diff options
Diffstat (limited to 'os/ex/ST/l3gd20.c')
| -rw-r--r-- | os/ex/ST/l3gd20.c | 964 |
1 files changed, 482 insertions, 482 deletions
diff --git a/os/ex/ST/l3gd20.c b/os/ex/ST/l3gd20.c index d36399d91..3e9c93640 100644 --- a/os/ex/ST/l3gd20.c +++ b/os/ex/ST/l3gd20.c @@ -1,482 +1,482 @@ -/* - ChibiOS - Copyright (C) 2016 Rocco Marco Guglielmi - - This file is part of ChibiOS. - - ChibiOS is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 3 of the License, or - (at your option) any later version. - - ChibiOS is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program. If not, see <http://www.gnu.org/licenses/>. - -*/ - -/** - * @file l3gd20.c - * @brief L3GD20 MEMS interface module code. - * - * @addtogroup l3gd20 - * @{ - */ - -#include "hal.h" -#include "l3gd20.h" - -/*===========================================================================*/ -/* Driver local definitions. */ -/*===========================================================================*/ - -#define L3GD20_SENS_250DPS ((float)0.00875f) -#define L3GD20_SENS_500DPS ((float)0.01750f) -#define L3GD20_SENS_2000DPS ((float)0.07000f) - -#define L3GD20_DI ((uint8_t)0xFF) -#define L3GD20_DI_0 ((uint8_t)0x01) -#define L3GD20_DI_1 ((uint8_t)0x02) -#define L3GD20_DI_2 ((uint8_t)0x04) -#define L3GD20_DI_3 ((uint8_t)0x08) -#define L3GD20_DI_4 ((uint8_t)0x10) -#define L3GD20_DI_5 ((uint8_t)0x20) -#define L3GD20_DI_6 ((uint8_t)0x40) -#define L3GD20_DI_7 ((uint8_t)0x80) - -#define L3GD20_AD ((uint8_t)0x3F) -#define L3GD20_AD_0 ((uint8_t)0x01) -#define L3GD20_AD_1 ((uint8_t)0x02) -#define L3GD20_AD_2 ((uint8_t)0x04) -#define L3GD20_AD_3 ((uint8_t)0x08) -#define L3GD20_AD_4 ((uint8_t)0x10) -#define L3GD20_AD_5 ((uint8_t)0x20) -#define L3GD20_MS ((uint8_t)0x40) -#define L3GD20_RW ((uint8_t)0x80) - -#define L3GD20_AD_WHO_AM_I ((uint8_t)0x0F) -#define L3GD20_AD_CTRL_REG1 ((uint8_t)0x20) -#define L3GD20_AD_CTRL_REG2 ((uint8_t)0x21) -#define L3GD20_AD_CTRL_REG3 ((uint8_t)0x22) -#define L3GD20_AD_CTRL_REG4 ((uint8_t)0x23) -#define L3GD20_AD_CTRL_REG5 ((uint8_t)0x24) -#define L3GD20_AD_REFERENCE ((uint8_t)0x25) -#define L3GD20_AD_OUT_TEMP ((uint8_t)0x26) -#define L3GD20_AD_STATUS_REG ((uint8_t)0x27) -#define L3GD20_AD_OUT_X_L ((uint8_t)0x28) -#define L3GD20_AD_OUT_X_H ((uint8_t)0x29) -#define L3GD20_AD_OUT_Y_L ((uint8_t)0x2A) -#define L3GD20_AD_OUT_Y_H ((uint8_t)0x2B) -#define L3GD20_AD_OUT_Z_L ((uint8_t)0x2C) -#define L3GD20_AD_OUT_Z_H ((uint8_t)0x2D) -#define L3GD20_AD_FIFO_CTRL_REG ((uint8_t)0x2E) -#define L3GD20_AD_FIFO_SRC_REG ((uint8_t)0x2F) -#define L3GD20_AD_INT1_CFG ((uint8_t)0x30) -#define L3GD20_AD_INT1_SRC ((uint8_t)0x31) -#define L3GD20_AD_INT1_TSH_XH ((uint8_t)0x32) -#define L3GD20_AD_INT1_TSH_XL ((uint8_t)0x33) -#define L3GD20_AD_INT1_TSH_YH ((uint8_t)0x34) -#define L3GD20_AD_INT1_TSH_YL ((uint8_t)0x35) -#define L3GD20_AD_INT1_TSH_ZH ((uint8_t)0x36) -#define L3GD20_AD_INT1_TSH_ZL ((uint8_t)0x37) -#define L3GD20_AD_INT1_DURATION ((uint8_t)0x38) - -#define L3GD20_CTRL_REG4_FS_MASK ((uint8_t)0x30) - -/*===========================================================================*/ -/* Driver exported variables. */ -/*===========================================================================*/ - -/*===========================================================================*/ -/* Driver local variables and types. */ -/*===========================================================================*/ - -/** - * @brief L3GD20 Power Mode - */ -typedef enum { - L3GD20_PM_POWER_DOWN = 0x00, /**< Power down enabled. */ - L3GD20_PM_SLEEP_NORMAL = 0x08 /**< Normal operation mode. */ -}l3gd20_pm_t; - -/*===========================================================================*/ -/* Driver local functions. */ -/*===========================================================================*/ - -#if (L3GD20_USE_SPI) || defined(__DOXYGEN__) -/** - * @brief