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Merge pull request #10082 from gschorcht/drivers_l3gd20h
drivers: add driver for L3GD20H 3-axis gyroscope
This commit is contained in:
benpicco
GitHub
commit
82b0e08745
@ -28,4 +28,9 @@ config BOARD_STM32F3DISCOVERY
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select HAVE_SAUL_GPIO
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select HAVE_SAUL_GPIO
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select HAVE_LSM303DLHC
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select HAVE_LSM303DLHC
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# L3Gxxxx gyro
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select HAVE_L3GXXXX_SPI
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select HAVE_I3G4250D
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select HAVE_L3GD20
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source "$(RIOTBOARD)/common/stm32/Kconfig"
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source "$(RIOTBOARD)/common/stm32/Kconfig"
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@ -1,4 +1,11 @@
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ifneq (,$(filter saul_default,$(USEMODULE)))
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ifneq (,$(filter saul_default,$(USEMODULE)))
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USEMODULE += saul_gpio
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USEMODULE += saul_gpio
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USEMODULE += lsm303dlhc
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USEMODULE += lsm303dlhc
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USEMODULE += l3gxxxx
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endif
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ifneq (,$(filter l3gxxxx,$(USEMODULE)))
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USEMODULE += i3g4250d
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USEMODULE += l3gd20
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USEMODULE += l3gxxxx_spi
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endif
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endif
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@ -92,11 +92,12 @@ e-compass.
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An 3-axis gyroscope is soldered on the board.
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An 3-axis gyroscope is soldered on the board.
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| Sensor | L3GD20 |
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| Sensor | L3GD20/I3G4250D [1] |
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|:------------- |:--------------------- |
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|:------------- |:--------------------- |
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| Type | Gyroscope |
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| Type | Gyroscope |
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| Vendor | ST Microelectronics |
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| Vendor | ST Microelectronics |
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| Datasheet | [Datasheet](https://www.mouser.de/datasheet/2/389/l3gd20-954745.pdf) |
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| Datasheet L3GD20 | [Datasheet](https://www.mouser.de/datasheet/2/389/l3gd20-954745.pdf) |
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| Datasheet I3G4250D | [Datasheet](https://www.st.com/resource/en/datasheet/i3g4250d.pdf) |
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| Connected to | SPI_0 |
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| Connected to | SPI_0 |
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| Pin Config: | |
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| Pin Config: | |
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| Device | SPI1 |
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| Device | SPI1 |
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@ -107,6 +108,8 @@ An 3-axis gyroscope is soldered on the board.
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| INT1 | PE0 (IN) |
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| INT1 | PE0 (IN) |
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| INT2/DRDY | PE1 (IN) |
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| INT2/DRDY | PE1 (IN) |
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[1] L3GD20 (up to rev. D01), IG34250D (from rev. E02)
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The driver detects automatically which sensor variant is on the board.
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## Implementation Status
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## Implementation Status
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@ -123,7 +126,7 @@ An 3-axis gyroscope is soldered on the board.
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| | Inpute Capture| no | |
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| | Inpute Capture| no | |
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| Accelerometer | LSM303DLHC | no | planned |
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| Accelerometer | LSM303DLHC | no | planned |
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| Magnetometer | LSM303DLHC | no | planned |
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| Magnetometer | LSM303DLHC | no | planned |
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| Gyroscope | L3GD20 | no | planned |
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| Gyroscope | L3GD20/I3G4250D | yes | |
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## Flashing the device
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## Flashing the device
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@ -97,6 +97,16 @@ extern "C" {
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#define LSM303DLHC_PARAM_MAG_PIN GPIO_PIN(PORT_E, 2)
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#define LSM303DLHC_PARAM_MAG_PIN GPIO_PIN(PORT_E, 2)
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/** @} */
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/** @} */
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/**
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* @name L3GD20 (Rev. C01, D01), I3G4250D (Rev. E02)
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* @{
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*/
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#define L3GXXXX_SPI_DEV SPI_DEV(0) /**< SPI bus used for L3Gxxxx */
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#define L3GXXXX_SPI_CS GPIO_PIN(PORT_E, 3) /**< SPI CS pin used for L3Gxxxx */
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#define L3GXXXX_INT1_PIN GPIO_PIN(PORT_E, 0) /**< INT1 pin used for L3Gxxxx */
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#define L3GXXXX_INT2_PIN GPIO_PIN(PORT_E, 1) /**< INT2/DRDY pin used for L3Gxxxx */
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/** @} */
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#ifdef __cplusplus
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#ifdef __cplusplus
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}
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}
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#endif
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#endif
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@ -32,4 +32,9 @@ config BOARD_STM32F429I_DISC1
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select HAVE_ILI9341
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select HAVE_ILI9341
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select HAVE_STMPE811_I2C
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select HAVE_STMPE811_I2C
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# L3Gxxxx gyro
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select HAVE_L3GXXXX_SPI
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select HAVE_I3G4250D
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select HAVE_L3GD20
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source "$(RIOTBOARD)/common/stm32/Kconfig"
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source "$(RIOTBOARD)/common/stm32/Kconfig"
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@ -1,5 +1,6 @@
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ifneq (,$(filter saul_default,$(USEMODULE)))
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ifneq (,$(filter saul_default,$(USEMODULE)))
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USEMODULE += saul_gpio
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USEMODULE += saul_gpio
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USEMODULE += l3gxxxx
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endif
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endif
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ifneq (,$(filter disp_dev,$(USEMODULE)))
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ifneq (,$(filter disp_dev,$(USEMODULE)))
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@ -9,3 +10,9 @@ endif
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ifneq (,$(filter touch_dev,$(USEMODULE)))
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ifneq (,$(filter touch_dev,$(USEMODULE)))
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USEMODULE += stmpe811_i2c
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USEMODULE += stmpe811_i2c
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endif
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endif
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ifneq (,$(filter l3gxxxx,$(USEMODULE)))
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USEMODULE += i3g4250d
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USEMODULE += l3gd20
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USEMODULE += l3gxxxx_spi
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endif
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@ -46,13 +46,23 @@ extern "C" {
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/** @} */
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/** @} */
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/**
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/**
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* @brief User button
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* @name User button
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* @{
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* @{
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*/
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*/
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#define BTN0_PIN GPIO_PIN(PORT_A, 0)
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#define BTN0_PIN GPIO_PIN(PORT_A, 0) /**< GPIO used for BTN0 */
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#define BTN0_MODE GPIO_IN
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#define BTN0_MODE GPIO_IN
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/** @} */
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/** @} */
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/**
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* @name L3GD20 (Rev. B01, C01), I3G4250D (Rev. D02, E01)
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* @{
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*/
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#define L3GXXXX_SPI_DEV SPI_DEV(0) /**< SPI bus used for L3Gxxxx */
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#define L3GXXXX_SPI_CS GPIO_PIN(PORT_C, 1) /**< SPI CS pin used for L3Gxxxx */
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#define L3GXXXX_INT1_PIN GPIO_PIN(PORT_A, 1) /**< INT1 pin used for L3Gxxxx */
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#define L3GXXXX_INT2_PIN GPIO_PIN(PORT_A, 2) /**< INT2/DRDY pin used for L3Gxxxx */
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/** @} */
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#ifdef __cplusplus
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#ifdef __cplusplus
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}
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}
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#endif
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#endif
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@ -21,12 +21,14 @@ config CPU_FAM_ESP32
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select PACKAGE_ESP32_SDK if TEST_KCONFIG
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select PACKAGE_ESP32_SDK if TEST_KCONFIG
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select PACKAGE_ESP32_SDK_LIBS if TEST_KCONFIG
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select PACKAGE_ESP32_SDK_LIBS if TEST_KCONFIG
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select MODULE_PERIPH_RTT if HAS_PERIPH_RTT && MODULE_PM_LAYERED
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select MODULE_RTT_RTC if HAS_PERIPH_RTT && MODULE_PERIPH_RTC
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select MODULE_PS if MODULE_SHELL
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select MODULE_ESP_IDF_DRIVER if TEST_KCONFIG
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select MODULE_ESP_IDF_DRIVER if TEST_KCONFIG
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select MODULE_ESP_IDF_ESP32 if TEST_KCONFIG
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select MODULE_ESP_IDF_ESP32 if TEST_KCONFIG
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select MODULE_ESP_IDF_SOC if TEST_KCONFIG
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select MODULE_ESP_IDF_SOC if TEST_KCONFIG
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select MODULE_PERIPH_RTT if HAS_PERIPH_RTT && MODULE_PM_LAYERED
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select MODULE_RTT_RTC if HAS_PERIPH_RTT && MODULE_PERIPH_RTC
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select MODULE_PS if MODULE_SHELL
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select MODULE_PTHREAD if MODULE_LIBSTDCPP && TEST_KCONFIG
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select MODULE_PTHREAD if MODULE_LIBSTDCPP && TEST_KCONFIG
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imply MODULE_NEWLIB_NANO
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imply MODULE_NEWLIB_NANO
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@ -95,6 +95,7 @@ rsource "isl29125/Kconfig"
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rsource "itg320x/Kconfig"
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rsource "itg320x/Kconfig"
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rsource "jc42/Kconfig"
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rsource "jc42/Kconfig"
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rsource "l3g4200d/Kconfig"
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rsource "l3g4200d/Kconfig"
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rsource "l3gxxxx/Kconfig"
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rsource "lc709203f/Kconfig"
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rsource "lc709203f/Kconfig"
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rsource "lis2dh12/Kconfig"
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rsource "lis2dh12/Kconfig"
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rsource "lis3dh/Kconfig"
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rsource "lis3dh/Kconfig"
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@ -76,6 +76,10 @@ ifneq (,$(filter itg320x_%,$(USEMODULE)))
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USEMODULE += itg320x
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USEMODULE += itg320x
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endif
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endif
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ifneq (,$(filter l3gxxxx_%,$(USEMODULE)))
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USEMODULE += l3gxxxx
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endif
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ifneq (,$(filter lis2dh12%,$(USEMODULE)))
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ifneq (,$(filter lis2dh12%,$(USEMODULE)))
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USEMODULE += lis2dh12
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USEMODULE += lis2dh12
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endif
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endif
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1999
drivers/include/l3gxxxx.h
Normal file
1999
drivers/include/l3gxxxx.h
Normal file
File diff suppressed because it is too large
Load Diff
459
drivers/l3gxxxx/Kconfig
Normal file
459
drivers/l3gxxxx/Kconfig
Normal file
@ -0,0 +1,459 @@
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# Copyright (c) 2021 Gunar Schorcht
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#
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# This file is subject to the terms and conditions of the GNU Lesser
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# General Public License v2.1. See the file LICENSE in the top level
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# directory for more details.
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#
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config HAVE_L3GD20H
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bool
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select MODULE_L3GXXXX if MODULE_SAUL_DEFAULT
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help
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Indicates that L3GD20H sensor is present.
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config HAVE_L3GD20
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bool
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select MODULE_L3GXXXX if MODULE_SAUL_DEFAULT
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help
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Indicates that L3GD20 sensor is present.
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config HAVE_L3G4200D_NG
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bool
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select MODULE_L3GXXXX if MODULE_SAUL_DEFAULT
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help
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Indicates that L3G4200D sensor is present.
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config HAVE_A3G4250D
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bool
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select MODULE_L3GXXXX if MODULE_SAUL_DEFAULT
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help
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Indicates that A3G4250D sensor is present.
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config HAVE_I3G4250D
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bool
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select MODULE_L3GXXXX if MODULE_SAUL_DEFAULT
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help
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Indicates that A3G4250D sensor is present.
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config HAVE_L3GXXXX_I2C
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bool
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config HAVE_L3GXXXX_SPI
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bool
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menuconfig MODULE_L3GXXXX
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bool "L3GXXX 3-axis gyroscope sensor"
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depends on TEST_KCONFIG
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help
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Driver for ST L3GXXXX 3-axis gyroscope sensor family.
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The driver supports L3GD20H, L3GD20, L3G4200D, I3G4250D and A3G4250D.
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if MODULE_L3GXXXX
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menu "Sensor variants used"
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config MODULE_L3GD20H
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bool "L3GD20H"
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default y if HAVE_L3GD20H
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default y if !MODULE_L3GD20 && !MODULE_L3G4200D_NG && !MODULE_A3G4250D && !MODULE_I3G4250D
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help
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Enables the support for L3GD20H.
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config MODULE_L3GD20
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bool "L3GD20"
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default y if HAVE_L3GD20
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help
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Enables the support for L3GD20.
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config MODULE_L3G4200D_NG
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bool "L3G4200D"
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default y if HAVE_L3G4200D_NG
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help
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Enables the support for L3G4200D.
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config MODULE_A3G4250D
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bool "A3G4250D"
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default y if HAVE_A3G4250D
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help
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Enables the support for A3G4250D.
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config MODULE_I3G4250D
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bool "I3G4250D"
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default y if HAVE_I3G4250D
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help
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Enables the support for I3G4250D.
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endmenu
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choice
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bool "Device interface"
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default MODULE_L3GXXXX_I2C if HAVE_L3GXXXX_I2C
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default MODULE_L3GXXXX_SPI if HAVE_L3GXXXX_SPI
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help
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The device can be connected via I2C or SPI, select the right one.
