gyroscope.h

Go to the documentation of this file.

//////////////////////////////////////////////////////////////////////////////////
/// \file gyroscope.h
/// \brief ARMEBS4 eeprom access functions
/// \author Pascal Sartoretti (sap at hevs dot ch)
/// \defgroup gyroscope Gyroscope
///
/// @{
///
/// \brief Measures the board's rate of rotation
///
/// \ingroup onboard
///
/// \image html gyroscope.jpg
/// \image latex gyroscope.eps
///
/// Measures the device's rate of rotation in around each of the three physical
/// axes (x, y, and z).
///
/// This kind of device is typically used to :
/// - Get the orientation of a vehicle in a GPS device
///
//////////////////////////////////////////////////////////////////////////////////
#include <stdint.h>
#include "heivs/error.h"

//////////////////////////////////////////////////////////////////////////////////
/// \brief Gyroscope data
//////////////////////////////////////////////////////////////////////////////////
struct gyroscope_data_t
{
    int16_t x;      ///< x axis gyroscope value (32767 to -32768)
    int16_t y;      ///< y axis gyroscope value (32767 to -32768)
    int16_t z;      ///< z axis gyroscope value (32767 to -32768)
};

#ifdef __cplusplus
    extern "C" {
#endif

//////////////////////////////////////////////////////////////////////////////////
/// \brief Initialise the gyroscope
/// Accelerometer in initialised for fast acquisition
/// \return NO_ERROR for no problem
//////////////////////////////////////////////////////////////////////////////////
status_e Gyro_Init(void);

//////////////////////////////////////////////////////////////////////////////////
/// \brief Read the X, Y and Z values from gyroscope
/// \param measure The measure
/// \\return NO_ERROR for no problem
//////////////////////////////////////////////////////////////////////////////////
status_e Gyro_Read(struct gyroscope_data_t * measure);

//////////////////////////////////////////////////////////////////////////////////
/// \brief Write special config to accelrometer
/// \param reg Register address to write in
/// \param data Data byte to write in this register
/// \return NO_ERROR for no problem
//////////////////////////////////////////////////////////////////////////////////
status_e Gyro_Write(uint8_t reg, uint8_t data);

#ifdef __cplusplus
    }
#endif

///
/// @}
///