XDK API  3.6.0
Documentation
Files | Data Structures | Typedefs | Enumerations | Enumerator | Functions | Variables

Gyroscope Sensor Interface. More...

+ Collaboration diagram for Gyroscope:

Files

file  BCDS_Gyroscope.h
 

Data Structures

struct  Gyroscope_Handle_S
 structure to represent corresponding Gyroscope handle More...
 
struct  Gyroscope_SensorInfo_S
 
struct  Gyroscope_XyzData_S
 

Typedefs

typedef enum
Gyroscope_AutoSleepDuration_E 
Gyroscope_AutoSleepDuration_T
 
typedef enum
Gyroscope_AutoSleepDuration_E
Gyroscope_AutoSleepDurationPtr_T
 
typedef enum Gyroscope_Bandwidth_E Gyroscope_Bandwidth_T
 
typedef enum
Gyroscope_Bandwidth_E
Gyroscope_BandwidthPtr_T
 
typedef struct Gyroscope_Handle_S Gyroscope_Handle_T
 
typedef struct Gyroscope_Handle_SGyroscope_HandlePtr_T
 
typedef enum Gyroscope_Powermode_E Gyroscope_Powermode_T
 
typedef enum
Gyroscope_Powermode_E
Gyroscope_PowermodePtr_T
 
typedef enum Gyroscope_Range_E Gyroscope_Range_T
 
typedef enum Gyroscope_Range_EGyroscope_RangePtr_T
 
typedef enum Gyroscope_SensorID_E Gyroscope_SensorID_T
 
typedef struct
Gyroscope_SensorInfo_S 
Gyroscope_SensorInfo_T
 
typedef struct
Gyroscope_SensorInfo_S
Gyroscope_SensorInfoPtr_T
 
typedef enum
Gyroscope_SleepDuration_E 
Gyroscope_SleepDuration_T
 
typedef enum
Gyroscope_SleepDuration_E
Gyroscope_SleepDurationPtr_T
 
typedef struct Gyroscope_XyzData_S Gyroscope_XyzData_T
 
typedef struct
Gyroscope_XyzData_S
Gyroscope_XyzDataPtr_T
 

Enumerations

enum  Gyroscope_AutoSleepDuration_E
 
enum  Gyroscope_Bandwidth_E
 
enum  Gyroscope_Powermode_E
 
enum  Gyroscope_Range_E
 
enum  Gyroscope_SensorID_E
 
enum  Gyroscope_SleepDuration_E
 

Functions

Retcode_T Gyroscope_deInit (Gyroscope_HandlePtr_T handle)
 Function to DeInitializes the Gyroscope referenced by the passed handle. More...
 
Retcode_T Gyroscope_getBandwidth (Gyroscope_HandlePtr_T handle, Gyroscope_BandwidthPtr_T bandwidth)
 Reads the bandwidth for the Gyroscope referenced by the passed handle. More...
 
Retcode_T Gyroscope_getMode (Gyroscope_HandlePtr_T handle, Gyroscope_PowermodePtr_T powermode)
 Reads the power mode for the Gyroscope by the passed handle. More...
 
Retcode_T Gyroscope_getRange (Gyroscope_HandlePtr_T handle, Gyroscope_RangePtr_T range)
 Reads the Range for the Gyroscope referenced by the passed handle. More...
 
Retcode_T Gyroscope_init (Gyroscope_HandlePtr_T handle)
 Function to initialize Gyroscope.This needs to be called before calling any other API. More...
 
Retcode_T Gyroscope_readXyzDegreeValue (Gyroscope_HandlePtr_T handle, Gyroscope_XyzDataPtr_T value)
 Reads an Xyz degree value from the Gyroscope referenced by the passed handle. More...
 
Retcode_T Gyroscope_readXyzValue (Gyroscope_HandlePtr_T handle, Gyroscope_XyzDataPtr_T value)
 Reads an xyz values from the Gyroscope referenced by the passed handle. More...
 
