flight/pios/inc/pios_l3gd20.h

   1 /**
   2  ******************************************************************************
   3  * @addtogroup PIOS PIOS Core hardware abstraction layer
   4  * @{
   5  * @addtogroup PIOS_L3GD20 L3GD20 Functions
   6  * @brief Deals with the hardware interface to the 3-axis gyro
   7  * @{
   8  *
   9  * @file       PIOS_L3GD20.h
  10  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
  11  * @brief      L3GD20 3-axis gyor function headers
  12  * @see        The GNU Public License (GPL) Version 3
  13  *
  14  ******************************************************************************
  15  */
  16 /*
  17  * This program is free software; you can redistribute it and/or modify
  18  * it under the terms of the GNU General Public License as published by
  19  * the Free Software Foundation; either version 3 of the License, or
  20  * (at your option) any later version.
  21  *
  22  * This program is distributed in the hope that it will be useful, but
  23  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  24  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  25  * for more details.
  26  *
  27  * You should have received a copy of the GNU General Public License along
  28  * with this program; if not, write to the Free Software Foundation, Inc.,
  29  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  30  */
  31
  32 #ifndef PIOS_L3GD20_H
  33 #define PIOS_L3GD20_H
  34
  35 /* L3GD20 Addresses */
  36 #define PIOS_L3GD20_WHOAMI               0x0F
  37 #define PIOS_L3GD20_CTRL_REG1            0X20
  38 #define PIOS_L3GD20_CTRL_REG2            0X21
  39 #define PIOS_L3GD20_CTRL_REG3            0X22
  40 #define PIOS_L3GD20_CTRL_REG4            0X23
  41 #define PIOS_L3GD20_CTRL_REG5            0X24
  42 #define PIOS_L3GD20_REFERENCE            0X25
  43 #define PIOS_L3GD20_OUT_TEMP             0x26
  44 #define PIOS_L3GD20_STATUS_REG           0x27
  45 #define PIOS_L3GD20_GYRO_X_OUT_LSB       0x28
  46 #define PIOS_L3GD20_GYRO_X_OUT_MSB       0x29
  47 #define PIOS_L3GD20_GYRO_Y_OUT_LSB       0x2A
  48 #define PIOS_L3GD20_GYRO_Y_OUT_MSB       0x2B
  49 #define PIOS_L3GD20_GYRO_Z_OUT_LSB       0x2C
  50 #define PIOS_L3GD20_GYRO_Z_OUT_MSB       0x2D
  51 #define PIOS_L3GD20_FIFO_CTRL_REG        0x2E
  52 #define PIOS_L3GD20_FIFO_SRC_REG         0x2F
  53 #define PIOS_L3GD20_INT1_CFG             0x30
  54 #define PIOS_L3GD20_INT1_SRC             0x31
  55 #define PIOS_L3GD20_INT1_TSH_XH          0x32
  56 #define PIOS_L3GD20_INT1_TSH_XL          0x33
  57 #define PIOS_L3GD20_INT1_TSH_YH          0x34
  58 #define PIOS_L3GD20_INT1_TSH_YL          0x35
  59 #define PIOS_L3GD20_INT1_TSH_ZH          0x36
  60 #define PIOS_L3GD20_INT1_TSH_ZL          0x37
  61 #define PIOS_L3GD20_INT1_DURATION        0x38
  62
  63 /* Ctrl1 flags */
  64 #define PIOS_L3GD20_CTRL1_FASTEST        0xF0
  65 #define PIOS_L3GD20_CTRL1_380HZ_100HZ    0xB0
  66 #define PIOS_L3GD20_CTRL1_PD             0x08
