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205aabe895
reading task can block according. Also now the gyro data is sent to stabilization multiple times per update of the attitude loop.
387 lines
9.4 KiB
C
387 lines
9.4 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.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
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* @brief L3GD20 3-axis gyro chip
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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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/* Project Includes */
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#include "pios.h"
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#if defined(PIOS_INCLUDE_L3GD20)
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#include "fifo_buffer.h"
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/* Global Variables */
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enum pios_l3gd20_dev_magic {
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PIOS_L3GD20_DEV_MAGIC = 0x9d39bced,
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};
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#define PIOS_L3GD20_MAX_DOWNSAMPLE 2
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struct l3gd20_dev {
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uint32_t spi_id;
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uint32_t slave_num;
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xQueueHandle queue;
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const struct pios_l3gd20_cfg * cfg;
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enum pios_l3gd20_filter bandwidth;
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enum pios_l3gd20_range range;
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enum pios_l3gd20_dev_magic magic;
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};
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//! Global structure for this device device
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static struct l3gd20_dev * dev;
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//! Private functions
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static struct l3gd20_dev * PIOS_L3GD20_alloc(void);
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static int32_t PIOS_L3GD20_Validate(struct l3gd20_dev * dev);
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static void PIOS_L3GD20_Config(struct pios_l3gd20_cfg const * cfg);
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static int32_t PIOS_L3GD20_SetReg(uint8_t address, uint8_t buffer);
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static int32_t PIOS_L3GD20_GetReg(uint8_t address);
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static int32_t PIOS_L3GD20_ClaimBus();
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static int32_t PIOS_L3GD20_ClaimBusIsr();
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static int32_t PIOS_L3GD20_ReleaseBus();
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volatile bool l3gd20_configured = false;
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/* Local Variables */
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#define DEG_TO_RAD (M_PI / 180.0)
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/**
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* @brief Allocate a new device
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*/
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static struct l3gd20_dev * PIOS_L3GD20_alloc(void)
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{
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struct l3gd20_dev * l3gd20_dev;
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l3gd20_dev = (struct l3gd20_dev *)pvPortMalloc(sizeof(*l3gd20_dev));
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if (!l3gd20_dev) return (NULL);
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l3gd20_dev->magic = PIOS_L3GD20_DEV_MAGIC;
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l3gd20_dev->queue = xQueueCreate(PIOS_L3GD20_MAX_DOWNSAMPLE, sizeof(struct pios_l3gd20_data));
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if(l3gd20_dev->queue == NULL) {
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vPortFree(l3gd20_dev);
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return NULL;
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}
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return(l3gd20_dev);
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}
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/**
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* @brief Validate the handle to the spi device
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* @returns 0 for valid device or -1 otherwise
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*/
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static int32_t PIOS_L3GD20_Validate(struct l3gd20_dev * dev)
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{
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if (dev == NULL)
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return -1;
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if (dev->magic != PIOS_L3GD20_DEV_MAGIC)
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return -2;
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if (dev->spi_id == 0)
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return -3;
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return 0;
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}
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/**
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* @brief Initialize the MPU6050 3-axis gyro sensor.
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* @return none
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*/
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#include <pios_board_info.h>
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int32_t PIOS_L3GD20_Init(uint32_t spi_id, uint32_t slave_num, const struct pios_l3gd20_cfg * cfg)
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{
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dev = PIOS_L3GD20_alloc();
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if(dev == NULL)
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return -1;
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dev->spi_id = spi_id;
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dev->slave_num = slave_num;
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dev->cfg = cfg;
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/* Configure the MPU6050 Sensor */
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PIOS_L3GD20_Config(cfg);
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/* Set up EXTI */
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PIOS_EXTI_Init(cfg->exti_cfg);
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// An initial read is needed to get it running
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struct pios_l3gd20_data data;
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PIOS_L3GD20_ReadGyros(&data);
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return 0;
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}
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/**
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* @brief Initialize the L3GD20 3-axis gyro sensor
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* \return none
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* \param[in] PIOS_L3GD20_ConfigTypeDef struct to be used to configure sensor.