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config MODULE_L3GXXXX_I2C
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bool "I2C"
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depends on HAS_PERIPH_I2C
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select MODULE_PERIPH_I2C
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config MODULE_L3GXXXX_SPI
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bool "SPI"
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depends on HAS_PERIPH_SPI
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depends on HAS_PERIPH_GPIO
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select MODULE_PERIPH_SPI
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select MODULE_PERIPH_GPIO
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endchoice
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config MODULE_L3GXXXX_LOW_ODR
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bool "Support of low output data rates"
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depends on MODULE_L3GD20H
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help
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Low data rates are only supported on L3GD20H.
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choice
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bool "Output data rate (ODR)"
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default L3GXXXX_ODR_100_25
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help
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Measurements are performed at a defined output rate (ODR) with a
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user selectable bandwidth. Select the ouput data rate of the sensor
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an the cutoff frequency of the LPF2 filter. The cutoff frequency of
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LPF1 is fix for a given output data rate.
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config L3GXXXX_ODR_100_12
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bool "High ODR 100 Hz, LPF2 cutoff 12.5 Hz (LPF1 cutoff 32 Hz)"
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config L3GXXXX_ODR_100_25
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bool "High ODR 100 Hz, LPF2 cutoff 25 Hz (LPF1 cutoff 32 Hz)"
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config L3GXXXX_ODR_200_12
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bool "High ODR 200 Hz, LPF1 cutoff 63.3 Hz, LPF2 cutoff 12.5 Hz"
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config L3GXXXX_ODR_200_25
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bool "High ODR 200 Hz, LPF1 cutoff 63.3 Hz, LPF2 cutoff 25 Hz"
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config L3GXXXX_ODR_200_50
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bool "High ODR 200 Hz, LPF1 cutoff 63.3 Hz, LPF2 cutoff 50 Hz"
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config L3GXXXX_ODR_200_70
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bool "High ODR 200 Hz, LPF1 cutoff 63.3 Hz, LPF2 cutoff 70 Hz"
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config L3GXXXX_ODR_400_20
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bool "High ODR 400 Hz, LPF1 cutoff 128 Hz, LPF2 cutoff 20 Hz"
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config L3GXXXX_ODR_400_25
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bool "High ODR 400 Hz, LPF1 cutoff 128 Hz, LPF2 cutoff 25 Hz"
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config L3GXXXX_ODR_400_50
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bool "High ODR 400 Hz, LPF1 cutoff 128 Hz, LPF2 cutoff 50 Hz"
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config L3GXXXX_ODR_400_110
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bool "High ODR 400 Hz, LPF1 cutoff 128 Hz, LPF2 cutoff 110 Hz"
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config L3GXXXX_ODR_800_30
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bool "High ODR 800 Hz, LPF1 cutoff 211 Hz, LPF2 cutoff 30 Hz"
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config L3GXXXX_ODR_800_35
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bool "High ODR 800 Hz, LPF1 cutoff 211 Hz, LPF2 cutoff 35 Hz"
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config L3GXXXX_ODR_800_50
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bool "High ODR 800 Hz, LPF1 cutoff 211 Hz, LPF2 cutoff 50 Hz"
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config L3GXXXX_ODR_800_100
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bool "High ODR 800 Hz, LPF1 cutoff 211 Hz, LPF2 cutoff 100 Hz"
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if MODULE_L3GXXXX_LOW_ODR
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config L3GXXXX_ODR_12
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bool "Low ODR 12.5 Hz, LPF1 cutoff 3.9 Hz, LPF2 not used"
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config L3GXXXX_ODR_25
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bool "Low ODR 25 Hz, LPF1 cutoff 7.8 Hz, LPF2 not used"
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config L3GXXXX_ODR_50
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||||||
|
bool "Low ODR 50 Hz, LPF1 cutoff 16 Hz, LPF2 cutoff 16.6 Hz"
|
||||||
|
|
||||||
|
endif # MODULE_L3GXXXX_LOW_ODR
|
||||||
|
|
||||||
|
endchoice
|
||||||
|
|
||||||
|
choice
|
||||||
|
bool "Full scale"
|
||||||
|
default L3GXXXX_SCALE_245_DPS
|
||||||
|
help
|
||||||
|
The full scale value determines the sensitivity of the sensor and thus
|
||||||
|
the range and resolution of the sensor's output data. The resolution
|
||||||
|
of the output data is about Full Scale/INT16_MAX.
|
||||||
|
|
||||||
|
config L3GXXXX_SCALE_245_DPS
|
||||||
|
bool "±245 dps"
|
||||||
|
help
|
||||||
|
The typical sensitivity is 8.75 mdps.
|
||||||
|
|
||||||
|
if !MODULE_A3G4250D
|
||||||
|
|
||||||
|
config L3GXXXX_SCALE_500_DPS
|
||||||
|
bool "±500 dps"
|
||||||
|
help
|
||||||
|
The Typical sensitivity is 17.5 mdps.
|
||||||
|
|
||||||
|
config L3GXXXX_SCALE_2000_DPS
|
||||||
|
bool "±2000 dps"
|
||||||
|
help
|
||||||
|
The typical sensitivity is 70 mdps.
|
||||||
|
|
||||||
|
endif # !MODULE_A3G4250D
|
||||||
|
|
||||||
|
endchoice
|
||||||
|
|
||||||
|
choice
|
||||||
|
bool "Filters used for output data"
|
||||||
|
default L3GXXXX_HPF_AND_LPF2
|
||||||
|
help
|
||||||
|
L3Gxxxx sensors integrate a combination of two low pass filters (LPF)
|
||||||
|
and one high pass filter (HPF) which can be used to filter the output
|
||||||
|
data. First, raw sensor data are always filtered by LPF1 with a cutoff
|
||||||
|
frequency that is fixed for the selected output data rate (ODR).
|
||||||
|
The resulting data can then optionally be filtered by HPF and LPF2.
|
||||||
|
Both filters can be used or bypassed.
|
||||||
|
Please note: The filter selection for the output data also affects the
|
||||||
|
filter selection for event interrupt generation. If the HPF is enabled
|
||||||
|
for filtering the output data, it is also active for filtering the
|
||||||
|
sensor data used for interrupt generation if the LPF2 is enabled for
|
||||||
|
interrupt generation.
|
||||||
|
|
||||||
|
config L3GXXXX_NO_FILTER
|
||||||
|
bool "HPF and LPF2 are not used"
|
||||||
|
|
||||||
|
config L3GXXXX_HPF_ONLY
|
||||||
|
bool "only HPF is used"
|
||||||
|
|
||||||
|
config L3GXXXX_LPF2_ONLY
|
||||||
|
bool "only LPF2 used"
|
||||||
|
|
||||||
|
config L3GXXXX_HPF_AND_LPF2
|
||||||
|
bool "HPF and LPF2 are used"
|
||||||
|
|
||||||
|
endchoice
|
||||||
|
|
||||||
|
if L3GXXXX_HPF_ONLY || L3GXXXX_HPF_AND_LPF2 || L3GXXXX_INT1_HPF_ONLY || L3GXXXX_INT1_HPF_AND_LPF2
|
||||||
|
|
||||||
|
choice
|
||||||
|
bool "HPF mode"
|
||||||
|
help
|
||||||
|
The high pass filter (HPF) can be used in different modes. Select
|
||||||
|
the right one.
|
||||||
|
|
||||||
|
config L3GXXXX_HPF_NORMAL
|
||||||
|
bool "Normal mode"
|
||||||
|
help
|
||||||
|
In Normal mode, the HPF is reset by reading REFERENCE register.
|
||||||
|
|
||||||
|
config L3GXXXX_HPF_REFERENCE
|
||||||
|
bool "Reference mode"
|
||||||
|
help
|
||||||
|
In Reference mode, the output data are the difference to the
|
||||||
|
value written to the REFERENCE register.
|
||||||
|
|
||||||
|
config L3GXXXX_HPF_AUTORESET
|
||||||
|
bool "Autoreset mode"
|
||||||
|
help
|
||||||
|
In Autoreset mode, the HPF is automatically reset when a configured
|
||||||
|
interrupt event occurs.
|
||||||
|
|
||||||
|
endchoice
|
||||||
|
|
||||||
|
config L3GXXXX_HPF_CUTOFF
|
||||||
|
int "HPF cutoff frequency n = [0...9]"
|
||||||
|
range 0 9
|
||||||
|
default 0
|
||||||
|
help
|
||||||
|
The cutoff frequency is specified as a value from 0 to 9, which defines
|
||||||
|
the cutoff frequency depending on the selected sensor mode and the
|
||||||
|
output data rate. Details can be found in the data sheet for the CTRL2
|
||||||
|
register field HPCF.
|
||||||
|
|
||||||
|
endif # L3GXXXX_HPF_ONLY || L3GXXXX_HPF_AND_LPF2 || L3GXXXX_INT1_HPF_ONLY || L3GXXXX_INT1_HPF_AND_LPF2
|
||||||
|
|
||||||
|
config MODULE_L3GXXXX_FIFO
|
||||||
|
bool "Support for the 32 level FIFO"
|
||||||
|
help
|
||||||
|
The 32 level FIFO is used to collect a number of sensor
|
||||||
|
data samples before the data have to be fetched by the MCU.
|
||||||
|
|
||||||
|
if MODULE_L3GXXXX_FIFO
|
||||||
|
|
||||||
|
choice
|
||||||
|
bool "FIFO mode"
|
||||||
|
default L3GXXXX_FIFO_MODE_FIFO
|
||||||
|
help
|
||||||
|
The 32 level FIFO is used to collect a number of sensor
|
||||||
|
data samples before the data have to be fetched by the MCU. Select
|
||||||
|
the right mode of the FIFO.
|
||||||
|
|
||||||
|
config L3GXXXX_FIFO_MODE_BYPASS
|
||||||
|
bool "Bypass mode (FIFO is not used)"
|
||||||
|
help
|
||||||
|
The FIFO is not used.
|
||||||
|
|
||||||
|
config L3GXXXX_FIFO_MODE_FIFO
|
||||||
|
bool "FIFO mode"
|
||||||
|
help
|
||||||
|
Data samples are stored in the FIFO until it is full.
|
||||||
|
|
||||||
|
config L3GXXXX_FIFO_MODE_STREAM
|
||||||
|
bool "Stream mode"
|
||||||
|
help
|
||||||
|
The FIFO is used as ring buffer and newest data samples are stored.
|
||||||
|
continuously
|
||||||
|
|
||||||
|
config L3GXXXX_FIFO_MODE_DYNAMIC_STREAM
|
||||||
|
bool "Dynamic Stream mode"
|
||||||
|
help
|
||||||
|
Like the Stream mode, but differs in reading the first data sample
|
||||||
|
after emptying.
|
||||||
|
|
||||||
|
config L3GXXXX_FIFO_MODE_STREAM_TO_FIFO
|
||||||
|
bool "Stream-to-FIFO mode"
|
||||||
|
help
|
||||||
|
The FIFO is used in stream mode until an event interrupt is triggered
|
||||||
|
and then switches to FIFO mode.
|
||||||
|
|
||||||
|
config L3GXXXX_FIFO_MODE_BYPASS_TO_STREAM
|
||||||
|
bool "Bypass-to-Stream mode"
|
||||||
|
help
|
||||||
|
The FIFO is not used until an event interrupt is triggered
|
||||||
|
and then switches to Stream mode
|
||||||
|
|
||||||
|
config L3GXXXX_FIFO_MODE_BYPASS_TO_FIFO
|
||||||
|
bool "Bypass-to-FIFO mode"
|
||||||
|
help
|
||||||
|
The FIFO is not used until an event interrupt is triggered
|
||||||
|
and then switches to FIFO mode.
|
||||||
|
|
||||||
|
endchoice
|
||||||
|
|
||||||
|
config L3GXXXX_FIFO_WATERMARK
|
||||||
|
int "FIFO watermark level (threshold)"
|
||||||
|
range 1 23
|
||||||
|
default 31
|
||||||
|
help
|
||||||
|
If the number of data samples in FIFO becomes greater than this
|
||||||
|
watermark level (threshold), the WTM (FTH) flag in FIFO_SRC register
|
||||||
|
is set and an interrupt can be triggered on signal INT2/DRDY if data
|
||||||
|
ready and FIFO status interrupts is enabled.
|
||||||
|
|
||||||
|
endif # MODULE_L3GXXXX_FIFO
|
||||||
|
|
||||||
|
config MODULE_L3GXXXX_IRQ_EVENT
|
||||||
|
bool "Support for event interrupts on signal INT1"
|
||||||
|
depends on HAS_PERIPH_GPIO_IRQ
|
||||||
|
select MODULE_PERIPH_GPIO_IRQ
|
||||||
|
help
|
||||||
|
Event interrupts on signal INT2/DRDY can be used to recognize
|
||||||
|
axes movements or wake-up.
