src/main/drivers/accgyro/accgyro_spi_lsm6dso.c

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #include <stdbool.h>
  22 #include <stdint.h>
  23
  24 #include "platform.h"
  25
  26 #ifdef USE_ACCGYRO_LSM6DSO
  27
  28 #include "drivers/accgyro/accgyro.h"
  29 #include "drivers/accgyro/accgyro_spi_lsm6dso.h"
  30 #include "drivers/bus_spi.h"
  31 #include "drivers/exti.h"
  32 #include "drivers/io.h"
  33 #include "drivers/io_impl.h"
  34
  35 #if defined(USE_GYRO_EXTI) && defined(USE_MPU_DATA_READY_SIGNAL)
  36 void lsm6dsoExtiHandler(extiCallbackRec_t *cb)
  37 {
  38     gyroDev_t *gyro = container_of(cb, gyroDev_t, exti);
  39     gyro->dataReady = true;
  40 }
  41 #endif
  42
  43 bool lsm6dsoAccRead(accDev_t *acc)
  44 {
  45     enum {
  46         IDX_ACCEL_XOUT_L,
  47         IDX_ACCEL_XOUT_H,
  48         IDX_ACCEL_YOUT_L,
  49         IDX_ACCEL_YOUT_H,
  50         IDX_ACCEL_ZOUT_L,
  51         IDX_ACCEL_ZOUT_H,
  52         BUFFER_SIZE,
  53     };
  54
  55     uint8_t lsm6dso_rx_buf[BUFFER_SIZE];
  56
  57     extDevice_t *dev = &acc->gyro->dev;
  58     busReadRegisterBuffer(dev, LSM6DSO_REG_OUTX_L_A, lsm6dso_rx_buf, BUFFER_SIZE);
  59
  60     acc->ADCRaw[X] = (int16_t)((lsm6dso_rx_buf[IDX_ACCEL_XOUT_H] << 8) | lsm6dso_rx_buf[IDX_ACCEL_XOUT_L]);
  61     acc->ADCRaw[Y] = (int16_t)((lsm6dso_rx_buf[IDX_ACCEL_YOUT_H] << 8) | lsm6dso_rx_buf[IDX_ACCEL_YOUT_L]);
  62     acc->ADCRaw[Z] = (int16_t)((lsm6dso_rx_buf[IDX_ACCEL_ZOUT_H] << 8) | lsm6dso_rx_buf[IDX_ACCEL_ZOUT_L]);
  63
  64     return true;
  65 }
  66
  67 bool lsm6dsoGyroRead(gyroDev_t *gyro)
  68 {
  69     enum {
  70         IDX_GYRO_XOUT_L,
  71         IDX_GYRO_XOUT_H,
  72         IDX_GYRO_YOUT_L,
  73         IDX_GYRO_YOUT_H,
  74         IDX_GYRO_ZOUT_L,
  75         IDX_GYRO_ZOUT_H,
  76         BUFFER_SIZE,
  77     };
  78
  79     uint8_t lsm6dso_rx_buf[BUFFER_SIZE];
  80
  81     extDevice_t *dev = &gyro->dev;
  82     busReadRegisterBuffer(dev, LSM6DSO_REG_OUTX_L_G, lsm6dso_rx_buf, BUFFER_SIZE);
  83
  84     gyro->gyroADCRaw[X] = (int16_t)((lsm6dso_rx_buf[IDX_GYRO_XOUT_H] << 8) | lsm6dso_rx_buf[IDX_GYRO_XOUT_L]);
  85     gyro->gyroADCRaw[Y] = (int16_t)((lsm6dso_rx_buf[IDX_GYRO_YOUT_H] << 8) | lsm6dso_rx_buf[IDX_GYRO_YOUT_L]);
  86     gyro->gyroADCRaw[Z] = (int16_t)((lsm6dso_rx_buf[IDX_GYRO_ZOUT_H] << 8) | lsm6dso_rx_buf[IDX_GYRO_ZOUT_L]);
  87
  88     return true;
  89 }
  90 #endif