272 lines
11 KiB
C
272 lines
11 KiB
C
/****************************************************************************
|
|
* include/nuttx/sensors/l3gd20.h
|
|
*
|
|
* Licensed to the Apache Software Foundation (ASF) under one or more
|
|
* contributor license agreements. See the NOTICE file distributed with
|
|
* this work for additional information regarding copyright ownership. The
|
|
* ASF licenses this file to you under the Apache License, Version 2.0 (the
|
|
* "License"); you may not use this file except in compliance with the
|
|
* License. You may obtain a copy of the License at
|
|
*
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
|
*
|
|
* Unless required by applicable law or agreed to in writing, software
|
|
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
|
|
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
|
|
* License for the specific language governing permissions and limitations
|
|
* under the License.
|
|
*
|
|
****************************************************************************/
|
|
|
|
#ifndef __INCLUDE_NUTTX_SENSORS_L3GD20_H
|
|
#define __INCLUDE_NUTTX_SENSORS_L3GD20_H
|
|
|
|
/****************************************************************************
|
|
* Included Files
|
|
****************************************************************************/
|
|
|
|
#include <nuttx/irq.h>
|
|
#include <nuttx/config.h>
|
|
#include <nuttx/fs/ioctl.h>
|
|
#include <nuttx/spi/spi.h>
|
|
|
|
#if defined(CONFIG_SPI) && defined(CONFIG_SENSORS_L3GD20)
|
|
|
|
/****************************************************************************
|
|
* Pre-processor Definitions
|
|
****************************************************************************/
|
|
|
|
/* SPI BUS PARAMETERS *******************************************************/
|
|
|
|
#define L3GD20_SPI_FREQUENCY (4000000) /* 4 MHz */
|
|
#define L3GD20_SPI_MODE (SPIDEV_MODE3) /* Device uses SPI Mode 3:
|
|
* CPOL=1, CPHA=1
|
|
*/
|
|
|
|
/* Register Addresses *******************************************************/
|
|
|
|
/* Gyroscope registers */
|
|
|
|
#define L3GD20_WHO_AM_I 0x0F /* Accelerometer and gyroscope device identification */
|
|
#define L3GD20_CTRL_REG_1 0x20 /* Gyroscope control register 1 */
|
|
#define L3GD20_CTRL_REG_2 0x21 /* Gyroscope control register 2 */
|
|
#define L3GD20_CTRL_REG_3 0x22 /* Gyroscope control register 3 */
|
|
#define L3GD20_CTRL_REG_4 0x23 /* Gyroscope control register 4 */
|
|
#define L3GD20_CTRL_REG_5 0x24 /* Gyroscope control register 5 */
|
|
#define L3GD20_REF_REG 0x25 /* Gyroscope reference value for interrupt generation */
|
|
#define L3GD20_OUT_TEMP_REG 0x26 /* Temperature data */
|
|
#define L3GD20_STATUS_REG 0x27 /* Status register */
|
|
#define L3GD20_OUT_X_L_REG 0x28 /* Gyroscope pitch (X) low byte */
|
|
