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https://github.com/apache/nuttx.git
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drivers/sensors: Add driver for the ST L3GD20 3 axis gyro
This commit is contained in:
raiden00
@@ -32,6 +32,13 @@ config BMP180
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---help---
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Enable driver support for the Bosch BMP180 barometer sensor.
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config SENSORS_L3GD20
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bool "ST L3GD20 Gyroscope Sensor support"
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default n
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select SPI
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---help---
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Enable driver support for the ST L3GD20 gyroscope sensor.
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config SENSOR_KXTJ9
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bool "Kionix KXTJ9 Accelerometer support"
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default n
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@@ -130,6 +130,10 @@ ifeq ($(CONFIG_LIS3MDL),y)
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CSRCS += lis3mdl.c
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endif
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ifeq ($(CONFIG_SENSORS_L3GD20),y)
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CSRCS += l3gd20.c
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endif
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endif # CONFIG_SPI
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# Quadrature encoder upper half
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File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,296 @@
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/****************************************************************************
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* drivers/sensors/l3gd20.c
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*
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* Authors: Mateusz Szafoni <raiden00@railab.me>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name NuttX nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#ifndef __INCLUDE_NUTTX_SENSORS_L3GD20_H
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#define __INCLUDE_NUTTX_SENSORS_L3GD20_H
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/irq.h>
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#include <nuttx/config.h>
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#include <nuttx/fs/ioctl.h>
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#include <nuttx/spi/spi.h>
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#if defined(CONFIG_SPI) && defined(CONFIG_SENSORS_L3GD20)
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/* SPI BUS PARAMETERS ********************************************************/
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#define L3GD20_SPI_FREQUENCY (4000000) /* 4 MHz */
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#define L3GD20_SPI_MODE (SPIDEV_MODE3) /* Device uses SPI Mode 3: CPOL=1, CPHA=1 *
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/* Register Addresses *******************************************************/
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/* Gyroscope registers */
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#define L3GD20_WHO_AM_I 0x0F /* Accelerometer and gyroscope device identification */
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#define L3GD20_CTRL_REG_1 0x20 /* Gyroscope control register 1 */
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#define L3GD20_CTRL_REG_2 0x21 /* Gyroscope control register 2 */
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#define L3GD20_CTRL_REG_3 0x22 /* Gyroscope control register 3 */
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#define L3GD20_CTRL_REG_4 0x23 /* Gyroscope control register 4 */
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#define L3GD20_CTRL_REG_5 0x24 /* Gyroscope control register 5 */
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#define L3GD20_REF_REG 0x25 /* Gyroscope reference value for interrupt generation */
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#define L3GD20_OUT_TEMP_REG 0x26 /* Temperature data */
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#define L3GD20_STATUS_REG 0x27 /* Status register */
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#define L3GD20_OUT_X_L_REG 0x28 /* Gyroscope pitch (X) low byte */
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#define L3GD20_OUT_X_H_REG 0x29 /* Gyroscope pitch (X) high byte */
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#define L3GD20_OUT_Y_L_REG 0x2A /* Gyroscope roll (Y) low byte */
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#define L3GD20_OUT_Y_H_REG 0x2B /* Gyroscope roll (Y) high byte */
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#define L3GD20_OUT_Z_L_REG 0x2C /* Gyroscope yaw (Z) low byte */
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#define L3GD20_OUT_Z_H_REG 0x2D /* Gyroscope yaw (Z) high byte */
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#define L3GD20_FIFO_CTRL_REG 0x2E /* FIFO control register */
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#define L3GD20_FIFO_SRC_REG 0x2f /* FIFO status control register */
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#define L3GD20_INT_GEN_CFG_REG 0x30 /* Gyroscope interrupt configuration */
