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, 0 insertions, 108 deletions
diff --git a/nuttx/configs/px4fmu/include/drv_l3gd20.h b/nuttx/configs/px4fmu/include/drv_l3gd20.h deleted file mode 100644 index 3b284d60d..000000000 --- a/nuttx/configs/px4fmu/include/drv_l3gd20.h +++ /dev/null @@ -1,108 +0,0 @@ -/**************************************************************************** - * - * 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); |