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*
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*/
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static void PIOS_L3GD20_Config(struct pios_l3gd20_cfg const * cfg)
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{
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// This register enables the channels and sets the bandwidth
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while(PIOS_L3GD20_SetReg(PIOS_L3GD20_CTRL_REG1, PIOS_L3GD20_CTRL1_FASTEST |
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PIOS_L3GD20_CTRL1_PD | PIOS_L3GD20_CTRL1_ZEN |
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PIOS_L3GD20_CTRL1_YEN | PIOS_L3GD20_CTRL1_XEN) != 0);
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// Disable the high pass filters
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while(PIOS_L3GD20_SetReg(PIOS_L3GD20_CTRL_REG2, 0) != 0);
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// Set int2 to go high on data ready
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while(PIOS_L3GD20_SetReg(PIOS_L3GD20_CTRL_REG3, 0x08) != 0);
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// Select SPI interface, 500 deg/s, endianness?
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while(PIOS_L3GD20_SetRange(cfg->range) != 0);
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// Enable FIFO, disable HPF
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while(PIOS_L3GD20_SetReg(PIOS_L3GD20_CTRL_REG5, 0x40) != 0);
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// Fifo stream mode
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while(PIOS_L3GD20_SetReg(PIOS_L3GD20_FIFO_CTRL_REG, 0x40) != 0);
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}
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/**
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* @brief Sets the maximum range of the L3GD20
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* @returns 0 for success, -1 for invalid device, -2 if unable to set register
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*/
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int32_t PIOS_L3GD20_SetRange(enum pios_l3gd20_range range)
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{
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if(PIOS_L3GD20_Validate(dev) != 0)
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return -1;
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dev->range = range;
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if(PIOS_L3GD20_SetReg(PIOS_L3GD20_CTRL_REG4, dev->range) != 0)
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return -2;
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return 0;
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}
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/**
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* @brief Claim the SPI bus for the accel communications and select this chip
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* @return 0 if successful, -1 for invalid device, -2 if unable to claim bus
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*/
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static int32_t PIOS_L3GD20_ClaimBus()
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{
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if(PIOS_L3GD20_Validate(dev) != 0)
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return -1;
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if(PIOS_SPI_ClaimBus(dev->spi_id) != 0)
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return -2;
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PIOS_SPI_RC_PinSet(dev->spi_id,dev->slave_num,0);
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return 0;
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}
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/**
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* @brief Claim the SPI bus for the accel communications and select this chip
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* @return 0 if successful, -1 for invalid device, -2 if unable to claim bus
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*/
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static int32_t PIOS_L3GD20_ClaimBusIsr()
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{
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if(PIOS_L3GD20_Validate(dev) != 0)
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return -1;
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if(PIOS_SPI_ClaimBusISR(dev->spi_id) != 0)
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return -2;
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PIOS_SPI_RC_PinSet(dev->spi_id,dev->slave_num,0);
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return 0;
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}
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/**
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* @brief Release the SPI bus for the accel communications and end the transaction
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* @return 0 if successful, -1 for invalid device
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*/
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int32_t PIOS_L3GD20_ReleaseBus()
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{
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if(PIOS_L3GD20_Validate(dev) != 0)
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return -1;
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PIOS_SPI_RC_PinSet(dev->spi_id,dev->slave_num,1);
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return PIOS_SPI_ReleaseBus(dev->spi_id);
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}
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/**
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* @brief Read a register from L3GD20
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* @returns The register value or -1 if failure to get bus
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* @param reg[in] Register address to be read
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*/
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static int32_t PIOS_L3GD20_GetReg(uint8_t reg)
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{
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uint8_t data;
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if(PIOS_L3GD20_ClaimBus() != 0)
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return -1;
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PIOS_SPI_TransferByte(dev->spi_id,(0x80 | reg) ); // request byte
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data = PIOS_SPI_TransferByte(dev->spi_id,0 ); // receive response
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PIOS_L3GD20_ReleaseBus();
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return data;
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}
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/**
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* @brief Writes one byte to the L3GD20
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* \param[in] reg Register address
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* \param[in] data Byte to write
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* \return 0 if operation was successful
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* \return -1 if unable to claim SPI bus
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* \return -2 if unable to claim i2c device
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*/
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static int32_t PIOS_L3GD20_SetReg(uint8_t reg, uint8_t data)
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{
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if(PIOS_L3GD20_ClaimBus() != 0)
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return -1;
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PIOS_SPI_TransferByte(dev->spi_id, 0x7f & reg);
