L3GD20

Overview

Three axis gyroscope and temperature sensor.

Manual

Command

• Command number: 0

  Description: Existence check.

  Argument 1: unused

  Argument 2: unused

  Returns: Success

• Command number: 1

  Description: Verifies whether the hardware sensor is present.

  Argument 1: unused

  Argument 2: unused

  Returns: Ok(()) if there is no other command in progress, BUSY otherwise.

• Command number: 2

  Description: Powers on the sensor.

  Argument 1: unused

  Argument 2: unused

  Returns: Ok(()) if there is no other command in progress, BUSY otherwise.

• Command number: 3

  Description: Sets the sensors scale

  Argument 1: 0, 1 or 2 (see manual 34)

  Argument 2: unused

  Returns: Ok(()) if there is no other command in progress, BUSY otherwise.

• Command number: 4

  Description: Enables or disables the high pass filter

  Argument 1: 1 for enable, 0 for disable

  Argument 2: unused

  Returns: Ok(()) if there is no other command in progress, BUSY otherwise.

• Command number: 5

  Description: Sets the high pass filter mode and divider

  Argument 1: mode (0, 1 or 2, see manual page 33)

  Argument 2: divider (0 .. 9, see manual page 33)

  Returns: Ok(()) if there is no other command in progress, BUSY otherwise.

• Command number: 6

  Description: Reads X, Y and Z

  Argument 1: unused

  Argument 2: unused

  Returns: Ok(()) if there is no other command in progress, BUSY otherwise.

• Command number: 7

  Description: Reads the temperature

  Argument 1: unused

  Argument 2: unused

  Returns: Ok(()) if there is no other command in progress, BUSY otherwise.

Subscribe

All the commands return a callback when done.

• Subscribe number 0

  Description: Called when commands are done

  Argument 1:

  • Command 1: 1 present, 0 not present
  • Command 6: X rotation
  • Command 7: temperature in deg C

  Argument 2:

  • Command 6: Y rotation

  Argument 3:

  • Command 6: Z rotation

Allow

Unused for the L3GD20 driver. Will always return ENOSUPPORT.