Reads a generic register value using SPI. - * @pre The SPI interface must be initialized and the driver started. - * - * @param[in] spip pointer to the SPI interface - * @param[in] reg register number - * @return register value. - */ -static uint8_t l3gd20SPIReadRegister(SPIDriver *spip, uint8_t reg) { - uint8_t txbuf[2] = {L3GD20_RW | reg, 0xFF}; - uint8_t rxbuf[2] = {0x00, 0x00}; - spiSelect(spip); - spiExchange(spip, 2, txbuf, rxbuf); - spiUnselect(spip); - return rxbuf[1]; -} - -/** - * @brief Writes a value into a generic register using SPI. - * @pre The SPI interface must be initialized and the driver started. - * - * @param[in] spip pointer to the SPI interface - * @param[in] reg register number - * @param[in] value register value. - */ -static void l3gd20SPIWriteRegister(SPIDriver *spip, uint8_t reg, - uint8_t value) { - - switch (reg) { - default: - /* Reserved register must not be written, according to the datasheet - * this could permanently damage the device. - */ - osalDbgAssert(FALSE, "l3gd20SPIWriteRegister(), reserved register"); - case L3GD20_AD_WHO_AM_I: - case L3GD20_AD_OUT_TEMP : - case L3GD20_AD_STATUS_REG: - case L3GD20_AD_OUT_X_L: - case L3GD20_AD_OUT_X_H: - case L3GD20_AD_OUT_Y_L: - case L3GD20_AD_OUT_Y_H: - case L3GD20_AD_OUT_Z_L: - case L3GD20_AD_OUT_Z_H: - case L3GD20_AD_FIFO_SRC_REG: - case L3GD20_AD_INT1_SRC: - /* Read only registers cannot be written, the command is ignored.*/ - return; - case L3GD20_AD_CTRL_REG1: - case L3GD20_AD_CTRL_REG2: - case L3GD20_AD_CTRL_REG3: - case L3GD20_AD_CTRL_REG4: - case L3GD20_AD_CTRL_REG5: - case L3GD20_AD_REFERENCE: - case L3GD20_AD_FIFO_CTRL_REG: - case L3GD20_AD_INT1_CFG: - case L3GD20_AD_INT1_TSH_XH: - case L3GD20_AD_INT1_TSH_XL: - case L3GD20_AD_INT1_TSH_YH: - case L3GD20_AD_INT1_TSH_YL: - case L3GD20_AD_INT1_TSH_ZH: - case L3GD20_AD_INT1_TSH_ZL: - case L3GD20_AD_INT1_DURATION: - spiSelect(spip); - uint8_t txbuf[2] = {reg, value}; - spiSend(spip, 2, txbuf); - spiUnselect(spip); - } -} -#endif /* L3GD20_USE_SPI */ - -/* - * Interface implementation. - */ -static size_t get_axes_number(void *ip) { - - osalDbgCheck(ip != NULL); - return L3GD20_NUMBER_OF_AXES; -} - -static msg_t read_raw(void *ip, int32_t axes[L3GD20_NUMBER_OF_AXES]) { - int16_t tmp; - osalDbgCheck((ip != NULL) && (axes != NULL)); - - osalDbgAssert((((L3GD20Driver *)ip)->state == L3GD20_READY), - "read_raw(), invalid state"); - -#if L3GD20_USE_SPI - osalDbgAssert((((L3GD20Driver *)ip)->config->spip->state == SPI_READY), - "read_raw(), channel not ready"); -#if L3GD20_SHARED_SPI - spiAcquireBus(((L3GD20Driver *)ip)->config->spip); - spiStart(((L3GD20Driver *)ip)->config->spip, - ((L3GD20Driver *)ip)->config->spicfg); -#endif /* L3GD20_SHARED_SPI */ - if(((L3GD20Driver *)ip)->config->axesenabling & L3GD20_AE_X){ - tmp = l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip, - L3GD20_AD_OUT_X_L); - tmp += l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip, - L3GD20_AD_OUT_X_H) << 8; - axes[0] = (int32_t)tmp + ((L3GD20Driver *)ip)->bias[0]; - } - if(((L3GD20Driver *)ip)->config->axesenabling & L3GD20_AE_Y){ - tmp = l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip, - L3GD20_AD_OUT_Y_L); - tmp += l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip, - L3GD20_AD_OUT_Y_H) << 8; - axes[1] = (int32_t)tmp + ((L3GD20Driver *)ip)->bias[1]; - } - if(((L3GD20Driver *)ip)->config->axesenabling & L3GD20_AE_Z){ - tmp = l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip, - L3GD20_AD_OUT_Z_L); - tmp += l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip, - L3GD20_AD_OUT_Z_H) << 8; - axes[2] = (int32_t)tmp + ((L3GD20Driver *)ip)->bias[2]; - } -#if L3GD20_SHARED_SPI - spiReleaseBus(((L3GD20Driver *)ip)->config->spip); -#endif /* L3GD20_SHARED_SPI */ -#endif /* L3GD20_USE_SPI */ - return MSG_OK; -} - -static msg_t