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Merged in raiden00/nuttx (pull request #214)

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Add driver for the ST L3GD20 3 axis gyro

Approved-by: Gregory Nutt
This commit is contained in:
Mateusz Szafoni 2017-02-19 17:35:03 +00:00 committed by Gregory Nutt
commit 147a99a9cc
9 changed files with 1143 additions and 1 deletions
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2
configs/stm32f429i-disco/README.txt
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@ -8,7 +8,7 @@ memory and 256kbytes. The board features:
- On-board ST-LINK/V2 for programming and debugging,
- On-board 64 Mbits (8 Mbytes) External SDRAM (1 Mbit x 16-bit x 4-bank)
- LIS302DL, ST MEMS motion sensor, 3-axis digital output accelerometer,
- L3GD20, ST MEMS motion sensor, 3-axis digital output gyroscope,
- TFT 2.4" LCD, 262K color RGB, 240 x 320 pixels
- Touchscreen controller
- Two user LEDs and two push-buttons,

4
configs/stm32f429i-disco/src/Makefile
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@ -72,6 +72,10 @@ ifeq ($(CONFIG_STM32F429I_DISCO_ILI9341),y)
CSRCS += stm32_ili93414ws.c
endif
ifeq ($(CONFIG_SENSORS_L3GD20),y)
CSRCS += stm32_l3gd20.c
endif
ifeq ($(and \
$(CONFIG_STM32F429I_DISCO_ILI9341_LCDIFACE), \
$(CONFIG_STM32F429I_DISCO_ILI9341_FBIFACE), \

11
configs/stm32f429i-disco/src/stm32_appinit.c
View File

@ -165,6 +165,8 @@ int board_app_initialize(uintptr_t arg)
int ret;
#elif defined(HAVE_USBHOST) || defined(HAVE_USBMONITOR)
int ret;
#elif defined(CONFIG_SENSORS_L3GD20)
int ret;
#endif
/* Configure SPI-based devices */
@ -378,5 +380,14 @@ int board_app_initialize(uintptr_t arg)
}
#endif
#ifdef CONFIG_SENSORS_L3GD20
ret = stm32_l3gd20initialize("/dev/gyr0");
if (ret != OK)
{
syslog(LOG_ERR, "ERROR: Failed to initialize l3gd20 sensor: %d\n", ret);
}
#endif
return OK;
}

144
configs/stm32f429i-disco/src/stm32_l3gd20.c Normal file
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@ -0,0 +1,144 @@
/****************************************************************************
* configs/stm32f429i-disco/src/stm32_l3gd20.c
*
* Authors: Mateusz Szafoni <raiden00@railab.me>
*
* 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 NuttX 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.
*
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <errno.h>
#include <debug.h>
#include <nuttx/spi/spi.h>
#include <nuttx/sensors/l3gd20.h>
#include "stm32.h"
#include "stm32_spi.h"
#include "stm32f429i-disco.h"
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#if defined(CONFIG_SPI) & defined(CONFIG_SENSORS_L3GD20)
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
static int l3gd20_attach(FAR struct l3gd20_config_s * cfg, xcpt_t irq);
/****************************************************************************
* Private Data
****************************************************************************/
/* Only one L3GD20 device on board */
static struct l3gd20_config_s g_l3gd20_config =
{
.attach = l3gd20_attach,
.irq = L3GD20_IRQ,
.spi_devid = SPIDEV_ACCELEROMETER
};
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: l3gd20_attach()
*
* Description: Attach the l3gd20 interrupt handler to the GPIO interrupt
*
****************************************************************************/
static int l3gd20_attach(FAR struct l3gd20_config_s * cfg, xcpt_t irq)
{
stm32_gpiosetevent(GPIO_L3GD20_DREADY, true, false, true, irq);
return OK;
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: stm32_l3gd20initialize()
*
* Description:
* Initialize and register the L3GD20 3 axis gyroscope sensor driver.
*
* Input parameters:
* devpath - The full path to the driver to register. E.g., "/dev/gyro0"
*
* Returned Value:
* Zero (OK) on success; a negated errno value on failure.
*
****************************************************************************/
int stm32_l3gd20initialize(FAR const char *devpath)
{
int ret = 0;
struct spi_dev_s *spi;
/* Configure DREADY IRQ input */
stm32_configgpio(GPIO_L3GD20_DREADY);
/* Initialize SPI */
spi = stm32_spi5initialize();
if (!spi)
{
ret = -ENODEV;
goto errout;
}
/* Then register the gyro */
ret = l3gd20_register(devpath, spi, &g_l3gd20_config);
if (ret != OK)
{
goto errout;
}
errout:
return ret;
}
#endif /* CONFIG_SPI && CONFIG_SENSORS_L3GD20 */

