mirror of
https://github.com/RIOT-OS/RIOT.git
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drivers: added L3G4200D gyroscope driver
This commit is contained in:
Hauke Petersen
Hauke Petersen
parent
4555b9ea7a
commit
da64a7f438
@ -52,6 +52,9 @@ endif
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ifneq (,$(filter lps331ap,$(USEMODULE)))
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DIRS += lps331ap
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endif
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ifneq (,$(filter l3g4200d,$(USEMODULE)))
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DIRS += l3g4200d
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endif
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ifneq (,$(filter netdev_802154,$(USEMODULE)))
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DIRS += netdev/802154
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endif
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@ -19,3 +19,6 @@ endif
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ifneq (,$(filter lsm303dlhc,$(USEMODULE)))
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USEMODULE_INCLUDES += $(RIOTBASE)/drivers/lsm303dlhc/include
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endif
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ifneq (,$(filter l3g4200d,$(USEMODULE)))
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USEMODULE_INCLUDES += $(RIOTBASE)/drivers/l3g4200d/include
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endif
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143
drivers/include/l3g4200d.h
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143
drivers/include/l3g4200d.h
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@ -0,0 +1,143 @@
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/*
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* Copyright (C) 2014 Freie Universität Berlin
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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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/**
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* @defgroup driver_l3g4200d L3G4200D gyroscope
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* @ingroup drivers
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* @brief Device driver for the L3G4200D gyroscope
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* @{
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*
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* @file
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* @brief Device driver interface for the L3G4200D gyroscope
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*
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* @note The current state of the driver only implements a very basic polling mode.
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*
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* @author Hauke Petersen <hauke.petersen@fu-berlin.de>
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*/
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#ifndef __L3G4200D_H
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#define __L3G4200D_H
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#include <stdint.h>
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#include "periph/i2c.h"
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#include "periph/gpio.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**
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* @brief The sensors default I2C address
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*/
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#define L3G4200D_DEFAULT_ADDRESS 0x68
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/**
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* @brief Device descriptor for L3G4200D sensors
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*/
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typedef struct {
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i2c_t i2c; /**< I2C device the sensor is connected to */
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uint8_t addr; /**< the sensors slave address on the I2C bus */
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gpio_t int1; /**< INT1 pin */
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gpio_t int2; /**< INT2 (DRDY) pin */
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int32_t scale; /**< scaling factor to normalize results */
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} l3g4200d_t;
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/**
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* @brief Result vector for gyro measurement
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*/
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typedef struct {
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int16_t acc_x; /**< roll rate in dgs (degree per second) */
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int16_t acc_y; /**< pitch rate in dgs */
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int16_t acc_z; /**< yaw rate in dgs */
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} l3g4200d_data_t;
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/**
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* @brief Measurement scale for the gyro
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*/
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typedef enum {
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L3G4200D_SCALE_250DPS = 0x0, /**< scale: 250 degree per second */
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L3G4200D_SCALE_500DPS = 0x1, /**< scale: 500 degree per second */
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L3G4200D_SCALE_2000DPS = 0x2 /**< scale: 2000 degree per second */
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} l3g4200d_scale_t;
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/**
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* @brief Sampling frequency and bandwidth settings for the gyro
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*/
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typedef enum {
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L3G4200D_MODE_100_12 = 0x0, /**< data rate: 100Hz, cut-off: 12.5Hz */
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L3G4200D_MODE_100_25 = 0x1, /**< data rate: 100Hz, cut-off: 25Hz */
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L3G4200D_MODE_200_12 = 0x4, /**< data rate: 200Hz, cut-off: 12.5Hz */
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L3G4200D_MODE_200_25 = 0x5, /**< data rate: 200Hz, cut-off: 25Hz */
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L3G4200D_MODE_200_50 = 0x6, /**< data rate: 200Hz, cut-off: 50Hz */
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L3G4200D_MODE_200_70 = 0x7, /**< data rate: 200Hz, cut-off: 70Hz */
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L3G4200D_MODE_400_20 = 0x8, /**< data rate: 400Hz, cut-off: 20Hz */
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L3G4200D_MODE_400_25 = 0x9, /**< data rate: 400Hz, cut-off: 25Hz */
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L3G4200D_MODE_400_50 = 0xa, /**< data rate: 400Hz, cut-off: 50Hz */
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L3G4200D_MODE_400_110 = 0xb, /**< data rate: 400Hz, cut-off: 110Hz */
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L3G4200D_MODE_800_30 = 0xc, /**< data rate: 800Hz, cut-off: 30Hz */
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L3G4200D_MODE_800_35 = 0xd, /**< data rate: 800Hz, cut-off: 35Hz */
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L3G4200D_MODE_800_50 = 0xe, /**< data rate: 800Hz, cut-off: 50Hz */
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L3G4200D_MODE_800_110 = 0xf /**< data rate: 800Hz, cut-off: 110Hz */
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} l3g4200d_mode_t;
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/**
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* @brief Initialize a gyro
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*
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* @param[out] dev device descriptor of sensor to initialize
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* @param[in] i2c I2C bus the gyro is connected to
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* @param[in] address gyro's I2C slave address
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* @param[in] int1_pin INT pin the gyro is connected to
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* @param[in] int2_pin DRDY pin the gyro is connected to
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* @param[in] mode bandwidth and sampling rate settings
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* @param[in] scale scaling of results
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*