read_cooked(void *ip, float axes[]) { - uint32_t i; - int32_t raw[L3GD20_NUMBER_OF_AXES]; - msg_t msg; - - osalDbgCheck((ip != NULL) && (axes != NULL)); - - osalDbgAssert((((L3GD20Driver *)ip)->state == L3GD20_READY), - "read_cooked(), invalid state"); - - msg = read_raw(ip, raw); - for(i = 0; i < L3GD20_NUMBER_OF_AXES ; i++){ - axes[i] = raw[i] * ((L3GD20Driver *)ip)->sensitivity[i]; - } - return msg; -} - -static msg_t sample_bias(void *ip) { - uint32_t i, j; - int32_t raw[L3GD20_NUMBER_OF_AXES]; - int32_t buff[L3GD20_NUMBER_OF_AXES] = {0, 0, 0}; - - osalDbgCheck(ip != NULL); - - osalDbgAssert((((L3GD20Driver *)ip)->state == L3GD20_READY), - "sample_bias(), invalid state"); - - for(i = 0; i < L3GD20_BIAS_ACQ_TIMES; i++){ - read_raw(ip, raw); - for(j = 0; j < L3GD20_NUMBER_OF_AXES; j++){ - buff[j] += raw[j]; - } - osalThreadSleepMicroseconds(L3GD20_BIAS_SETTLING_uS); - } - - for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++){ - ((L3GD20Driver *)ip)->bias[i] = buff[i] / L3GD20_BIAS_ACQ_TIMES; - } - return MSG_OK; -} - -static msg_t set_bias(void *ip, int32_t *bp) { - uint32_t i; - - osalDbgCheck((ip != NULL) && (bp !=NULL)); - - osalDbgAssert((((L3GD20Driver *)ip)->state == L3GD20_READY) || - (((L3GD20Driver *)ip)->state == L3GD20_STOP), - "set_bias(), invalid state"); - - for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++) { - ((L3GD20Driver *)ip)->bias[i] = bp[i]; - } - return MSG_OK; -} - -static msg_t reset_bias(void *ip) { - uint32_t i; - - osalDbgCheck(ip != NULL); - - osalDbgAssert((((L3GD20Driver *)ip)->state == L3GD20_READY) || - (((L3GD20Driver *)ip)->state == L3GD20_STOP), - "reset_bias(), invalid state"); - - for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++) - ((L3GD20Driver *)ip)->bias[i] = 0; - return MSG_OK; -} - -static msg_t set_sensivity(void *ip, float *sp) { - uint32_t i; - - osalDbgCheck((ip != NULL) && (sp !=NULL)); - - osalDbgAssert((((L3GD20Driver *)ip)->state == L3GD20_READY), - "set_sensivity(), invalid state"); - - for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++) { - ((L3GD20Driver *)ip)->sensitivity[i] = sp[i]; - } - return MSG_OK; -} - -static msg_t reset_sensivity(void *ip) { - uint32_t i; - - osalDbgCheck(ip != NULL); - - osalDbgAssert((((L3GD20Driver *)ip)->state == L3GD20_READY), - "reset_sensivity(), invalid state"); - - if(((L3GD20Driver *)ip)->config->fullscale == L3GD20_FS_250DPS) - for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++) - ((L3GD20Driver *)ip)->sensitivity[i] = L3GD20_SENS_250DPS; - else if(((L3GD20Driver *)ip)->config->fullscale == L3GD20_FS_500DPS) - for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++) - ((L3GD20Driver *)ip)->sensitivity[i] = L3GD20_SENS_500DPS; - else if(((L3GD20Driver *)ip)->config->fullscale == L3GD20_FS_2000DPS) - for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++) - ((L3GD20Driver *)ip)->sensitivity[i] = L3GD20_SENS_2000DPS; - else { - osalDbgAssert(FALSE, "reset_sensivity(), full scale issue"); - return MSG_RESET; - } - return MSG_OK; -} - -static msg_t get_temperature(void *ip, float* tempp) { - -#if L3GD20_USE_SPI - osalDbgAssert((((L3GD20Driver *)ip)->config->spip->state == SPI_READY), - "read_raw(), channel not ready"); -#if L3GD20_SHARED_SPI - spiAcquireBus(((L3GD20Driver *)ip)->config->spip); - spiStart(((L3GD20Driver *)ip)->config->spip, - ((L3GD20Driver *)ip)->config->spicfg); -#endif /* L3GD20_SHARED_SPI */ - *tempp = (int8_t)l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip, - L3GD20_AD_OUT_TEMP); -#if L3GD20_SHARED_SPI - spiReleaseBus(((L3GD20Driver *)ip)->config->spip); -#endif /* L3GD20_SHARED_SPI */ -#endif /* L3GD20_USE_SPI */ - return MSG_OK; -} - -static const struct BaseSensorVMT vmt_basesensor = { - get_axes_number, read_raw, read_cooked -}; - -static const struct BaseGyroscopeVMT vmt_basegyroscope = { - get_axes_number, read_raw, read_cooked, - sample_bias, set_bias, reset_bias, - set_sensivity, reset_sensivity -}; - -static const struct L3GD20VMT vmt_l3gd20 = { - get_axes_number, read_raw, read_cooked, - sample_bias, set_bias, reset_bias, - set_sensivity, reset_sensivity, get_temperature -}; - -/*===========================================================================*/ -/* Driver exported functions. */ -/*===========================================================================*/ - -/** - * @brief Initializes an instance. - * - * @param[out] devp pointer to the @p L3GD20Driver object - * - * @init - */ -void l3gd20ObjectInit(L3GD20Driver *devp) { - uint32_t i; - devp->vmt_basesensor = &vmt_basesensor; - devp->vmt_basegyroscope = &vmt_basegyroscope; - devp->vmt_l3gd20 = &vmt_l3gd20; - devp->config = NULL; - for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++) - devp->bias[i] = 0; - devp->state = L3GD20_STOP; -} - -/** - * @brief Configures and activates L3GD20 Complex Driver peripheral. - * - * @param[in] devp pointer to the @p L3GD20Driver object - * @param[in] config pointer to the @p L3GD20Config object - * - * @api - */ -void l3gd20Start(L3GD20Driver *devp, const L3GD20Config *config) { - uint32_t i; - osalDbgCheck((devp != NULL) && (config != NULL)); - - osalDbgAssert((devp->state == L3GD20_STOP) || (devp->state == L3GD20_READY), - "l3gd20Start(), invalid state"); - - devp->config = config; - -#if L3GD20_USE_SPI -#if L3GD20_SHARED_SPI - spiAcquireBus((devp)->config->spip); -#endif /* L3GD20_SHARED_SPI */ - spiStart((devp)->config->spip, - (devp)->config->spicfg); - l3gd20SPIWriteRegister(devp->config->spip, L3GD20_AD_CTRL_REG1, - devp->config->axesenabling | - L3GD20_PM_SLEEP_NORMAL | - devp->config->outputdatarate); - l3gd20SPIWriteRegister(devp->config->spip, L3GD20_AD_CTRL_REG4, - devp->config->fullscale | - devp->config->blockdataupdate | - devp->config->endianness); -#if L3GD20_SHARED_SPI - spiReleaseBus((devp)->config->spip); -#endif /* L3GD20_SHARED_SPI */ -#endif /* L3GD20_USE_SPI */ - - /* Storing sensitivity information according to full scale value */ - if(devp->config->fullscale == L3GD20_FS_250DPS) - for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++) - devp->sensitivity[i] = L3GD20_SENS_250DPS; - else if(devp->config->fullscale == L3GD20_FS_500DPS) - for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++) - devp->sensitivity[i] = L3GD20_SENS_500DPS; - else if(devp->config->fullscale == L3GD20_FS_2000DPS) - for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++) - devp->sensitivity[i] = L3GD20_SENS_2000DPS; - else - osalDbgAssert(FALSE, "l3gd20Start(), full scale issue"); - /* This is the Gyroscope transient recovery time */ - osalThreadSleepMilliseconds(10); - - devp->state = L3GD20_READY; -} - -/** - * @brief Deactivates the L3GD20 Complex Driver peripheral. - * - * @param[in] devp pointer to the @p L3GD20Driver object - * - * @api - */ -void l3gd20Stop(L3GD20Driver *devp) { - - osalDbgCheck(devp != NULL); - - osalDbgAssert((devp->state == L3GD20_STOP) || (devp->state == L3GD20_READY), - "l3gd20Stop(), invalid state"); - -#if (L3GD20_USE_SPI) - if (devp->state == L3GD20_STOP) { -#if L3GD20_SHARED_SPI - spiAcquireBus((devp)->config->spip); - spiStart((devp)->config->spip, - (devp)->config->spicfg); -#endif /* L3GD20_SHARED_SPI */ - l3gd20SPIWriteRegister(devp->config->spip, L3GD20_AD_CTRL_REG1, - L3GD20_PM_POWER_DOWN | L3GD20_AE_DISABLED); - spiStop((devp)->config->spip); -#if L3GD20_SHARED_SPI - spiReleaseBus((devp)->config->spip); -#endif /* L3GD20_SHARED_SPI */ - } -#endif /* L3GD20_USE_SPI */ - devp->state = L3GD20_STOP; -} -/** @} */ +/*
+ ChibiOS - Copyright (C) 2016 Rocco Marco Guglielmi
+
+ This file is part of ChibiOS.
+
+ ChibiOS is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
+/**
+ * @file l3gd20.c
+ * @brief L3GD20 MEMS interface module code.