24
configs/stm32f429i-disco/src/stm32f429i-disco.h
View File

@ -114,6 +114,11 @@
#define GPIO_CS_SST25 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\
GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4)
/* L3GD20 MEMS*/
#define GPIO_L3GD20_DREADY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTA|GPIO_PIN2)
#define L3GD20_IRQ (2 + STM32_IRQ_EXTI0)
/* USB OTG HS
*
* PA9 OTG_HS_VBUS VBUS sensing (also connected to the green LED)
@ -275,6 +280,25 @@ FAR struct ili9341_lcd_s *stm32_ili93414ws_initialize(void);
FAR struct spi_dev_s *stm32_spi5initialize(void);
#endif
#if defined(CONFIG_SPI) & defined(CONFIG_SENSORS_L3GD20)
/****************************************************************************
* Name: stm32_l3gd20initialize()
*
* Description:
* Initialize and register the L3GD20 3 axis gyroscope sensor driver.
*
* Input parameters:
* devpath - The full path to the driver to register. E.g., "/dev/gyro0"
*
* Returned Value:
* Zero (OK) on success; a negated errno value on failure.
*
****************************************************************************/
int stm32_l3gd20initialize(FAR const char *devpath);
#endif
#endif /* __ASSEMBLY__ */
#endif /* __CONFIGS_STM32F429I_DISCO_SRC_STM32F429I_DISCO_H */

7
drivers/sensors/Kconfig
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@ -32,6 +32,13 @@ config BMP180
---help---
Enable driver support for the Bosch BMP180 barometer sensor.
config SENSORS_L3GD20
bool "ST L3GD20 Gyroscope Sensor support"
default n
select SPI
---help---
Enable driver support for the ST L3GD20 gyroscope sensor.
config SENSOR_KXTJ9
bool "Kionix KXTJ9 Accelerometer support"
default n

4
drivers/sensors/Make.defs
View File

@ -130,6 +130,10 @@ ifeq ($(CONFIG_LIS3MDL),y)
CSRCS += lis3mdl.c
endif
ifeq ($(CONFIG_SENSORS_L3GD20),y)
CSRCS += l3gd20.c
endif
endif # CONFIG_SPI
# Quadrature encoder upper half

