1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
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);
|
