XDK API  3.6.0
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Calibrated Gyroscope

Virtual Calibrated Gyroscope Sensor based on BMI160. More...

+ Collaboration diagram for Calibrated Gyroscope:

Files

file  BCDS_CalibratedGyro.h
 

Data Structures

struct  CalibratedGyro_XyzDpsData_S
 
struct  CalibratedGyro_XyzLsbData_S
 
struct  CalibratedGyro_XyzRpsData_S
 

Typedefs

typedef float CalibratedGyro_DpsData_T
 
typedef void * CalibratedGyro_HandlePtr_T
 
typedef int32_t CalibratedGyro_LsbData_T
 
typedef float CalibratedGyro_RpsData_T
 
typedef struct
CalibratedGyro_XyzDpsData_S 
CalibratedGyro_XyzDpsData_T
 
typedef struct
CalibratedGyro_XyzDpsData_S
CalibratedGyro_XyzDpsDataPtr_T
 
typedef struct
CalibratedGyro_XyzLsbData_S 
CalibratedGyro_XyzLsbData_T
 
typedef struct
CalibratedGyro_XyzLsbData_S
CalibratedGyro_XyzLsbDataPtr_T
 
typedef struct
CalibratedGyro_XyzRpsData_S 
CalibratedGyro_XyzRpsData_T
 
typedef struct
CalibratedGyro_XyzRpsData_S
CalibratedGyro_XyzRpsDataPtr_T
 

Enumerations

enum  CalibratedGyro_CalibStatus_E
 

Functions

 BCDS_DEPRECATED (typedef enum CalibratedGyro_CalibStatus_E CalibratedGyro_CalibStatus_T)
 
 BCDS_DEPRECATED (typedef enum CalibratedGyro_CalibStatus_E *CalibratedGyro_CalibStatusPtr_T)
 
 BCDS_DEPRECATED (Retcode_T CalibratedGyro_getStatus(CalibratedGyro_CalibStatusPtr_T calibGyroStatus))
 Reads calibration accuracy status from calibrated gyroscope. More...
 
Retcode_T CalibratedGyro_deInit (void)
 Deinitializes the calibrated Gyroscope sensor. More...
 
Retcode_T CalibratedGyro_init (CalibratedGyro_HandlePtr_T handle)
 Initializes the calibrated Gyroscope sensor. More...
 
Retcode_T CalibratedGyro_readXyzDpsValue (CalibratedGyro_XyzDpsDataPtr_T calibGyroData)
 Reads 'deg/sec' xyz values from calibrated gyroscope. More...
 
Retcode_T CalibratedGyro_readXyzLsbValue (CalibratedGyro_XyzLsbDataPtr_T calibGyroData)
 Reads 'LSB' xyz values from calibrated gyroscope. More...
 
Retcode_T CalibratedGyro_readXyzRpsValue (CalibratedGyro_XyzRpsDataPtr_T calibGyroData)
 Reads 'rad/sec' xyz values from calibrated gyroscope. More...
 

Detailed Description

Calibrated Gyroscope is a virtual sensor that provides calibrated gyroscope data.
i.e.,Zero-rate offsets are removed from the angular data.

Gyroscope Calibration method :
Gyroscope calibration is done by leaving the device in flat position a few seconds.

Calibrated Gyroscope data is read in three different units.

Note
- To know the accuracy of calibration done, use CalibratedGyro_getStatus() API
- To get proper calibrated gyroscope data, make sure that the calibration accuracy is CALIBRATED_GYRO_HIGH before reading the data.

Limitations of calibrated gyroscope:
This sensor cannot be used while using virtual sensor fingerPrint.


Data Structure Documentation

struct CalibratedGyro_XyzDpsData_S

Struct that holds calibrated Gyroscope data in deg/sec units

Data Fields

CalibratedGyro_DpsData_T xAxisData
 
CalibratedGyro_DpsData_T yAxisData
 
CalibratedGyro_DpsData_T zAxisData
 

Field Documentation

calibrated Gyroscope x-axis deg/sec data

calibrated Gyroscope y-axis deg/sec data

calibrated Gyroscope z-axis deg/sec data

struct CalibratedGyro_XyzLsbData_S

Struct that holds calibrated Gyroscope data in lsb units

Data Fields

CalibratedGyro_LsbData_T xAxisData
 
CalibratedGyro_LsbData_T yAxisData
 
CalibratedGyro_LsbData_T zAxisData
 

Field Documentation

calibrated Gyroscope x-axis lsb data

calibrated Gyroscope y-axis lsb data

calibrated Gyroscope z-axis lsb data

struct CalibratedGyro_XyzRpsData_S

Struct that holds calibrated Gyroscope data in rad/sec units

Data Fields

CalibratedGyro_RpsData_T xAxisData
 
CalibratedGyro_RpsData_T yAxisData
 
CalibratedGyro_RpsData_T zAxisData
 

Field Documentation

calibrated Gyroscope x-axis rad/sec data

calibrated Gyroscope y-axis rad/sec data

calibrated Gyroscope z-axis rad/sec data

Typedef Documentation

typedef float CalibratedGyro_DpsData_T

data type for calibrated Gyroscope deg/sec data

Defines the handle for calibrated Gyroscope object. This handle is required for the initialisation of calibrated gyroscope

typedef int32_t CalibratedGyro_LsbData_T

custom data types for calibrated Gyroscope data data type for calibrated Gyroscope lsb data

