======================================================================
  RTComponent: GyroSensor_L3GD20_I2C specificatioin

  OpenRTM-aist-1.0.0
  Date: $Date$

  LGPL

  This file is generated by rtc-template with the following argments.

#   rtc-template -bcxx --module-name=GyroSensor_L3GD20_I2C 
#   --module-desc='GyroSensor_L3GD20_I2C' --module-version=1.0.0 --module-vendor=Miyamoto Nobuhiko 
#   --module-category=Sensor --module-comp-type=STATIC 
#   --module-act-type=PERIODIC --module-max-inst=1 
#   --config=I2C_channel:int:1 --config=addr:string:0x6A --config=scale:string:250dps 
#   --outport=gyro:RTC::TimedAngularVelocity3D 


======================================================================
    Basic Information
======================================================================
# <rtc-template block="module">
Module Name: GyroSensor_L3GD20_I2C
Description: GyroSensor_L3GD20_I2C
Version:     1.0.0
Vendor:      Miyamoto Nobuhiko
Category:    Sensor
Kind:        DataFlowComponent
Comp. Type:  STATIC
Act. Type:   PERIODIC
MAX Inst.:   1
Lang:        C++
Lang Type:   

Overview:    ジャイロセンサL3GD20で角速度を検出してDataOutPortから
             出力するRTCです。I2C通信に対応しています。
# </rtc-template>


======================================================================
    Activity definition
======================================================================

[on_initialize]    implemented

[on_finalize]      implemented

[on_startup]       implemented

[on_shutdown]      implemented

[on_activated]     implemented

[on_deactivated]   implemented

[on_execute]       implemented

[on_aborting]      implemented

[on_error]         implemented

[on_reset]         implemented

[on_state_update]  implemented

[on_rate_changed]  implemented

======================================================================
    InPorts definition
======================================================================
# <rtc-template block="inport">


# </rtc-template>

======================================================================
    OutPorts definition
======================================================================
# <rtc-template block="outport">

	Name:        gyro
	PortNumber:  0
	Description: ジャイロセンサーの計測値
	PortType: 
	DataType:    RTC::TimedAngularVelocity3D
	MaxOut: 
	[Data Elements]
		Name:
		Type:            RTC::TimedAngularVelocity3D
		Number:          
		Semantics:       
		Unit:            rad/s
		Frequency:       
		Operation Cycle: 
		RangeLow:
		RangeHigh:
		DefaultValue:


# </rtc-template>


======================================================================
    Service Port definition
======================================================================
# <rtc-template block="serviceport">
# </rtc-template> 

======================================================================
    Configuration definition
======================================================================
# <rtc-template block="configuration">
	Configuration:
		Name:            I2C_channel I2C_channel
		Description:     I2Cのポート番号
		Type:            int
		DefaultValue:    1 1
		Unit:            
		Range:           
		Constraint:      (1,6)

		Name:            addr addr
		Description:     L3GD20のI2Cスレーブアドレス
		Type:            string
		DefaultValue:    106 0x6A
		Unit:            
		Range:           
		Constraint:      (0x6A,0x6B)

		Name:            scale scale
		Description:     測定範囲
		Type:            string
		DefaultValue:    250dps 250dps
		Unit:            
		Range:           
		Constraint:      (250dps,500dps,2000dps)

# </rtc-template> 

This software is developed at the National Institute of Advanced
Industrial Science and Technology. Approval number H23PRO-????. This
software is licensed under the Lesser General Public License. See
COPYING.LESSER.

This area is reserved for future OpenRTM.