652
drivers/sensors/l3gd20.c Normal file
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@ -0,0 +1,652 @@
/****************************************************************************
* drivers/sensors/l3gd20.c
* Character driver for the ST L3GD20 3-Axis gyroscope.
*
* Authors: Mateusz Szafoni <raiden00@railab.me>
* based on drivers/sensors/lis3dsh.c
*
* 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 NuttX 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.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <errno.h>
#include <debug.h>
#include <stdlib.h>
#include <string.h>
#include <nuttx/kmalloc.h>
#include <nuttx/wqueue.h>
#include <nuttx/fs/fs.h>
#include <nuttx/sensors/l3gd20.h>
#if defined(CONFIG_SPI) && defined(CONFIG_SENSORS_L3GD20)
#if !defined(CONFIG_SCHED_HPWORK)
# error Hi-priority work queue support is required (CONFIG_SCHED_HPWORK)
#endif
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/****************************************************************************
* Private Types
****************************************************************************/
struct l3gd20_dev_s
{
FAR struct l3gd20_dev_s *flink; /* Supports a singly linked list of
* drivers */
FAR struct spi_dev_s *spi; /* Pointer to the SPI instance */
FAR struct l3gd20_config_s *config; /* Pointer to the configuration of the
* L3GD20 sensor */
sem_t datasem; /* Manages exclusive access to this
* structure */
struct l3gd20_sensor_data_s data; /* The data as measured by the sensor */
struct work_s work; /* The work queue is responsible for
* retrieving the data from the sensor
* after the arrival of new data was
* signalled in an interrupt */
};
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
static void l3gd20_read_register(FAR struct l3gd20_dev_s *dev,
uint8_t const reg_addr, uint8_t * reg_data);
static void l3gd20_write_register(FAR struct l3gd20_dev_s *dev,
uint8_t const reg_addr,
uint8_t const reg_data);
static void l3gd20_reset(FAR struct l3gd20_dev_s *dev);
static void l3gd20_read_measurement_data(FAR struct l3gd20_dev_s *dev);
static void l3gd20_read_gyroscope_data(FAR struct l3gd20_dev_s *dev,
uint16_t * x_gyr, uint16_t * y_gyr,
uint16_t * z_gyr);
static void l3gd20_read_temperature(FAR struct l3gd20_dev_s *dev,
uint8_t * temperature);
static int l3gd20_interrupt_handler(int irq, FAR void *context);
static void l3gd20_worker(FAR void *arg);
static int l3gd20_open(FAR struct file *filep);
static int l3gd20_close(FAR struct file *filep);
static ssize_t l3gd20_read(FAR struct file *, FAR char *, size_t);
static ssize_t l3gd20_write(FAR struct file *filep, FAR const char *buffer,
size_t buflen);
static int l3gd20_ioctl(FAR struct file *filep, int cmd, unsigned long arg);
/****************************************************************************
* Private Data
****************************************************************************/
static const struct file_operations g_l3gd20_fops =
{
l3gd20_open,
l3gd20_close,
l3gd20_read,
l3gd20_write,
NULL,
l3gd20_ioctl
#ifndef CONFIG_DISABLE_POLL
, NULL
#endif
#ifndef CONFIG_DISABLE_PSEUDOFS_OPERATIONS
, NULL
#endif
};
/* Single linked list to store instances of drivers */
static struct l3gd20_dev_s *g_l3gd20_list = NULL;
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: l3gd20_read_register
****************************************************************************/
static void l3gd20_read_register(FAR struct l3gd20_dev_s *dev,
uint8_t const reg_addr, uint8_t * reg_data)
{
/* Lock the SPI bus so that only one device can access it at the same time */
SPI_LOCK(dev->spi, true);
/* Set CS to low which selects the L3GD20 */
SPI_SELECT(dev->spi, dev->config->spi_devid, true);
