forked from Archive/PX4-Autopilot
109 lines
4.0 KiB
C
109 lines
4.0 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/*
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* Driver for the ST L3GD20 gyroscope
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*/
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/* IMPORTANT NOTES:
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*
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* SPI max. clock frequency: 10 Mhz
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* CS has to be high before transfer,
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* go low right before transfer and
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* go high again right after transfer
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*
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*/
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#include <sys/ioctl.h>
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#define _L3GD20BASE 0x6200
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#define L3GD20C(_x) _IOC(_L3GD20BASE, _x)
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/*
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* Sets the sensor internal sampling rate, and if a buffer
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* has been configured, the rate at which entries will be
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* added to the buffer.
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*/
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#define L3GD20_SETRATE L3GD20C(1)
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#define L3GD20_RATE_95HZ_LP_12_5HZ ((0<<7) | (0<<6) | (0<<5) | (0<<4))
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#define L3GD20_RATE_95HZ_LP_25HZ ((0<<7) | (0<<6) | (0<<5) | (1<<4))
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#define L3GD20_RATE_190HZ_LP_12_5HZ ((0<<7) | (1<<6) | (0<<5) | (0<<4))
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#define L3GD20_RATE_190HZ_LP_25HZ ((0<<7) | (1<<6) | (0<<5) | (1<<4))
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#define L3GD20_RATE_190HZ_LP_50HZ ((0<<7) | (1<<6) | (1<<5) | (0<<4))
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#define L3GD20_RATE_190HZ_LP_70HZ ((0<<7) | (1<<6) | (1<<5) | (1<<4))
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#define L3GD20_RATE_380HZ_LP_20HZ ((1<<7) | (0<<6) | (0<<5) | (0<<4))
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#define L3GD20_RATE_380HZ_LP_25HZ ((1<<7) | (0<<6) | (0<<5) | (1<<4))
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#define L3GD20_RATE_380HZ_LP_50HZ ((1<<7) | (0<<6) | (1<<5) | (0<<4))
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#define L3GD20_RATE_380HZ_LP_100HZ ((1<<7) | (0<<6) | (1<<5) | (1<<4))
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#define L3GD20_RATE_760HZ_LP_30HZ ((1<<7) | (1<<6) | (0<<5) | (0<<4))
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#define L3GD20_RATE_760HZ_LP_35HZ ((1<<7) | (1<<6) | (0<<5) | (1<<4))
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#define L3GD20_RATE_760HZ_LP_50HZ ((1<<7) | (1<<6) | (1<<5) | (0<<4))
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#define L3GD20_RATE_760HZ_LP_100HZ ((1<<7) | (1<<6) | (1<<5) | (1<<4))
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/*
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* Sets the sensor internal range.
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*/
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#define L3GD20_SETRANGE L3GD20C(2)
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#define L3GD20_RANGE_250DPS (0<<4)
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#define L3GD20_RANGE_500DPS (1<<4)
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#define L3GD20_RANGE_2000DPS (3<<4)
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#define L3GD20_RATE_95HZ ((0<<6) | (0<<4))
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#define L3GD20_RATE_190HZ ((1<<6) | (0<<4))
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#define L3GD20_RATE_380HZ ((2<<6) | (1<<4))
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#define L3GD20_RATE_760HZ ((3<<6) | (2<<4))
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/*
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* Sets the address of a shared l3gd20_buffer
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* structure that is maintained by the driver.
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*
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* If zero is passed as the address, disables
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* the buffer updating.
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*/
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#define L3GD20_SETBUFFER L3GD20C(3)
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struct l3gd20_buffer {
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uint32_t size; /* number of entries in the samples[] array */
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uint32_t next; /* the next entry that will be populated */
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struct {
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int16_t x;
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int16_t y;
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int16_t z;
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} samples[];
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};
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extern int l3gd20_attach(struct spi_dev_s *spi, int spi_id);
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