Retcode_T Gyroscope_setAutoSleepDuration (Gyroscope_HandlePtr_T handle, Gyroscope_AutoSleepDuration_T lowPowerModeSleepDuration, Gyroscope_Bandwidth_T bandwidthForAutoSleep)
 Sets the Auto-SleepDuration for Gyroscope referenced by the passed handle. More...
 
Retcode_T Gyroscope_setBandwidth (Gyroscope_HandlePtr_T handle, Gyroscope_Bandwidth_T bandwidth)
 Sets the bandwidth for the Gyroscope referenced by the passed handle. More...
 
Retcode_T Gyroscope_setMode (Gyroscope_HandlePtr_T handle, Gyroscope_Powermode_T powermode)
 Sets the powermode for the Gyroscope by the passed handle. More...
 
Retcode_T Gyroscope_setRange (Gyroscope_HandlePtr_T handle, Gyroscope_Range_T range)
 Sets the Range for the Gyroscope by the passed handle. More...
 
Retcode_T Gyroscope_setSleepDuration (Gyroscope_HandlePtr_T handle, Gyroscope_SleepDuration_T lowPowerModeSleepDuration)
 Sets the SleepDuration for Gyroscope referenced by the passed handle. More...
 

Variables

uint8_t initializationStatus
 
Gyroscope_SensorID_T sensorID
 
Gyroscope_SensorInfo_T sensorInfo
 
void * sensorPtr
 
int32_t xAxisData
 
int32_t yAxisData
 
int32_t zAxisData
 

Detailed Description

The interface header exports advance Sensor API's which are used to Initialize Gyroscope sensor, Configure Modes, Bandwidth, Range & Sleep Duration. Also has API's for reading sensor values & Mode Settings.


Data Structure Documentation

struct Gyroscope_Handle_S
+ Collaboration diagram for Gyroscope_Handle_S:

Data Fields

Gyroscope_SensorInfo_T sensorInfo
 
void * sensorPtr
 
struct Gyroscope_SensorInfo_S

to hold the Gyroscope type and its initialization status

Data Fields

uint8_t initializationStatus
 
Gyroscope_SensorID_T sensorID
 
struct Gyroscope_XyzData_S

structure required to collect the XYZ axis data

Data Fields

int32_t xAxisData
 
int32_t yAxisData
 
int32_t zAxisData
 

Typedef Documentation

Enumeration Type Documentation

enum values to represent various Auto-sleep duration applicable only in low power mode

Enumerator
GYROSCOPE_BMG160_AUTOSLEEP_DURATION_0MS 

ID to represent No Auto sleep duration

GYROSCOPE_BMG160_AUTOSLEEP_DURATION_4MS 

ID to represent auto sleep duration to 4 ms

GYROSCOPE_BMG160_AUTOSLEEP_DURATION_5MS 

ID to represent auto sleep duration to 5 ms

GYROSCOPE_BMG160_AUTOSLEEP_DURATION_8MS 

ID to represent auto sleep duration to 8 ms

GYROSCOPE_BMG160_AUTOSLEEP_DURATION_10MS 

ID to represent auto sleep duration to 10 ms

GYROSCOPE_BMG160_AUTOSLEEP_DURATION_15MS 

ID to represent auto sleep duration to 15 ms

GYROSCOPE_BMG160_AUTOSLEEP_DURATION_20MS 

ID to represent auto sleep duration to 20 ms

GYROSCOPE_BMG160_AUTOSLEEP_DURATION_40MS 

ID to represent auto sleep duration to 40 ms

GYROSCOPE_BMG160_AUTOSLEEP_DURATION_OUT_OF_RANGE 

This Specifies maximum number of enum elements and it is used only for error handling