/* Transmit the register address from where we want to read - the MSB needs
* to be set to indicate the read indication.
*/
SPI_SEND(dev->spi, reg_addr | 0x80);
/* Write an idle byte while receiving the required data */
*reg_data = (uint8_t) (SPI_SEND(dev->spi, 0));
/* Set CS to high which deselects the L3GD20 */
SPI_SELECT(dev->spi, dev->config->spi_devid, false);
/* Unlock the SPI bus */
SPI_LOCK(dev->spi, false);
}
/****************************************************************************
* Name: l3gd20_write_register
****************************************************************************/
static void l3gd20_write_register(FAR struct l3gd20_dev_s *dev,
uint8_t const reg_addr,
uint8_t const reg_data)
{
/* Lock the SPI bus so that only one device can access it at the same time */
SPI_LOCK(dev->spi, true);
/* Set CS to low which selects the L3GD20 */
SPI_SELECT(dev->spi, dev->config->spi_devid, true);
/* Transmit the register address from where we want to read */
SPI_SEND(dev->spi, reg_addr);
/* Transmit the content which should be written in the register */
SPI_SEND(dev->spi, reg_data);
/* Set CS to high which deselects the L3GD20 */
SPI_SELECT(dev->spi, dev->config->spi_devid, false);
/* Unlock the SPI bus */
SPI_LOCK(dev->spi, false);
}
/****************************************************************************
* Name: l3gd20_reset
****************************************************************************/
static void l3gd20_reset(FAR struct l3gd20_dev_s *dev)
{
/* Reboot memory content */
l3gd20_write_register(dev, L3GD20_CTRL_REG_5, L3GD20_CTRL_REG_5_BOOT_bm);
up_mdelay(100);
}
/****************************************************************************
* Name: l3gd20_read_measurement_data
****************************************************************************/
static void l3gd20_read_measurement_data(FAR struct l3gd20_dev_s *dev)
{
int ret;
uint16_t x_gyr = 0, y_gyr = 0, z_gyr = 0;
uint8_t temperature = 0;
/* Read Gyroscope */
l3gd20_read_gyroscope_data(dev, &x_gyr, &y_gyr, &z_gyr);
/* Read Temperature */
l3gd20_read_temperature(dev, &temperature);
/* Aquire the semaphore before the data is copied */
ret = sem_wait(&dev->datasem);
if (ret < 0)
{
snerr("ERROR: Could not aquire dev->datasem: %d\n", ret);
return;
}
/* Copy retrieve data to internal data structure */
dev->data.x_gyr = (int16_t) (x_gyr);
dev->data.y_gyr = (int16_t) (y_gyr);
dev->data.z_gyr = (int16_t) (z_gyr);
/* Give back the semaphore */
sem_post(&dev->datasem);
}
/****************************************************************************
* Name: l3gd20_read_gyroscope_data
****************************************************************************/
static void l3gd20_read_gyroscope_data(FAR struct l3gd20_dev_s *dev,
uint16_t * x_gyr, uint16_t * y_gyr,
uint16_t * z_gyr)
{
/* Lock the SPI bus so that only one device can access it at the same time */
SPI_LOCK(dev->spi, true);
/* Set CS to low which selects the L3GD20 */
SPI_SELECT(dev->spi, dev->config->spi_devid, true);
/* Transmit the register address from where we want to start reading
* 0x80 -> MSB is set -> Read Indication
* 0x40 -> MSB-1 (MS-Bit) is set -> auto increment of address when reading
* multiple bytes.
*/
SPI_SEND(dev->spi, (L3GD20_OUT_X_L_REG | 0x80 | 0x40)); /* RX */
*x_gyr = ((uint16_t) (SPI_SEND(dev->spi, 0)) << 0); /* LSB */
*x_gyr |= ((uint16_t) (SPI_SEND(dev->spi, 0)) << 8); /* MSB */
*y_gyr = ((uint16_t) (SPI_SEND(dev->spi, 0)) << 0); /* LSB */
*y_gyr |= ((uint16_t) (SPI_SEND(dev->spi, 0)) << 8); /* MSB */
*z_gyr = ((uint16_t) (SPI_SEND(dev->spi, 0)) << 0); /* LSB */
*z_gyr |= ((uint16_t) (SPI_SEND(dev->spi, 0)) << 8); /* MSB */
