mirror of
https://github.com/RIOT-OS/RIOT.git
synced 2024-12-29 04:50:03 +01:00
138 lines
3.4 KiB
C
138 lines
3.4 KiB
C
/*
|
|
* Copyright (C) 2014 Freie Universität Berlin
|
|
*
|
|
* 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_l3g4200d
|
|
* @{
|
|
*
|
|
* @file
|
|
* @brief Device driver implementation for the L3G4200D gyroscope
|
|
*
|
|
* @author Hauke Petersen <hauke.petersen@fu-berlin.de>
|
|
* @author Peter Kietzmann <peter.kietzmann@haw-hamburg.de>
|
|
*
|
|
* @}
|
|
*/
|
|
|
|
#include <stdint.h>
|
|
|
|
#include "l3g4200d.h"
|
|
#include "l3g4200d-regs.h"
|
|
#include "periph/i2c.h"
|
|
#include "periph/gpio.h"
|
|
|
|
#define ENABLE_DEBUG 0
|
|
#include "debug.h"
|
|
|
|
#define MAX_VAL 0x7fff
|
|
|
|
#define DEV_I2C (dev->params.i2c)
|
|
#define DEV_ADDR (dev->params.addr)
|
|
#define DEV_MODE (dev->params.mode)
|
|
#define DEV_SCALE (dev->params.scale)
|
|
|
|
int l3g4200d_init(l3g4200d_t *dev, const l3g4200d_params_t *params)
|
|
{
|
|
dev->params = *params;
|
|
|
|
uint8_t tmp;
|
|
|
|
/* set scale */
|
|
switch (DEV_SCALE) {
|
|
case L3G4200D_SCALE_250DPS:
|
|
dev->scale = 250;
|
|
break;
|
|
case L3G4200D_SCALE_500DPS:
|
|
dev->scale = 500;
|
|
break;
|
|
case L3G4200D_SCALE_2000DPS:
|
|
dev->scale = 2000;
|
|
break;
|
|
default:
|
|
dev->scale = 500;
|
|
break;
|
|
}
|
|
|
|
/* acquire exclusive access to the bus. */
|
|
i2c_acquire(DEV_I2C);
|
|
|
|
/* configure CTRL_REG1 */
|
|
tmp = ((DEV_MODE & 0xf) << L3G4200D_CTRL1_MODE_POS) | L3G4200D_CTRL1_ALLON;
|
|
if (i2c_write_reg(DEV_I2C, DEV_ADDR, L3G4200D_REG_CTRL1, tmp, 0) < 0) {
|
|
i2c_release(DEV_I2C);
|
|
return -1;
|
|
}
|
|
tmp = ((DEV_SCALE & 0x3) << L3G4200D_CTRL4_FS_POS) | L3G4200D_CTRL4_BDU;
|
|
if (i2c_write_reg(DEV_I2C, DEV_ADDR, L3G4200D_REG_CTRL4, tmp, 0) < 0) {
|
|
i2c_release(DEV_I2C);
|
|
return -1;
|
|
}
|
|
i2c_release(DEV_I2C);
|
|
return 0;
|
|
}
|
|
|
|
int l3g4200d_read(const l3g4200d_t *dev, l3g4200d_data_t *data)
|
|
{
|
|
uint8_t tmp[6];
|
|
int16_t res;
|
|
|
|
i2c_acquire(DEV_I2C);
|
|
/* get acceleration in x direction */
|
|
i2c_read_regs(DEV_I2C, DEV_ADDR, L3G4200D_REG_OUT_X_L | L3G4200D_AUTOINC, tmp, 6, 0);
|
|
i2c_release(DEV_I2C);
|
|
|
|
/* parse and normalize data into result vector */
|
|
res = (tmp[1] << 8) | tmp[0];
|
|
data->acc_x = (int16_t)((dev->scale * res) / MAX_VAL);
|
|
res = (tmp[3] << 8) | tmp[2];
|
|
data->acc_y = (int16_t)((dev->scale * res) / MAX_VAL);
|
|
res = (tmp[5] << 8) | tmp[4];
|
|
data->acc_z = (int16_t)((dev->scale * res) / MAX_VAL);
|
|
return 0;
|
|
}
|
|
|
|
int l3g4200d_enable(const l3g4200d_t *dev)
|
|
{
|
|
uint8_t tmp;
|
|
int res;
|
|
|
|
i2c_acquire(DEV_I2C);
|
|
res = i2c_read_reg(DEV_I2C, DEV_ADDR, L3G4200D_REG_CTRL1, &tmp, 0);
|
|
if (res < 0) {
|
|
i2c_release(DEV_I2C);
|
|
return res;
|
|
}
|
|
tmp |= L3G4200D_CTRL1_PD;
|
|
if (i2c_write_reg(DEV_I2C, DEV_ADDR, L3G4200D_REG_CTRL1, tmp, 0) < 0) {
|
|
i2c_release(DEV_I2C);
|
|
return -1;
|
|
}
|
|
i2c_release(DEV_I2C);
|
|
return 0;
|
|
}
|
|
|
|
int l3g4200d_disable(const l3g4200d_t *dev)
|
|
{
|
|
uint8_t tmp;
|
|
int res;
|
|
|
|
i2c_acquire(DEV_I2C);
|
|
res = i2c_read_reg(DEV_I2C, DEV_ADDR, L3G4200D_REG_CTRL1, &tmp, 0);
|
|
if (res < 0) {
|
|
i2c_release(DEV_I2C);
|
|
return res;
|
|
}
|
|
tmp &= ~L3G4200D_CTRL1_PD;
|
|
if (i2c_write_reg(DEV_I2C, DEV_ADDR, L3G4200D_REG_CTRL1, tmp, 0) < 0) {
|
|
i2c_release(DEV_I2C);
|
|
return -1;
|
|
}
|
|
i2c_release(DEV_I2C);
|
|
return 0;
|
|
}
|