|
||||||
|
|
||||||
|
if MODULE_L3GXXXX_IRQ_EVENT
|
||||||
|
|
||||||
|
config L3GXXXX_INT1_X_THRESH
|
||||||
|
int "Threshold for X axis events"
|
||||||
|
range 0 32767
|
||||||
|
default 4012
|
||||||
|
help
|
||||||
|
Threshold values are defined for raw data values. Their resolution
|
||||||
|
therefore depends on the selected full range (default ~30 at 245 dps):
|
||||||
|
254 dps -> LSB value ~7.5 mdps,
|
||||||
|
500 dps -> LSB value ~15.3 mdps,
|
||||||
|
2000 dps -> LSB value ~61 mdps
|
||||||
|
|
||||||
|
config L3GXXXX_INT1_Y_THRESH
|
||||||
|
int "Threshold for Y axis events"
|
||||||
|
range 0 32767
|
||||||
|
default 4012
|
||||||
|
help
|
||||||
|
Threshold values are defined for raw data values. Their resolution
|
||||||
|
therefore depends on the selected full range (default ~30 at 245 dps):
|
||||||
|
254 dps -> LSB value ~7.5 mdps,
|
||||||
|
500 dps -> LSB value ~15.3 mdps,
|
||||||
|
2000 dps -> LSB value ~61 mdps
|
||||||
|
|
||||||
|
config L3GXXXX_INT1_Z_THRESH
|
||||||
|
int "Threshold for Z axis events"
|
||||||
|
range 0 32767
|
||||||
|
default 4012
|
||||||
|
help
|
||||||
|
Threshold values are defined for raw data values. Their resolution
|
||||||
|
therefore depends on the selected full range (default ~30 at 245 dps):
|
||||||
|
254 dps -> LSB value ~7.5 mdps,
|
||||||
|
500 dps -> LSB value ~15.3 mdps,
|
||||||
|
2000 dps -> LSB value ~61 mdps
|
||||||
|
|
||||||
|
config L3GXXXX_INT1_X_GT_THRESH
|
||||||
|
bool "Interrupt generation enabled for |X| > X threshold (X high event)"
|
||||||
|
default y
|
||||||
|
|
||||||
|
config L3GXXXX_INT1_X_LT_THRESH
|
||||||
|
bool "Interrupt generation enabled for |X| < X threshold (X low event)"
|
||||||
|
default n
|
||||||
|
|
||||||
|
config L3GXXXX_INT1_Y_GT_THRESH
|
||||||
|
bool "Interrupt generation enabled for |Y| > Y threshold (Y high event)"
|
||||||
|
default y
|
||||||
|
|
||||||
|
config L3GXXXX_INT1_Y_LT_THRESH
|
||||||
|
bool "Interrupt generation enabled for |Y| < Y threshold (Y low event)"
|
||||||
|
default n
|
||||||
|
|
||||||
|
config L3GXXXX_INT1_Z_GT_THRESH
|
||||||
|
bool "Interrupt generation enabled for |Z| > Z threshold (Z high event)"
|
||||||
|
default y
|
||||||
|
|
||||||
|
config L3GXXXX_INT1_Z_LT_THRESH
|
||||||
|
bool "Interrupt generation enabled for |Z| < Z threshold (Z low event)"
|
||||||
|
default n
|
||||||
|
|
||||||
|
choice
|
||||||
|
bool "Filters used for event interrupt generation"
|
||||||
|
default L3GXXXX_INT1_HPF_AND_LPF2
|
||||||
|
help
|
||||||
|
The combination of high pass filter (HPF) and low pass filter 2 (LPF2)
|
||||||
|
can also be used to filter the sensor data for event interrupt
|
||||||
|
generation.
|
||||||
|
Please note: The filter selection for the interrupt generation also
|
||||||
|
affects the filter selection for the output data. If the HPF is enabled
|
||||||
|
for interrupt generation, it is also active for filtering the
|
||||||
|
output data if the LPF2 is enabled for output data.
|
||||||
|
|
||||||
|
config L3GXXXX_INT1_NO_FILTER
|
||||||
|
bool "HPF and LPF2 are not used"
|
||||||
|
|
||||||
|
config L3GXXXX_INT1_HPF_ONLY
|
||||||
|
bool "only HPF is used"
|
||||||
|
|
||||||
|
config L3GXXXX_INT1_LPF2_ONLY
|
||||||
|
bool "only LPF2 used"
|
||||||
|
|
||||||
|
config L3GXXXX_INT1_HPF_AND_LPF2
|
||||||
|
bool "HPF and LPF2 are used"
|
||||||
|
|
||||||
|
endchoice
|
||||||
|
|
||||||
|
config L3GXXXX_INT1_AND
|
||||||
|
bool "Combination of interupt events"
|
||||||
|
default n
|
||||||
|
help
|
||||||
|
y (AND) = all enabled axes passed their tresholds,
|
||||||
|
n (OR) = at least one axis passed its threshold
|
||||||
|
|
||||||
|
config L3GXXXX_INT1_LATCH
|
||||||
|
bool "Interrupt latch enable"
|
||||||
|
default n
|
||||||
|
help
|
||||||
|
If enabled, the interrupt is latched until the interrupt source has
|
||||||
|
been read.
|
||||||
|
|
||||||
|
endif # MODULE_L3GXXXX_IRQ_EVENT
|
||||||
|
|
||||||
|
config MODULE_L3GXXXX_IRQ_DATA
|
||||||
|
bool "Support for data interrupts on signal INT2/DRDY (Data Ready and FIFO status)"
|
||||||
|
depends on HAS_PERIPH_GPIO_IRQ
|
||||||
|
select MODULE_PERIPH_GPIO_IRQ
|
||||||
|
help
|
||||||
|
Data ready and FIFO status interrupts on signal INT2/DRDY
|
||||||
|
can be used to determine when data are ready to be read or when the
|
||||||
|
status of the FIFO changes.
|
||||||
|
|
||||||
|
config MODULE_L3GXXXX_SLEEP
|
||||||
|
bool "Support for sleep and wake-up function"
|
||||||
|
|
||||||
|
config MODULE_L3GXXXX_CONFIG
|
||||||
|
bool "Support for configuration of the sensor at runtime"
|
||||||
|
|
||||||
|
endif # MODULE_L3GXXXX
|
||||||
1
drivers/l3gxxxx/Makefile
Normal file
1
drivers/l3gxxxx/Makefile
Normal file
@ -0,0 +1 @@
|
|||||||
|
include $(RIOTMAKE)/driver_with_saul.mk
|
||||||
25
drivers/l3gxxxx/Makefile.dep
Normal file
25
drivers/l3gxxxx/Makefile.dep
Normal file
@ -0,0 +1,25 @@
|
|||||||
|
ifeq (,$(filter l3gd20% l3g4200d_ng %3g4250d,$(USEMODULE)))
|
||||||
|
# pull in L3GD20H variant by default if no interface is defined
|
||||||
|
USEMODULE += l3gd20h
|
||||||
|
endif
|
||||||
|
|
||||||
|
ifeq (,$(filter l3gxxxx_spi,$(USEMODULE)))
|
||||||
|
# pull in I2C variant by default if no interface is defined
|
||||||
|
USEMODULE += l3gxxxx_i2c
|
||||||
|
endif
|
||||||
|
|
||||||
|
ifneq (,$(filter l3gxxxx_spi,$(USEMODULE)))
|
||||||
|
FEATURES_REQUIRED += periph_spi
|
||||||
|
endif
|
||||||
|
|
||||||
|
ifneq (,$(filter l3gxxxx_i2c,$(USEMODULE)))
|
||||||
|
FEATURES_REQUIRED += periph_i2c
|
||||||
|
endif
|
||||||
|
|
||||||
|
ifneq (,$(filter l3gxxxx_irq_%,$(USEMODULE)))
|
||||||
|
USEMODULE += l3gxxxx_irq
|
||||||
|
endif
|
||||||
|
|
||||||
|
ifneq (,$(filter l3gxxxx_irq,$(USEMODULE)))
|
||||||
|
FEATURES_REQUIRED += periph_gpio_irq
|
||||||
|
endif
|
||||||
19
drivers/l3gxxxx/Makefile.include
Normal file
19
drivers/l3gxxxx/Makefile.include
Normal file
@ -0,0 +1,19 @@
|
|||||||
|
# include variants of L3Gxxxx driver as pseudo modules
|
||||||
|
PSEUDOMODULES += a3g4250d
|
||||||
|
PSEUDOMODULES += i3g4250d
|
||||||
|
PSEUDOMODULES += l3g4200d_ng
|
||||||
|
PSEUDOMODULES += l3gd20
|
||||||
|
PSEUDOMODULES += l3gd20h
|
||||||
|
|
||||||
|
PSEUDOMODULES += l3gxxxx_i2c
|
||||||
|
PSEUDOMODULES += l3gxxxx_spi
|
||||||
|
PSEUDOMODULES += l3gxxxx_low_odr
|
||||||
|
PSEUDOMODULES += l3gxxxx_fifo
|
||||||
|
PSEUDOMODULES += l3gxxxx_irq
|
||||||
|
PSEUDOMODULES += l3gxxxx_irq_data
|
||||||
|
PSEUDOMODULES += l3gxxxx_irq_event
|
||||||
|
PSEUDOMODULES += l3gxxxx_sleep
|
||||||
|
PSEUDOMODULES += l3gxxxx_config
|
||||||
|
|
||||||
|
USEMODULE_INCLUDES_l3gxxxx := $(LAST_MAKEFILEDIR)/include
|
||||||
|
USEMODULE_INCLUDES += $(USEMODULE_INCLUDES_l3gxxxx)
|
||||||
385
drivers/l3gxxxx/include/l3gxxxx_params.h
Normal file
385
drivers/l3gxxxx/include/l3gxxxx_params.h
Normal file
@ -0,0 +1,385 @@
|
|||||||
|
/*
|
||||||
|
* Copyright (C) 2018 Gunar Schorcht
|
||||||
|
*
|
||||||
|
* This file is subject to the terms and conditions of the GNU Lesser
|
||||||
|
* General Public License v2.1. See the file LICENSE in the top level
|
||||||
|
* directory for more details.
