev Device descriptor of ITG320X device to read from

Return values

ITG320X_OK	on success
ITG320X_ERROR_*	a negative error code on error, see itg320x_error_codes_t

◆ itg320x_read()

int itg320x_read	(	const itg320x_t *	dev,
		itg320x_data_t *	data
	)

Read one sample of angular rates in tenths of a degree per second.

Raw magnetometer data are read from the sensor and normalized with respect to full scale +-2000 dps. Angular rate values are given in tenths of a degrees per second:

Parameters

[in]	dev	device descriptor of ITG320X sensor
[out]	data	result vector in tenths of a degrees per second

Return values

ITG320X_OK	on success
ITG320X_ERROR_*	a negative error code on error, see itg320x_error_codes_t

◆ itg320x_read_raw()

int itg320x_read_raw	(	const itg320x_t *	dev,
		itg320x_raw_data_t *	raw
	)

Read one sample of raw sensor data as 16 bit two's complements.

Parameters

[in]	dev	device descriptor of ITG320X sensor
[out]	raw	raw data vector

Return values

ITG320X_OK	on success
ITG320X_ERROR_*	a negative error code on error, see itg320x_error_codes_t

◆ itg320x_read_temp()

int itg320x_read_temp	(	const itg320x_t *	dev,
		int16_t *	temp
	)

Read temperature in tenths of a degree Celsius.

Parameters

[in]	dev	device descriptor of ITG320X sensor
[out]	temp	temperature tenths of a degree Celsius

Return values

ITG320X_OK	on success
ITG320X_ERROR_*	a negative error code on error, see itg320x_error_codes_t

Detailed Description

Files

Data Structures

Macros

Typedefs

Enumerations

Functions

I2C addresses

Macro Definition Documentation

◆ ITG320X_I2C_ADDRESS_1

◆ ITG320X_I2C_ADDRESS_2

◆ ITG320X_ID

Typedef Documentation

◆ itg320x_drdy_int_cb_t

Enumeration Type Documentation

◆ itg320x_clk_sel_t

◆ itg320x_error_codes_t

◆ itg320x_int_drive_t

◆ itg320x_int_level_t

◆ itg320x_lpf_bw_t

Function Documentation

◆ itg320x_data_ready()

◆ itg320x_init()

◆ itg320x_init_int()

◆ itg320x_power_down()

◆ itg320x_power_up()

◆ itg320x_read()

◆ itg320x_read_raw()

◆ itg320x_read_temp()