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Diffstat (limited to 'os/various/devices_lib/mems/l3gd20.h')
| -rw-r--r-- | os/various/devices_lib/mems/l3gd20.h | 243 |
1 files changed, 243 insertions, 0 deletions
diff --git a/os/various/devices_lib/mems/l3gd20.h b/os/various/devices_lib/mems/l3gd20.h new file mode 100644 index 0000000..08d9092 --- /dev/null +++ b/os/various/devices_lib/mems/l3gd20.h @@ -0,0 +1,243 @@ +/* + Pretty LAYer for ChibiOS/RT - Copyright (C) 2015 Rocco Marco Guglielmi + + This file is part of PLAY for ChibiOS/RT. + + PLAY 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. + + PLAY 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/>. +*/ + +/* + Special thanks to Giovanni Di Sirio for teachings, his moral support and + friendship. Note that some or every piece of this file could be part of + the ChibiOS project that is intellectual property of Giovanni Di Sirio. + Please refer to ChibiOS/RT license before use this file. + + For suggestion or Bug report - roccomarco.guglielmi@playembedded.org + */ + +/** + * @file l3gd20.h + * @brief L3GD20 MEMS interface module header. + * + * @{ + */ + +#ifndef _L3GD20_H_ +#define _L3GD20_H_ + +/*===========================================================================*/ +/* Driver constants. */ +/*===========================================================================*/ + +#define L3GD20_SENS_250DPS ((float)131.072f) /*!< gyroscope sensitivity with 250 dps full scale [LSB/dps] */ +#define L3GD20_SENS_500DPS ((float)65.536f) /*!< gyroscope sensitivity with 500 dps full scale [LSB/dps] */ +#define L3GD20_SENS_2000DPS ((float)16.384f) /*!< gyroscope sensitivity with 2000 dps full scale [LSB/dps] */ +/** + * @name L3GD20 register names + * @{ + */ +/******************************************************************************/ +/* */ +/* L3GD20 on board MEMS */ +/* */ +/******************************************************************************/ +/******************* Bit definition for SPI communication *******************/ +#define L3GD20_DI ((uint8_t)0xFF) /*!< DI[7:0] Data input */ +#define L3GD20_DI_0 ((uint8_t)0x01) /*!< bit 0 */ +#define L3GD20_DI_1 ((uint8_t)0x02) /*!< bit 1 */ +#define L3GD20_DI_2 ((uint8_t)0x04) /*!< bit 2 */ +#define L3GD20_DI_3 ((uint8_t)0x08) /*!< bit 3 */ +#define L3GD20_DI_4 ((uint8_t)0x10) /*!< bit 4 */ +#define L3GD20_DI_5 ((uint8_t)0x20) /*!< bit 5 */ +#define L3GD20_DI_6 ((uint8_t)0x40) /*!< bit 6 */ +#define L3GD20_DI_7 ((uint8_t)0x80) /*!< bit 7 */ + +#define L3GD20_AD ((uint8_t)0x3F) /*!< AD[5:0] Address Data */ +#define L3GD20_AD_0 ((uint8_t)0x01) /*!< bit 0 */ +#define L3GD20_AD_1 ((uint8_t)0x02) /*!< bit 1 */ +#define L3GD20_AD_2 ((uint8_t)0x04) /*!< bit 2 */ +#define L3GD20_AD_3 ((uint8_t)0x08) /*!< bit 3 */ +#define L3GD20_AD_4 ((uint8_t)0x10) /*!< bit 4 */ +#define L3GD20_AD_5 ((uint8_t)0x20) /*!< bit 5 */ + +#define L3GD20_MS ((uint8_t)0x40) /*!< Multiple read write */ +#define L3GD20_RW ((uint8_t)0x80) /*!