313 lines
10 KiB
C
313 lines
10 KiB
C
/*
|
|
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.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 switch.
|
|
* @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 switch.
|
|
* @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 L3GD20 shared SPI switch.
|
|
* @details If set to @p TRUE the device acquires SPI bus ownership
|
|
* on each transaction.
|
|
* @note The default is @p FALSE. Requires SPI_USE_MUTUAL_EXCLUSION
|
|
*/
|
|
#if !defined(L3GD20_SHARED_SPI) || defined(__DOXYGEN__)
|
|
#define L3GD20_SHARED_SPI 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 or both false"
|
|
#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
|
|
|
|
#if L3GD20_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION
|
|
#error "L3GD20_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION"
|
|
#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[L3GD20_NUMBER_OF_AXES]; \
|
|
/* 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 BaseSensorVMT *vmt_basesensor;
|
|
/** @brief Virtual Methods Table.*/
|
|
const struct BaseGyroscopeVMT *vmt_basegyroscope;
|
|
/** @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_ */
|
|
|
|
/** @} */
|
|
|