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#define L3GD20_INT_GEN_SRC_REG 0x31 /* Gyroscope interrupt source */
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#define L3GD20_INT_GEN_THS_X_H_REG 0x32 /* Gyroscope pitch (X) interrupt threshold high byte */
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#define L3GD20_INT_GEN_THS_X_L_REG 0x33 /* Gyroscope pitch (X) interrupt threshold low byte */
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#define L3GD20_INT_GEN_THS_Y_H_REG 0x34 /* Gyroscope roll (Y) interrupt threshold high byte */
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#define L3GD20_INT_GEN_THS_Y_L_REG 0x35 /* Gyroscope roll (Y) interrupt threshold low byte */
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#define L3GD20_INT_GEN_THS_Z_H_REG 0x36 /* Gyroscope yaw (Z) interrupt threshold high byte */
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#define L3GD20_INT_GEN_THS_Z_L_REG 0x37 /* Gyroscope yaw (Z) interrupt threshold low byte */
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#define L3GD20_INT_GEN_DUR_REG 0x38 /* Gyroscope interrupt duration */
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/* Register Bit Definitions *************************************************/
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/* Device identification register */
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#define L3GD20_WHO_AM_I_VALUE 0xD4
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/* Gyroscope control register 1 */
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#define L3GD20_CTRL_REG_1_X_EN_bm (1 << 0)
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#define L3GD20_CTRL_REG_1_Y_EN_bm (1 << 1)
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#define L3GD20_CTRL_REG_1_Z_EN_bm (1 << 2)
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#define L3GD20_CTRL_REG_1_POWERDOWN_bm (1 << 3)
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#define L3GD20_CTRL_REG_1_BW_0_bm (1 << 4)
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#define L3GD20_CTRL_REG_1_BW_1_bm (1 << 5)
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#define L3GD20_CTRL_REG_1_DR_0_bm (1 << 6)
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#define L3GD20_CTRL_REG_1_DR_1_bm (1 << 7)
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/* Gyroscope control register 2 */
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#define L3GD20_CTRL_REG_2_HPCF_0_bm (1 << 0)
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#define L3GD20_CTRL_REG_2_HPCF_1_bm (1 << 1)
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#define L3GD20_CTRL_REG_2_HPCF_2_bm (1 << 2)
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#define L3GD20_CTRL_REG_2_HPCF_3_bm (1 << 3)
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#define L3GD20_CTRL_REG_2_HPM_0_bm (1 << 4)
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#define L3GD20_CTRL_REG_2_HPM_1_bm (1 << 5)
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#define L3GD20_CTRL_REG_2_RES6_ (1 << 6)
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#define L3GD20_CTRL_REG_2_RES7_ (1 << 7)
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/* Gyroscope control register 3 */
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#define L3GD20_CTRL_REG_3_I2_EMPTY_bm (1 << 0)
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#define L3GD20_CTRL_REG_3_I2_ORUN_bm (1 << 1)
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#define L3GD20_CTRL_REG_3_I2_WTM_bm (1 << 2)
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#define L3GD20_CTRL_REG_3_I2_DRDY_bm (1 << 3)
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#define L3GD20_CTRL_REG_3_PP_OD_bm (1 << 4)
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#define L3GD20_CTRL_REG_3_H_LACTIVE_bm (1 << 5)
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#define L3GD20_CTRL_REG_3_I1_BOOT_bm (1 << 6)
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#define L3GD20_CTRL_REG_3_I1_INT1_bm (1 << 7)
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/* Gyroscope control register 4 */
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#define L3GD20_CTRL_REG_4_SIM_bm (1 << 0)
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#define L3GD20_CTRL_REG_4_RES1_ (1 << 1)
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#define L3GD20_CTRL_REG_4_RES2_ (1 << 2)
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#define L3GD20_CTRL_REG_4_RES3_ (1 << 3)
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#define L3GD20_CTRL_REG_4_FS_0_bm (1 << 4)
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#define L3GD20_CTRL_REG_4_FS_1_bm (1 << 5)
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#define L3GD20_CTRL_REG_4_BLE_bm (1 << 6)
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#define L3GD20_CTRL_REG_4_BDU_bm (1 << 7)
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/* Gyroscope control register 5 */
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#define L3GD20_CTRL_REG_5_OUT_SEL_0_bm (1 << 0)
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#define L3GD20_CTRL_REG_5_OUT_SEL_1_bm (1 << 1)
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#define L3GD20_CTRL_REG_5_INT1_SEL_0_bm (1 << 2)
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#define L3GD20_CTRL_REG_5_INT1_SEL_1_bm (1 << 3)
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#define L3GD20_CTRL_REG_5_HP_EN_bm (1 << 4)
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#define L3GD20_CTRL_REG_5_RES5_ (1 << 5)
