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LibrePilot/flight/PiOS/inc/pios_l3gd20.h

152 lines
5.2 KiB
C

/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_L3GD20 L3GD20 Functions
* @brief Deals with the hardware interface to the 3-axis gyro
* @{
*
* @file PIOS_L3GD20.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief L3GD20 3-axis gyor function headers
* @see The GNU Public License (GPL) Version 3
*
******************************************************************************
*/
/*
* This program 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.
*
* This program 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, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef PIOS_L3GD20_H
#define PIOS_L3GD20_H
#include "pios.h"
/* L3GD20 Addresses */
#define PIOS_L3GD20_WHOAMI 0x0F
#define PIOS_L3GD20_CTRL_REG1 0X20
#define PIOS_L3GD20_CTRL_REG2 0X21
#define PIOS_L3GD20_CTRL_REG3 0X22
#define PIOS_L3GD20_CTRL_REG4 0X23
#define PIOS_L3GD20_CTRL_REG5 0X24
#define PIOS_L3GD20_REFERENCE 0X25
#define PIOS_L3GD20_OUT_TEMP 0x26
#define PIOS_L3GD20_STATUS_REG 0x27
#define PIOS_L3GD20_GYRO_X_OUT_LSB 0x28
#define PIOS_L3GD20_GYRO_X_OUT_MSB 0x29
#define PIOS_L3GD20_GYRO_Y_OUT_LSB 0x2A
#define PIOS_L3GD20_GYRO_Y_OUT_MSB 0x2B
#define PIOS_L3GD20_GYRO_Z_OUT_LSB 0x2C
#define PIOS_L3GD20_GYRO_Z_OUT_MSB 0x2D
#define PIOS_L3GD20_FIFO_CTRL_REG 0x2E
#define PIOS_L3GD20_FIFO_SRC_REG 0x2F
#define PIOS_L3GD20_INT1_CFG 0x30
#define PIOS_L3GD20_INT1_SRC 0x31
#define PIOS_L3GD20_INT1_TSH_XH 0x32
#define PIOS_L3GD20_INT1_TSH_XL 0x33
#define PIOS_L3GD20_INT1_TSH_YH 0x34
#define PIOS_L3GD20_INT1_TSH_YL 0x35
#define PIOS_L3GD20_INT1_TSH_ZH 0x36
#define PIOS_L3GD20_INT1_TSH_ZL 0x37
#define PIOS_L3GD20_INT1_DURATION 0x38
/* Ctrl1 flags */
#define PIOS_L3GD20_CTRL1_FASTEST 0xF0
#define PIOS_L3GD20_CTRL1_380HZ_100HZ 0xB0
#define PIOS_L3GD20_CTRL1_PD 0x08
#define PIOS_L3GD20_CTRL1_ZEN 0x04
#define PIOS_L3GD20_CTRL1_YEN 0x02
#define PIOS_L3GD20_CTRL1_XEN 0x01
/* FIFO enable for storing different values */
#define PIOS_L3GD20_FIFO_TEMP_OUT 0x80
#define PIOS_L3GD20_FIFO_GYRO_X_OUT 0x40
#define PIOS_L3GD20_FIFO_GYRO_Y_OUT 0x20
#define PIOS_L3GD20_FIFO_GYRO_Z_OUT 0x10
#define PIOS_L3GD20_ACCEL_OUT 0x08
/* Interrupt Configuration */
#define PIOS_L3GD20_INT_ACTL 0x80
#define PIOS_L3GD20_INT_OPEN 0x40
#define PIOS_L3GD20_INT_LATCH_EN 0x20
#define PIOS_L3GD20_INT_CLR_ANYRD 0x10
#define PIOS_L3GD20_INTEN_OVERFLOW 0x10
#define PIOS_L3GD20_INTEN_DATA_RDY 0x01
/* Interrupt status */
#define PIOS_L3GD20_INT_STATUS_FIFO_FULL 0x80
#define PIOS_L3GD20_INT_STATUS_IMU_RDY 0X04
#define PIOS_L3GD20_INT_STATUS_DATA_RDY 0X01
/* User control functionality */
#define PIOS_L3GD20_USERCTL_FIFO_EN 0X40
#define PIOS_L3GD20_USERCTL_FIFO_RST 0X02
#define PIOS_L3GD20_USERCTL_GYRO_RST 0X01
/* Power management and clock selection */
#define PIOS_L3GD20_PWRMGMT_IMU_RST 0X80
#define PIOS_L3GD20_PWRMGMT_INTERN_CLK 0X00
#define PIOS_L3GD20_PWRMGMT_PLL_X_CLK 0X01
#define PIOS_L3GD20_PWRMGMT_PLL_Y_CLK 0X02
#define PIOS_L3GD20_PWRMGMT_PLL_Z_CLK 0X03
#define PIOS_L3GD20_PWRMGMT_STOP_CLK 0X07
enum pios_l3gd20_range {
PIOS_L3GD20_SCALE_250_DEG = 0x00,
PIOS_L3GD20_SCALE_500_DEG = 0x10,
PIOS_L3GD20_SCALE_2000_DEG = 0x3
};
enum pios_l3gd20_filter {
PIOS_L3GD20_LOWPASS_256_HZ = 0x00,
PIOS_L3GD20_LOWPASS_188_HZ = 0x01,
PIOS_L3GD20_LOWPASS_98_HZ = 0x02,
PIOS_L3GD20_LOWPASS_42_HZ = 0x03,
PIOS_L3GD20_LOWPASS_20_HZ = 0x04,
PIOS_L3GD20_LOWPASS_10_HZ = 0x05,
PIOS_L3GD20_LOWPASS_5_HZ = 0x06
};
struct pios_l3gd20_data {
int16_t gyro_x;
int16_t gyro_y;
int16_t gyro_z;
int16_t temperature;
};
struct pios_l3gd20_cfg {
const struct pios_exti_cfg * exti_cfg; /* Pointer to the EXTI configuration */
enum pios_l3gd20_range range;
};
/* Public Functions */
extern int32_t PIOS_L3GD20_Init(uint32_t spi_id, uint32_t slave_num, const struct pios_l3gd20_cfg * cfg);
extern xQueueHandle PIOS_L3GD20_GetQueue();
extern int32_t PIOS_L3GD20_ReadGyros(struct pios_l3gd20_data * buffer);
extern int32_t PIOS_L3GD20_SetRange(enum pios_l3gd20_range range);
extern float PIOS_L3GD20_GetScale();
extern int32_t PIOS_L3GD20_ReadID();
extern uint8_t PIOS_L3GD20_Test();
extern bool PIOS_L3GD20_IRQHandler();
#endif /* PIOS_L3GD20_H */
/**
* @}
* @}
*/