l3g4200-gyro
xod/common-hardware/l3g4200-gyro
Reads angular velocity from a gyroscope based on L3G4200 IC by STMicroelectronics. It is expected the gyro is connected to the first hardware I²C bus.
Possible errors:
— Invalid I2C address
— Data too long to fit in transmit buffer
— Received NACK on transmit of address
— Received NACK on transmit of data
— Other error
— No bytes written. Probably due to buffer overflow
— Can't read the value
l3g4200-gyro
@/l3g4200-gyro
Deprecated: Use `xod-dev/st-mems/l3g4200-gyro` instead.
Reads angular velocity from a gyroscope based on L3G4200 IC by STMicroelectronics. It is expected the gyro is connected to the first hardware I²C bus.
Possible errors:
— Invalid I2C address
— Data too long to fit in transmit buffer
— Received NACK on transmit of address
— Received NACK on transmit of data
— Other error
— No bytes written. Probably due to buffer overflow
— Can't read the value
I2Cxod/i2c/i2c
ADDRbyte
I²C address. 6Ah by default. Some board configurations use 6Bh instead.
SENnumber
Sensitivity. Can be 250 (default), 500, or 2000. Defines bounds of measurements expressed in degrees per second. E.g. max ±500 degrees per second. The lower the sensitivity the better output precission. Inaccurate values are rounded up to a nearest correct sensitivity level.
INITpulse
Triggers initialization of the sensor and sets sensitivity
UPDpulse
Update. Triggers new sensor reading.
DONEpulse
Fires when reading is done
ROLLnumber
Roll angular velocity. I.e. spin around Y axis. Expressed in radians per second.
YAWnumber
Yaw angular velocity. I.e. spin around Z axis. Expressed in radians per second.
PTCHnumber
Pitch angular velocity. I.e. spin around X axis. Expressed in radians per second.