|
||||||
|
*/
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @ingroup drivers_l3gxxxx
|
||||||
|
* @brief Default configuration for ST L3Gxxxx 3-axis gyroscope sensor family
|
||||||
|
* @author Gunar Schorcht <gunar@schorcht.net>
|
||||||
|
* @file
|
||||||
|
* @{
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef L3GXXXX_PARAMS_H
|
||||||
|
#define L3GXXXX_PARAMS_H
|
||||||
|
|
||||||
|
#include "board.h"
|
||||||
|
#include "l3gxxxx.h"
|
||||||
|
#include "saul_reg.h"
|
||||||
|
|
||||||
|
#ifdef __cplusplus
|
||||||
|
extern "C" {
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @name Default hardware configuration
|
||||||
|
* @{
|
||||||
|
*/
|
||||||
|
#if IS_USED(MODULE_L3GXXXX_I2C) || DOXYGEN
|
||||||
|
|
||||||
|
#ifndef L3GXXXX_I2C_DEV
|
||||||
|
/** Default I2C device, if the I2C interface is used */
|
||||||
|
#define L3GXXXX_I2C_DEV (I2C_DEV(0))
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifndef L3GXXXX_I2C_ADDR
|
||||||
|
/** Default I2C address, if the I2C interface is used */
|
||||||
|
#define L3GXXXX_I2C_ADDR (L3GXXXX_I2C_ADDR_2)
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifndef L3GXXXX_I2C_IF_PARAMS
|
||||||
|
/** Default I2C interface parameter set */
|
||||||
|
#define L3GXXXX_I2C_IF_PARAMS .if_params.type = L3GXXXX_I2C, \
|
||||||
|
.if_params.i2c.dev = L3GXXXX_I2C_DEV, \
|
||||||
|
.if_params.i2c.addr = L3GXXXX_I2C_ADDR,
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#endif /* MODULE_L3GXXXX_I2C || DOXYGEN */
|
||||||
|
|
||||||
|
#if IS_USED(MODULE_L3GXXXX_SPI) || DOXYGEN
|
||||||
|
|
||||||
|
#ifndef L3GXXXX_SPI_DEV
|
||||||
|
/** Default SPI device, if the SPI interface is used */
|
||||||
|
#define L3GXXXX_SPI_DEV SPI_DEV(0)
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifndef L3GXXXX_SPI_CLK
|
||||||
|
/** Default SPI clock frequency, if the SPI interface is used */
|
||||||
|
#define L3GXXXX_SPI_CLK (SPI_CLK_1MHZ)
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifndef L3GXXXX_SPI_CS
|
||||||
|
/** Default SPI CS signal, if the SPI interface is used */
|
||||||
|
#define L3GXXXX_SPI_CS (GPIO_PIN(0, 0))
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifndef L3GXXXX_SPI_IF_PARAMS
|
||||||
|
/** Default SPI interface parameter set */
|
||||||
|
#define L3GXXXX_SPI_IF_PARAMS .if_params.type = L3GXXXX_SPI, \
|
||||||
|
.if_params.spi.dev = L3GXXXX_SPI_DEV, \
|
||||||
|
.if_params.spi.clk = L3GXXXX_SPI_CLK, \
|
||||||
|
.if_params.spi.cs = L3GXXXX_SPI_CS,
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#endif /* MODULE_L3GXXXX_SPI || DOXYGEN */
|
||||||
|
|
||||||
|
#ifndef L3GXXXX_INT1_PIN
|
||||||
|
/** Default MCU pin for INT1 signal */
|
||||||
|
#define L3GXXXX_INT1_PIN (GPIO_PIN(0, 1))
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifndef L3GXXXX_INT2_PIN
|
||||||
|
/** Default MCU pin for INT2/DRDY signal */
|
||||||
|
#define L3GXXXX_INT2_PIN (GPIO_PIN(0, 2))
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/** @} */
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @name Default sensor configuration
|
||||||
|
* @{
|
||||||
|
*/
|
||||||
|
#if !DOXYGEN
|
||||||
|
/* Mapping of Kconfig defines to the respective driver enumeration values */
|
||||||
|
|
||||||
|
#ifdef CONFIG_L3GXXXX_ODR_100_12
|
||||||
|
#define CONFIG_L3GXXXX_ODR (L3GXXXX_ODR_100_12)
|
||||||
|
#elif CONFIG_L3GXXXX_ODR_100_25
|
||||||
|
#define CONFIG_L3GXXXX_ODR (L3GXXXX_ODR_100_25)
|
||||||
|
#elif CONFIG_L3GXXXX_ODR_200_12
|
||||||
|
#define CONFIG_L3GXXXX_ODR (L3GXXXX_ODR_200_12)
|
||||||
|
#elif CONFIG_L3GXXXX_ODR_200_25
|
||||||
|
#define CONFIG_L3GXXXX_ODR (L3GXXXX_ODR_200_25)
|
||||||
|
#elif CONFIG_L3GXXXX_ODR_200_50
|
||||||
|
#define CONFIG_L3GXXXX_ODR (L3GXXXX_ODR_200_50)
|
||||||
|
#elif CONFIG_L3GXXXX_ODR_200_70
|
||||||
|
#define CONFIG_L3GXXXX_ODR (L3GXXXX_ODR_200_70)
|
||||||
|
#elif CONFIG_L3GXXXX_ODR_400_20
|
||||||
|
#define CONFIG_L3GXXXX_ODR (L3GXXXX_ODR_400_20)
|
||||||
|
#elif CONFIG_L3GXXXX_ODR_400_25
|
||||||
|
#define CONFIG_L3GXXXX_ODR (L3GXXXX_ODR_400_25)
|
||||||
|
#elif CONFIG_L3GXXXX_ODR_400_50
|
||||||
|
#define CONFIG_L3GXXXX_ODR (L3GXXXX_ODR_400_50)
|
||||||
|
#elif CONFIG_L3GXXXX_ODR_400_110
|
||||||
|
#define CONFIG_L3GXXXX_ODR (L3GXXXX_ODR_400_110)
|
||||||
|
#elif CONFIG_L3GXXXX_ODR_800_30
|
||||||
|
#define CONFIG_L3GXXXX_ODR (L3GXXXX_ODR_800_30)
|
||||||
|
#elif CONFIG_L3GXXXX_ODR_800_35
|
||||||
|
#define CONFIG_L3GXXXX_ODR (L3GXXXX_ODR_800_35)
|
||||||
|
#elif CONFIG_L3GXXXX_ODR_800_50
|
||||||
|
#define CONFIG_L3GXXXX_ODR (L3GXXXX_ODR_800_50)
|
||||||
|
#elif CONFIG_L3GXXXX_ODR_800_100
|
||||||
|
#define CONFIG_L3GXXXX_ODR (L3GXXXX_ODR_800_100)
|
||||||
|
#elif CONFIG_L3GXXXX_ODR_12
|
||||||
|
#define CONFIG_L3GXXXX_ODR (L3GXXXX_ODR_12)
|
||||||
|
#elif CONFIG_L3GXXXX_ODR_25
|
||||||
|
#define CONFIG_L3GXXXX_ODR (L3GXXXX_ODR_25)
|
||||||
|
#elif CONFIG_L3GXXXX_ODR_50
|
||||||
|
#define CONFIG_L3GXXXX_ODR (L3GXXXX_ODR_50)
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifdef CONFIG_L3GXXXX_SCALE_245_DPS
|
||||||
|
#define CONFIG_L3GXXXX_SCALE (L3GXXXX_SCALE_245_DPS)
|
||||||
|
#elif CONFIG_L3GXXXX_SCALE_500_DPS
|
||||||
|
#define CONFIG_L3GXXXX_SCALE (L3GXXXX_SCALE_500_DPS)
|
||||||
|
#elif CONFIG_L3GXXXX_SCALE_2000_DPS
|
||||||
|
#define CONFIG_L3GXXXX_SCALE (L3GXXXX_SCALE_2000_DPS)
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifdef CONFIG_L3GXXXX_NO_FILTER
|
||||||
|
#define CONFIG_L3GXXXX_FILTER_SEL (L3GXXXX_NO_FILTER)
|
||||||
|
#elif CONFIG_L3GXXXX_HPF_ONLY
|
||||||
|
#define CONFIG_L3GXXXX_FILTER_SEL (L3GXXXX_HPF_ONLY)
|
||||||
|
#elif CONFIG_L3GXXXX_LPF2_ONLY
|
||||||
|
#define CONFIG_L3GXXXX_FILTER_SEL (L3GXXXX_LPF2_ONLY)
|
||||||
|
#elif CONFIG_L3GXXXX_HPF_AND_LPF2
|
||||||
|
#define CONFIG_L3GXXXX_FILTER_SEL (L3GXXXX_HPF_AND_LPF2)
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifdef CONFIG_L3GXXXX_HPF_NORMAL
|
||||||
|
#define CONFIG_L3GXXXX_HPF_MODE (L3GXXXX_HPF_NORMAL)
|
||||||
|
#elif CONFIG_L3GXXXX_HPF_REFERENCE
|
||||||
|
#define CONFIG_L3GXXXX_HPF_MODE (L3GXXXX_HPF_REFERENCE)
|
||||||
|
#elif CONFIG_L3GXXXX_HPF_AUTORESET
|
||||||
|
#define CONFIG_L3GXXXX_HPF_MODE (L3GXXXX_HPF_AUTORESET)
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifdef CONFIG_L3GXXXX_FIFO_MODE_BYPASS
|
||||||
|
#define CONFIG_L3GXXXX_FIFO_MODE (L3GXXXX_BYPASS)
|
||||||
|
#elif CONFIG_L3GXXXX_FIFO_MODE_FIFO
|
||||||
|
#define CONFIG_L3GXXXX_FIFO_MODE (L3GXXXX_FIFO)
|
||||||
|
#elif CONFIG_L3GXXXX_FIFO_MODE_STREAM
|
||||||
|
#define CONFIG_L3GXXXX_FIFO_MODE (L3GXXXX_STREAM)
|
||||||
|
#elif CONFIG_L3GXXXX_FIFO_MODE_STREAM_TO_FIFO
|
||||||
|
#define CONFIG_L3GXXXX_FIFO_MODE (L3GXXXX_STREAM_TO_FIFO)
|
||||||
|
#elif CONFIG_L3GXXXX_FIFO_MODE_BYPASS_TO_STREAM
|
||||||
|
#define CONFIG_L3GXXXX_FIFO_MODE (L3GXXXX_BYPASS_TO_STREAM)
|
||||||
|
#elif CONFIG_L3GXXXX_FIFO_MODE_DYNAMIC_STREAM
|
||||||
|
#define CONFIG_L3GXXXX_FIFO_MODE (L3GXXXX_DYNAMIC_STREAM
|
||||||
|
#elif CONFIG_L3GXXXX_FIFO_MODE_BYPASS_TO_FIFO
|
||||||
|
#define CONFIG_L3GXXXX_FIFO_MODE (L3GXXXX_BYPASS_TO_FIFO)
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifdef CONFIG_L3GXXXX_INT1_NO_FILTER
|
||||||
|
#define CONFIG_L3GXXXX_INT1_FILTER (L3GXXXX_NO_FILTER)
|
||||||
|
#elif CONFIG_L3GXXXX_INT1_HPF_ONLY
|
||||||
|
#define CONFIG_L3GXXXX_INT1_FILTER (L3GXXXX_HPF_ONLY)
|
||||||
|
#elif CONFIG_L3GXXXX_INT1_LPF2_ONLY
|
||||||
|
#define CONFIG_L3GXXXX_INT1_FILTER (L3GXXXX_LPF2_ONLY)
|
||||||
|
#elif CONFIG_L3GXXXX_INT1_HPF_AND_LPF2
|
||||||
|
#define CONFIG_L3GXXXX_INT1_FILTER (L3GXXXX_HPF_AND_LPF2)
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#endif /* !DOXYGEN */
|
||||||
|
|
||||||
|
#ifndef CONFIG_L3GXXXX_ODR
|
||||||
|
/** Default ODR and cut-off frequency */
|
||||||
|
#define CONFIG_L3GXXXX_ODR (L3GXXXX_ODR_100_25)
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifndef CONFIG_L3GXXXX_SCALE
|
||||||
|
/** Default full scale */
|
||||||
|
#define CONFIG_L3GXXXX_SCALE (L3GXXXX_SCALE_245_DPS)
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifndef CONFIG_L3GXXXX_FILTER_SEL
|
||||||
|
/** Default filter selection used for output data */
|
||||||
|
#define CONFIG_L3GXXXX_FILTER_SEL (L3GXXXX_HPF_AND_LPF2)
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifndef CONFIG_L3GXXXX_HPF_MODE
|
||||||
|
/** Default HPF mode used for output data */
|
||||||
|
#define CONFIG_L3GXXXX_HPF_MODE (L3GXXXX_HPF_NORMAL)
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifndef CONFIG_L3GXXXX_HPF_CUTOFF
|
||||||
|
/** Default HPF cutoff frequency 8 Hz */
|
||||||
|
#define CONFIG_L3GXXXX_HPF_CUTOFF (0)
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifndef CONFIG_L3GXXXX_FIFO_MODE
|
||||||
|
/** Default FIFO mode if FIO is used */
|
||||||
|
#define CONFIG_L3GXXXX_FIFO_MODE (L3GXXXX_FIFO)
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifndef CONFIG_L3GXXXX_FIFO_WATERMARK
|
||||||
|
/** Default FIFO watermark level (threshold) value if FIO is used */
|
||||||
|
#define CONFIG_L3GXXXX_FIFO_WATERMARK (23)
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifndef CONFIG_L3GXXXX_INT1_X_THRESH
|
||||||
|
/** Default INT1 threshold for X axis events (~30 dps at fulls scale of ±245 dps) */
|
||||||
|
#define CONFIG_L3GXXXX_INT1_X_THRESH (4012)
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifndef CONFIG_L3GXXXX_INT1_X_GT_THRESH
|
||||||