enum values to represent Bandwidth supported by the Gyroscope

Enumerator
GYROSCOPE_BMG160_BANDWIDTH_12HZ 

sets bandwidth to LowPass 12 HZ

GYROSCOPE_BMG160_BANDWIDTH_23HZ 

sets bandwidth to LowPass 23 HZ

GYROSCOPE_BMG160_BANDWIDTH_32HZ 

sets bandwidth to LowPass 32 HZ

GYROSCOPE_BMG160_BANDWIDTH_47HZ 

sets bandwidth to LowPass 47 HZ

GYROSCOPE_BMG160_BANDWIDTH_64HZ 

sets bandwidth to LowPass 64 HZ

GYROSCOPE_BMG160_BANDWIDTH_116HZ 

sets bandwidth to LowPass 116 HZ

GYROSCOPE_BMG160_BANDWIDTH_230HZ 

sets bandwidth to LowPass 230 HZ

GYROSCOPE_BMG160_BANDWIDTH_523HZ 

sets bandwidth to LowPass 523 HZ

GYROSCOPE_BMI160_BANDWIDTH_10_7HZ 

sets bandwidth to LowPass 10.7 HZ

GYROSCOPE_BMI160_BANDWIDTH_20_8HZ 

sets bandwidth to LowPass 20.8 HZ

GYROSCOPE_BMI160_BANDWIDTH_39_9HZ 

sets bandwidth to LowPass 39.9 HZ

GYROSCOPE_BMI160_BANDWIDTH_74_6HZ 

sets bandwidth to LowPass 74.6 HZ

GYROSCOPE_BMI160_BANDWIDTH_136_6HZ 

sets bandwidth to LowPass 136.6 HZ

GYROSCOPE_BMI160_BANDWIDTH_254_6HZ 

sets bandwidth to LowPass 254.6 HZ

GYROSCOPE_BMI160_BANDWIDTH_523_9HZ 

sets bandwidth to LowPass 523.9 HZ

GYROSCOPE_BMI160_BANDWIDTH_890HZ 

sets bandwidth to LowPass 890 HZ

GYROSCOPE_BANDWIDTH_OUT_OF_RANGE 

This Specifies maximum number of enum elements and it is used only for error handling

enum values to represent Power mode supported by the Gyroscope

Enumerator
GYROSCOPE_BMG160_POWERMODE_NORMAL 

sets Powermode to normal

GYROSCOPE_BMG160_POWERMODE_DEEPSUSPEND 

sets Powermode to deep suspend

GYROSCOPE_BMG160_POWERMODE_SUSPEND 

sets Powermode to suspend

GYROSCOPE_BMG160_POWERMODE_FAST_POWERUP 

sets Powermode to fast powerup

GYROSCOPE_BMG160_POWERMODE_ADVANCE_POWERUP 

sets Powermode to advanced powerup

GYROSCOPE_BMI160_POWERMODE_SUSPEND 

sets Powermode to suspend

GYROSCOPE_BMI160_POWERMODE_NORMAL 

sets Powermode to normal

GYROSCOPE_BMI160_POWERMODE_FAST_STARTUP 

sets Powermode to fast startup

GYROSCOPE_POWERMODE_OUT_OF_RANGE 

This Specifies maximum number of enum elements and it is used only for error handling

enum values to represent Range supported by the Gyroscope

Enumerator
GYROSCOPE_BMG160_RANGE_125s 

set to 0.0625 deg/s in 125 deg/s range

GYROSCOPE_BMG160_RANGE_250s 

set to 0.125 deg/s in 250 deg/s range

GYROSCOPE_BMG160_RANGE_500s 

set to 0.25 deg/s in 500 deg/s range

GYROSCOPE_BMG160_RANGE_1000s 

set to 0.5 deg/s in 1000 deg/s range

GYROSCOPE_BMG160_RANGE_2000s 

set to 1 deg/s in 2000 deg/s range

GYROSCOPE_BMI160_125S_RANGE 

set to 0.0625 deg/s in 125 deg/s range

GYROSCOPE_BMI160_250S_RANGE 

set to 0.125 deg/s in 250 deg/s range

GYROSCOPE_BMI160_500S_RANGE 

set to 0.25 deg/s in 500 deg/s range

GYROSCOPE_BMI160_1000S_RANGE 

set to 0.5 deg/s in 1000 deg/s range

GYROSCOPE_BMI160_2000S_RANGE 

set to 1 deg/s in 2000 deg/s range

GYROSCOPE_OUT_OF_RANGE 

This Specifies maximum number of enum elements and it is used only for error handling