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#define L3GD20_CTRL_REG_5_FIFO_EN_bm (1 << 6)
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#define L3GD20_CTRL_REG_5_BOOT_bm (1 << 7)
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/* Status register */
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#define L3GD20_STATUS_REG_X_DA_bm (1 << 0)
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#define L3GD20_STATUS_REG_Y_DA_bm (1 << 1)
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#define L3GD20_STATUS_REG_Z_DA_bm (1 << 2)
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#define L3GD20_STATUS_REG_ZYX_DA_bm (1 << 3)
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#define L3GD20_STATUS_REG_X_OR_bm (1 << 4)
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#define L3GD20_STATUS_REG_Y_OR_bm (1 << 5)
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#define L3GD20_STATUS_REG_Z_OR_bm (1 << 6)
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#define L3GD20_STATUS_REG_ZYX_OR_bm (1 << 7)
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/* FIFO control register */
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#define L3GD20_FIFO_CTRL_WTM_0_bm (1 << 0)
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#define L3GD20_FIFO_CTRL_WTM_1_bm (1 << 1)
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#define L3GD20_FIFO_CTRL_WTM_2_bm (1 << 2)
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#define L3GD20_FIFO_CTRL_WTM_3_bm (1 << 3)
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#define L3GD20_FIFO_CTRL_WTM_4_bm (1 << 4)
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#define L3GD20_FIFO_CTRL_FM_0_bm (1 << 5)
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#define L3GD20_FIFO_CTRL_FM_1_bm (1 << 6)
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#define L3GD20_FIFO_CTRL_FM_2_bm (1 << 7)
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#define L3GD20_FIFO_CTRL_FMODE_BYPASS (0)
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#define L3GD20_FIFO_CTRL_FMODE_FIFO (L3GD20_FIFO_CTRL_FM0)
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#define L3GD20_FIFO_CTRL_FMODE_CONT (L3GD20_FIFO_CTRL_FM1)
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#define L3GD20_FIFO_CTRL_FMODE_CONT_FIFO (L3GD20_FIFO_CTRL_FM1 | L3GD20_FIFO_CTRL_FM0)
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#define L3GD20_FIFO_CTRL_FMODE_BYPASS_CONT (L3GD20_FIFO_CTRL_FM2 | L3GD20_FIFO_CTRL_FM1)
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/* FIFO status control register */
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#define L3GD20_FIFO_SRC_FSS_0_bm (1 << 0)
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#define L3GD20_FIFO_SRC_FSS_1_bm (1 << 1)
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#define L3GD20_FIFO_SRC_FSS_2_bm (1 << 2)
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#define L3GD20_FIFO_SRC_FSS_3_bm (1 << 3)
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#define L3GD20_FIFO_SRC_FSS_4_bm (1 << 4)
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#define L3GD20_FIFO_SRC_EMPTY_bm (1 << 5)
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#define L3GD20_FIFO_SRC_OVRUN_bm (1 << 6)
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#define L3GD20_FIFO_SRC_WTM_bm (1 << 7)
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/* Gyroscope interrupt configuration */
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#define L3GD20_INT_GEN_CFG_X_L_IE_bm (1 << 0)
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#define L3GD20_INT_GEN_CFG_X_H_IE_bm (1 << 1)
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#define L3GD20_INT_GEN_CFG_Y_L_IE_bm (1 << 2)
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#define L3GD20_INT_GEN_CFG_Y_H_IE_bm (1 << 3)
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#define L3GD20_INT_GEN_CFG_Z_L_IE_bm (1 << 4)
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#define L3GD20_INT_GEN_CFG_Z_H_IE_bm (1 << 5)
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#define L3GD20_INT_GEN_CFG_LIR_bm (1 << 6)
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#define L3GD20_INT_GEN_CFG_AOI_bm (1 << 7)
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/* Gyroscope interrupt source */
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#define L3GD20_INT_GEN_SRC_X_L_bm (1 << 0)
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#define L3GD20_INT_GEN_SRC_X_H_bm (1 << 1)
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#define L3GD20_INT_GEN_SRC_Y_L_bm (1 << 2)
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#define L3GD20_INT_GEN_SRC_Y_H_bm (1 << 3)
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#define L3GD20_INT_GEN_SRC_Z_L_bm (1 << 4)
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#define L3GD20_INT_GEN_SRC_Z_H_bm (1 << 5)
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#define L3GD20_INT_GEN_SRC_I_A_bm (1 << 6)
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#define L3GD20_INT_GEN_SRC_RES7_ (1 << 7)
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/****************************************************************************
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* Public Types
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****************************************************************************/
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/* A reference to a structure of this type must be passed to the L3GD20