+ *
+ * @addtogroup l3gd20
+ * @{
+ */
+
+#include "hal.h"
+#include "l3gd20.h"
+
+/*===========================================================================*/
+/* Driver local definitions. */
+/*===========================================================================*/
+
+#define L3GD20_SENS_250DPS ((float)0.00875f)
+#define L3GD20_SENS_500DPS ((float)0.01750f)
+#define L3GD20_SENS_2000DPS ((float)0.07000f)
+
+#define L3GD20_DI ((uint8_t)0xFF)
+#define L3GD20_DI_0 ((uint8_t)0x01)
+#define L3GD20_DI_1 ((uint8_t)0x02)
+#define L3GD20_DI_2 ((uint8_t)0x04)
+#define L3GD20_DI_3 ((uint8_t)0x08)
+#define L3GD20_DI_4 ((uint8_t)0x10)
+#define L3GD20_DI_5 ((uint8_t)0x20)
+#define L3GD20_DI_6 ((uint8_t)0x40)
+#define L3GD20_DI_7 ((uint8_t)0x80)
+
+#define L3GD20_AD ((uint8_t)0x3F)
+#define L3GD20_AD_0 ((uint8_t)0x01)
+#define L3GD20_AD_1 ((uint8_t)0x02)
+#define L3GD20_AD_2 ((uint8_t)0x04)
+#define L3GD20_AD_3 ((uint8_t)0x08)
+#define L3GD20_AD_4 ((uint8_t)0x10)
+#define L3GD20_AD_5 ((uint8_t)0x20)
+#define L3GD20_MS ((uint8_t)0x40)
+#define L3GD20_RW ((uint8_t)0x80)
+
+#define L3GD20_AD_WHO_AM_I ((uint8_t)0x0F)
+#define L3GD20_AD_CTRL_REG1 ((uint8_t)0x20)
+#define L3GD20_AD_CTRL_REG2 ((uint8_t)0x21)
+#define L3GD20_AD_CTRL_REG3 ((uint8_t)0x22)
+#define L3GD20_AD_CTRL_REG4 ((uint8_t)0x23)
+#define L3GD20_AD_CTRL_REG5 ((uint8_t)0x24)
+#define L3GD20_AD_REFERENCE ((uint8_t)0x25)
+#define L3GD20_AD_OUT_TEMP ((uint8_t)0x26)
+#define L3GD20_AD_STATUS_REG ((uint8_t)0x27)
+#define L3GD20_AD_OUT_X_L ((uint8_t)0x28)
+#define L3GD20_AD_OUT_X_H ((uint8_t)0x29)
+#define L3GD20_AD_OUT_Y_L ((uint8_t)0x2A)
+#define L3GD20_AD_OUT_Y_H ((uint8_t)0x2B)
+#define L3GD20_AD_OUT_Z_L ((uint8_t)0x2C)
+#define L3GD20_AD_OUT_Z_H ((uint8_t)0x2D)
+#define L3GD20_AD_FIFO_CTRL_REG ((uint8_t)0x2E)
+#define L3GD20_AD_FIFO_SRC_REG ((uint8_t)0x2F)
+#define L3GD20_AD_INT1_CFG ((uint8_t)0x30)
+#define L3GD20_AD_INT1_SRC ((uint8_t)0x31)
+#define L3GD20_AD_INT1_TSH_XH ((uint8_t)0x32)
+#define L3GD20_AD_INT1_TSH_XL ((uint8_t)0x33)
+#define L3GD20_AD_INT1_TSH_YH ((uint8_t)0x34)
+#define L3GD20_AD_INT1_TSH_YL ((uint8_t)0x35)
+#define L3GD20_AD_INT1_TSH_ZH ((uint8_t)0x36)
+#define L3GD20_AD_INT1_TSH_ZL ((uint8_t)0x37)
+#define L3GD20_AD_INT1_DURATION ((uint8_t)0x38)
+
+#define L3GD20_CTRL_REG4_FS_MASK ((uint8_t)0x30)
+
+/*===========================================================================*/
+/* Driver exported variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local variables and types. */
+/*===========================================================================*/
+
+/**
+ * @brief L3GD20 Power Mode
+ */
+typedef enum {
+ L3GD20_PM_POWER_DOWN = 0x00, /**< Power down enabled. */
+ L3GD20_PM_SLEEP_NORMAL = 0x08 /**< Normal operation mode. */
+}l3gd20_pm_t;
+
+/*===========================================================================*/
+/* Driver local functions. */
+/*===========================================================================*/
+
+#if (L3GD20_USE_SPI) || defined(__DOXYGEN__)
+/**
+ * @brief Reads a generic register value using SPI.
+ * @pre The SPI interface must be initialized and the driver started.
+ *
+ * @param[in] spip pointer to the SPI interface
+ * @param[in] reg register number
+ * @return register value.
+ */
+static uint8_t l3gd20SPIReadRegister(SPIDriver *spip, uint8_t reg) {
+ uint8_t txbuf[2] = {L3GD20_RW | reg, 0xFF};
+ uint8_t rxbuf[2] = {0x00, 0x00};
+ spiSelect(spip);
+ spiExchange(spip, 2, txbuf, rxbuf);
+ spiUnselect(spip);
+ return rxbuf[1];
+}
+
+/**
+ * @brief Writes a value into a generic register using SPI.