|
/** Default INT1 interrupt enable for |X| > X threshold (X high event) */
|
||||||
|
#define CONFIG_L3GXXXX_INT1_X_GT_THRESH (true)
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifndef CONFIG_L3GXXXX_INT1_X_LT_THRESH
|
||||||
|
/** Default INT1 interrupt enable for |X| < X threshold (X low event) */
|
||||||
|
#define CONFIG_L3GXXXX_INT1_X_LT_THRESH (false)
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifndef CONFIG_L3GXXXX_INT1_Y_THRESH
|
||||||
|
/** Default INT1 threshold for Y axis events (~30 dps at fulls scale of ±245 dps) */
|
||||||
|
#define CONFIG_L3GXXXX_INT1_Y_THRESH (4012)
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifndef CONFIG_L3GXXXX_INT1_Y_GT_THRESH
|
||||||
|
/** Default INT1 interrupt enable for |Y| < Y threshold (Y low event) */
|
||||||
|
#define CONFIG_L3GXXXX_INT1_Y_GT_THRESH (true)
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifndef CONFIG_L3GXXXX_INT1_Y_LT_THRESH
|
||||||
|
/** Default INT1 interrupt enable for |Y| > Y threshold (Y high event) */
|
||||||
|
#define CONFIG_L3GXXXX_INT1_Y_LT_THRESH (false)
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifndef CONFIG_L3GXXXX_INT1_Z_THRESH
|
||||||
|
/** Default INT1 threshold for Z axis events (~30 dps at fulls scale of ±245 dps) */
|
||||||
|
#define CONFIG_L3GXXXX_INT1_Z_THRESH (4012)
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifndef CONFIG_L3GXXXX_INT1_Z_GT_THRESH
|
||||||
|
/** Default INT1 interrupt enable for |Z| < Z threshold (Z low event) */
|
||||||
|
#define CONFIG_L3GXXXX_INT1_Z_GT_THRESH (true)
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifndef CONFIG_L3GXXXX_INT1_Z_LT_THRESH
|
||||||
|
/** Default INT1 interrupt enable for |Z| > Z threshold (Z high event) */
|
||||||
|
#define CONFIG_L3GXXXX_INT1_Z_LT_THRESH (false)
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifndef CONFIG_L3GXXXX_INT1_FILTER
|
||||||
|
/** Default filter selection used for INT1 interrupt */
|
||||||
|
#define CONFIG_L3GXXXX_INT1_FILTER (L3GXXXX_HPF_AND_LPF2)
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifndef CONFIG_L3GXXXX_INT1_AND
|
||||||
|
/** Default event interrupt combination is OR */
|
||||||
|
#define CONFIG_L3GXXXX_INT1_AND (false)
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifndef CONFIG_L3GXXXX_INT1_LATCH
|
||||||
|
/** Default INT1 event interrupt latch enabled */
|
||||||
|
#define CONFIG_L3GXXXX_INT1_LATCH (true)
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#if IS_USED(MODULE_L3GXXXX_IRQ_EVENT) || DOXYGEN
|
||||||
|
/** Default INT1 parameter set */
|
||||||
|
#define L3GXXXX_INT1_PARAMS .int1_pin = L3GXXXX_INT1_PIN, \
|
||||||
|
.int1_cfg.x_high_enabled = CONFIG_L3GXXXX_INT1_X_GT_THRESH, \
|
||||||
|
.int1_cfg.y_high_enabled = CONFIG_L3GXXXX_INT1_Y_GT_THRESH, \
|
||||||
|
.int1_cfg.z_high_enabled = CONFIG_L3GXXXX_INT1_Z_GT_THRESH, \
|
||||||
|
.int1_cfg.x_low_enabled = CONFIG_L3GXXXX_INT1_X_LT_THRESH, \
|
||||||
|
.int1_cfg.y_low_enabled = CONFIG_L3GXXXX_INT1_Y_LT_THRESH, \
|
||||||
|
.int1_cfg.z_low_enabled = CONFIG_L3GXXXX_INT1_Z_LT_THRESH, \
|
||||||
|
.int1_cfg.x_threshold = CONFIG_L3GXXXX_INT1_X_THRESH, \
|
||||||
|
.int1_cfg.y_threshold = CONFIG_L3GXXXX_INT1_Y_THRESH, \
|
||||||
|
.int1_cfg.z_threshold = CONFIG_L3GXXXX_INT1_Z_THRESH, \
|
||||||
|
.int1_cfg.filter = CONFIG_L3GXXXX_INT1_FILTER, \
|
||||||
|
.int1_cfg.and_or = CONFIG_L3GXXXX_INT1_AND, \
|
||||||
|
.int1_cfg.latch = CONFIG_L3GXXXX_INT1_LATCH,
|
||||||
|
#else
|
||||||
|
#define L3GXXXX_INT1_PARAMS
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#if IS_USED(MODULE_L3GXXXX_IRQ_DATA) || DOXYGEN
|
||||||
|
/** Default INT2 parameter set */
|
||||||
|
#define L3GXXXX_INT2_PARAMS .int2_pin = L3GXXXX_INT2_PIN,
|
||||||
|
#else
|
||||||
|
#define L3GXXXX_INT2_PARAMS
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#if IS_USED(MODULE_L3GXXXX_FIFO) || DOXYGEN
|
||||||
|
/** Default FIFO parameter set */
|
||||||
|
#define L3GXXXX_FIFO_PARAMS .fifo_mode = CONFIG_L3GXXXX_FIFO_MODE, \
|
||||||
|
.fifo_watermark = CONFIG_L3GXXXX_FIFO_WATERMARK,
|
||||||
|
#else
|
||||||
|
#define L3GXXXX_FIFO_PARAMS
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#if IS_USED(MODULE_L3GXXXX_I2C) || DOXYGEN
|
||||||
|
|
||||||
|
#ifndef L3GXXXX_I2C_PARAMS
|
||||||
|
/** Default I2C device parameter set */
|
||||||
|
#define L3GXXXX_I2C_PARAMS { \
|
||||||
|
L3GXXXX_I2C_IF_PARAMS \
|
||||||
|
.odr = CONFIG_L3GXXXX_ODR, \
|
||||||
|
.scale = CONFIG_L3GXXXX_SCALE, \
|
||||||
|
.filter_sel = CONFIG_L3GXXXX_FILTER_SEL, \
|
||||||
|
.hpf_mode = CONFIG_L3GXXXX_HPF_MODE, \
|
||||||
|
.hpf_cutoff = CONFIG_L3GXXXX_HPF_CUTOFF, \
|
||||||
|
L3GXXXX_FIFO_PARAMS \
|
||||||
|
L3GXXXX_INT1_PARAMS \
|
||||||
|
L3GXXXX_INT2_PARAMS \
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
#endif /* MODULE_L3GXXXX_I2C || DOXYGEN */
|
||||||
|
|
||||||
|
#if IS_USED(MODULE_L3GXXXX_SPI) || DOXYGEN
|
||||||
|
#ifndef L3GXXXX_SPI_PARAMS
|
||||||
|
/** Default SPI device parameter set */
|
||||||
|
#define L3GXXXX_SPI_PARAMS { \
|
||||||
|
L3GXXXX_SPI_IF_PARAMS \
|
||||||
|
.odr = CONFIG_L3GXXXX_ODR, \
|
||||||
|
.scale = CONFIG_L3GXXXX_SCALE, \
|
||||||
|
.filter_sel = CONFIG_L3GXXXX_FILTER_SEL, \
|
||||||
|
.hpf_mode = CONFIG_L3GXXXX_HPF_MODE, \
|
||||||
|
.hpf_cutoff = CONFIG_L3GXXXX_HPF_CUTOFF, \
|
||||||
|
L3GXXXX_FIFO_PARAMS \
|
||||||
|
L3GXXXX_INT1_PARAMS \
|
||||||
|
L3GXXXX_INT2_PARAMS \
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
#endif /* MODULE_L3GXXXX_SPI || DOXYGEN */
|
||||||
|
|
||||||
|
#ifndef L3GXXXX_SAUL_INFO
|
||||||
|
/** Default SAUL device info */
|
||||||
|
#define L3GXXXX_SAUL_INFO { .name = "l3gxxxx" }
|
||||||
|
#endif
|
||||||
|
/**@}*/
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Allocate some memory to store the actual configuration
|
||||||
|
*/
|
||||||
|
static const l3gxxxx_params_t l3gxxxx_params[] =
|
||||||
|
{
|
||||||
|
#if IS_USED(MODULE_L3GXXXX_I2C) || DOXYGEN
|
||||||
|
L3GXXXX_I2C_PARAMS,
|
||||||
|
#endif
|
||||||
|
#if IS_USED(MODULE_L3GXXXX_SPI) || DOXYGEN
|
||||||
|
L3GXXXX_SPI_PARAMS,
|
||||||
|
#endif
|
||||||
|
};
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Additional meta information to keep in the SAUL registry
|
||||||
|
*/
|
||||||
|
static const saul_reg_info_t l3gxxxx_saul_info[] =
|
||||||
|
{
|
||||||
|
L3GXXXX_SAUL_INFO
|
||||||
|
};
|
||||||
|
|
||||||
|
#ifdef __cplusplus
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#endif /* L3GXXXX_PARAMS_H */
|
||||||
|
/** @} */
|
||||||
196
drivers/l3gxxxx/include/l3gxxxx_regs.h
Normal file
196
drivers/l3gxxxx/include/l3gxxxx_regs.h
Normal file
@ -0,0 +1,196 @@
|
|||||||
|
/*
|
||||||
|
* Copyright (C) 2018 Gunar Schorcht
|
||||||
|
*
|
||||||
|
* This file is subject to the terms and conditions of the GNU Lesser
|
||||||
|
* General Public License v2.1. See the file LICENSE in the top level
|
||||||
|
* directory for more details.
|
||||||
|
*/
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @ingroup drivers_l3gxxxx
|
||||||
|
* @brief Register definitions for ST L3Gxxxx 3-axis gyroscope sensor family
|
||||||
|
* @author Gunar Schorcht <gunar@schorcht.net>
|
||||||
|
* @file
|
||||||
|
* @{
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef L3GXXXX_REGS_H
|
||||||
|
#define L3GXXXX_REGS_H
|
||||||
|
|
||||||
|
#ifdef __cplusplus
|
||||||
|
extern "C"
|
||||||
|
{
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @name Register addresses
|
||||||
|
* @{
|
||||||
|
*/
|
||||||
|
#define L3GXXXX_REG_WHO_AM_I (0x0f) /**< Register address WHO_AM_I */
|
||||||
|
#define L3GXXXX_REG_CTRL1 (0x20) /**< Register address CTRL1 */
|
||||||
|
#define L3GXXXX_REG_CTRL2 (0x21) /**< Register address CTRL2 */
|
||||||
|
#define L3GXXXX_REG_CTRL3 (0x22) /**< Register address CTRL3 */
|
||||||
|
#define L3GXXXX_REG_CTRL4 (0x23) /**< Register address CTRL4 */
|
||||||
|
#define L3GXXXX_REG_CTRL5 (0x24) /**< Register address CTRL5 */
|
||||||
|
#define L3GXXXX_REG_REFERENCE (0x25) /**< Register address REFERENCE */
|
||||||
|
#define L3GXXXX_REG_OUT_TEMP (0x26) /**< Register address OUT_TEMP */
|
||||||
|
#define L3GXXXX_REG_STATUS (0x27) /**< Register address STATUS */
|
||||||
|
#define L3GXXXX_REG_OUT_X_L (0x28) /**< Register address OUT_X_L */
|
||||||
|
#define L3GXXXX_REG_OUT_X_H (0x29) /**< Register address OUT_X_H */
|
||||||
|
#define L3GXXXX_REG_OUT_Y_L (0x2a) /**< Register address OUT_Y_L */
|
||||||
|
#define L3GXXXX_REG_OUT_Y_H (0x2b) /**< Register address OUT_Y_H */
|
||||||
|
#define L3GXXXX_REG_OUT_Z_L (0x2c) /**< Register address OUT_Z_L */
|
||||||
|
#define L3GXXXX_REG_OUT_Z_H (0x2d) /**< Register address OUT_Z_H */
|
||||||
|
#define L3GXXXX_REG_FIFO_CTRL (0x2e) /**< Register address FIFO_CTRL */
|
||||||
|
#define L3GXXXX_REG_FIFO_SRC (0x2f) /**< Register address FIFO_SRC */
|
||||||
|
#define L3GXXXX_REG_IG_CFG (0x30) /**< Register address IG_CFG */
|
||||||
|
#define L3GXXXX_REG_IG_SRC (0x31) /**< Register address IG_SRC */
|
||||||
|
#define L3GXXXX_REG_IG_THS_XH (0x32) /**< Register address IG_THS_XH */
|
||||||
|
#define L3GXXXX_REG_IG_THS_XL (0x33) /**< Register address IG_THS_XL */
|
||||||
|
#define L3GXXXX_REG_IG_THS_YH (0x34) /**< Register address IG_THS_YH */
|
||||||
|
#define L3GXXXX_REG_IG_THS_YL (0x35) /**< Register address IG_THS_YL */
|
||||||
|
