diff options
Diffstat (limited to 'nuttx/configs/px4fmu/include/drv_l3gd20.h')
| -rw-r--r-- | nuttx/configs/px4fmu/include/drv_l3gd20.h | 108 |
1 files changed, 108 insertions, 0 deletions
diff --git a/nuttx/configs/px4fmu/include/drv_l3gd20.h b/nuttx/configs/px4fmu/include/drv_l3gd20.h new file mode 100644 index 000000000..3b284d60d --- /dev/null +++ b/nuttx/configs/px4fmu/include/drv_l3gd20.h @@ -0,0 +1,108 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ +/* + * Driver for the ST L3GD20 gyroscope + */ + +/* IMPORTANT NOTES: + * + * SPI max. clock frequency: 10 Mhz + * CS has to be high before transfer, + * go low right before transfer and + * go high again right after transfer + * + */ + +#include <sys/ioctl.h> + +#define _L3GD20BASE 0x6200 +#define L3GD20C(_x) _IOC(_L3GD20BASE, _x) + +/* + * Sets the sensor internal sampling rate, and if a buffer + * has been configured, the rate at which entries will be + * added to the buffer. + */ +#define L3GD20_SETRATE L3GD20C(1) + +#define L3GD20_RATE_95HZ_LP_12_5HZ ((0<<7) | (0<<6) | (0<<5) | (0<<4)) +#define L3GD20_RATE_95HZ_LP_25HZ ((0<<7) | (0<<6) | (0<<5) | (1<<4)) +#define L3GD20_RATE_190HZ_LP_12_5HZ ((0<<7) | (1<<6) | (0<<5) | (0<<4)) +#define L3GD20_RATE_190HZ_LP_25HZ ((0<<7) | (1<<6) | (0<<5) | (1<<4)) +#define L3GD20_RATE_190HZ_LP_50HZ ((0<<7) | (1<<6) | (1<<5) | (0<<4)) +#define L3GD20_RATE_190HZ_LP_70HZ ((0<<7) | (1<<6) | (1<<5) | (1<<4)) +#define L3GD20_RATE_380HZ_LP_20HZ ((1<<7) | (0<<6) | (0<<5) | (0<<4)) +#define L3GD20_RATE_380HZ_LP_25HZ ((1<<7) | (0<<6) | (0<<5) | (1<<4)) +#define L3GD20_RATE_380HZ_LP_50HZ ((1<<7) | (0<<6) | (1<<5) | (0<<4)) +#define L3GD20_RATE_380HZ_LP_100HZ ((1<<7) | (0<<6) | (1<<5) | (1<<4)) +#define L3GD20_RATE_760HZ_LP_30HZ ((1<<7) | (1<<6) | (0<<5) | (0<<4)) +#define L3GD20_RATE_760HZ_LP_35HZ ((1<<7) | (1<<6) | (0<<5) | (1<<4)) +#define L3GD20_RATE_760HZ_LP_50HZ ((1<<7) | (1<<6) | (1<<5) | (0<<4)) +#define L3GD20_RATE_760HZ_LP_100HZ ((1<<7) | (1<<6) | (1<<5) | (1<<4)) + +/* + * Sets the sensor internal range. + */ +#define L3GD20_SETRANGE L3GD20C(2) + +#define L3GD20_RANGE_250DPS (0<<4) +#define L3GD20_RANGE_500DPS (1<<4) +#define L3GD20_RANGE_2000DPS (3<<4) + +#define L3GD20_RATE_95HZ ((0<<6) | (0<<4)) +#define L3GD20_RATE_190HZ ((1<<6) | (0<<4)) +#define L3GD20_RATE_380HZ ((2<<6) | (1<<4)) +#define L3GD20_RATE_760HZ ((3<<6) | (2<<4)) + + + +/* + * Sets the address of a shared l3gd20_buffer + * structure that is maintained by the driver. + * + * If zero is passed as the address, disables + * the buffer updating. + */ +#define L3GD20_SETBUFFER L3GD20C(3) + +struct l3gd20_buffer { + uint32_t size; /* number of entries in the samples[] array */ + uint32_t next; /* the next entry that will be populated */ + struct { + int16_t x; + int16_t y; + int16_t z; + } samples[]; +}; + +extern int l3gd20_attach(struct spi_dev_s *spi, int spi_id); |