+ * @pre The SPI interface must be initialized and the driver started.
+ *
+ * @param[in] spip pointer to the SPI interface
+ * @param[in] reg register number
+ * @param[in] value register value.
+ */
+static void l3gd20SPIWriteRegister(SPIDriver *spip, uint8_t reg,
+ uint8_t value) {
+
+ switch (reg) {
+ default:
+ /* Reserved register must not be written, according to the datasheet
+ * this could permanently damage the device.
+ */
+ osalDbgAssert(FALSE, "l3gd20SPIWriteRegister(), reserved register");
+ case L3GD20_AD_WHO_AM_I:
+ case L3GD20_AD_OUT_TEMP :
+ case L3GD20_AD_STATUS_REG:
+ case L3GD20_AD_OUT_X_L:
+ case L3GD20_AD_OUT_X_H:
+ case L3GD20_AD_OUT_Y_L:
+ case L3GD20_AD_OUT_Y_H:
+ case L3GD20_AD_OUT_Z_L:
+ case L3GD20_AD_OUT_Z_H:
+ case L3GD20_AD_FIFO_SRC_REG:
+ case L3GD20_AD_INT1_SRC:
+ /* Read only registers cannot be written, the command is ignored.*/
+ return;
+ case L3GD20_AD_CTRL_REG1:
+ case L3GD20_AD_CTRL_REG2:
+ case L3GD20_AD_CTRL_REG3:
+ case L3GD20_AD_CTRL_REG4:
+ case L3GD20_AD_CTRL_REG5:
+ case L3GD20_AD_REFERENCE:
+ case L3GD20_AD_FIFO_CTRL_REG:
+ case L3GD20_AD_INT1_CFG:
+ case L3GD20_AD_INT1_TSH_XH:
+ case L3GD20_AD_INT1_TSH_XL:
+ case L3GD20_AD_INT1_TSH_YH:
+ case L3GD20_AD_INT1_TSH_YL:
+ case L3GD20_AD_INT1_TSH_ZH:
+ case L3GD20_AD_INT1_TSH_ZL:
+ case L3GD20_AD_INT1_DURATION:
+ spiSelect(spip);
+ uint8_t txbuf[2] = {reg, value};
+ spiSend(spip, 2, txbuf);
+ spiUnselect(spip);
+ }
+}
+#endif /* L3GD20_USE_SPI */
+
+/*
+ * Interface implementation.
+ */
+static size_t get_axes_number(void *ip) {
+
+ osalDbgCheck(ip != NULL);
+ return L3GD20_NUMBER_OF_AXES;
+}
+
+static msg_t read_raw(void *ip, int32_t axes[L3GD20_NUMBER_OF_AXES]) {
+ int16_t tmp;
+ osalDbgCheck((ip != NULL) && (axes != NULL));
+
+ osalDbgAssert((((L3GD20Driver *)ip)->state == L3GD20_READY),
+ "read_raw(), invalid state");
+
+#if L3GD20_USE_SPI
+ osalDbgAssert((((L3GD20Driver *)ip)->config->spip->state == SPI_READY),
+ "read_raw(), channel not ready");
+#if L3GD20_SHARED_SPI
+ spiAcquireBus(((L3GD20Driver *)ip)->config->spip);
+ spiStart(((L3GD20Driver *)ip)->config->spip,
+ ((L3GD20Driver *)ip)->config->spicfg);
+#endif /* L3GD20_SHARED_SPI */
+ if(((L3GD20Driver *)ip)->config->axesenabling & L3GD20_AE_X){
+ tmp = l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip,
+ L3GD20_AD_OUT_X_L);
+ tmp += l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip,
+ L3GD20_AD_OUT_X_H) << 8;
+ axes[0] = (int32_t)tmp + ((L3GD20Driver *)ip)->bias[0];
+ }
+ if(((L3GD20Driver *)ip)->config->axesenabling & L3GD20_AE_Y){
+ tmp = l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip,
+ L3GD20_AD_OUT_Y_L);
+ tmp += l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip,
+ L3GD20_AD_OUT_Y_H) << 8;
+ axes[1] = (int32_t)tmp + ((L3GD20Driver *)ip)->bias[1];
+ }
+ if(((L3GD20Driver *)ip)->config->axesenabling & L3GD20_AE_Z){
+ tmp = l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip,
+ L3GD20_AD_OUT_Z_L);
+ tmp += l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip,
+ L3GD20_AD_OUT_Z_H) << 8;
+ axes[2] = (int32_t)tmp + ((L3GD20Driver *)ip)->bias[2];
+ }
+#if L3GD20_SHARED_SPI
+ spiReleaseBus(((L3GD20Driver *)ip)->config->spip);
+#endif /* L3GD20_SHARED_SPI */
+#endif /* L3GD20_USE_SPI */
+ return MSG_OK;
+}
+
+static msg_t read_cooked(void *ip, float axes[]) {
+ uint32_t i;
+ int32_t raw[L3GD20_NUMBER_OF_AXES];
+ msg_t msg;
+
+ osalDbgCheck((ip != NULL) && (axes != NULL));
+
+ osalDbgAssert((((L3GD20Driver *)ip)->state == L3GD20_READY),
+ "read_cooked(), invalid state");
+
+ msg = read_raw(ip, raw);
+ for(i = 0; i < L3GD20_NUMBER_OF_AXES ; i++){
+ axes[i] = raw[i] * ((L3GD20Driver *)ip)->sensitivity[i];
+ }
+ return msg;
+}
+
+static msg_t sample_bias(void *ip) {
+ uint32_t i, j;
+ int32_t raw[L3GD20_NUMBER_OF_AXES];
