From 7d6f337b8cb2c311a6adcd811e362bc5bd918291 Mon Sep 17 00:00:00 2001 From: Rocco Marco Guglielmi Date: Sun, 6 Mar 2016 18:17:28 +0000 Subject: EX hierarchy re-organized, Improved documentation for L3GD20 related files, SPI-L3GD20 demo updated, Minor indent fixes. git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9043 35acf78f-673a-0410-8e92-d51de3d6d3f4 --- os/ex/ST/l3gd20.c | 388 +++++++++++++++++++++++++++++++++++++++++++ os/ex/ST/l3gd20.h | 293 ++++++++++++++++++++++++++++++++ os/ex/ST/l3gd20.mk | 6 + os/ex/gyroscope/ST/l3gd20.c | 388 ------------------------------------------- os/ex/gyroscope/ST/l3gd20.h | 294 -------------------------------- os/ex/gyroscope/ST/l3gd20.mk | 6 - 6 files changed, 687 insertions(+), 688 deletions(-) create mode 100644 os/ex/ST/l3gd20.c create mode 100644 os/ex/ST/l3gd20.h create mode 100644 os/ex/ST/l3gd20.mk delete mode 100644 os/ex/gyroscope/ST/l3gd20.c delete mode 100644 os/ex/gyroscope/ST/l3gd20.h delete mode 100644 os/ex/gyroscope/ST/l3gd20.mk (limited to 'os') diff --git a/os/ex/ST/l3gd20.c b/os/ex/ST/l3gd20.c new file mode 100644 index 000000000..b42d5c1fc --- /dev/null +++ b/os/ex/ST/l3gd20.c @@ -0,0 +1,388 @@ +/* + 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 . + +*/ + +/** + * @file l3gd20.c + * @brief L3GD20 MEMS interface module code. + * + * @addtogroup l3gd20 + * @{ + */ + +#include "ch.h" +#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 ((uint8_t)0x30) + +/*===========================================================================*/ +/* Driver exported variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local variables and types. */ +/*===========================================================================*/ + +/** + * @brief L3GD20 Power Mode + */ +typedef enum { + L3GD20_PM_POWER_DOWN = 0x00, + L3GD20_PM_SLEEP_NORMAL = 0x08 +}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]) { + + 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"); + spiAcquireBus(((L3GD20Driver *)ip)->config->spip); + spiStart(((L3GD20Driver *)ip)->config->spip, + ((L3GD20Driver *)ip)->config->spicfg); + if(((L3GD20Driver *)ip)->config->axesenabling & L3GD20_AE_X){ + axes[0] = (int16_t)(l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip, + L3GD20_AD_OUT_X_L)); + axes[0] += (int16_t)(l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip, + L3GD20_AD_OUT_X_H) << 8); + axes[0] -= ((L3GD20Driver *)ip)->bias[0]; + } + if(((L3GD20Driver *)ip)->config->axesenabling & L3GD20_AE_Y){ + axes[1] = (int16_t)(l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip, + L3GD20_AD_OUT_Y_L)); + axes[1] += (int16_t)(l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip, + L3GD20_AD_OUT_Y_H) << 8); + axes[1] -= ((L3GD20Driver *)ip)->bias[1]; + } + if(((L3GD20Driver *)ip)->config->axesenabling & L3GD20_AE_Z){ + axes[2] = (int16_t)(l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip, + L3GD20_AD_OUT_Y_L)); + axes[2] += (int16_t)(l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip, + L3GD20_AD_OUT_Y_H) << 8); + axes[2] -= ((L3GD20Driver *)ip)->bias[2]; + } + spiReleaseBus(((L3GD20Driver *)ip)->config->spip); +#endif + 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; + } + return msg; +} + +static msg_t reset_calibration(void *ip) { + uint32_t i; + + osalDbgCheck(ip != NULL); + + osalDbgAssert((((L3GD20Driver *)ip)->state == L3GD20_READY) || + (((L3GD20Driver *)ip)->state == L3GD20_STOP), + "reset_calibration(), invalid state"); + + for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++) + ((L3GD20Driver *)ip)->bias[i] = 0; + return MSG_OK; +} + +static msg_t calibrate(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), + "calibrate(), 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 const struct L3GD20VMT vmt = { + get_axes_number, read_raw, read_cooked, + reset_calibration, calibrate +}; +/*===========================================================================*/ +/* 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 = &vmt; + devp->state = L3GD20_STOP; + devp->config = NULL; + for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++) + devp->bias[i] = 0; +} + +/** + * @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) { + + osalDbgCheck((devp != NULL) && (config != NULL)); + + osalDbgAssert((devp->state == L3GD20_STOP) || (devp->state == L3GD20_READY), + "l3gd20Start(), invalid state"); + + devp->config = config; + +#if (L3GD20_USE_SPI) + spiAcquireBus((devp)->config->spip); + 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); + spiReleaseBus((devp)->config->spip); +#endif /* L3GD20_USE_SPI */ + + /* Storing sensitivity information according to full scale value */ + if(devp->config->fullscale == L3GD20_FS_250DPS) + devp->sensitivity = L3GD20_SENS_250DPS; + else if(devp->config->fullscale == L3GD20_FS_500DPS) + devp->sensitivity = L3GD20_SENS_500DPS; + else if(devp->config->fullscale == L3GD20_FS_2000DPS) + devp->sensitivity = 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) { + spiAcquireBus((devp)->config->spip); + spiStart((devp)->config->spip, + (devp)->config->spicfg); + l3gd20SPIWriteRegister(devp->config->spip, L3GD20_AD_CTRL_REG1, + L3GD20_PM_POWER_DOWN | L3GD20_AE_DISABLED); + spiStop((devp)->config->spip); + spiReleaseBus((devp)->config->spip); + } +#endif /* L3GD20_USE_SPI */ + devp->state = L3GD20_STOP; +} + +/** @} */ diff --git a/os/ex/ST/l3gd20.h b/os/ex/ST/l3gd20.h new file mode 100644 index 000000000..39b5d7e48 --- /dev/null +++ b/os/ex/ST/l3gd20.h @@ -0,0 +1,293 @@ +/* + 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 . + +*/ + +/** + * @file l3gd20.h + * @brief L3GD20 MEMS interface module header. + * + * @{ + */ + +#ifndef _L3GD20_H_ +#define _L3GD20_H_ + +#include "hal_gyroscope.h" + +/*===========================================================================*/ +/* Driver constants. */ +/*===========================================================================*/ + +/** + * @brief L3GD20 number of axes. + */ +#define L3GD20_NUMBER_OF_AXES ((size_t) 3U) + +/*===========================================================================*/ +/* Driver pre-compile time settings. */ +/*===========================================================================*/ + +/** + * @name Configuration options + * @{ + */ +/** + * @brief L3GD20 SPI interface selector. + * @details If set to @p TRUE the support for SPI is included. + * @note The default is @p TRUE. + */ +#if !defined(L3GD20_USE_SPI) || defined(__DOXYGEN__) +#define L3GD20_USE_SPI TRUE +#endif + +/** + * @brief L3GD20 I2C interface selector. + * @details If set to @p TRUE the support for I2C is included. + * @note The default is @p FALSE. + */ +#if !defined(L3GD20_USE_I2C) || defined(__DOXYGEN__) +#define L3GD20_USE_I2C FALSE +#endif + +/** + * @brief Number of acquisitions for bias removal + * @details This is the number of acquisitions performed to compute the + * bias. A repetition is required in order to remove noise. + */ +#if !defined(L3GD20_BIAS_ACQ_TIMES) || defined(__DOXYGEN__) +#define L3GD20_BIAS_ACQ_TIMES 50 +#endif + +/** + * @brief