#define L3GD20_OUT_X_H_REG 0x29 /* Gyroscope pitch (X) high byte */
|
|
#define L3GD20_OUT_Y_L_REG 0x2A /* Gyroscope roll (Y) low byte */
|
|
#define L3GD20_OUT_Y_H_REG 0x2B /* Gyroscope roll (Y) high byte */
|
|
#define L3GD20_OUT_Z_L_REG 0x2C /* Gyroscope yaw (Z) low byte */
|
|
#define L3GD20_OUT_Z_H_REG 0x2D /* Gyroscope yaw (Z) high byte */
|
|
#define L3GD20_FIFO_CTRL_REG 0x2E /* FIFO control register */
|
|
#define L3GD20_FIFO_SRC_REG 0x2f /* FIFO status control register */
|
|
#define L3GD20_INT_GEN_CFG_REG 0x30 /* Gyroscope interrupt configuration */
|
|
#define L3GD20_INT_GEN_SRC_REG 0x31 /* Gyroscope interrupt source */
|
|
#define L3GD20_INT_GEN_THS_X_H_REG 0x32 /* Gyroscope pitch (X) interrupt threshold high byte */
|
|
#define L3GD20_INT_GEN_THS_X_L_REG 0x33 /* Gyroscope pitch (X) interrupt threshold low byte */
|
|
#define L3GD20_INT_GEN_THS_Y_H_REG 0x34 /* Gyroscope roll (Y) interrupt threshold high byte */
|
|
#define L3GD20_INT_GEN_THS_Y_L_REG 0x35 /* Gyroscope roll (Y) interrupt threshold low byte */
|
|
#define L3GD20_INT_GEN_THS_Z_H_REG 0x36 /* Gyroscope yaw (Z) interrupt threshold high byte */
|
|
#define L3GD20_INT_GEN_THS_Z_L_REG 0x37 /* Gyroscope yaw (Z) interrupt threshold low byte */
|
|
#define L3GD20_INT_GEN_DUR_REG 0x38 /* Gyroscope interrupt duration */
|
|
|
|
/* Register Bit Definitions *************************************************/
|
|
|
|
/* Device identification register */
|
|
|
|
#define L3GD20_WHO_AM_I_VALUE 0xD4
|
|
|
|
/* Gyroscope control register 1 */
|
|
|
|
#define L3GD20_CTRL_REG_1_X_EN_BM (1 << 0)
|
|
#define L3GD20_CTRL_REG_1_Y_EN_BM (1 << 1)
|
|
#define L3GD20_CTRL_REG_1_Z_EN_BM (1 << 2)
|
|
#define L3GD20_CTRL_REG_1_POWERDOWN_BM (1 << 3)
|
|
#define L3GD20_CTRL_REG_1_BW_0_BM (1 << 4)
|
|
#define L3GD20_CTRL_REG_1_BW_1_BM (1 << 5)
|
|
#define L3GD20_CTRL_REG_1_DR_0_BM (1 << 6)
|
|
#define L3GD20_CTRL_REG_1_DR_1_BM (1 << 7)
|
|
|
|
/* Gyroscope control register 2 */
|
|
|
|
#define L3GD20_CTRL_REG_2_HPCF_0_BM (1 << 0)
|
|
#define L3GD20_CTRL_REG_2_HPCF_1_BM (1 << 1)
|
|
#define L3GD20_CTRL_REG_2_HPCF_2_BM (1 << 2)
|
|
#define L3GD20_CTRL_REG_2_HPCF_3_BM (1 << 3)
|
|
#define L3GD20_CTRL_REG_2_HPM_0_BM (1 << 4)
|
|
#define L3GD20_CTRL_REG_2_HPM_1_BM (1 << 5)
|
|
#define L3GD20_CTRL_REG_2_RES6_ (1 << 6)
|
|
#define L3GD20_CTRL_REG_2_RES7_ (1 << 7)
|
|
|
|
/* Gyroscope control register 3 */
|
|
|
|
#define L3GD20_CTRL_REG_3_I2_EMPTY_BM (1 << 0)
|
|
#define L3GD20_CTRL_REG_3_I2_ORUN_BM (1 << 1)
|
|
#define L3GD20_CTRL_REG_3_I2_WTM_BM (1 << 2)
|
|
#define L3GD20_CTRL_REG_3_I2_DRDY_BM (1 << 3)
|
|
#define L3GD20_CTRL_REG_3_PP_OD_BM (1 << 4)
|
|
#define L3GD20_CTRL_REG_3_H_LACTIVE_BM (1 << 5)
|
|
#define L3GD20_CTRL_REG_3_I1_BOOT_BM (1 << 6)
|
|
#define L3GD20_CTRL_REG_3_I1_INT1_BM (1 << 7)
|
|
|
|
/* Gyroscope control register 4 */
|
|
|
|
#define L3GD20_CTRL_REG_4_SIM_BM (1 << 0)
