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150 lines
5.2 KiB
C
150 lines
5.2 KiB
C
/**
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******************************************************************************
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* @addtogroup PIOS PIOS Core hardware abstraction layer
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* @{
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* @addtogroup PIOS_L3GD20 L3GD20 Functions
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* @brief Deals with the hardware interface to the 3-axis gyro
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* @{
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*
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* @file PIOS_L3GD20.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
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* @brief L3GD20 3-axis gyor function headers
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* @see The GNU Public License (GPL) Version 3
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*
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******************************************************************************
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*/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef PIOS_L3GD20_H
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#define PIOS_L3GD20_H
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/* L3GD20 Addresses */
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#define PIOS_L3GD20_WHOAMI 0x0F
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#define PIOS_L3GD20_CTRL_REG1 0X20
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#define PIOS_L3GD20_CTRL_REG2 0X21
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#define PIOS_L3GD20_CTRL_REG3 0X22
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#define PIOS_L3GD20_CTRL_REG4 0X23
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#define PIOS_L3GD20_CTRL_REG5 0X24
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#define PIOS_L3GD20_REFERENCE 0X25
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#define PIOS_L3GD20_OUT_TEMP 0x26
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#define PIOS_L3GD20_STATUS_REG 0x27
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#define PIOS_L3GD20_GYRO_X_OUT_LSB 0x28
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#define PIOS_L3GD20_GYRO_X_OUT_MSB 0x29
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#define PIOS_L3GD20_GYRO_Y_OUT_LSB 0x2A
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#define PIOS_L3GD20_GYRO_Y_OUT_MSB 0x2B
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#define PIOS_L3GD20_GYRO_Z_OUT_LSB 0x2C
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#define PIOS_L3GD20_GYRO_Z_OUT_MSB 0x2D
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#define PIOS_L3GD20_FIFO_CTRL_REG 0x2E
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#define PIOS_L3GD20_FIFO_SRC_REG 0x2F
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#define PIOS_L3GD20_INT1_CFG 0x30
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#define PIOS_L3GD20_INT1_SRC 0x31
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#define PIOS_L3GD20_INT1_TSH_XH 0x32
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#define PIOS_L3GD20_INT1_TSH_XL 0x33
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#define PIOS_L3GD20_INT1_TSH_YH 0x34
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#define PIOS_L3GD20_INT1_TSH_YL 0x35
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#define PIOS_L3GD20_INT1_TSH_ZH 0x36
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#define PIOS_L3GD20_INT1_TSH_ZL 0x37
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#define PIOS_L3GD20_INT1_DURATION 0x38
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/* Ctrl1 flags */
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#define PIOS_L3GD20_CTRL1_FASTEST 0xF0
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#define PIOS_L3GD20_CTRL1_380HZ_100HZ 0xB0
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#define PIOS_L3GD20_CTRL1_PD 0x08
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#define PIOS_L3GD20_CTRL1_ZEN 0x04
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#define PIOS_L3GD20_CTRL1_YEN 0x02
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#define PIOS_L3GD20_CTRL1_XEN 0x01
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/* FIFO enable for storing different values */
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#define PIOS_L3GD20_FIFO_TEMP_OUT 0x80
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#define PIOS_L3GD20_FIFO_GYRO_X_OUT 0x40
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#define PIOS_L3GD20_FIFO_GYRO_Y_OUT 0x20
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#define PIOS_L3GD20_FIFO_GYRO_Z_OUT 0x10
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#define PIOS_L3GD20_ACCEL_OUT 0x08
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/* Interrupt Configuration */
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#define PIOS_L3GD20_INT_ACTL 0x80
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#define PIOS_L3GD20_INT_OPEN 0x40
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#define PIOS_L3GD20_INT_LATCH_EN 0x20
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#define PIOS_L3GD20_INT_CLR_ANYRD 0x10
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#define PIOS_L3GD20_INTEN_OVERFLOW 0x10
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#define PIOS_L3GD20_INTEN_DATA_RDY 0x01
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/* Interrupt status */
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#define PIOS_L3GD20_INT_STATUS_FIFO_FULL 0x80
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#define PIOS_L3GD20_INT_STATUS_IMU_RDY 0X04
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#define PIOS_L3GD20_INT_STATUS_DATA_RDY 0X01
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/* User control functionality */
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#define PIOS_L3GD20_USERCTL_FIFO_EN 0X40
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#define PIOS_L3GD20_USERCTL_FIFO_RST 0X02
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#define PIOS_L3GD20_USERCTL_GYRO_RST 0X01
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/* Power management and clock selection */
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#define PIOS_L3GD20_PWRMGMT_IMU_RST 0X80
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#define PIOS_L3GD20_PWRMGMT_INTERN_CLK 0X00
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#define PIOS_L3GD20_PWRMGMT_PLL_X_CLK 0X01
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#define PIOS_L3GD20_PWRMGMT_PLL_Y_CLK 0X02
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#define PIOS_L3GD20_PWRMGMT_PLL_Z_CLK 0X03
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#define PIOS_L3GD20_PWRMGMT_STOP_CLK 0X07
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enum pios_l3gd20_range {
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PIOS_L3GD20_SCALE_250_DEG = 0x00,
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PIOS_L3GD20_SCALE_500_DEG = 0x10,
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PIOS_L3GD20_SCALE_2000_DEG = 0x3
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};
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enum pios_l3gd20_filter {
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PIOS_L3GD20_LOWPASS_256_HZ = 0x00,
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PIOS_L3GD20_LOWPASS_188_HZ = 0x01,
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PIOS_L3GD20_LOWPASS_98_HZ = 0x02,
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PIOS_L3GD20_LOWPASS_42_HZ = 0x03,
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PIOS_L3GD20_LOWPASS_20_HZ = 0x04,
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PIOS_L3GD20_LOWPASS_10_HZ = 0x05,
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PIOS_L3GD20_LOWPASS_5_HZ = 0x06
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};
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struct pios_l3gd20_data {
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int16_t gyro_x;
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int16_t gyro_y;
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int16_t gyro_z;
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int16_t temperature;
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};
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struct pios_l3gd20_cfg {
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const struct pios_exti_cfg *exti_cfg; /* Pointer to the EXTI configuration */
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enum pios_l3gd20_range range;
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};
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/* Public Functions */
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extern int32_t PIOS_L3GD20_Init(uint32_t spi_id, uint32_t slave_num, const struct pios_l3gd20_cfg *cfg);
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extern xQueueHandle PIOS_L3GD20_GetQueue();
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extern int32_t PIOS_L3GD20_ReadGyros(struct pios_l3gd20_data *buffer);
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extern int32_t PIOS_L3GD20_SetRange(enum pios_l3gd20_range range);
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extern float PIOS_L3GD20_GetScale();
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extern int32_t PIOS_L3GD20_ReadID();
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extern uint8_t PIOS_L3GD20_Test();
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extern bool PIOS_L3GD20_IRQHandler();
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#endif /* PIOS_L3GD20_H */
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/**
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* @}
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* @}
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*/
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