#define L3GXXXX_REG_IG_THS_ZH (0x36) /**< Register address IG_THS_ZH */
|
||||||
|
#define L3GXXXX_REG_IG_THS_ZL (0x37) /**< Register address IG_THS_ZL */
|
||||||
|
#define L3GXXXX_REG_IG_DURATION (0x38) /**< Register address IG_DURATION */
|
||||||
|
#define L3GXXXX_REG_LOW_ODR (0x39) /**< Register address LOW_ODR */
|
||||||
|
/** @} */
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @name Register structure definitions
|
||||||
|
* @{
|
||||||
|
*/
|
||||||
|
#define L3GXXXX_ZYXOR (0x80) /**< L3GXXXX_REG_STATUS<7> */
|
||||||
|
#define L3GXXXX_ZOR (0x40) /**< L3GXXXX_REG_STATUS<6> */
|
||||||
|
#define L3GXXXX_YOR (0x20) /**< L3GXXXX_REG_STATUS<5> */
|
||||||
|
#define L3GXXXX_XOR (0x10) /**< L3GXXXX_REG_STATUS<4> */
|
||||||
|
#define L3GXXXX_ZYXDA (0x08) /**< L3GXXXX_REG_STATUS<3> */
|
||||||
|
#define L3GXXXX_ZDA (0x04) /**< L3GXXXX_REG_STATUS<2> */
|
||||||
|
#define L3GXXXX_YDA (0x02) /**< L3GXXXX_REG_STATUS<1> */
|
||||||
|
#define L3GXXXX_XDA (0x01) /**< L3GXXXX_REG_STATUS<0> */
|
||||||
|
|
||||||
|
#define L3GXXXX_ANY_DATA_READY (0x07) /**< L3GXXXX_REG_STATUS<2:0> */
|
||||||
|
#define L3GXXXX_ANY_DATA_READY_S (0) /**< L3GXXXX_REG_STATUS<2:0> */
|
||||||
|
|
||||||
|
#define L3GXXXX_ODR (0xc0) /**< L3GXXXX_REG_CTRL1<7:6> */
|
||||||
|
#define L3GXXXX_BW (0x30) /**< L3GXXXX_REG_CTRL1<5:4> */
|
||||||
|
#define L3GXXXX_ODR_BW (0xf0) /**< L3GXXXX_REG_CTRL1<7:4> */
|
||||||
|
#define L3GXXXX_POWER_MODE (0x08) /**< L3GXXXX_REG_CTRL1<3> */
|
||||||
|
#define L3GXXXX_Z_ENABLED (0x04) /**< L3GXXXX_REG_CTRL1<2> */
|
||||||
|
#define L3GXXXX_Y_ENABLED (0x02) /**< L3GXXXX_REG_CTRL1<1> */
|
||||||
|
#define L3GXXXX_X_ENABLED (0x01) /**< L3GXXXX_REG_CTRL1<0> */
|
||||||
|
#define L3GXXXX_XYZ_ENABLED (0x07) /**< L3GXXXX_REG_CTRL1<2:0> */
|
||||||
|
|
||||||
|
#define L3GXXXX_ODR_S (6) /**< L3GXXXX_REG_CTRL1<7:6> */
|
||||||
|
#define L3GXXXX_BW_S (4) /**< L3GXXXX_REG_CTRL1<5:4> */
|
||||||
|
#define L3GXXXX_ODR_BW_S (4) /**< L3GXXXX_REG_CTRL1<7:4> */
|
||||||
|
#define L3GXXXX_POWER_MODE_S (3) /**< L3GXXXX_REG_CTRL1<3> */
|
||||||
|
#define L3GXXXX_Z_ENABLED_S (2) /**< L3GXXXX_REG_CTRL1<2> */
|
||||||
|
#define L3GXXXX_Y_ENABLED_S (1) /**< L3GXXXX_REG_CTRL1<1> */
|
||||||
|
#define L3GXXXX_X_ENABLED_S (1) /**< L3GXXXX_REG_CTRL1<0> */
|
||||||
|
#define L3GXXXX_XYZ_ENABLED_S (0) /**< L3GXXXX_REG_CTRL1<2:0> */
|
||||||
|
|
||||||
|
#define L3GXXXX_EXTR_EN (0x80) /**< L3GXXXX_REG_CTRL2<7> */
|
||||||
|
#define L3GXXXX_LVL_EN (0x40) /**< L3GXXXX_REG_CTRL2<6> */
|
||||||
|
#define L3GXXXX_HPF_MODE (0x30) /**< L3GXXXX_REG_CTRL2<5:4> */
|
||||||
|
#define L3GXXXX_HPF_CUTOFF (0x0f) /**< L3GXXXX_REG_CTRL2<3:0> */
|
||||||
|
|
||||||
|
#define L3GXXXX_EXTR_EN_S (7) /**< L3GXXXX_REG_CTRL2<7> */
|
||||||
|
#define L3GXXXX_LVL_EN_S (6) /**< L3GXXXX_REG_CTRL2<6> */
|
||||||
|
#define L3GXXXX_HPF_MODE_S (4) /**< L3GXXXX_REG_CTRL2<5:4> */
|
||||||
|
|
||||||
|
#define L3GXXXX_INT1_IG (0x80) /**< L3GXXXX_REG_CTRL3<7> */
|
||||||
|
#define L3GXXXX_INT1_BOOT (0x40) /**< L3GXXXX_REG_CTRL3<6> */
|
||||||
|
#define L3GXXXX_HL_ACTIVE (0x20) /**< L3GXXXX_REG_CTRL3<5> */
|
||||||
|
#define L3GXXXX_PP_OD (0x10) /**< L3GXXXX_REG_CTRL3<4> */
|
||||||
|
#define L3GXXXX_INT2_DRDY (0x08) /**< L3GXXXX_REG_CTRL3<3> */
|
||||||
|
#define L3GXXXX_INT2_WTM (0x04) /**< L3GXXXX_REG_CTRL3<2> */
|
||||||
|
#define L3GXXXX_INT2_ORUN (0x02) /**< L3GXXXX_REG_CTRL3<1> */
|
||||||
|
#define L3GXXXX_INT2_EMPTY (0x01) /**< L3GXXXX_REG_CTRL3<0> */
|
||||||
|
|
||||||
|
#define L3GXXXX_INT1_IG_S (7) /**< L3GXXXX_REG_CTRL3<7> */
|
||||||
|
#define L3GXXXX_INT1_BOOT_S (6) /**< L3GXXXX_REG_CTRL3<6> */
|
||||||
|
#define L3GXXXX_HL_ACTIVE_S (5) /**< L3GXXXX_REG_CTRL3<5> */
|
||||||
|
#define L3GXXXX_PP_OD_S (4) /**< L3GXXXX_REG_CTRL3<4> */
|
||||||
|
#define L3GXXXX_INT2_DRDY_S (3) /**< L3GXXXX_REG_CTRL3<3> */
|
||||||
|
#define L3GXXXX_INT2_WTM_S (2) /**< L3GXXXX_REG_CTRL3<2> */
|
||||||
|
#define L3GXXXX_INT2_ORUN_S (1) /**< L3GXXXX_REG_CTRL3<1> */
|
||||||
|
#define L3GXXXX_INT2_EMPTY_S (0) /**< L3GXXXX_REG_CTRL3<0> */
|
||||||
|
|
||||||
|
#define L3GXXXX_BLOCK_DATA_UPDATE (0x80) /**< L3GXXXX_REG_CTRL4<7> */
|
||||||
|
#define L3GXXXX_BIG_LITTLE_ENDIAN (0x40) /**< L3GXXXX_REG_CTRL4<6> */
|
||||||
|
#define L3GXXXX_FULL_SCALE (0x30) /**< L3GXXXX_REG_CTRL4<5:4> */
|
||||||
|
|
||||||
|
#define L3GXXXX_FULL_SCALE_S (4) /**< L3GXXXX_REG_CTRL4<5:4> */
|
||||||
|
|
||||||
|
#define L3GXXXX_BOOT (0x80) /**< L3GXXXX_REG_CTRL5<7> */
|
||||||
|
#define L3GXXXX_FIFO_EN (0x40) /**< L3GXXXX_REG_CTRL5<6> */
|
||||||
|
#define L3GXXXX_STOP_ON_WTM (0x20) /**< L3GXXXX_REG_CTRL5<5> */
|
||||||
|
#define L3GXXXX_HP_ENABLED (0x10) /**< L3GXXXX_REG_CTRL5<4> */
|
||||||
|
#define L3GXXXX_IG_SEL (0x0c) /**< L3GXXXX_REG_CTRL5<3:2> */
|
||||||
|
#define L3GXXXX_OUT_SEL (0x03) /**< L3GXXXX_REG_CTRL5<1:0> */
|
||||||
|
|
||||||
|
#define L3GXXXX_BOOT_S (7) /**< L3GXXXX_REG_CTRL5<7> */
|
||||||
|
#define L3GXXXX_FIFO_EN_S (6) /**< L3GXXXX_REG_CTRL5<6> */
|
||||||
|
#define L3GXXXX_STOP_ON_WTM_S (5) /**< L3GXXXX_REG_CTRL5<5> */
|
||||||
|
#define L3GXXXX_HP_ENABLED_S (4) /**< L3GXXXX_REG_CTRL5<4> */
|
||||||
|
#define L3GXXXX_IG_SEL_S (2) /**< L3GXXXX_REG_CTRL5<3:2> */
|
||||||
|
#define L3GXXXX_OUT_SEL_S (0) /**< L3GXXXX_REG_CTRL5<1:0> */
|
||||||
|
|
||||||
|
#define L3GXXXX_FIFO_MODE (0xe0) /**< L3GXXXX_REG_FIFO_CTRL<7:5> */
|
||||||
|
#define L3GXXXX_FIFO_WATERMARK (0x1f) /**< L3GXXXX_REG_FIFO_CTRL<4:0> */
|
||||||
|
|
||||||
|
#define L3GXXXX_FIFO_MODE_S (5) /**< L3GXXXX_REG_FIFO_CTRL<7:5> */
|
||||||
|
#define L3GXXXX_FIFO_WATERMARK_S (0) /**< L3GXXXX_REG_FIFO_CTRL<4:0> */
|
||||||
|
|
||||||
|
#define L3GXXXX_FIFO_WTM (0x80) /**< L3GXXXX_REG_FIFO_SRC<7> */
|
||||||
|
#define L3GXXXX_FIFO_OVR (0x40) /**< L3GXXXX_REG_FIFO_SRC<6> */
|
||||||
|
#define L3GXXXX_FIFO_EMPTY (0x20) /**< L3GXXXX_REG_FIFO_SRC<5> */
|
||||||
|
#define L3GXXXX_FIFO_FFS (0x1f) /**< L3GXXXX_REG_FIFO_SRC<4:0> */
|
||||||
|
|
||||||
|
#define L3GXXXX_FIFO_WTM_S (7) /**< L3GXXXX_REG_FIFO_SRC<7> */
|
||||||
|
#define L3GXXXX_FIFO_OVR_S (6) /**< L3GXXXX_REG_FIFO_SRC<6> */
|
||||||
|
#define L3GXXXX_FIFO_EMPTY_S (5) /**< L3GXXXX_REG_FIFO_SRC<5> */
|
||||||
|
#define L3GXXXX_FIFO_FFS_S (0) /**< L3GXXXX_REG_FIFO_SRC<4:0> */
|
||||||
|
|
||||||
|
#define L3GXXXX_INT1_AND_OR (0x80) /**< L3GXXXX_REG_IG_CFG<7> */
|
||||||
|
#define L3GXXXX_INT1_LATCH (0x40) /**< L3GXXXX_REG_IG_CFG<6> */
|
||||||
|
#define L3GXXXX_INT1_Z_HIGH (0x20) /**< L3GXXXX_REG_IG_CFG<5>, L3GXXXX_REG_IG_SRC<5> */
|
||||||
|
#define L3GXXXX_INT1_Z_LOW (0x10) /**< L3GXXXX_REG_IG_CFG<4>, L3GXXXX_REG_IG_SRC<4> */
|
||||||
|
#define L3GXXXX_INT1_Y_HIGH (0x08) /**< L3GXXXX_REG_IG_CFG<3>, L3GXXXX_REG_IG_SRC<3> */
|
||||||
|
#define L3GXXXX_INT1_Y_LOW (0x04) /**< L3GXXXX_REG_IG_CFG<2>, L3GXXXX_REG_IG_SRC<2> */
|
||||||
|
#define L3GXXXX_INT1_X_HIGH (0x02) /**< L3GXXXX_REG_IG_CFG<1>, L3GXXXX_REG_IG_SRC<1> */
|
||||||
|
#define L3GXXXX_INT1_X_LOW (0x01) /**< L3GXXXX_REG_IG_CFG<0>, L3GXXXX_REG_IG_SRC<0> */
|
||||||
|
|
||||||
|
#define L3GXXXX_INT1_AND_OR_S (7) /**< L3GXXXX_REG_IG_CFG<7> */
|
||||||
|
#define L3GXXXX_INT1_LATCH_S (6) /**< L3GXXXX_REG_IG_CFG<6> */
|
||||||
|
#define L3GXXXX_INT1_Z_HIGH_S (5) /**< L3GXXXX_REG_IG_CFG<5>, L3GXXXX_REG_IG_SRC<5> */
|
||||||
|
#define L3GXXXX_INT1_Z_LOW_S (4) /**< L3GXXXX_REG_IG_CFG<4>, L3GXXXX_REG_IG_SRC<4> */
|
||||||
|
#define L3GXXXX_INT1_Y_HIGH_S (3) /**< L3GXXXX_REG_IG_CFG<3>, L3GXXXX_REG_IG_SRC<3> */
|
||||||
|
#define L3GXXXX_INT1_Y_LOW_S (2) /**< L3GXXXX_REG_IG_CFG<2>, L3GXXXX_REG_IG_SRC<2> */
|
||||||
|
#define L3GXXXX_INT1_X_HIGH_S (1) /**< L3GXXXX_REG_IG_CFG<1>, L3GXXXX_REG_IG_SRC<1> */
|
||||||
|
#define L3GXXXX_INT1_X_LOW_S (0) /**< L3GXXXX_REG_IG_CFG<0>, L3GXXXX_REG_IG_SRC<0> */
|
||||||
|
|
||||||
|
#define L3GXXXX_INT1_ACTIVE (0x40) /**< L3GXXXX_REG_IG_SRC<6> */
|
||||||
|
|
||||||
|
#define L3GXXXX_INT1_WAIT (0x80) /**< L3GXXXX_REG_IG_DURATION<7> */
|
||||||
|
#define L3GXXXX_INT1_DURATION (0x3f) /**< L3GXXXX_REG_IG_DURATION<6:0> */
|
||||||
|
|
||||||
|
#define L3GXXXX_INT1_WAIT_S (7) /**< L3GXXXX_REG_IG_DURATION<7> */
|
||||||
|
#define L3GXXXX_INT1_DURATION_S (0) /**< L3GXXXX_REG_IG_DURATION<6:0> */
|
||||||
|
|
||||||
|
#define L3GXXXX_DRDY_HL (0x20) /**< L3GXXXX_REG_LOW_ODR<5> */
|
||||||
|
#define L3GXXXX_SW_RESET (0x04) /**< L3GXXXX_REG_LOW_ODR<2> */
|
||||||
|
#define L3GXXXX_LOW_ODR (0x01) /**< L3GXXXX_REG_LOW_ODR<0> */
|
||||||
|
|
||||||
|
#define L3GXXXX_DRDY_HL_S (5) /**< L3GXXXX_REG_LOW_ODR<5> */
|
||||||
|
#define L3GXXXX_SW_RESET_S (2) /**< L3GXXXX_REG_LOW_ODR<2> */
|
||||||
|
#define L3GXXXX_LOW_ODR_S (0) /**< L3GXXXX_REG_LOW_ODR<0> */
|
||||||
|
|
||||||
|
/** @} */
|
||||||
|
|
||||||
|
#ifdef __cplusplus
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#endif /* L3GXXXX_REGS_H */
|
||||||
|
/** @} */
|
||||||
1143
drivers/l3gxxxx/l3gxxxx.c
Normal file
1143
drivers/l3gxxxx/l3gxxxx.c
Normal file
File diff suppressed because it is too large
Load Diff
42
drivers/l3gxxxx/l3gxxxx_saul.c
Normal file
42
drivers/l3gxxxx/l3gxxxx_saul.c
Normal file
@ -0,0 +1,42 @@
|
|||||||
|
/*
|
||||||
|
* Copyright (C) 2018 Gunar Schorcht
|
||||||
|
*
|
||||||
|
* This file is subject to the terms and conditions of the GNU Lesser
|
||||||
|
* General Public License v2.1. See the file LICENSE in the top level
|
||||||
|
* directory for more details.
