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Atmel AVR4016
Scaled rotation rate measurements are expressed in degrees per second. When the
function returns, the values can be read from the gyro_data structure using the “axis”
fields ( axis.x, axis.y, axis.z ).
7.4.1 Example code sequence
7.4.1.1 Definitions and declarations
#include "sensor.h"
sensor_t
sensor_data_t
gyro_dev;
gyro_data;
// device descriptor
// rotation data from device
7.4.1.2 Sensor initialization
sensor_attach (&gyro_dev, SENSOR_TYPE_GYROSCOPE, 0, 0);
7.4.1.3 Sensor read
gyro_data.scaled = true;
// read values in degrees per second
sensor_get_rotation (&gyro_dev, &gyro_data);
7.4.1.4 Use data in application
int32_t
int32_t
int32_t
app_x_value
app_y_value
app_z_value
= gyro_data.axis.x;
= gyro_data.axis.y;
= gyro_data.axis.z;
uint32_t app_read_time = gyro_data.timestamp;
7.5 Compass heading
The most common use of a magnetic compass sensor is to obtain a direction heading
relative to magnetic north for use in orientation and navigation applications. The
Atmel Sensors Xplained API provides the sensor_get_heading() function to read
the device and calculate such a heading value. The function takes the following form:
sensor_get_heading (&device, &compass_data);
where device is the device descriptor of the compass and compass_data is a
sensor_data_t structure to receive the heading data.
The function returns three data values within the sensor_data_t structure using the
"heading" fields:
The first value is the direction value, expressed in degrees (0 to 360, clockwise) from
magnetic north. The direction value is the angle between the positive Y-axis of the
device and the measured horizontal direction of the magnetic vector. The value can
be read from the compass_data.heading.direction field.
The second value is the inclination angle expressed in degrees (-90 to +90) relative to
horizontal. The inclination notation follows conventional usage in which positive
values indication a downward (into the earth) angle and negative values indicate an
upward angle. The inclination value can be read from the
compass_data.heading.inclination field.
The third value is the net magnetic field strength (intensity) expressed in microteslas
(μT). The value can be read from the compass_data.heading.strength field. This is
a single net field strength value – to obtain separate readings of the field strength for
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8367B-AVR-06/11
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