|
|
#define L3GD20_CTRL_REG_4_RES1_ (1 << 1)
|
|
#define L3GD20_CTRL_REG_4_RES2_ (1 << 2)
|
|
#define L3GD20_CTRL_REG_4_RES3_ (1 << 3)
|
|
#define L3GD20_CTRL_REG_4_FS_0_BM (1 << 4)
|
|
#define L3GD20_CTRL_REG_4_FS_1_BM (1 << 5)
|
|
#define L3GD20_CTRL_REG_4_BLE_BM (1 << 6)
|
|
#define L3GD20_CTRL_REG_4_BDU_BM (1 << 7)
|
|
|
|
/* Gyroscope control register 5 */
|
|
|
|
#define L3GD20_CTRL_REG_5_OUT_SEL_0_BM (1 << 0)
|
|
#define L3GD20_CTRL_REG_5_OUT_SEL_1_BM (1 << 1)
|
|
#define L3GD20_CTRL_REG_5_INT1_SEL_0_BM (1 << 2)
|
|
#define L3GD20_CTRL_REG_5_INT1_SEL_1_BM (1 << 3)
|
|
#define L3GD20_CTRL_REG_5_HP_EN_BM (1 << 4)
|
|
#define L3GD20_CTRL_REG_5_RES5_ (1 << 5)
|
|
#define L3GD20_CTRL_REG_5_FIFO_EN_BM (1 << 6)
|
|
#define L3GD20_CTRL_REG_5_BOOT_BM (1 << 7)
|
|
|
|
/* Status register */
|
|
|
|
#define L3GD20_STATUS_REG_X_DA_BM (1 << 0)
|
|
#define L3GD20_STATUS_REG_Y_DA_BM (1 << 1)
|
|
#define L3GD20_STATUS_REG_Z_DA_BM (1 << 2)
|
|
#define L3GD20_STATUS_REG_ZYX_DA_BM (1 << 3)
|
|
#define L3GD20_STATUS_REG_X_OR_BM (1 << 4)
|
|
#define L3GD20_STATUS_REG_Y_OR_BM (1 << 5)
|
|
#define L3GD20_STATUS_REG_Z_OR_BM (1 << 6)
|
|
#define L3GD20_STATUS_REG_ZYX_OR_BM (1 << 7)
|
|
|
|
/* FIFO control register */
|
|
|
|
#define L3GD20_FIFO_CTRL_WTM_0_BM (1 << 0)
|
|
#define L3GD20_FIFO_CTRL_WTM_1_BM (1 << 1)
|
|
#define L3GD20_FIFO_CTRL_WTM_2_BM (1 << 2)
|
|
#define L3GD20_FIFO_CTRL_WTM_3_BM (1 << 3)
|
|
#define L3GD20_FIFO_CTRL_WTM_4_BM (1 << 4)
|
|
#define L3GD20_FIFO_CTRL_FM_0_BM (1 << 5)
|
|
#define L3GD20_FIFO_CTRL_FM_1_BM (1 << 6)
|
|
#define L3GD20_FIFO_CTRL_FM_2_BM (1 << 7)
|
|
#define L3GD20_FIFO_CTRL_FMODE_BYPASS (0)
|
|
#define L3GD20_FIFO_CTRL_FMODE_FIFO (L3GD20_FIFO_CTRL_FM0)
|
|
#define L3GD20_FIFO_CTRL_FMODE_CONT (L3GD20_FIFO_CTRL_FM1)
|
|
#define L3GD20_FIFO_CTRL_FMODE_CONT_FIFO (L3GD20_FIFO_CTRL_FM1 | L3GD20_FIFO_CTRL_FM0)
|
|
#define L3GD20_FIFO_CTRL_FMODE_BYPASS_CONT (L3GD20_FIFO_CTRL_FM2 | L3GD20_FIFO_CTRL_FM1)
|
|
|
|
/* FIFO status control register */
|
|
|
|
#define L3GD20_FIFO_SRC_FSS_0_BM (1 << 0)
|
|
#define L3GD20_FIFO_SRC_FSS_1_BM (1 << 1)
|
|
#define L3GD20_FIFO_SRC_FSS_2_BM (1 << 2)
|
|
#define L3GD20_FIFO_SRC_FSS_3_BM (1 << 3)
|
|
#define L3GD20_FIFO_SRC_FSS_4_BM (1 << 4)
|
|
#define L3GD20_FIFO_SRC_EMPTY_BM (1 << 5)
|
|
#define L3GD20_FIFO_SRC_OVRUN_BM (1 << 6)
|
|
#define L3GD20_FIFO_SRC_WTM_BM (1 << 7)
|
|
|
|
/* Gyroscope interrupt configuration */
|
|
|
|
#define L3GD20_INT_GEN_CFG_X_L_IE_BM (1 << 0)
|
|
#define L3GD20_INT_GEN_CFG_X_H_IE_BM (1 << 1)
|
|
#define L3GD20_INT_GEN_CFG_Y_L_IE_BM (1 << 2)
|
|
#define L3GD20_INT_GEN_CFG_Y_H_IE_BM (1 << 3)
|
|
#define L3GD20_INT_GEN_CFG_Z_L_IE_BM (1 << 4)
|
|
#define L3GD20_INT_GEN_CFG_Z_H_IE_BM (1 << 5)
|
|
#define L3GD20_INT_GEN_CFG_LIR_BM (1 << 6)
|
|
#define L3GD20_INT_GEN_CFG_AOI_BM (1 << 7)
|
|
|
|