|
||||||
|
*/
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @ingroup drivers_l3gxxxx
|
||||||
|
* @brief L3Gxxxx adaption to the RIOT actuator/sensor interface
|
||||||
|
* @author Gunar Schorcht <gunar@schorcht.net>
|
||||||
|
* @file
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include <string.h>
|
||||||
|
|
||||||
|
#include "saul.h"
|
||||||
|
#include "l3gxxxx.h"
|
||||||
|
|
||||||
|
static int read(const void *dev, phydat_t *res)
|
||||||
|
{
|
||||||
|
l3gxxxx_data_t data;
|
||||||
|
int ret = l3gxxxx_read((const l3gxxxx_t *)dev, &data);
|
||||||
|
if (ret < 0) {
|
||||||
|
return -ECANCELED;
|
||||||
|
}
|
||||||
|
|
||||||
|
res->val[0] = data.x / 100;
|
||||||
|
res->val[1] = data.y / 100;
|
||||||
|
res->val[2] = data.z / 100;
|
||||||
|
res->unit = UNIT_DPS;
|
||||||
|
res->scale = -1;
|
||||||
|
|
||||||
|
return 3;
|
||||||
|
}
|
||||||
|
|
||||||
|
const saul_driver_t l3gxxxx_saul_driver = {
|
||||||
|
.read = read,
|
||||||
|
.write = saul_notsup,
|
||||||
|
.type = SAUL_SENSE_GYRO,
|
||||||
|
};
|
||||||
65
drivers/saul/init_devs/auto_init_l3gxxxx.c
Normal file
65
drivers/saul/init_devs/auto_init_l3gxxxx.c
Normal file
@ -0,0 +1,65 @@
|
|||||||
|
/*
|
||||||
|
* Copyright (C) 2018 Gunar Schorcht
|
||||||
|
*
|
||||||
|
* This file is subject to the terms and conditions of the GNU Lesser
|
||||||
|
* General Public License v2.1. See the file LICENSE in the top level
|
||||||
|
* directory for more details.
|
||||||
|
*/
|
||||||
|
|
||||||
|
/*
|
||||||
|
* @ingroup sys_auto_init_saul
|
||||||
|
* @brief Auto initialization of ST L3Gxxxx 3-axis gyroscope sensor
|
||||||
|
* @author Gunar Schorcht <gunar@schorcht.net>
|
||||||
|
* @file
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include "assert.h"
|
||||||
|
#include "log.h"
|
||||||
|
#include "saul_reg.h"
|
||||||
|
|
||||||
|
#include "l3gxxxx.h"
|
||||||
|
#include "l3gxxxx_params.h"
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Define the number of configured sensors
|
||||||
|
*/
|
||||||
|
#define L3GXXXX_NUM ARRAY_SIZE(l3gxxxx_params)
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Allocate memory for the device descriptors
|
||||||
|
*/
|
||||||
|
static l3gxxxx_t l3gxxxx_devs[L3GXXXX_NUM];
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Memory for the SAUL registry entries
|
||||||
|
*/
|
||||||
|
static saul_reg_t saul_entries[L3GXXXX_NUM];
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Define the number of saul info
|
||||||
|
*/
|
||||||
|
#define L3GXXXX_INFO_NUM ARRAY_SIZE(l3gxxxx_saul_info)
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Reference the driver struct
|
||||||
|
*/
|
||||||
|
extern saul_driver_t l3gxxxx_saul_driver;
|
||||||
|
|
||||||
|
void auto_init_l3gxxxx(void)
|
||||||
|
{
|
||||||
|
assert(L3GXXXX_NUM == L3GXXXX_INFO_NUM);
|
||||||
|
|
||||||
|
for (unsigned int i = 0; i < L3GXXXX_NUM; i++) {
|
||||||
|
LOG_DEBUG("[auto_init_saul] initializing l3gd20h #%u\n", i);
|
||||||
|
|
||||||
|
if (l3gxxxx_init(&l3gxxxx_devs[i], &l3gxxxx_params[i]) < 0) {
|
||||||
|
LOG_ERROR("[auto_init_saul] error initializing l3gd20h #%u\n", i);
|
||||||
|
continue;
|
||||||
|
}
|
||||||
|
|
||||||
|
saul_entries[i].dev = &(l3gxxxx_devs[i]);
|
||||||
|
saul_entries[i].name = l3gxxxx_saul_info[i].name;
|
||||||
|
saul_entries[i].driver = &l3gxxxx_saul_driver;
|
||||||
|
saul_reg_add(&(saul_entries[i]));
|
||||||
|
}
|
||||||
|
}
|
||||||
@ -163,6 +163,10 @@ void saul_init_devs(void)
|
|||||||
extern void auto_init_l3g4200d(void);
|
extern void auto_init_l3g4200d(void);
|
||||||
auto_init_l3g4200d();
|
auto_init_l3g4200d();
|
||||||
}
|
}
|
||||||
|
if (IS_USED(MODULE_L3GXXXX)) {
|
||||||
|
extern void auto_init_l3gxxxx(void);
|
||||||
|
auto_init_l3gxxxx();
|
||||||
|
}
|
||||||
if (IS_USED(MODULE_LIS2DH12)) {
|
if (IS_USED(MODULE_LIS2DH12)) {
|
||||||
extern void auto_init_lis2dh12(void);
|
extern void auto_init_lis2dh12(void);
|
||||||
auto_init_lis2dh12();
|
auto_init_lis2dh12();
|
||||||
|
|||||||
15
tests/driver_l3gxxxx/Makefile
Normal file
15
tests/driver_l3gxxxx/Makefile
Normal file
@ -0,0 +1,15 @@
|
|||||||
|
include ../Makefile.tests_common
|
||||||
|
|
||||||
|
# define the driver to be used for selected boards
|
||||||
|
ifneq (,$(filter stm32f429i-disc1 stm32f429i-disco stm32f3discovery,$(BOARD)))
|
||||||
|
DRIVER := i3g4250d
|
||||||
|
endif
|
||||||
|
|
||||||
|
DRIVER ?= l3gd20h
|
||||||
|
|
||||||
|
USEMODULE += $(DRIVER)
|
||||||
|
USEMODULE += l3gxxxx
|
||||||
|
USEMODULE += ztimer
|
||||||
|
USEMODULE += ztimer_msec
|
||||||
|
|
||||||
|
include $(RIOTBASE)/Makefile.include
|
||||||
74
tests/driver_l3gxxxx/README.md
Normal file
74
tests/driver_l3gxxxx/README.md
Normal file
@ -0,0 +1,74 @@
|
|||||||
|
# About
|
||||||
|
|
||||||
|
This is a manual test application for the driver of the L3GXXXX 3-axis
|
||||||
|
gyroscope sensor family. It demonstrates the use of a L3Gxxxx sensor.
|
||||||
|
The different functionalities of the driver are enabled and tested by
|
||||||
|
using different modules.
|
||||||
|
|
||||||
|
# Usage
|
||||||
|
|
||||||
|
The used sensor must be specified by setting the variable DRIVER to
|
||||||
|
`l3gd20h`, `l3gd20`, `l3g4200d_ng`, `i3g4250d` or `a3g4250d` which enables
|
||||||
|
the corresponding pseudomodule:
|
||||||
|
```
|
||||||
|
DRIVER=l3gd20h BOARD=... make -C tests/driver_l3gxxxx
|
||||||
|
```
|
||||||
|
If the DRIVER variable is not set, `l3gd20h` is used.
|
||||||
|
|
||||||
|
By default, the application will initialize the gyroscope with the default
|
||||||
|
configuration parameter set as defined in the `l3gxxxx_params.h` file:
|
||||||
|
|
||||||
|
Configuration Parameter | Default value
|
||||||
|
:---------------------------|:----------------------
|
||||||
|
Output data rate | 100 Hz
|
||||||
|
LPF2 cutoff frequency | 25 Hz
|
||||||
|
Full scale | 245 dps
|
||||||
|
Filter selection | HPF and LPF2 are used
|
||||||
|
HPF mode | Normal with autoreset
|
||||||
|
HPF cutoff frequency | 8 Hz
|
||||||
|
|
||||||
|
The default configuration uses the I2C interface (module `l3gxxxx_i2c`)
|
||||||
|
of the sensor and polls the data periodically every 200 ms. If the SPI
|
||||||
|
interface of the sensor should be used, the module `l3gxxxx_spi` has to
|
||||||
|
be used:
|
||||||
|
```
|
||||||
|
DRIVER=l3gd20h USEMODULE=l3gxxxx_spi BOARD=... make -C tests/driver_l3gxxxx
|
||||||
|
```
|
||||||
|
|
||||||
|
The application is configurable by using different pseudomodules to test
|
||||||
|
most of the functionalities of the L3Gxxxx driver.
|
||||||
|
|
||||||
|
- Module `l3gxxxx_irq_drdy`:
|
||||||
|
Instead of polling the sensor regularly for data, the data ready interrupt
|
||||||
|
on signal `INT2/DRDY` is used to read the data. If module `l3gxxxx_fifo`
|
||||||
|
is used at the same time, the FIFO status interrupts are enabled instead
|
||||||
|
of the data ready interrupt. The GPIO pin used for the interrupt signal
|
||||||
|
can be overridden, for example:
|
||||||
|
|
||||||
|
```
|
||||||
|
DRIVER=l3gd20h USEMODULE=l3gxxxx_irq_drdy \
|
||||||
|
CFLAGS='-DL3GXXXX_INT2_PIN=GPIO_PIN\(0,5\) BOARD=... make -C tests/driver_l3gxxxx
|
||||||
|
```
|
||||||
|
|
||||||
|
- Module `l3gxxxx_irq_event`:
|
||||||
|
Event interrupt generation is configured according to default
|
||||||
|
configuration parameters in the `l3gxxxx_params.h` file to generate
|
||||||
|
interrupts on signal `INT1` when the absolute value of the angular rate
|
||||||
|
of any axis exceeds the default threshold. The GPIO pin used for the
|
||||||
|
interrupt signal can be overridden, for example:
|
||||||
|
|
||||||
|
```
|
||||||
|
DRIVER=l3gd20h USEMODULE=l3gxxxx_irq_event \
|
||||||
|
CFLAGS='-DL3GXXXX_INT1_PIN=GPIO_PIN\(0,6\) BOARD=... make -C tests/driver_l3gxxxx
|
||||||
|
```
|
||||||
|
|
||||||
|
- Module `l3gxxxx_fifo`:
|
||||||
|
Instead of fetching single data samples from the sensor, the FIFO of
|
||||||
|
the sensor is enabled. Depending on the use of module `l3gxxxx_irq_drdy`,
|
||||||
|
the FIFO state is either polled regularly or FIFO status interrupts on
|
||||||
|
signal `INT2/DRDY` are used. All available data samples are read from
|
||||||
|
the FIFO with a single burst access.
|
||||||
|
|
||||||
|
- Module `l3gxxxx_config`:
|
||||||
|
The configuration of the event interrupt generation is changed at
|
||||||
|
runtime.