  67 #define PIOS_L3GD20_CTRL1_ZEN            0x04
  68 #define PIOS_L3GD20_CTRL1_YEN            0x02
  69 #define PIOS_L3GD20_CTRL1_XEN            0x01
  70
  71 /* FIFO enable for storing different values */
  72 #define PIOS_L3GD20_FIFO_TEMP_OUT        0x80
  73 #define PIOS_L3GD20_FIFO_GYRO_X_OUT      0x40
  74 #define PIOS_L3GD20_FIFO_GYRO_Y_OUT      0x20
  75 #define PIOS_L3GD20_FIFO_GYRO_Z_OUT      0x10
  76 #define PIOS_L3GD20_ACCEL_OUT            0x08
  77
  78 /* Interrupt Configuration */
  79 #define PIOS_L3GD20_INT_ACTL             0x80
  80 #define PIOS_L3GD20_INT_OPEN             0x40
  81 #define PIOS_L3GD20_INT_LATCH_EN         0x20
  82 #define PIOS_L3GD20_INT_CLR_ANYRD        0x10
  83
  84 #define PIOS_L3GD20_INTEN_OVERFLOW       0x10
  85 #define PIOS_L3GD20_INTEN_DATA_RDY       0x01
  86
  87 /* Interrupt status */
  88 #define PIOS_L3GD20_INT_STATUS_FIFO_FULL 0x80
  89 #define PIOS_L3GD20_INT_STATUS_IMU_RDY   0X04
  90 #define PIOS_L3GD20_INT_STATUS_DATA_RDY  0X01
  91
  92 /* User control functionality */
  93 #define PIOS_L3GD20_USERCTL_FIFO_EN      0X40
  94 #define PIOS_L3GD20_USERCTL_FIFO_RST     0X02
  95 #define PIOS_L3GD20_USERCTL_GYRO_RST     0X01
  96
  97 /* Power management and clock selection */
  98 #define PIOS_L3GD20_PWRMGMT_IMU_RST      0X80
  99 #define PIOS_L3GD20_PWRMGMT_INTERN_CLK   0X00
 100 #define PIOS_L3GD20_PWRMGMT_PLL_X_CLK    0X01
 101 #define PIOS_L3GD20_PWRMGMT_PLL_Y_CLK    0X02
 102 #define PIOS_L3GD20_PWRMGMT_PLL_Z_CLK    0X03
 103 #define PIOS_L3GD20_PWRMGMT_STOP_CLK     0X07
 104
 105 enum pios_l3gd20_range {
 106     PIOS_L3GD20_SCALE_250_DEG  = 0x00,
 107     PIOS_L3GD20_SCALE_500_DEG  = 0x10,
 108     PIOS_L3GD20_SCALE_2000_DEG = 0x3
 109 };
 110
 111 enum pios_l3gd20_filter {
 112     PIOS_L3GD20_LOWPASS_256_HZ = 0x00,
 113     PIOS_L3GD20_LOWPASS_188_HZ = 0x01,
 114     PIOS_L3GD20_LOWPASS_98_HZ  = 0x02,
 115     PIOS_L3GD20_LOWPASS_42_HZ  = 0x03,
 116     PIOS_L3GD20_LOWPASS_20_HZ  = 0x04,
 117     PIOS_L3GD20_LOWPASS_10_HZ  = 0x05,
 118     PIOS_L3GD20_LOWPASS_5_HZ   = 0x06
 119 };
 120
 121 struct pios_l3gd20_data {
 122     int16_t gyro_x;
 123     int16_t gyro_y;
 124     int16_t gyro_z;
 125     int16_t temperature;
 126 };
 127
 128 struct pios_l3gd20_cfg {
 129     const struct pios_exti_cfg *exti_cfg; /* Pointer to the EXTI configuration */
 130
 131     enum pios_l3gd20_range     range;
 132 };
 133
 134 /* Public Functions */
 135 extern int32_t PIOS_L3GD20_Init(uint32_t spi_id, uint32_t slave_num, const struct pios_l3gd20_cfg *cfg);
 136 extern xQueueHandle PIOS_L3GD20_GetQueue();
 137 extern int32_t PIOS_L3GD20_ReadGyros(struct pios_l3gd20_data *buffer);
 138 extern int32_t PIOS_L3GD20_SetRange(enum pios_l3gd20_range range);
 139 extern float PIOS_L3GD20_GetScale();
 140 extern int32_t PIOS_L3GD20_ReadID();
 141 extern uint8_t PIOS_L3GD20_Test();
 142 extern bool PIOS_L3GD20_IRQHandler();
 143
 144 #endif /* PIOS_L3GD20_H */
 145
 146 /**
 147  * @}
 148  * @}
 149  */