/* Gyroscope interrupt source */
|
|
|
|
#define L3GD20_INT_GEN_SRC_X_L_BM (1 << 0)
|
|
#define L3GD20_INT_GEN_SRC_X_H_BM (1 << 1)
|
|
#define L3GD20_INT_GEN_SRC_Y_L_BM (1 << 2)
|
|
#define L3GD20_INT_GEN_SRC_Y_H_BM (1 << 3)
|
|
#define L3GD20_INT_GEN_SRC_Z_L_BM (1 << 4)
|
|
#define L3GD20_INT_GEN_SRC_Z_H_BM (1 << 5)
|
|
#define L3GD20_INT_GEN_SRC_I_A_BM (1 << 6)
|
|
#define L3GD20_INT_GEN_SRC_RES7_ (1 << 7)
|
|
|
|
/****************************************************************************
|
|
* Public Types
|
|
****************************************************************************/
|
|
|
|
/* A reference to a structure of this type must be passed to the L3GD20
|
|
* driver. This structure provides information about the configuration
|
|
* of the sensor and provides some board-specific hooks.
|
|
*
|
|
* Memory for this structure is provided by the caller. It is not copied
|
|
* by the driver and is presumed to persist while the driver is active.
|
|
*/
|
|
|
|
struct l3gd20_config_s
|
|
{
|
|
/* Since multiple L3GD20 can be connected to the same SPI bus we need
|
|
* to use multiple spi device ids which are employed by NuttX to select/
|
|
* deselect the desired L3GD20 chip via their chip select inputs.
|
|
*/
|
|
|
|
int spi_devid;
|
|
|
|
/* The IRQ number must be provided for each L3GD20 device so that
|
|
* their interrupts can be distinguished.
|
|
*/
|
|
|
|
int irq;
|
|
|
|
/* Attach the L3GD20 interrupt handler to the GPIO interrupt of the
|
|
* concrete L3GD20 instance.
|
|
*/
|
|
|
|
int (*attach)(FAR struct l3gd20_config_s *, xcpt_t);
|
|
};
|
|
|
|
/****************************************************************************
|
|
* Public Function Prototypes
|
|
****************************************************************************/
|
|
|
|
#ifdef __cplusplus
|
|
#define EXTERN extern "C"
|
|
extern "C"
|
|
{
|
|
#else
|
|
#define EXTERN extern
|
|
#endif
|
|
|
|
/****************************************************************************
|
|
* Name: l3gd20_register
|
|
*
|
|
* Description:
|
|
* Register the L3DF20 character device as 'devpath'.
|
|
*
|
|
* Input Parameters:
|
|
* devno - The device number, used to build the device path
|
|
* as /dev/sensor/gyro_uncalN
|
|
* spi - An SPI driver instance.
|
|
* config - configuration for the L3GD20 driver. For details see
|
|
* description above.
|
|
*
|
|
* Returned Value:
|
|
* Zero (OK) on success; a negated errno value on failure.
|
|
*
|
|
****************************************************************************/
|
|
|
|
int l3gd20_register(int devno, FAR struct spi_dev_s *spi,
|
|
FAR struct l3gd20_config_s *config);
|
|
|
|
#undef EXTERN
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|
|
|
|
#endif /* CONFIG_SPI && CONFIG_SENSORS_L3GD20 */
|
|
#endif /* __INCLUDE_NUTTX_SENSORS_L3GD20_H */
|