< Read Write, 1 0 */ + +/****************** Bit definition for Registers Addresses *******************/ +#define L3GD20_AD_WHO_AM_I ((uint8_t)0x0F) /*!< WHO I AM */ +#define L3GD20_AD_CTRL_REG1 ((uint8_t)0x20) /*!< CONTROL REGISTER 1 */ +#define L3GD20_AD_CTRL_REG2 ((uint8_t)0x21) /*!< CONTROL REGISTER 2 */ +#define L3GD20_AD_CTRL_REG3 ((uint8_t)0x22) /*!< CONTROL REGISTER 3 */ +#define L3GD20_AD_CTRL_REG4 ((uint8_t)0x23) /*!< CONTROL REGISTER 4 */ +#define L3GD20_AD_CTRL_REG5 ((uint8_t)0x24) /*!< CONTROL REGISTER 5 */ +#define L3GD20_AD_REFERENCE ((uint8_t)0x25) /*!< REFERENCE/DATACAPTURE */ +#define L3GD20_AD_OUT_TEMP ((uint8_t)0x26) /*!< MEMS ONBOARD TEMP SENSOR */ +#define L3GD20_AD_STATUS_REG ((uint8_t)0x27) /*!< STATUS REGISTER */ +#define L3GD20_AD_OUT_X_L ((uint8_t)0x28) /*!< OUTPUT X-AXIS LOW */ +#define L3GD20_AD_OUT_X_H ((uint8_t)0x29) /*!< OUTPUT X-AXIS HIGH */ +#define L3GD20_AD_OUT_Y_L ((uint8_t)0x2A) /*!< OUTPUT Y-AXIS LOW */ +#define L3GD20_AD_OUT_Y_H ((uint8_t)0x2B) /*!< OUTPUT Y-AXIS HIGH */ +#define L3GD20_AD_OUT_Z_L ((uint8_t)0x2C) /*!< OUTPUT Z-AXIS LOW */ +#define L3GD20_AD_OUT_Z_H ((uint8_t)0x2D) /*!< OUTPUT Z-AXIS HIGH */ +#define L3GD20_AD_FIFO_CTRL_REG ((uint8_t)0x2E) /*!< FIFO CONTROL REGISTER */ +#define L3GD20_AD_FIFO_SRC_REG ((uint8_t)0x2F) /*!< FIFO SOURCE REGISTER */ +#define L3GD20_AD_INT1_CFG ((uint8_t)0x30) /*!< INTERRUPT1 CONFIG REGISTER */ +#define L3GD20_AD_INT1_SRC ((uint8_t)0x31) /*!< INTERRUPT1 SOURCE REGISTER */ +#define L3GD20_AD_INT1_TSH_XH ((uint8_t)0x32) /*!< INTERRUPT1 THRESHOLD X-AXIS HIGH */ +#define L3GD20_AD_INT1_TSH_XL ((uint8_t)0x33) /*!< INTERRUPT1 THRESHOLD X-AXIS LOW */ +#define L3GD20_AD_INT1_TSH_YH ((uint8_t)0x34) /*!< INTERRUPT1 THRESHOLD Y-AXIS HIGH */ +#define L3GD20_AD_INT1_TSH_YL ((uint8_t)0x35) /*!< INTERRUPT1 THRESHOLD Y-AXIS LOW */ +#define L3GD20_AD_INT1_TSH_ZH ((uint8_t)0x36) /*!< INTERRUPT1 THRESHOLD Z-AXIS HIGH */ +#define L3GD20_AD_INT1_TSH_ZL ((uint8_t)0x37) /*!< INTERRUPT1 THRESHOLD Z-AXIS LOW */ +#define L3GD20_AD_INT1_DURATION ((uint8_t)0x38) /*!< INTERRUPT1 DURATION */ + +/** @} */ + +/*===========================================================================*/ +/* Driver pre-compile time settings. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver data structures and types. */ +/*===========================================================================*/ + +/** + * @name Gyroscope data structures and types + * @{ + */ + +/** + * @brief Gyroscope Output Data Rate + */ +typedef enum { + L3GD20_ODR_95Hz_Fc_12_5 = 0x00, /*!< Output Data Rate = 95 Hz - LPF Cut-Off = 12.5 Hz */ + L3GD20_ODR_95Hz_Fc_25 = 0x10, /*!< Output Data Rate = 95 Hz - LPF Cut-Off = 25 Hz */ + L3GD20_ODR_190Hz_Fc_12_5 = 0x40, /*!< Output Data Rate = 190 Hz - LPF Cut-Off = 12.5 Hz */ + L3GD20_ODR_190Hz_Fc_25 = 0x50, /*!< Output Data Rate = 190 Hz - LPF Cut-Off = 25 Hz */ + L3GD20_ODR_190Hz_Fc_50 = 0x60, /*!< Output Data Rate = 190 Hz - LPF Cut-Off = 50 Hz */ + L3GD20_ODR_190Hz_Fc_70 = 0x70, /*!