Enumerator
BMG160_GYRO_SENSOR 

ID to represents bmg160 Gyroscope sensor

BMI160_GYRO_SENSOR 

ID to represents bmi160 Gyroscope sensor

GYRO_SENSOR_INVALID_ID 

This Specifies maximum number of enum elements and it is used only for error handling

enum values to represent various sleep duration applicable only in low power mode

Enumerator
GYROSCOPE_BMG160_SLEEP_DURATION_2MS 

ID to represent sleep duration of 2 ms

GYROSCOPE_BMG160_SLEEP_DURATION_4MS 

ID to represent sleep duration to 4 ms

GYROSCOPE_BMG160_SLEEP_DURATION_5MS 

ID to represent sleep duration to 5 ms

GYROSCOPE_BMG160_SLEEP_DURATION_8MS 

ID to represent sleep duration to 8 ms

GYROSCOPE_BMG160_SLEEP_DURATION_10MS 

ID to represent sleep duration to 10 ms

GYROSCOPE_BMG160_SLEEP_DURATION_15MS 

ID to represent sleep duration to 15 ms

GYROSCOPE_BMG160_SLEEP_DURATION_18MS 

ID to represent sleep duration to 18 ms

GYROSCOPE_BMG160_SLEEP_DURATION_20MS 

ID to represent sleep duration to 20 ms

GYROSCOPE_BMG160_SLEEP_DURATION_OUT_OF_RANGE 

This Specifies maximum number of enum elements and it is used only for error handling

Function Documentation

Retcode_T Gyroscope_deInit ( Gyroscope_HandlePtr_T  handle)
Parameters
[in]handleHandle to the Gyroscope object
Return values
RETCODE_SUCCESSGyroscope De-initialization success.
RETCODE_INVALID_PARAMIn case of invalid sensor handle.
Returns
In case of any other error refer Bmg160Utils_uninitialize or Bmi160Utils_uninitialize error codes.
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_getSensorErrorCode API to know the sensor return code present in BCDS_SensorErrorType_E.

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Retcode_T Gyroscope_getBandwidth ( Gyroscope_HandlePtr_T  handle,
Gyroscope_BandwidthPtr_T  bandwidth 
)
Parameters
[in]handleHandle to the Gyroscope object
[in/out]bandwidth Collects the last set Bandwidth value from the gyro sensor
Return values
RETCODE_SUCCESSGetting Bandwidth success.
RETCODE_UNINITIALIZEDif called without initializing the sensor.
RETCODE_INVALID_PARAMIn case of invalid sensor handle.
RETCODE_NOT_SUPPORTEDIn case of getting bandwidth values other than Gyroscope_Bandwidth_E.
Returns
In case of other failures refer bmg160LibErrorMapping or BMI160_libErrorMapping API's.
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_getSensorErrorCode API to know the sensor return code present in BCDS_SensorErrorType_E.

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Retcode_T Gyroscope_getMode ( Gyroscope_HandlePtr_T  handle,
Gyroscope_PowermodePtr_T  powermode 
)
Parameters
[in]handleHandle to the Gyroscope object
[in/out]powermode Collects the last set power mode value from gyro sensor
Return values
RETCODE_SUCCESSGetting power mode success.
RETCODE_UNINITIALIZEDif called without initializing the sensor.
RETCODE_INVALID_PARAMIn case of invalid sensor handle.
RETCODE_NOT_SUPPORTEDIn case of getting power mode other than Gyroscope_Powermode_E.
Returns
In case of other failures refer bmg160LibErrorMapping or BMI160_libErrorMapping API's.
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_getSensorErrorCode API to know the sensor return code present in BCDS_SensorErrorType_E.