+ int32_t buff[L3GD20_NUMBER_OF_AXES] = {0, 0, 0};
+
+ osalDbgCheck(ip != NULL);
+
+ osalDbgAssert((((L3GD20Driver *)ip)->state == L3GD20_READY),
+ "sample_bias(), invalid state");
+
+ for(i = 0; i < L3GD20_BIAS_ACQ_TIMES; i++){
+ read_raw(ip, raw);
+ for(j = 0; j < L3GD20_NUMBER_OF_AXES; j++){
+ buff[j] += raw[j];
+ }
+ osalThreadSleepMicroseconds(L3GD20_BIAS_SETTLING_uS);
+ }
+
+ for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++){
+ ((L3GD20Driver *)ip)->bias[i] = buff[i] / L3GD20_BIAS_ACQ_TIMES;
+ }
+ return MSG_OK;
+}
+
+static msg_t set_bias(void *ip, int32_t *bp) {
+ uint32_t i;
+
+ osalDbgCheck((ip != NULL) && (bp !=NULL));
+
+ osalDbgAssert((((L3GD20Driver *)ip)->state == L3GD20_READY) ||
+ (((L3GD20Driver *)ip)->state == L3GD20_STOP),
+ "set_bias(), invalid state");
+
+ for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++) {
+ ((L3GD20Driver *)ip)->bias[i] = bp[i];
+ }
+ return MSG_OK;
+}
+
+static msg_t reset_bias(void *ip) {
+ uint32_t i;
+
+ osalDbgCheck(ip != NULL);
+
+ osalDbgAssert((((L3GD20Driver *)ip)->state == L3GD20_READY) ||
+ (((L3GD20Driver *)ip)->state == L3GD20_STOP),
+ "reset_bias(), invalid state");
+
+ for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
+ ((L3GD20Driver *)ip)->bias[i] = 0;
+ return MSG_OK;
+}
+
+static msg_t set_sensivity(void *ip, float *sp) {
+ uint32_t i;
+
+ osalDbgCheck((ip != NULL) && (sp !=NULL));
+
+ osalDbgAssert((((L3GD20Driver *)ip)->state == L3GD20_READY),
+ "set_sensivity(), invalid state");
+
+ for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++) {
+ ((L3GD20Driver *)ip)->sensitivity[i] = sp[i];
+ }
+ return MSG_OK;
+}
+
+static msg_t reset_sensivity(void *ip) {
+ uint32_t i;
+
+ osalDbgCheck(ip != NULL);
+
+ osalDbgAssert((((L3GD20Driver *)ip)->state == L3GD20_READY),
+ "reset_sensivity(), invalid state");
+
+ if(((L3GD20Driver *)ip)->config->fullscale == L3GD20_FS_250DPS)
+ for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
+ ((L3GD20Driver *)ip)->sensitivity[i] = L3GD20_SENS_250DPS;
+ else if(((L3GD20Driver *)ip)->config->fullscale == L3GD20_FS_500DPS)
+ for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
+ ((L3GD20Driver *)ip)->sensitivity[i] = L3GD20_SENS_500DPS;
+ else if(((L3GD20Driver *)ip)->config->fullscale == L3GD20_FS_2000DPS)
+ for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
+ ((L3GD20Driver *)ip)->sensitivity[i] = L3GD20_SENS_2000DPS;
+ else {
+ osalDbgAssert(FALSE, "reset_sensivity(), full scale issue");
+ return MSG_RESET;
+ }
+ return MSG_OK;
+}
+
+static msg_t get_temperature(void *ip, float* tempp) {
+
+#if L3GD20_USE_SPI
+ osalDbgAssert((((L3GD20Driver *)ip)->config->spip->state == SPI_READY),
+ "read_raw(), channel not ready");
+#if L3GD20_SHARED_SPI
+ spiAcquireBus(((L3GD20Driver *)ip)->config->spip);
+ spiStart(((L3GD20Driver *)ip)->config->spip,
+ ((L3GD20Driver *)ip)->config->spicfg);
+#endif /* L3GD20_SHARED_SPI */
+ *tempp = (int8_t)l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip,
+ L3GD20_AD_OUT_TEMP);
+#if L3GD20_SHARED_SPI
+ spiReleaseBus(((L3GD20Driver *)ip)->config->spip);
+#endif /* L3GD20_SHARED_SPI */
+#endif /* L3GD20_USE_SPI */
+ return MSG_OK;
+}
+
+static const struct BaseSensorVMT vmt_basesensor = {
+ get_axes_number, read_raw, read_cooked
+};
+
+static const struct BaseGyroscopeVMT vmt_basegyroscope = {
+ get_axes_number, read_raw, read_cooked,
+ sample_bias, set_bias, reset_bias,
+ set_sensivity, reset_sensivity
+};
+
+static const struct L3GD20VMT vmt_l3gd20 = {
+ get_axes_number, read_raw, read_cooked,
+ sample_bias, set_bias, reset_bias,
+ set_sensivity, reset_sensivity, get_temperature
+};
+
+/*===========================================================================*/
+/* Driver exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Initializes an instance.