typedef float CalibratedGyro_RpsData_T

data type for calibrated Gyroscope rad/sec data

Enumeration Type Documentation

enum that defines calibration status of calibrated gyroscope

Enumerator
CALIBRATED_GYRO_UNRELIABLE 

unreliable calibration status of calibrated gyroscope

CALIBRATED_GYRO_LOW 

low calibration status of calibrated gyroscope

CALIBRATED_GYRO_MEDIUM 

medium calibration status of calibrated gyroscope

CALIBRATED_GYRO_HIGH 

high calibration status of calibrated gyroscope

Function Documentation

BCDS_DEPRECATED ( typedef enum CalibratedGyro_CalibStatus_E  CalibratedGyro_CalibStatus_T)
BCDS_DEPRECATED ( typedef enum CalibratedGyro_CalibStatus_E CalibratedGyro_CalibStatusPtr_T)
BCDS_DEPRECATED ( Retcode_T   CalibratedGyro_getStatusCalibratedGyro_CalibStatusPtr_T calibGyroStatus)
Deprecated:
since version v3.0.1
Parameters
[out]calibGyroStatusoutput parameter in which the gyroscope calibration status will be written to, from within the function.
Return values
RETCODE_SUCCESSReading calibration accuracy status from calibrated gyroscope success.
RETCODE_INVALID_PARAMIn case calibGyroStatus is NULL pointer.
Note
There are four levels of calibration accuracy
  • CALIBRATED_GYRO_UNRELIABLE
  • CALIBRATED_GYRO_LOW
  • CALIBRATED_GYRO_MEDIUM
  • CALIBRATED_GYRO_HIGH
The return value consist of (First 1 MSByte represents Package ID, Next Byte represents Severity and Last 2 LSBytes represents error code).
Pass the return value of this function to #BCDS_getUserErrorCode() API to know the user type return code present in #BCDS_SensorErrorType.h.
Retcode_T CalibratedGyro_deInit ( void  )
Return values
RETCODE_OKCalibrated Gyroscope sensor De-initialization success.
RETCODE_FAILURECalibrated Gyroscope sensor De-initialization failure.
Warning
This API needs to be called when we require to stop the calibrated Gyroscope data reading.
Note
The return value consist of (First 1 MSByte represents Package ID, Next Byte represents Severity and Last 2 LSBytes represents error code).
Pass the return value of this function to #BCDS_getUserErrorCode() API to know the user type return code present in #BCDS_SensorErrorType.h.
Retcode_T CalibratedGyro_init ( CalibratedGyro_HandlePtr_T  handle)
Parameters
[in]CalibratedGyro_HandlePtr_Tthe handle to the calibrated gyroscope object that should be initialized
Return values
RETCODE_OKcalibrated Gyroscope initialization success.
RETCODE_NULL_POINTERIn case of invalid sensor handle.
Warning
This API needs to be called before calling any other function of the calibrated Gyroscope
Note
Refer #XdkSensorHandle.h for selecting the proper handle.
The return value consist of (First 1 MSByte represents Package ID, Next byte represents Severity and Last 2 LSBytes represents error code).
Pass the return value of this function to BCDS_getSensorErrorCode API to know the sensor return code present in BCDS_SensorErrorType_E.
Retcode_T CalibratedGyro_readXyzDpsValue ( CalibratedGyro_XyzDpsDataPtr_T  calibGyroData)
Parameters
[out]calibGyroDataoutput parameter in which the calibrated gyroscope data will be written to, from within the function
Return values
RETCODE_OKReading calibrated gyroscope deg/sec xyz value success.
RETCODE_UNINITIALIZEDIf called without initializing the sensor.
RETCODE_NULL_POINTERIn case calibGyroData is NULL pointer.
Note
The return value consist of (First 1 MSByte represents Package ID, Next Byte represents Severity and Last 2 LSBytes represents error code).
Pass the return value of this function to #BCDS_getUserErrorCode() API to know the user type return code present in #BCDS_SensorErrorType.h.
Retcode_T CalibratedGyro_readXyzLsbValue ( CalibratedGyro_XyzLsbDataPtr_T  calibGyroData)
Parameters
[out]calibGyroDataoutput parameter in which the calibrated gyroscope data will be written to, from within the function
Return values
RETCODE_OKReading calibrated gyroscope xyzLsb value success.
RETCODE_UNINITIALIZEDIf called without initializing the sensor.
RETCODE_NULL_POINTERIn case calibGyroData is NULL pointer.
Note
The return value consist of (First 1 MSByte represents Package ID, Next Byte represents Severity and Last 2 LSBytes represents error code).
Pass the return value of this function to #BCDS_getUserErrorCode() API to know the user type return code present in #BCDS_SensorErrorType.h.
Retcode_T CalibratedGyro_readXyzRpsValue ( CalibratedGyro_XyzRpsDataPtr_T  calibGyroData)
Parameters
[out]calibGyroDataoutput parameter in which the calibrated gyroscope data will be written to, from within the function
Return values
RETCODE_OKReading calibrated gyroscope rad/sec xyz value success.
RETCODE_UNINITIALIZEDIf called without initializing the sensor.
RETCODE_NULL_POINTERIn case calibGyroData is NULL pointer.
Note
The return value consist of (First 1 MSByte represents Package ID, Next Byte represents Severity and Last 2 LSBytes represents error code).
Pass the return value of this function to #BCDS_getUserErrorCode() API to know the user type return code present in #BCDS_SensorErrorType.h.

All rights reserved. The use is subject to the XDK SDK EULA by Bosch Connected Devices and Solutions GmbH.
This documentation file has been automatically generated on Thu Mar 14 2019 19:12:51 by doxygen 1.8.8