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PIOS_SPI_TransferByte(dev->spi_id, data);
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PIOS_L3GD20_ReleaseBus();
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return 0;
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}
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/**
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* @brief Read current X, Z, Y values (in that order)
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* \param[out] int16_t array of size 3 to store X, Z, and Y magnetometer readings
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* \returns The number of samples remaining in the fifo
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*/
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uint32_t l3gd20_irq = 0;
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int32_t PIOS_L3GD20_ReadGyros(struct pios_l3gd20_data * data)
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{
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uint8_t buf[7] = {PIOS_L3GD20_GYRO_X_OUT_LSB | 0x80 | 0x40, 0, 0, 0, 0, 0, 0};
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uint8_t rec[7];
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if(PIOS_L3GD20_ClaimBus() != 0)
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return -1;
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if(PIOS_SPI_TransferBlock(dev->spi_id, &buf[0], &rec[0], sizeof(buf), NULL) < 0) {
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PIOS_L3GD20_ReleaseBus();
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data->gyro_x = 0;
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data->gyro_y = 0;
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data->gyro_z = 0;
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data->temperature = 0;
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return -2;
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}
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PIOS_L3GD20_ReleaseBus();
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memcpy((uint8_t *) &(data->gyro_x), &rec[1], 6);
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data->temperature = PIOS_L3GD20_GetReg(PIOS_L3GD20_OUT_TEMP);
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return 0;
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}
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/**
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* @brief Read the identification bytes from the MPU6050 sensor
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* \return ID read from MPU6050 or -1 if failure
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*/
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int32_t PIOS_L3GD20_ReadID()
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{
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int32_t l3gd20_id = PIOS_L3GD20_GetReg(PIOS_L3GD20_WHOAMI);
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if(l3gd20_id < 0)
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return -1;
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return l3gd20_id;
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}
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/**
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* \brief Reads the queue handle
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* \return Handle to the queue or null if invalid device
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*/
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xQueueHandle PIOS_L3GD20_GetQueue()
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{
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if(PIOS_L3GD20_Validate(dev) != 0)
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return (xQueueHandle) NULL;
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return dev->queue;
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}
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float PIOS_L3GD20_GetScale()
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{
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if(PIOS_L3GD20_Validate(dev) != 0)
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return -1;
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switch (dev->range) {
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case PIOS_L3GD20_SCALE_250_DEG:
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return 0.00875f;
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case PIOS_L3GD20_SCALE_500_DEG:
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return 0.01750f;
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case PIOS_L3GD20_SCALE_2000_DEG:
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return 0.070f;
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}
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return 0;
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}
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/**
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* @brief Run self-test operation.
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* \return 0 if test succeeded
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* \return non-zero value if test succeeded
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*/
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uint8_t PIOS_L3GD20_Test(void)
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{
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int32_t l3gd20_id = PIOS_L3GD20_ReadID();
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if(l3gd20_id < 0)
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return -1;
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uint8_t id = l3gd20_id;
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if(id == 0xD4)
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return 0;
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return -2;
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}
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/**
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* @brief IRQ Handler. Read all the data from onboard buffer
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*/
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void PIOS_L3GD20_IRQHandler(void)
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{
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l3gd20_irq++;
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struct pios_l3gd20_data data;
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uint8_t buf[7] = {PIOS_L3GD20_GYRO_X_OUT_LSB | 0x80 | 0x40, 0, 0, 0, 0, 0, 0};
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uint8_t rec[7];
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/* This code duplicates ReadGyros above but uses ClaimBusIsr */
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if(PIOS_L3GD20_ClaimBusIsr() != 0)
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return;
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if(PIOS_SPI_TransferBlock(dev->spi_id, &buf[0], &rec[0], sizeof(buf), NULL) < 0) {
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PIOS_L3GD20_ReleaseBus();
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return;
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}
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PIOS_L3GD20_ReleaseBus();
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memcpy((uint8_t *) &(data.gyro_x), &rec[1], 6);
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data.temperature = PIOS_L3GD20_GetReg(PIOS_L3GD20_OUT_TEMP);
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xQueueSend(dev->queue, (void *) &data, 0);
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}
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#endif /* L3GD20 */
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/**
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* @}
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* @}
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*/
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