+ *
+ * @param[out] devp pointer to the @p L3GD20Driver object
+ *
+ * @init
+ */
+void l3gd20ObjectInit(L3GD20Driver *devp) {
+ uint32_t i;
+ devp->vmt_basesensor = &vmt_basesensor;
+ devp->vmt_basegyroscope = &vmt_basegyroscope;
+ devp->vmt_l3gd20 = &vmt_l3gd20;
+ devp->config = NULL;
+ for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
+ devp->bias[i] = 0;
+ devp->state = L3GD20_STOP;
+}
+
+/**
+ * @brief Configures and activates L3GD20 Complex Driver peripheral.
+ *
+ * @param[in] devp pointer to the @p L3GD20Driver object
+ * @param[in] config pointer to the @p L3GD20Config object
+ *
+ * @api
+ */
+void l3gd20Start(L3GD20Driver *devp, const L3GD20Config *config) {
+ uint32_t i;
+ osalDbgCheck((devp != NULL) && (config != NULL));
+
+ osalDbgAssert((devp->state == L3GD20_STOP) || (devp->state == L3GD20_READY),
+ "l3gd20Start(), invalid state");
+
+ devp->config = config;
+
+#if L3GD20_USE_SPI
+#if L3GD20_SHARED_SPI
+ spiAcquireBus((devp)->config->spip);
+#endif /* L3GD20_SHARED_SPI */
+ spiStart((devp)->config->spip,
+ (devp)->config->spicfg);
+ l3gd20SPIWriteRegister(devp->config->spip, L3GD20_AD_CTRL_REG1,
+ devp->config->axesenabling |
+ L3GD20_PM_SLEEP_NORMAL |
+ devp->config->outputdatarate);
+ l3gd20SPIWriteRegister(devp->config->spip, L3GD20_AD_CTRL_REG4,
+ devp->config->fullscale |
+ devp->config->blockdataupdate |
+ devp->config->endianness);
+#if L3GD20_SHARED_SPI
+ spiReleaseBus((devp)->config->spip);
+#endif /* L3GD20_SHARED_SPI */
+#endif /* L3GD20_USE_SPI */
+
+ /* Storing sensitivity information according to full scale value */
+ if(devp->config->fullscale == L3GD20_FS_250DPS)
+ for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
+ devp->sensitivity[i] = L3GD20_SENS_250DPS;
+ else if(devp->config->fullscale == L3GD20_FS_500DPS)
+ for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
+ devp->sensitivity[i] = L3GD20_SENS_500DPS;
+ else if(devp->config->fullscale == L3GD20_FS_2000DPS)
+ for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
+ devp->sensitivity[i] = L3GD20_SENS_2000DPS;
+ else
+ osalDbgAssert(FALSE, "l3gd20Start(), full scale issue");
+ /* This is the Gyroscope transient recovery time */
+ osalThreadSleepMilliseconds(10);
+
+ devp->state = L3GD20_READY;
+}
+
+/**
+ * @brief Deactivates the L3GD20 Complex Driver peripheral.
+ *
+ * @param[in] devp pointer to the @p L3GD20Driver object
+ *
+ * @api
+ */
+void l3gd20Stop(L3GD20Driver *devp) {
+
+ osalDbgCheck(devp != NULL);
+
+ osalDbgAssert((devp->state == L3GD20_STOP) || (devp->state == L3GD20_READY),
+ "l3gd20Stop(), invalid state");
+
+#if (L3GD20_USE_SPI)
+ if (devp->state == L3GD20_STOP) {
+#if L3GD20_SHARED_SPI
+ spiAcquireBus((devp)->config->spip);
+ spiStart((devp)->config->spip,
+ (devp)->config->spicfg);
+#endif /* L3GD20_SHARED_SPI */
+ l3gd20SPIWriteRegister(devp->config->spip, L3GD20_AD_CTRL_REG1,
+ L3GD20_PM_POWER_DOWN | L3GD20_AE_DISABLED);
+ spiStop((devp)->config->spip);
+#if L3GD20_SHARED_SPI
+ spiReleaseBus((devp)->config->spip);
+#endif /* L3GD20_SHARED_SPI */
+ }
+#endif /* L3GD20_USE_SPI */
+ devp->state = L3GD20_STOP;
+}
+/** @} */
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