|
||||||
4
tests/driver_l3gxxxx/app.config.test
Normal file
4
tests/driver_l3gxxxx/app.config.test
Normal file
@ -0,0 +1,4 @@
|
|||||||
|
# application configuration. This is only needed during migration.
|
||||||
|
CONFIG_MODULE_L3GXXXX=y
|
||||||
|
CONFIG_MODULE_ZTIMER=y
|
||||||
|
CONFIG_MODULE_ZTIMER_MSEC=y
|
||||||
238
tests/driver_l3gxxxx/main.c
Normal file
238
tests/driver_l3gxxxx/main.c
Normal file
@ -0,0 +1,238 @@
|
|||||||
|
/*
|
||||||
|
* Copyright (C) 2018 Gunar Schorcht
|
||||||
|
*
|
||||||
|
* This file is subject to the terms and conditions of the GNU Lesser
|
||||||
|
* General Public License v2.1. See the file LICENSE in the top level
|
||||||
|
* directory for more details.
|
||||||
|
*/
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @ingroup tests
|
||||||
|
* @brief Test application for the L3Gxxxx 3-axis gyroscope sensor family driver
|
||||||
|
* @author Gunar Schorcht <gunar@schorcht.net>
|
||||||
|
* @file
|
||||||
|
*
|
||||||
|
* # About
|
||||||
|
*
|
||||||
|
* This is a manual test application for the driver of the L3GXXXX 3-axis
|
||||||
|
* gyroscope sensor family. It demonstrates the use of a L3Gxxxx sensor.
|
||||||
|
* The different functionalities of the driver are enabled and tested by
|
||||||
|
* using different modules.
|
||||||
|
*
|
||||||
|
* # Usage
|
||||||
|
*
|
||||||
|
* The used sensor must be specified by setting the variable DRIVER to
|
||||||
|
* `l3gd20h`, `l3gd20`, `l3g4200d_ng`, `i3g4250d` or `a3g4250d` which enables
|
||||||
|
* the corresponding pseudomodule:
|
||||||
|
* ```
|
||||||
|
* DRIVER=l3gd20h BOARD=... make -C tests/driver_l3gxxxx
|
||||||
|
* ```
|
||||||
|
* If the DRIVER variable is not set, `l3gd20h` is used.
|
||||||
|
*
|
||||||
|
* By default, the application will initialize the gyroscope with the default
|
||||||
|
* configuration parameter set as defined in the `l3gxxxx_params.h` file:
|
||||||
|
*
|
||||||
|
* Configuration Parameter | Default value
|
||||||
|
* :---------------------------|:----------------------
|
||||||
|
* Output data rate | 100 Hz
|
||||||
|
* LPF2 cutoff frequency | 25 Hz
|
||||||
|
* Full scale | 245 dps
|
||||||
|
* Filter selection | HPF and LPF2 are used
|
||||||
|
* HPF mode | Normal with autoreset
|
||||||
|
* HPF cutoff frequency | 8 Hz
|
||||||
|
*
|
||||||
|
* The default configuration uses the I2C interface (module `l3gxxxx_i2c`)
|
||||||
|
* of the sensor and polls the data periodically every 200 ms. If the SPI
|
||||||
|
* interface of the sensor should be used, the module `l3gxxxx_spi` has to
|
||||||
|
* be used:
|
||||||
|
* ```
|
||||||
|
* DRIVER=l3gd20h USEMODULE=l3gxxxx_spi BOARD=... make -C tests/driver_l3gxxxx
|
||||||
|
* ```
|
||||||
|
*
|
||||||
|
* The application is configurable by using different pseudomodules to test
|
||||||
|
* most of the functionalities of the L3Gxxxx driver.
|
||||||
|
*
|
||||||
|
* - Module `l3gxxxx_irq_drdy`:
|
||||||
|
* Instead of polling the sensor regularly for data, the data ready interrupt
|
||||||
|
* on signal `INT2/DRDY` is used to read the data. If module `l3gxxxx_fifo`
|
||||||
|
* is used at the same time, the FIFO status interrupts are enabled instead
|
||||||
|
* of the data ready interrupt. The GPIO pin used for the interrupt signal
|
||||||
|
* can be overridden, for example:
|
||||||
|
*
|
||||||
|
* ```
|
||||||
|
* DRIVER=l3gd20h USEMODULE=l3gxxxx_irq_drdy \
|
||||||
|
* CFLAGS='-DL3GXXXX_INT2_PIN=GPIO_PIN\(0,5\) BOARD=... make -C tests/driver_l3gxxxx
|
||||||
|
* ```
|
||||||
|
*
|
||||||
|
* - Module `l3gxxxx_irq_event`:
|
||||||
|
* Event interrupt generation is configured according to default
|
||||||
|
* configuration parameters in the `l3gxxxx_params.h` file to generate
|
||||||
|
* interrupts on signal `INT1` when the absolute value of the angular rate
|
||||||
|
* of any axis exceeds the default threshold. The GPIO pin used for the
|
||||||
|
* interrupt signal can be overridden, for example:
|
||||||
|
*
|
||||||
|
* ```
|
||||||
|
* DRIVER=l3gd20h USEMODULE=l3gxxxx_irq_event \
|
||||||
|
* CFLAGS='-DL3GXXXX_INT1_PIN=GPIO_PIN\(0,6\) BOARD=... make -C tests/driver_l3gxxxx
|
||||||
|
* ```
|
||||||
|
*
|
||||||
|
* - Module `l3gxxxx_fifo`:
|
||||||
|
* Instead of fetching single data samples from the sensor, the FIFO of
|
||||||
|
* the sensor is enabled. Depending on the use of module `l3gxxxx_irq_drdy`,
|
||||||
|
* the FIFO state is either polled regularly or FIFO status interrupts on
|
||||||
|
* signal `INT2/DRDY` are used. All available data samples are read from
|
||||||
|
* the FIFO with a single burst access.
|
||||||
|
*
|
||||||
|
* - Module `l3gxxxx_config`:
|
||||||
|
* The configuration of the event interrupt generation is changed at
|
||||||
|
* runtime.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include <stdio.h>
|
||||||
|
|
||||||
|
#include "thread.h"
|
||||||
|
#include "ztimer.h"
|
||||||
|
|
||||||
|
#include "l3gxxxx.h"
|
||||||
|
#include "l3gxxxx_params.h"
|
||||||
|
|
||||||
|
#define TESTS_DRIVER_L3GXXXX_SLEEP (200) /* 200 ms */
|
||||||
|
|
||||||
|
#if IS_USED(MODULE_L3GXXXX_IRQ)
|
||||||
|
int handle_event(const l3gxxxx_t *dev, l3gxxxx_int_event_src_t source)
|
||||||
|
{
|
||||||
|
(void)dev;
|
||||||
|
|
||||||
|
/* display the event */
|
||||||
|
if (!source.active) {
|
||||||
|
return -1;
|
||||||
|
}
|
||||||
|
if (source.x_low) {
|
||||||
|
printf("|x| below ");
|
||||||
|
}
|
||||||
|
if (source.y_low) {
|
||||||
|
printf("|y| below ");
|
||||||
|
}
|
||||||
|
if (source.z_low) {
|
||||||
|
printf("|z| below ");
|
||||||
|
}
|
||||||
|
if (source.x_high) {
|
||||||
|
printf("|x| above ");
|
||||||
|
}
|
||||||
|
if (source.y_high) {
|
||||||
|
printf("|y| above ");
|
||||||
|
}
|
||||||
|
if (source.z_high) {
|
||||||
|
printf("|z| above ");
|
||||||
|
}
|
||||||
|
printf("defined thresholds: ");
|
||||||
|
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
#endif /* IS_USED(MODULE_L3GXXXX_IRQ) */
|
||||||
|
|
||||||
|
int read_data(const l3gxxxx_t *dev)
|
||||||
|
{
|
||||||
|
#if IS_USED(MODULE_L3GXXXX_FIFO)
|
||||||
|
|
||||||
|
l3gxxxx_data_fifo_t data;
|
||||||
|
|
||||||
|
int num = l3gxxxx_read_fifo(dev, data);
|
||||||
|
|
||||||
|
printf("FIFO samples num=%d\n", num);
|
||||||
|
for (int i = 0; i < num; i++) {
|
||||||
|
printf("gyro [dps] x: %+5" PRIi32 ", y: %+5" PRIi32 ", z: %+5" PRIi32 "\n",
|
||||||
|
data[i].x / 1000, data[i].y / 1000, data[i].z / 1000);
|
||||||
|
}
|
||||||
|
|
||||||
|
return num;
|
||||||
|
|
||||||
|
#else /* IS_USED(MODULE_L3GXXXX_FIFO) */
|
||||||
|
|
||||||
|
l3gxxxx_data_t data;
|
||||||
|
l3gxxxx_read(dev, &data);
|
||||||
|
|
||||||
|
printf("gyro [dps] x: %+5" PRIi32 ", y: %+5" PRIi32 ", z: %+5" PRIi32 "\n",
|
||||||
|
data.x / 1000, data.y / 1000, data.z / 1000);
|
||||||
|
|
||||||
|
return 1;
|
||||||
|
|
||||||
|
#endif /* IS_USED(MODULE_L3GXXXX_FIFO) */
|
||||||
|
}
|
||||||
|
|
||||||
|
int main(void)
|
||||||
|
{
|
||||||
|
l3gxxxx_t dev;
|
||||||
|
|
||||||
|
puts("L3GXXXX gyroscope driver test application\n");
|
||||||
|
puts("Initializing L3GXXXX sensor");
|
||||||
|
|
||||||
|
/* initialize the sensor with default configuration parameters */
|
||||||
|
if (l3gxxxx_init(&dev, &l3gxxxx_params[0]) == L3GXXXX_OK) {
|
||||||
|
puts("[OK]\n");
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
puts("[Failed]");
|
||||||
|
return 1;
|
||||||
|
}
|
||||||
|
|
||||||
|
#if IS_USED(MODULE_L3GXXXX_CONFIG)
|
||||||
|
/* select LPF2 and HPF, configure HPF and reset REFERENCE by dummy read */
|
||||||
|
int8_t ref;
|
||||||
|
l3gxxxx_select_output_filter(&dev, L3GXXXX_HPF_ONLY);
|
||||||
|
l3gxxxx_config_hpf(&dev, L3GXXXX_HPF_NORMAL, 0);
|
||||||
|
l3gxxxx_get_hpf_ref(&dev, &ref);
|
||||||
|
#endif /* IS_USED(MODULE_L3GXXXX_CONFIG) */
|
||||||
|
|
||||||
|
#if IS_USED(MODULE_L3GXXXX_FIFO) && IS_USED(MODULE_L3GXXXX_CONFIG)
|
||||||
|
/* clear FIFO and activate FIFO Stream mode */
|
||||||
|
l3gxxxx_set_fifo_mode(&dev, L3GXXXX_BYPASS, 0);
|
||||||
|
l3gxxxx_set_fifo_mode(&dev, L3GXXXX_STREAM, 10);
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#if IS_USED(MODULE_L3GXXXX_IRQ_EVENT) && IS_USED(MODULE_L3GXXXX_CONFIG)
|
||||||
|
/* enable event interrupts (axis movement and wake-up) */
|
||||||
|
l3gxxxx_int_event_cfg_t int_cfg;
|
||||||
|
|
||||||
|
l3gxxxx_get_int_event_cfg(&dev, &int_cfg);
|
||||||
|
|
||||||
|
int_cfg.x_high_enabled = true;
|
||||||
|
int_cfg.y_high_enabled = true;
|
||||||
|
int_cfg.z_high_enabled = true;
|
||||||
|
int_cfg.x_low_enabled = false;
|
||||||
|
int_cfg.y_low_enabled = false;
|
||||||
|
int_cfg.z_low_enabled = false;
|
||||||
|
int_cfg.x_threshold = 1000;
|
||||||
|
int_cfg.y_threshold = 1000;
|
||||||
|
int_cfg.z_threshold = 1000;
|
||||||
|
|
||||||
|
int_cfg.filter = L3GXXXX_HPF_ONLY;
|
||||||
|
int_cfg.and_or = false;
|
||||||
|
int_cfg.duration = 0;
|
||||||
|
int_cfg.latch = true;
|
||||||
|
|
||||||
|
l3gxxxx_set_int_event_cfg(&dev, &int_cfg);
|
||||||
|
#endif /* IS_USED(MODULE_L3GXXXX_CONFIG) && IS_USED(MODULE_L3GXXXX_IRQ_EVENT) */
|
||||||
|
|
||||||
|
while (1) {
|
||||||
|
|
||||||
|
#if IS_USED(MODULE_L3GXXXX_IRQ)
|
||||||
|
/* wait for next interrupt */
|
||||||
|
l3gxxxx_int_src_t int_src = l3gxxxx_wait_int(&dev);
|
||||||
|
(void)int_src;
|
||||||
|
|
||||||
|
/* in case of event we determine the source */
|
||||||
|
if (int_src.event.active) {
|
||||||
|
handle_event(&dev, int_src.event);
|
||||||
|
}
|
||||||
|
/* read and print data in any case */
|
||||||
|
read_data(&dev);
|
||||||
|
#else
|
||||||
|
/* read and print data */
|
||||||
|
read_data(&dev);
|
||||||
|
ztimer_sleep(ZTIMER_MSEC, TESTS_DRIVER_L3GXXXX_SLEEP);
|
||||||
|
#endif /* IS_USED(MODULE_L3GXXXX_IRQ) */
|
||||||
|
}
|
||||||
|
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
Loading…
Reference in New Issue
Block a user