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Retcode_T Gyroscope_getRange ( Gyroscope_HandlePtr_T  handle,
Gyroscope_RangePtr_T  range 
)
Parameters
[in]handleHandle to the Gyroscope object
[in/out]range Collects the last set measurement range value from the sensor
Return values
RETCODE_SUCCESSGetting range success.
RETCODE_UNINITIALIZEDif called without initializing the sensor.
RETCODE_INVALID_PARAMIn case of invalid sensor handle.
RETCODE_NOT_SUPPORTEDIn case of getting range values other than Gyroscope_Range_E.
Returns
In case of other failures refer bmg160LibErrorMapping or BMI160_libErrorMapping API's.
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_getSensorErrorCode API to know the sensor return code present in BCDS_SensorErrorType_E.

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Retcode_T Gyroscope_init ( Gyroscope_HandlePtr_T  handle)
Parameters
[in]handleHandle to the Gyroscope object
Return values
RETCODE_SUCCESSGyroscope initialization success.
RETCODE_INVALID_PARAMIn case of invalid sensor handle.
Returns
In case of any other error refer Bmg160Utils_initialize or Bmi160Utils_initialize error codes.
Warning
This function needs to be called before calling any other Gyroscope API.
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_getSensorErrorCode API to know the sensor return code present in BCDS_SensorErrorType_E.

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Retcode_T Gyroscope_readXyzDegreeValue ( Gyroscope_HandlePtr_T  handle,
Gyroscope_XyzDataPtr_T  value 
)
Parameters
[in]handleHandle to the Gyroscope object
[in/out]value Collects the XYZ value of gyro sensor in milli Degree
Return values
RETCODE_SUCCESSReading xyzDegree value success.
RETCODE_UNINITIALIZEDif called without initializing the sensor.
RETCODE_INVALID_PARAMIn case of invalid sensor handle.
Returns
In case of other failures refer Bmg160Utils_remapAxis, Bmi160Utils_remapAxis, bma2x2LibErrorMapping or bmi160LibErrorMapping API's.
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_getSensorErrorCode API to know the sensor return code present in BCDS_SensorErrorType_E.

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Retcode_T Gyroscope_readXyzValue ( Gyroscope_HandlePtr_T  handle,
Gyroscope_XyzDataPtr_T  value 
)
Parameters
[in]handleHandle to the Gyroscope object
[in/out]value Collects the XYZ value of gyro sensor in LSB
Return values
RETCODE_SUCCESSReading xyz value success.
RETCODE_UNINITIALIZEDif called without initializing the sensor.
RETCODE_INVALID_PARAMIn case of invalid sensor handle.
Returns
In case of other failures refer Bmg160Utils_remapAxis, Bmi160Utils_remapAxis, bma2x2LibErrorMapping or bmi160LibErrorMapping API's.
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_getSensorErrorCode API to know the sensor return code present in BCDS_SensorErrorType_E.

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Retcode_T Gyroscope_setAutoSleepDuration ( Gyroscope_HandlePtr_T  handle,
Gyroscope_AutoSleepDuration_T  lowPowerModeSleepDuration,
Gyroscope_Bandwidth_T  bandwidthForAutoSleep 
)
Parameters
[in]handleHandle to the Gyroscope object
[in]lowPowerModeSleepDurationRepresents the AutoSleepDuration that needs to be configured for gyro sensor
[in]bandwidthForAutoSleepIt needs to be the value read from gyroscopeGetBandwidth(), this is required for proper operation of gyro sensor in advanced power saving mode only
Return values
RETCODE_SUCCESSSet auto sleep Duration success.
RETCODE_UNINITIALIZEDif called without initializing the sensor.
RETCODE_INVALID_PARAMIn case of invalid sensor handle or setting auto sleep values other than Gyroscope_AutoSleepDuration_E.
RETCODE_NOT_SUPPORTEDIn case of Invalid sensor selection.
Returns
In case of other failures refer bmg160LibErrorMapping API.
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_getSensorErrorCode API to know the sensor return code present in BCDS_SensorErrorType_E.

