FXAS21002Gyro Class Reference

NXP FXAS21002 gyro sensor driver. More...

#include <fxas21002_gyro.h>

Public Member Functions
	FXAS21002Gyro (TwoWire *wireInput=&SENSOR_I2C)
	FXAS21002 Constructor. More...
	~FXAS21002Gyro ()
bool	Initialize (GyroRanges_t rng=GYRO_RNG_1000DPS)
	Initialize and configure gyroscope sensor. More...
bool	ReadSensor ()
	Read gyroscope data from device registers. More...
float	GetTemperature ()
	Read device's 8-bit temperature register and return in degrees C. More...
float	GetGx ()
	Return gyro x-measurement in [deg/s]. More...
float	GetGy ()
	Return gyro y-measurement in [deg/s]. More...
float	GetGz ()
	Return gyro z-measurement in [deg/s]. More...

Public Attributes
uint32_t	prevMeasMicros
	Previous measurement micros() More...

Private Member Functions
void	I2Cwrite8 (uint8_t regOfInterest, uint8_t valToWrite)
	Write to FXAS21002 device register over I2C. More...
uint8_t	I2Cread8 (uint8_t regOfInterest)
	Read FXAS21002 register value over I2C. More...

Private Attributes
float	_gx
	Gyro x reading, [deg/s]. More...
float	_gy
	Gyro y reading, [deg/s]. More...
float	_gz
	Gyro z reading, [deg/s]. More...
GyroRanges_t	gyroRange
	Selected gyro measurement range. More...
TwoWire *	_SensorWire
	I2C bus the sensor is connected to. More...

Detailed Description

NXP FXAS21002 gyro sensor driver.

Constructor & Destructor Documentation

FXAS21002Gyro()

FXAS21002Gyro::FXAS21002Gyro

(

TwoWire *

wireInput = &SENSOR_I2C

)

FXAS21002 Constructor.

Constructor for the FXAS21002 gyro sensor.

Parameters

wireInput

I2C/Wire interface the device is connected to.

~FXAS21002Gyro()

FXAS21002Gyro::~FXAS21002Gyro ( )

inline

Member Function Documentation

GetGx()

float FXAS21002Gyro::GetGx

(

)

Return gyro x-measurement in [deg/s].

GetGy()

float FXAS21002Gyro::GetGy

(

)

Return gyro y-measurement in [deg/s].

GetGz()

float FXAS21002Gyro::GetGz

(

)

Return gyro z-measurement in [deg/s].

GetTemperature()

float FXAS21002Gyro::GetTemperature

(

)

Read device's 8-bit temperature register and return in degrees C.

Temperature will not have any decimals, as it is an 8-bit signed int (-127C to 127C). Note that the temperature is not factory calibrated!

Returns

Temperature in [C]

I2Cread8()

uint8_t FXAS21002Gyro::I2Cread8 ( uint8_t  regOfInterest )

private

Read FXAS21002 register value over I2C.

Parameters

regOfInterest

Register address on device.

Returns

Value stored in the register.

I2Cwrite8()

void FXAS21002Gyro::I2Cwrite8 ( uint8_t  regOfInterest, uint8_t  valToWrite  )

private

Write to FXAS21002 device register over I2C.

Parameters

regOfInterest	Register address on device.
valToWrite	Value to write to register.

Initialize()

bool FXAS21002Gyro::Initialize

(

GyroRanges_t

rng = GYRO_RNG_1000DPS

)

Initialize and configure gyroscope sensor.

If unspecified, the default gyro measurement rage is GYRO_RNG_1000DPS

Parameters

rng	Gyro measurement range.

See also

GyroRanges_t

Returns

True if successful, false if failed.

ReadSensor()

bool FXAS21002Gyro::ReadSensor

(

)

Read gyroscope data from device registers.

Raw gyro readings are in [deg/s].

Returns

True if successful, false if failed.

Member Data Documentation

_gx

float FXAS21002Gyro::_gx

private

Gyro x reading, [deg/s].

_gy

float FXAS21002Gyro::_gy

private

Gyro y reading, [deg/s].

_gz

float FXAS21002Gyro::_gz

private

Gyro z reading, [deg/s].

_SensorWire

TwoWire* FXAS21002Gyro::_SensorWire

private

I2C bus the sensor is connected to.

gyroRange

GyroRanges_t FXAS21002Gyro::gyroRange

private

Selected gyro measurement range.

prevMeasMicros

uint32_t FXAS21002Gyro::prevMeasMicros

Previous measurement micros()

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The documentation for this class was generated from the following files:

• include/sensor_drivers/fxas21002_gyro.h
• src/sensor_drivers/fxas21002_gyro.cpp