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* driver. This structure provides information about the configuration
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* of the sensor and provides some board-specific hooks.
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*
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* Memory for this structure is provided by the caller. It is not copied
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* by the driver and is presumed to persist while the driver is active.
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*/
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struct l3gd20_config_s
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{
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/* Since multiple L3GD20 can be connected to the same SPI bus we need
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* to use multiple spi device ids which are employed by NuttX to select/
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* deselect the desired L3GD20 chip via their chip select inputs.
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*/
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int spi_devid;
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/* The IRQ number must be provided for each L3GD20 device so that
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* their interrupts can be distinguished.
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*/
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int irq;
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/* Attach the L3GD20 interrupt handler to the GPIO interrupt of the
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* concrete L3GD20 instance.
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*/
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int (*attach)(FAR struct l3gd20_config_s *, xcpt_t);
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};
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/* Data returned by reading from the L3GD20 is returned in this format. */
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struct l3gd20_sensor_data_s
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{
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int16_t x_gyr; /* Measurement result for x axis */
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int16_t y_gyr; /* Measurement result for y axis */
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int16_t z_gyr; /* Measurement result for z axis */
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int8_t temperature; /* Measurement result for temperature sensor */
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};
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/****************************************************************************
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* Public Function Prototypes
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****************************************************************************/
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#ifdef __cplusplus
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#define EXTERN extern "C"
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extern "C"
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{
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#else
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#define EXTERN extern
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#endif
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/****************************************************************************
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* Name: l3gd20_register
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*
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* Description:
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* Register the L3DF20 character device as 'devpath'.
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*
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* Input Parameters:
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* devpath - The full path to the driver to register, e.g., "/dev/gyr0".
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* i2c - An SPI driver instance.
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* config - configuration for the L3GD20 driver. For details see
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* description above.
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*
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* Returned Value:
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* Zero (OK) on success; a negated errno value on failure.
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*
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****************************************************************************/
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int l3gd20_register(FAR const char *devpath, FAR struct spi_dev_s *spi,
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FAR struct l3gd20_config_s *config);
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#undef EXTERN
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#ifdef __cplusplus
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}
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#endif
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#endif /* CONFIG_SPI && CONFIG_SENSORS_L3GD20 */
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#endif /* __INCLUDE_NUTTX_SENSORS_L3GD20_H */
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