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* @return 0 on success
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* @return -1 on error
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*/
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int l3g4200d_init(l3g4200d_t *dev, i2c_t i2c, uint8_t address,
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gpio_t int1_pin, gpio_t int2_pin,
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l3g4200d_mode_t mode, l3g4200d_scale_t scale);
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/**
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* @brief Read angular speed value in degree per second from gyro
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*
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* @param[in] dev device descriptor of gyro
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* @param[out] acc_data result vector in dps per axis
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*
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* @return 0 on success
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* @return -1 on error
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*/
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int l3g4200d_read(l3g4200d_t *dev, l3g4200d_data_t *acc_data);
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/**
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* @brief Power-up the given device
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*
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* @param[in] dev device to enable
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*
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* @return 0 on success
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* @return -1 on error
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*/
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int l3g4200d_enable(l3g4200d_t *dev);
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/**
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* @brief Power-down the given device
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*
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* @param[in] dev device to power-down
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*
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* @return 0 on success
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* @return -1 on error
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*/
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int l3g4200d_disable(l3g4200d_t *dev);
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#ifdef __cplusplus
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}
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#endif
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#endif /* __L3G4200D_H */
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/** @} */
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3
drivers/l3g4200d/Makefile
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3
drivers/l3g4200d/Makefile
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@ -0,0 +1,3 @@
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MODULE = l3g4200d
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include $(RIOTBASE)/Makefile.base
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94
drivers/l3g4200d/include/l3g4200d-regs.h
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94
drivers/l3g4200d/include/l3g4200d-regs.h
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@ -0,0 +1,94 @@
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/*
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* Copyright (C) 2014 Freie Universität Berlin
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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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/**
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* @ingroup driver_l3g4200d
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* @{
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*
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* @file
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* @brief Definitions for the L3G4200D gyroscope
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*
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* @author Hauke Petersen <hauke.petersen@fu-berlin.de>
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*/
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#ifndef __L3G4200D_REGS_H
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#define __L3G4200D_REGS_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**
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* @brief Flag for reading multiple bytes
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*/
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#define L3G4200D_AUTOINC 0x80
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/**
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* @name L3G4200D register definitions
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* @{
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*/
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#define L3G4200D_REG_WHO_AM_I 0x0f
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#define L3G4200D_REG_CTRL1 0x20
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#define L3G4200D_REG_CTRL2 0x21
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#define L3G4200D_REG_CTRL3 0x22
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#define L3G4200D_REG_CTRL4 0x23
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#define L3G4200D_REG_CTRL5 0x24
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#define L3G4200D_REG_REF 0x25
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#define L3G4200D_REG_OUT_TEMP 0x26
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#define L3G4200D_REG_STATUS 0x27
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#define L3G4200D_REG_OUT_X_L 0x28
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#define L3G4200D_REG_OUT_X_H 0x29
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#define L3G4200D_REG_OUT_Y_L 0x2a
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#define L3G4200D_REG_OUT_Y_H 0x2b
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#define L3G4200D_REG_OUT_Z_L 0x2c
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#define L3G4200D_REG_OUT_Z_H 0x2d
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#define L3G4200D_REG_FIFO_CTRL 0x2e
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#define L3G4200D_REG_FIFO_SRC 0x2f
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#define L3G4200D_REG_INT1_CFG 0x30
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#define L3G4200D_REG_INT1_SRC 0x31
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#define L3G4200D_REG_INT1_THS_XH 0x32
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#define L3G4200D_REG_INT1_THS_XL 0x33
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#define L3G4200D_REG_INT1_THS_YH 0x34
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#define L3G4200D_REG_INT1_THS_YL 0x35
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#define L3G4200D_REG_INT1_THS_ZL 0x36
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#define L3G4200D_REG_INT1_THS_ZH 0x37
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#define L3G4200D_REG_INT1_DURATION 0x38
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/** @} */
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/**
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* @name CTRL1 bitfields
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* @{
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*/
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#define L3G4200D_CTRL1_PD 0x08
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#define L3G4200D_CTRL1_ZEN 0x04
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#define L3G4200D_CTRL1_YEN 0x02
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#define L3G4200D_CTRL1_XEN 0x01
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#define L3G4200D_CTRL1_ALLON 0x0f
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#define L3G4200D_CTRL1_MODE_POS (4)
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/** @} */
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/**
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* @name CTRL4 bitfields
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*/
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#define L3G4200D_CTRL4_BDU 0x80
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#define L3G4200D_CTRL4_BLE 0x40
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#define L3G4200D_CTRL4_FS1 0x20
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#define L3G4200D_CTRL4_FS2 0x10
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#define L3G4200D_CTRL4_ST1 0x04
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#define L3G4200D_CTRL4_ST2 0x02
