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Code Issues Releases Activity

Updates to the l3gd20 driver for stm32f1xx. Need to eventually merge these

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drivers with F4 drivers.
This commit is contained in:
James Cotton 2012-01-20 14:36:16 -06:00
parent 4f28c8d48e
commit c76e9f2d7a
1 changed files with 13 additions and 29 deletions
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42
flight/PiOS/STM32F10x/pios_l3gd20.c
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@ -31,6 +31,7 @@
/* Project Includes */
#include "pios.h"
#include <fifo_buffer.h>
#if defined(PIOS_INCLUDE_L3GD20)
@ -64,15 +65,13 @@ void PIOS_L3GD20_Init(const struct pios_l3gd20_cfg * new_cfg)
fifoBuf_init(&pios_l3gd20_fifo, (uint8_t *) pios_l3gd20_buffer, sizeof(pios_l3gd20_buffer));
/* Configure the MPU6050 Sensor */
PIOS_SPI_SetPrescalar(pios_spi_gyro, SPI_BaudRatePrescaler_256);
PIOS_L3GD20_Config(cfg);
PIOS_SPI_SetPrescalar(pios_spi_gyro, SPI_BaudRatePrescaler_16);
/* Configure EOC pin as input floating */
GPIO_Init(cfg->drdy.gpio, &cfg->drdy.init);
/* Configure the End Of Conversion (EOC) interrupt */
SYSCFG_EXTILineConfig(cfg->eoc_exti.port_source, cfg->eoc_exti.pin_source);
GPIO_EXTILineConfig(cfg->eoc_exti.port_source, cfg->eoc_exti.pin_source);
EXTI_Init(&cfg->eoc_exti.init);
/* Enable and set EOC EXTI Interrupt to the lowest priority */
@ -121,7 +120,7 @@ int32_t PIOS_L3GD20_ClaimBus()
{
if(PIOS_SPI_ClaimBus(pios_spi_gyro) != 0)
return -1;
PIOS_SPI_RC_PinSet(pios_spi_gyro,0,0);
PIOS_SPI_RC_PinSet(pios_spi_gyro,0);
return 0;
}
@ -131,7 +130,7 @@ int32_t PIOS_L3GD20_ClaimBus()
*/
int32_t PIOS_L3GD20_ReleaseBus()
{
PIOS_SPI_RC_PinSet(pios_spi_gyro,0,1);
PIOS_SPI_RC_PinSet(pios_spi_gyro,1);
return PIOS_SPI_ReleaseBus(pios_spi_gyro);
}
@ -286,30 +285,6 @@ uint8_t PIOS_L3GD20_Test(void)
return -2;
}
/**
* @brief Run self-test operation.
* \return 0 if test succeeded
* \return non-zero value if test succeeded
*/
static int32_t PIOS_L3GD20_FifoDepth(void)
{
/* uint8_t l3gd20_send_buf[3] = {PIOS_L3GD20_FIFO_CNT_MSB | 0x80, 0, 0};
uint8_t l3gd20_rec_buf[3];
if(PIOS_L3GD20_ClaimBus() != 0)
return -1;
if(PIOS_SPI_TransferBlock(pios_spi_gyro, &l3gd20_send_buf[0], &l3gd20_rec_buf[0], sizeof(l3gd20_send_buf), NULL) < 0) {
PIOS_L3GD20_ReleaseBus();
return -1;
}
PIOS_L3GD20_ReleaseBus();
return (l3gd20_rec_buf[1] << 8) | l3gd20_rec_buf[2];*/
return 0;
}
/**
* @brief IRQ Handler. Read all the data from onboard buffer
*/
@ -334,6 +309,15 @@ void PIOS_L3GD20_IRQHandler(void)
}
void EXTI4_IRQHandler(void)
{
if (EXTI_GetITStatus(PIOS_USB_DETECT_EXTI_LINE) != RESET) {
/* Clear the EXTI line pending bit */
EXTI_ClearITPendingBit(PIOS_USB_DETECT_EXTI_LINE);
}
}
#endif /* L3GD20 */
/**