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Retcode_T Gyroscope_setBandwidth ( Gyroscope_HandlePtr_T  handle,
Gyroscope_Bandwidth_T  bandwidth 
)
Parameters
[in]handleHandle to the Gyroscope object
[in]bandwidthRepresents the bandwidth that needs to be configured for gyro sensor
Return values
RETCODE_SUCCESSBandwidth setting success.
RETCODE_UNINITIALIZEDif called without initializing the sensor.
RETCODE_INVALID_PARAMIn case of invalid sensor handle.
RETCODE_NOT_SUPPORTEDIn case of setting bandwidth values other than Gyroscope_Bandwidth_E.
Returns
In case of other failures refer bmg160LibErrorMapping or BMI160_libErrorMapping API's.
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_getSensorErrorCode API to know the sensor return code present in BCDS_SensorErrorType_E.

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Retcode_T Gyroscope_setMode ( Gyroscope_HandlePtr_T  handle,
Gyroscope_Powermode_T  powermode 
)
Parameters
[in]handleHandle to the Gyroscope object
[in]powermodeRepresents the power mode that needs to be configured for gyro sensor
Return values
RETCODE_SUCCESSSetting power mode success.
RETCODE_UNINITIALIZEDif called without initializing the sensor.
RETCODE_INVALID_PARAMIn case of invalid sensor handle.
RETCODE_NOT_SUPPORTEDIn case of setting power mode other than Gyroscope_Powermode_E.
Returns
In case of other failures refer bmg160LibErrorMapping or BMI160_libErrorMapping API's.
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_getSensorErrorCode API to know the sensor return code present in BCDS_SensorErrorType_E.

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Retcode_T Gyroscope_setRange ( Gyroscope_HandlePtr_T  handle,
Gyroscope_Range_T  range 
)
Parameters
[in]handleHandle to the Gyroscope object
[in]rangeRepresents the measurement range that needs to be configured for gyro sensor
Return values
RETCODE_SUCCESSSetting range success.
RETCODE_UNINITIALIZEDif called without initializing the sensor.
RETCODE_INVALID_PARAMIn case of invalid sensor handle.
RETCODE_NOT_SUPPORTEDIn case of setting range values other than Gyroscope_Range_E.
Returns
In case of other failures refer bmg160LibErrorMapping or BMI160_libErrorMapping API's.
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_getSensorErrorCode API to know the sensor return code present in BCDS_SensorErrorType_E.

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Retcode_T Gyroscope_setSleepDuration ( Gyroscope_HandlePtr_T  handle,
Gyroscope_SleepDuration_T  lowPowerModeSleepDuration 
)
Parameters
[in]handleHandle to the Gyroscope object
[in]lowPowerModeSleepDurationRepresents the Sleep Duration that needs to be configured for gyroscope sensor
Return values
RETCODE_SUCCESSSet Sleep Duration success.
RETCODE_UNINITIALIZEDif called without initializing the sensor.
RETCODE_INVALID_PARAMIn case of invalid sensor handle or setting sleep duration values other than Gyroscope_SleepDuration_E.
RETCODE_NOT_SUPPORTEDIn case of Invalid sensor selection.
Returns
In case of other failures refer bmg160LibErrorMapping API.
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_getSensorErrorCode API to know the sensor return code present in BCDS_SensorErrorType_E.

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Variable Documentation

uint8_t initializationStatus

value to indicate whether the Gyroscope sensor is properly initialized before

logical sensor ID to represents physical Gyroscope sensor

Structure to hold logical identity to Gyroscope sensor

void* sensorPtr

Pointer to structure containing hardware specific configuration

int32_t xAxisData
int32_t yAxisData
int32_t zAxisData

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