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#define L3G4200D_CTRL4_SIM 0x01
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#define L3G4200D_CTRL4_FS_POS (4)
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/** @} */
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#ifdef __cplusplus
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}
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#endif
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#endif /* __L3G4200D_REGS_H */
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/** @} */
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128
drivers/l3g4200d/l3g4200d.c
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128
drivers/l3g4200d/l3g4200d.c
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@ -0,0 +1,128 @@
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#/*
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* Copyright (C) 2014 Freie Universität Berlin
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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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/**
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* @ingroup driver_l3g4200d
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* @{
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*
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* @file
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* @brief Device driver implementation for the L3G4200D gyroscope
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*
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* @author Hauke Petersen <hauke.petersen@fu-berlin.de>
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*
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* @}
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*/
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#include <stdint.h>
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#include "l3g4200d.h"
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#include "l3g4200d-regs.h"
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#include "periph/i2c.h"
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#include "periph/gpio.h"
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#define ENABLE_DEBUG (0)
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#include "debug.h"
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#define I2C_SPEED I2C_SPEED_FAST
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#define MAX_VAL 0x7fff
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int l3g4200d_init(l3g4200d_t *dev, i2c_t i2c, uint8_t address,
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gpio_t int1_pin, gpio_t int2_pin,
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l3g4200d_mode_t mode, l3g4200d_scale_t scale)
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{
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char tmp;
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/* initialize the I2C bus */
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if (i2c_init_master(i2c, I2C_SPEED) < 0) {
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return -1;
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}
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/* write device descriptor */
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dev->i2c = i2c;
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dev->addr = address;
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dev->int1 = int1_pin;
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dev->int2 = int2_pin;
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/* set scale */
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switch (scale) {
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case L3G4200D_SCALE_250DPS:
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dev->scale = 250;
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break;
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case L3G4200D_SCALE_500DPS:
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dev->scale = 500;
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break;
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case L3G4200D_SCALE_2000DPS:
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dev->scale = 2000;
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break;
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default:
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dev->scale = 500;
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break;
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}
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/* configure CTRL_REG1 */
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tmp = ((mode & 0xf) << L3G4200D_CTRL1_MODE_POS) | L3G4200D_CTRL1_ALLON;
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if (i2c_write_reg(dev->i2c, dev->addr, L3G4200D_REG_CTRL1, tmp) != 1) {
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return -1;
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}
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tmp = ((scale & 0x3) << L3G4200D_CTRL4_FS_POS) | L3G4200D_CTRL4_BDU;
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if (i2c_write_reg(dev->i2c, dev->addr, L3G4200D_REG_CTRL4, tmp) != 1) {
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return -1;
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}
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return 0;
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}
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int l3g4200d_read(l3g4200d_t *dev, l3g4200d_data_t *data)
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{
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char tmp[6];
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int16_t res;
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/* get acceleration in x direction */
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i2c_read_regs(dev->i2c, dev->addr, L3G4200D_REG_OUT_X_L | L3G4200D_AUTOINC, tmp, 6);
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/* parse and normalize data into result vector */
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res = (tmp[1] << 8) | tmp[0];
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data->acc_x = (int16_t)((dev->scale * res) / MAX_VAL);
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res = (tmp[3] << 8) | tmp[2];
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data->acc_y = (int16_t)((dev->scale * res) / MAX_VAL);
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res = (tmp[5] << 8) | tmp[4];
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data->acc_z = (int16_t)((dev->scale * res) / MAX_VAL);
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return 0;
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}
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int l3g4200d_enable(l3g4200d_t *dev)
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{
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char tmp;
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int res;
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res = i2c_read_reg(dev->i2c, dev->addr, L3G4200D_REG_CTRL1, &tmp);
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if (res < 1) {
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return res;
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}
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tmp |= L3G4200D_CTRL1_PD;
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if (i2c_write_reg(dev->i2c, dev->addr, L3G4200D_REG_CTRL1, tmp) != 1) {
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return -1;
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}
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return 0;
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}
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int l3g4200d_disable(l3g4200d_t *dev)
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{
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char tmp;
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int res;
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res = i2c_read_reg(dev->i2c, dev->addr, L3G4200D_REG_CTRL1, &tmp);
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if (res < 1) {
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return res;
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}
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tmp &= ~L3G4200D_CTRL1_PD;
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if (i2c_write_reg(dev->i2c, dev->addr, L3G4200D_REG_CTRL1, tmp) != 1) {
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return -1;
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}
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return 0;
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}
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