< Output Data Rate = 190 Hz - LPF Cut-Off = 70 Hz */ + L3GD20_ODR_380Hz_Fc_20 = 0x80, /*!< Output Data Rate = 380 Hz - LPF Cut-Off = 20 Hz */ + L3GD20_ODR_380Hz_Fc_25 = 0x90, /*!< Output Data Rate = 380 Hz - LPF Cut-Off = 25 Hz */ + L3GD20_ODR_380Hz_Fc_50 = 0xA0, /*!< Output Data Rate = 380 Hz - LPF Cut-Off = 50 Hz */ + L3GD20_ODR_380Hz_Fc_100 = 0xB0, /*!< Output Data Rate = 380 Hz - LPF Cut-Off = 100 Hz */ + L3GD20_ODR_760Hz_Fc_30 = 0xC0, /*!< Output Data Rate = 760 Hz - LPF Cut-Off = 30 Hz */ + L3GD20_ODR_760Hz_Fc_35 = 0xD0, /*!< Output Data Rate = 760 Hz - LPF Cut-Off = 35 Hz */ + L3GD20_ODR_760Hz_Fc_50 = 0xE0, /*!< Output Data Rate = 760 Hz - LPF Cut-Off = 50 Hz */ + L3GD20_ODR_760Hz_Fc_100 = 0xF0 /*!< Output Data Rate = 760 Hz - LPF Cut-Off = 100 Hz */ +}L3GD20_ODR_t; + +/** + * @brief Gyroscope Power Mode + */ +typedef enum { + L3GD20_PM_POWER_DOWN = 0x00, /*!< Normal mode enabled */ + L3GD20_PM_SLEEP_NORMAL = 0x08 /*!< Low Power mode enabled */ +}L3GD20_PM_t; + +/** + * @brief Gyroscope Full Scale + */ +typedef enum { + L3GD20_FS_250DPS = 0x00, /*!< ±250 dps */ + L3GD20_FS_500DPS = 0x10, /*!< ±500 dps */ + L3GD20_FS_2000DPS = 0x20 /*!< ±200 dps */ +}L3GD20_FS_t; + +/** + * @brief Gyroscope Axes Enabling + */ +typedef enum { + L3GD20_AE_DISABLED = 0x00, /*!< All disabled */ + L3GD20_AE_X = 0x01, /*!< Only X */ + L3GD20_AE_Y = 0x02, /*!< Only Y */ + L3GD20_AE_XY = 0x03, /*!< X & Y */ + L3GD20_AE_Z = 0x04, /*!< Only Z */ + L3GD20_AE_XZ = 0x05, /*!< X & Z */ + L3GD20_AE_YZ = 0x06, /*!< Y & Z */ + L3GD20_AE_XYZ = 0x07 /*!< All enabled */ +}L3GD20_AE_t; + +/** + * @brief Gyroscope Block Data Update + */ +typedef enum { + L3GD20_BDU_CONTINOUS = 0x00, /*!< Continuos Update */ + L3GD20_BDU_BLOCKED = 0x80 /*!< Single Update: output registers not updated until MSB and LSB reading */ +}L3GD20_BDU_t; + +/** + * @brief Gyroscope Endianness + */ +typedef enum { + L3GD20_End_LITTLE = 0x00, /*!< Little Endian: data LSB @ lower address */ + L3GD20_End_BIG = 0x40 /*!< Big Endian: data MSB @ lower address */ +}L3GD20_End_t; + + +/** + * @brief Gyroscope configuration structure. + */ +typedef struct { + /** + * @brief Gyroscope fullscale value. + */ + L3GD20_FS_t fullscale; + /** + * @brief Gyroscope power mode selection. + */ + L3GD20_PM_t powermode; + /** + * @brief Gyroscope output data rate selection. + */ + L3GD20_ODR_t outputdatarate; + /** + * @brief Gyroscope axes enabling. + */ + L3GD20_AE_t axesenabling; + /** + * @brief Gyroscope endianess. + */ + L3GD20_End_t endianess; + /** + * @brief Gyroscope block data update. + */ + L3GD20_BDU_t blockdataupdate; +} L3GD20_Config; +/** @} */ +/*===========================================================================*/ +/* Driver macros. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +#ifdef __cplusplus +extern "C" { +#endif + + uint8_t l3gd20ReadRegister(SPIDriver *spip, uint8_t reg); + void l3gd20WriteRegister(SPIDriver *spip, uint8_t reg, uint8_t value); +#ifdef __cplusplus +} +#endif + +#endif /* _L3GD20_H_ */ + +/** @} */ + |