Settling time for bias removal + * @details This is the time between each bias acquisition. + */ +#if !defined(L3GD20_BIAS_SETTLING_uS) || defined(__DOXYGEN__) +#define L3GD20_BIAS_SETTLING_uS 5000 +#endif +/** @} */ + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +#if L3GD20_USE_SPI && L3GD20_USE_I2C +#error "L3GD20_USE_SPI and L3GD20_USE_I2C cannot be both true" +#endif + +#if L3GD20_USE_SPI && !HAL_USE_SPI +#error "L3GD20_USE_SPI requires HAL_USE_SPI" +#endif + +#if L3GD20_USE_I2C && !HAL_USE_I2C +#error "L3GD20_USE_I2C requires HAL_USE_I2C" +#endif +/*===========================================================================*/ +/* Driver data structures and types. */ +/*===========================================================================*/ + +/** + * @name L3GD20 data structures and types + * @{ + */ +/** + * @brief L3GD20 full scale + */ +typedef enum { + L3GD20_FS_250DPS = 0x00, /**< Full scale 250 degree per second. */ + L3GD20_FS_500DPS = 0x10, /**< Full scale 500 degree per second. */ + L3GD20_FS_2000DPS = 0x20 /**< Full scale 2000 degree per second. */ +}l3gd20_fs_t; + +/** + * @brief L3GD20 output data rate and bandwidth + */ +typedef enum { + L3GD20_ODR_95HZ_FC_12_5 = 0x00, /**< ODR 95 Hz, BW 12.5 Hz. */ + L3GD20_ODR_95HZ_FC_25 = 0x10, /**< ODR 95 Hz, BW 25Hz. */ + L3GD20_ODR_190HZ_FC_12_5 = 0x40, /**< ODR 190 Hz, BW 12.5 Hz. */ + L3GD20_ODR_190HZ_FC_25 = 0x50, /**< ODR 190 Hz, BW 25 Hz. */ + L3GD20_ODR_190HZ_FC_50 = 0x60, /**< ODR 190 Hz, BW 50 Hz. */ + L3GD20_ODR_190HZ_FC_70 = 0x70, /**< ODR 190 Hz, BW 70 Hz. */ + L3GD20_ODR_380HZ_FC_20 = 0x80, /**< ODR 380 Hz, BW 20 Hz. */ + L3GD20_ODR_380HZ_FC_25 = 0x90, /**< ODR 380 Hz, BW 25 Hz. */ + L3GD20_ODR_380HZ_FC_50 = 0xA0, /**< ODR 380 Hz, BW 50 Hz. */ + L3GD20_ODR_380HZ_FC_100 = 0xB0, /**< ODR 380 Hz, BW 100 Hz. */ + L3GD20_ODR_760HZ_FC_30 = 0xC0, /**< ODR 760 Hz, BW 30 Hz. */ + L3GD20_ODR_760HZ_FC_35 = 0xD0, /**< ODR 760 Hz, BW 35 Hz. */ + L3GD20_ODR_760HZ_FC_50 = 0xE0, /**< ODR 760 Hz, BW 50 Hz. */ + L3GD20_ODR_760HZ_FC_100 = 0xF0 /**< ODR 760 Hz, BW 100 Hz. */ +}l3gd20_odr_t; + +/** + * @brief L3GD20 axes enabling + */ +typedef enum { + L3GD20_AE_DISABLED = 0x00, /**< All axes disabled. */ + L3GD20_AE_X = 0x01, /**< Only X-axis enabled. */ + L3GD20_AE_Y = 0x02, /**< Only Y-axis enabled. */ + L3GD20_AE_XY = 0x03, /**< X and Y axes enabled. */ + L3GD20_AE_Z = 0x04, /**< Only Z-axis enabled. */ + L3GD20_AE_XZ = 0x05, /**< X and Z axes enabled. */ + L3GD20_AE_YZ = 0x06, /**< Y and Z axes enabled. */ + L3GD20_AE_XYZ = 0x07 /**< All axes enabled. */ +}l3gd20_ae_t; + +/** + * @brief L3GD20 block data update + */ +typedef enum { + L3GD20_BDU_CONTINOUS = 0x00, /**< Block data continuously updated. */ + L3GD20_BDU_BLOCKED = 0x80 /**< Block data updated after reading. */ +}l3gd20_bdu_t; + +/** + * @brief L3GD20 endianness + */ +typedef enum { + L3GD20_END_LITTLE = 0x00, /**< Little endian. */ + L3GD20_END_BIG = 0x40 /**< Big endian. */ +}l3gd20_end_t; + +/** + * @brief Driver state machine possible states. + */ +typedef enum { + L3GD20_UNINIT = 0, /**< Not initialized. */ + L3GD20_STOP = 1, /**< Stopped. */ + L3GD20_READY = 2, /**< Ready. */ +} l3gd20_state_t; + +/** + * @brief L3GD20 configuration structure. + */ +typedef struct { + +#if (L3GD20_USE_SPI) || defined(__DOXYGEN__) + /** + * @brief SPI driver associated to this L3GD20. + */ + SPIDriver *spip; + /** + * @brief SPI configuration associated to this L3GD20. + */ + const SPIConfig *spicfg; +#endif /* L3GD20_USE_SPI */ +#if (L3GD20_USE_I2C) || defined(__DOXYGEN__) + /** + * @brief I2C driver associated to this L3GD20. + */ + I2CDriver *i2cp; + /** + * @brief I2C configuration associated to this L3GD20. + */ + const I2CConfig *i2ccfg; +#endif /* L3GD20_USE_I2C */ + /** + * @brief L3GD20 full scale value. + */ + l3gd20_fs_t fullscale; + /** + * @brief L3GD20 output data rate selection. + */ + l3gd20_odr_t outputdatarate; + /** + * @brief L3GD20 axes enabling. + */ + l3gd20_ae_t axesenabling; + /** + * @brief L3GD20 block data update. + */ + l3gd20_bdu_t blockdataupdate; + /** + * @brief L3GD20 endianness. + */ + l3gd20_end_t endianness; +} L3GD20Config; + +/** + * @brief Structure representing a L3GD20 driver. + */ +typedef struct L3GD20Driver L3GD20Driver; + +/** + * @brief @p L3GD20 specific methods. + */ +#define _l3gd20_methods \ + _base_gyroscope_methods + +/** + * @extends BaseGyroscopeVMT + * + * @brief @p L3GD20 virtual methods table. + */ +struct L3GD20VMT { + _l3gd20_methods +}; + +/** + * @brief @p L3GD20Driver specific data. + */ +#define _l3gd20_data \ + _base_gyroscope_data \ + /* Driver state.*/ \ + l3gd20_state_t state; \ + /* Current configuration data.*/ \ + const L3GD20Config *config; \ + /* Current sensitivity.*/ \ + float sensitivity; \ + /* Bias data.*/ \ + int32_t bias[L3GD20_NUMBER_OF_AXES]; + +/** + * @extends BaseGyroscope + * + * @brief L3GD20 3-axis gyroscope class. + * @details This class extends @p BaseGyroscope by adding physical + * driver implementation. + */ +struct L3GD20Driver { + /** @brief Virtual Methods Table.*/ + const struct L3GD20VMT *vmt; + _l3gd20_data +}; +/** @} */ + +/*===========================================================================*/ +/* Driver macros. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +#ifdef __cplusplus +extern "C" { +#endif + void l3gd20ObjectInit(L3GD20Driver *devp); + void l3gd20Start(L3GD20Driver *devp, const L3GD20Config *config); + void l3gd20Stop(L3GD20Driver *devp); +#ifdef __cplusplus +} +#endif + +#endif /* _L3GD20_H_ */ + +/** @} */ + diff --git a/os/ex/ST/l3gd20.mk b/os/ex/ST/l3gd20.mk new file mode 100644 index 000000000..ee715b9a0 --- /dev/null +++ b/os/ex/ST/l3gd20.mk @@ -0,0 +1,6 @@ +# List of all the L3GD20 device files. +L3GD20SRC := $(CHIBIOS)/os/ex/ST/l3gd20.c + +# Required include directories +L3GD20INC := $(CHIBIOS)/os/hal/lib/peripherals/include \ + $(CHIBIOS)/os/ex/ST \ No newline at end of file diff --git a/os/ex/gyroscope/ST/l3gd20.c b/os/ex/gyroscope/ST/l3gd20.c deleted file mode 100644 index b42d5c1fc..000000000 --- a/os/ex/gyroscope/ST/l3gd20.c +++ /dev/null @@ -1,388 +0,0 @@ -/* - 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 . - -*/ - -/** - * @file l3gd20.c - * @brief L3GD20 MEMS interface module code. - * - * @addtogroup l3gd20 - * @{ - */ - -#include "ch.h" -#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 ((uint8_t)0x30) - -/*===========================================================================*/ -/* Driver exported variables. */ -/*===========================================================================*/ - -/*===========================================================================*/ -/* Driver local variables and types. */ -/*===========================================================================*/ - -/** - * @brief L3GD20 Power Mode - */ -typedef enum { - L3GD20_PM_POWER_DOWN = 0x00, - L3GD20_PM_SLEEP_NORMAL = 0x08 -}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]) { - - 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"); - spiAcquireBus(((L3GD20Driver *)ip)->config->spip); - spiStart(((L3GD20Driver *)ip)->config->spip, - ((L3GD20Driver *)ip)->config->spicfg); - if(((L3GD20Driver *)ip)->config->axesenabling & L3GD20_AE_X){ - axes[0] = (int16_t)(l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip, - L3GD20_AD_OUT_X_L)); - axes[0] += (int16_t)(l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip, - L3GD20_AD_OUT_X_H) << 8); - axes[0] -= ((L3GD20Driver *)ip)->bias[0]; - } - if(((L3GD20Driver *)ip)->config->axesenabling & L3GD20_AE_Y){ - axes[1] = (int16_t)(l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip, - L3GD20_AD_OUT_Y_L)); - axes[1] += (int16_t)(l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip, - L3GD20_AD_OUT_Y_H) << 8); - axes[1] -= ((L3GD20Driver *)ip)->bias[1]; - } - if(((L3GD20Driver *)ip)->config->axesenabling & L3GD20_AE_Z){ - axes[2] = (int16_t)(l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip, - L3GD20_AD_OUT_Y_L)); - axes[2] += (int16_t)(l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip, - L3GD20_AD_OUT_Y_H) << 8); - axes[2] -= ((L3GD20Driver *)ip)->bias[2]; - } - spiReleaseBus(((L3GD20Driver *)ip)->config->spip); -#endif - 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; - } - return msg; -} - -static msg_t reset_calibration(void *ip) { - uint32_t i; - - osalDbgCheck(ip != NULL); - - osalDbgAssert((((L3GD20Driver *)ip)->state == L3GD20_READY) || - (((L3GD20Driver *)ip)->state == L3GD20_STOP), - "reset_calibration(), invalid state"); - - for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++) - ((L3GD20Driver *)ip)->bias[i] = 0; - return MSG_OK; -} - -static msg_t calibrate(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), - "calibrate(), 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 const struct L3GD20VMT vmt = { - get_axes_number, read_raw, read_cooked, - reset_calibration, calibrate -}; -/*===========================================================================*/ -/* 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 = &vmt; - devp->state = L3GD20_STOP; - devp->config = NULL; - for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++) - devp->bias[i] = 0; -} - -/** - * @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) { - - osalDbgCheck((devp != NULL) && (config != NULL)); - - osalDbgAssert((devp->state == L3GD20_STOP) || (devp->state == L3GD20_READY), - "l3gd20Start(), invalid state"); - - devp->config = config; - -#if (L3GD20_USE_SPI) - spiAcquireBus((devp)->config->spip); - 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); - spiReleaseBus((devp)->config->spip); -#endif /* L3GD20_USE_SPI */ - - /* Storing sensitivity information according to full scale value */ - if(devp->config->fullscale == L3GD20_FS_250DPS) - devp->sensitivity = L3GD20_SENS_250DPS; - else if(devp->config->fullscale == L3GD20_FS_500DPS) - devp->sensitivity = L3GD20_SENS_500DPS; - else if(devp->config->fullscale == L3GD20_FS_2000DPS) - devp->sensitivity = 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) { - spiAcquireBus((devp)->config->spip); - spiStart((devp)->config->spip, - (devp)->config->spicfg); - l3gd20SPIWriteRegister(devp->config->spip, L3GD20_AD_CTRL_REG1, - L3GD20_PM_POWER_DOWN | L3GD20_AE_DISABLED); - spiStop((devp)->config->spip); - spiReleaseBus((devp)->config->spip); - } -#endif /* L3GD20_USE_SPI */ - devp->state = L3GD20_STOP; -} - -/** @} */ diff --git a/os/ex/gyroscope/ST/l3gd20.h b/os/ex/gyroscope/ST/l3gd20.h deleted file mode 100644 index 9951d5041..000000000 --- a/os/ex/gyroscope/ST/l3gd20.h +++ /dev/null @@ -1,294 +0,0 @@ -/* - 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 . - -*/ - -/** - * @file l3gd20.h - * @brief L3GD20 MEMS interface module header. - * - * @{ - */ - -#ifndef _L3GD20_H_ -#define _L3GD20_H_ - -#include "hal_gyroscope.h" - -/*===========================================================================*/ -/* Driver constants. */ -/*===========================================================================*/ - -/** - * @brief L3GD20 number of axes. - */ -#define L3GD20_NUMBER_OF_AXES ((size_t) 3U) - -/*===========================================================================*/ -/* Driver pre-compile time settings. */ -/*===========================================================================*/ - -/** - * @name Configuration options - * @{ - */ -/** - * @brief L3GD20 SPI interface selector. - * @details If set to @p TRUE the support for SPI is included. - * @note The default is @p TRUE. - */ -#if !defined(L3GD20_USE_SPI) || defined(__DOXYGEN__) -#define L3GD20_USE_SPI TRUE -#endif - -/** - * @brief L3GD20 I2C interface selector. - * @details If set to @p TRUE the support for I2C is included. - * @note The default is @p FALSE. - */ -#if !defined(L3GD20_USE_I2C) || defined(__DOXYGEN__) -#define L3GD20_USE_I2C FALSE -#endif - -/** - * @brief Number of acquisitions for bias removal - * @details This is the number of acquisitions performed to compute the - * bias. A repetition is required in order to remove noise. - */ -#if !defined(L3GD20_BIAS_ACQ_TIMES) || defined(__DOXYGEN__) -#define L3GD20_BIAS_ACQ_TIMES 50 -#endif - -/** - * @brief Settling time for bias removal - * @details This is the time between each bias acquisition. - */ -#if !defined(L3GD20_BIAS_SETTLING_uS) || defined(__DOXYGEN__) -#define L3GD20_BIAS_SETTLING_uS 5000 -#endif -/** @} */ - -/*===========================================================================*/ -/* Derived constants and error checks. */ -/*===========================================================================*/ - -#if L3GD20_USE_SPI && L3GD20_USE_I2C -#error "L3GD20_USE_SPI and L3GD20_USE_I2C cannot be both true" -#endif - -#if L3GD20_USE_SPI && !HAL_USE_SPI -#error "L3GD20_USE_SPI requires HAL_USE_SPI" -#endif - -#if L3GD20_USE_I2C && !HAL_USE_I2C -#error "L3GD20_USE_SPI requires HAL_USE_I2C" -#endif -/*===========================================================================*/ -/* Driver data structures and types. */ -/*===========================================================================*/ - -/** - * @name L3GD20 data structures and types - * @{ - */ - -/** - * @brief L3GD20 Output Data Rate - */ -typedef enum { - L3GD20_ODR_95HZ_FC_12_5 = 0x00, - L3GD20_ODR_95HZ_FC_25 = 0x10, - L3GD20_ODR_190HZ_FC_12_5 = 0x40, - L3GD20_ODR_190HZ_FC_25 = 0x50, - L3GD20_ODR_190HZ_FC_50 = 0x60, - L3GD20_ODR_190HZ_FC_70 = 0x70, - L3GD20_ODR_380HZ_FC_20 = 0x80, - L3GD20_ODR_380HZ_FC_25 = 0x90, - L3GD20_ODR_380HZ_FC_50 = 0xA0, - L3GD20_ODR_380HZ_FC_100 = 0xB0, - L3GD20_ODR_760HZ_FC_30 = 0xC0, - L3GD20_ODR_760HZ_FC_35 = 0xD0, - L3GD20_ODR_760HZ_FC_50 = 0xE0, - L3GD20_ODR_760HZ_FC_100 = 0xF0 -}l3gd20_odr_t; - -/** - * @brief L3GD20 Full Scale - */ -typedef enum { - L3GD20_FS_250DPS = 0x00, - L3GD20_FS_500DPS = 0x10, - L3GD20_FS_2000DPS = 0x20 -}l3gd20_fs_t; - -/** - * @brief L3GD20 Axes Enabling - */ -typedef enum { - L3GD20_AE_DISABLED = 0x00, - L3GD20_AE_X = 0x01, - L3GD20_AE_Y = 0x02, - L3GD20_AE_XY = 0x03, - L3GD20_AE_Z = 0x04, - L3GD20_AE_XZ = 0x05, - L3GD20_AE_YZ = 0x06, - L3GD20_AE_XYZ = 0x07 -}l3gd20_ae_t; - -/** - * @brief L3GD20 Block Data Update - */ -typedef enum { - L3GD20_BDU_CONTINOUS = 0x00, - L3GD20_BDU_BLOCKED = 0x80 -}l3gd20_bdu_t; - -/** - * @brief L3GD20 Endianness - */ -typedef enum { - L3GD20_END_LITTLE = 0x00, - L3GD20_END_BIG = 0x40 -}l3gd20_end_t; - -/** - * @brief Driver state machine possible states. - */ -typedef enum { - L3GD20_UNINIT = 0, /**< Not initialized. */ - L3GD20_STOP = 1, /**< Stopped. */ - L3GD20_READY = 2, /**< Ready. */ -} l3gd20_state_t; - -/** - * @brief L3GD20 configuration structure. - */ -typedef struct { - -#if (L3GD20_USE_SPI) || defined(__DOXYGEN__) - /** - * @brief SPI driver associated to this L3GD20. - */ - SPIDriver *spip; - /** - * @brief SPI configuration associated to this L3GD20. - */ - const SPIConfig *spicfg; -#endif /* L3GD20_USE_SPI */ -#if (L3GD20_USE_I2C) || defined(__DOXYGEN__) - /** - * @brief I2C driver associated to this L3GD20. - */ - I2CDriver *i2cp; - /** - * @brief I2C configuration associated to this L3GD20. - */ - const I2CConfig *i2ccfg; -#endif /* L3GD20_USE_I2C */ - /** - * @brief L3GD20 full scale value. - */ - l3gd20_fs_t fullscale; - /** - * @brief L3GD20 output data rate selection. - */ - l3gd20_odr_t outputdatarate; - /** - * @brief L3GD20 axes enabling. - */ - l3gd20_ae_t axesenabling; - /** - * @brief L3GD20 endianness. - */ - l3gd20_end_t endianness; - /** - * @brief L3GD20 block data update. - */ - l3gd20_bdu_t blockdataupdate; -} L3GD20Config; - -/** - * @brief Structure representing a L3GD20 driver. - */ -typedef struct L3GD20Driver L3GD20Driver; - -/** - * @brief @p L3GD20 specific methods. - */ -#define _l3gd20_methods \ - _base_gyroscope_methods - -/** - * @extends BaseGyroscopeVMT - * - * @brief @p L3GD20 virtual methods table. - */ -struct L3GD20VMT { - _l3gd20_methods -}; - -/** - * @brief @p L3GD20Driver specific data. - */ -#define _l3gd20_data \ - _base_gyroscope_data \ - /* Driver state.*/ \ - l3gd20_state_t state; \ - /* Current configuration data.*/ \ - const L3GD20Config *config; \ - /* Current sensitivity.*/ \ - float sensitivity; \ - /* Bias data.*/ \ - int32_t bias[L3GD20_NUMBER_OF_AXES]; - -/** - * @extends BaseGyroscope - * - * @brief L3GD20 3-axis gyroscope class. - * @details This class extends @p BaseGyroscope by adding physical - * driver implementation. - */ -struct L3GD20Driver { - /** @brief Virtual Methods Table.*/ - const struct L3GD20VMT *vmt; - _l3gd20_data -}; -/** @} */ - -/*===========================================================================*/ -/* Driver macros. */ -/*===========================================================================*/ - -/*===========================================================================*/ -/* External declarations. */ -/*===========================================================================*/ - -#ifdef __cplusplus -extern "C" { -#endif - void l3gd20ObjectInit(L3GD20Driver *devp); - void l3gd20Start(L3GD20Driver *devp, const L3GD20Config *config); - void l3gd20Stop(L3GD20Driver *devp); -#ifdef __cplusplus -} -#endif - -#endif /* _L3GD20_H_ */ - -/** @} */ - diff --git a/os/ex/gyroscope/ST/l3gd20.mk b/os/ex/gyroscope/ST/l3gd20.mk deleted file mode 100644 index 7671addbd..000000000 --- a/os/ex/gyroscope/ST/l3gd20.mk +++ /dev/null @@ -1,6 +0,0 @@ -# List of all the L3GD20 device files. -L3GD20SRC := $(CHIBIOS)/os/ex/gyroscope/ST/l3gd20.c - -# Required include directories -L3GD20INC := $(CHIBIOS)/os/hal/lib/peripherals/include \ - $(CHIBIOS)/os/ex/gyroscope/ST \ No newline at end of file -- cgit v1.2.3