/* Set CS to high which deselects the L3GD20 */
SPI_SELECT(dev->spi, dev->config->spi_devid, false);
/* Unlock the SPI bus */
SPI_LOCK(dev->spi, false);
}
/****************************************************************************
* Name: l3gd20_read_temperature
****************************************************************************/
static void l3gd20_read_temperature(FAR struct l3gd20_dev_s* dev,
uint8_t* temperature)
{
/* Lock the SPI bus so that only one device can access it at the same time */
SPI_LOCK(dev->spi, true);
/* Set CS to low which selects the L3GD20 */
SPI_SELECT(dev->spi, dev->config->spi_devid, true);
/* Transmit the register address from where we want to start reading
* 0x80 MSB is set -> Read Indication
*/
SPI_SEND(dev->spi, (L3GD20_OUT_TEMP_REG | 0x80));
/* RX */
*temperature = (SPI_SEND(dev->spi, 0));
/* Set CS to high which deselects the L3GD20 */
SPI_SELECT(dev->spi, dev->config->spi_devid, false);
/* Unlock the SPI bus */
SPI_LOCK(dev->spi, false);
}
/****************************************************************************
* Name: l3gd20_interrupt_handler
****************************************************************************/
static int l3gd20_interrupt_handler(int irq, FAR void* context)
{
/* This function should be called upon a rising edge on the L3GD20 new data
* interrupt pin since it signals that new data has been measured.
*/
FAR struct l3gd20_dev_s *priv = 0;
int ret;
/* Find out which L3GD20 device caused the interrupt */
for (priv = g_l3gd20_list;
priv && priv->config->irq != irq;
priv = priv->flink)
{
DEBUGASSERT(priv != NULL);
}
/* Task the worker with retrieving the latest sensor data. We should not do
* this in a interrupt since it might take too long. Also we cannot lock the
* SPI bus from within an interrupt.
*/
DEBUGASSERT(priv->work.worker == NULL);
ret = work_queue(HPWORK, &priv->work, l3gd20_worker, priv, 0);
if (ret < 0)
{
snerr("ERROR: Failed to queue work: %d\n", ret);
return ret;
}
return OK;
}
/****************************************************************************
* Name: l3gd20_worker
****************************************************************************/
static void l3gd20_worker(FAR void *arg)
{
FAR struct l3gd20_dev_s *priv = (FAR struct l3gd20_dev_s *)(arg);
DEBUGASSERT(priv != NULL);
/* Read out the latest sensor data */
l3gd20_read_measurement_data(priv);
}
/****************************************************************************
* Name: l3gd20_open
****************************************************************************/
static int l3gd20_open(FAR struct file *filep)
{
FAR struct inode *inode = filep->f_inode;
FAR struct l3gd20_dev_s *priv = inode->i_private;
#ifdef CONFIG_DEBUG_SENSORS_INFO
uint8_t reg_content;
uint8_t reg_addr;
#endif
DEBUGASSERT(priv != NULL);
/* Perform a reset */
l3gd20_reset(priv);
/* Enable DRDY signal on INT 2 */
l3gd20_write_register(priv,
L3GD20_CTRL_REG_3,
L3GD20_CTRL_REG_3_I2_DRDY_bm);
/* Enable the maximum full scale mode.
* Enable block data update for gyro sensor data.
* This should prevent race conditions when reading sensor data.
*/
l3gd20_write_register(priv,
L3GD20_CTRL_REG_4,
L3GD20_CTRL_REG_4_BDU_bm |
L3GD20_CTRL_REG_4_FS_1_bm |
L3GD20_CTRL_REG_4_FS_0_bm);
/* Enable X,Y,Z axis
* DR=00 -> Output data rate = 95 Hz, Cut-off = 12.5
*/
l3gd20_write_register(priv,
L3GD20_CTRL_REG_1,
L3GD20_CTRL_REG_1_POWERDOWN_bm |
L3GD20_CTRL_REG_1_X_EN_bm |
L3GD20_CTRL_REG_1_Y_EN_bm |
L3GD20_CTRL_REG_1_Z_EN_bm);
/* Read measurement data to ensure DRDY is low */
l3gd20_read_measurement_data(priv);
/* Read back the content of all control registers for debug purposes */
#ifdef CONFIG_DEBUG_SENSORS_INFO
reg_content = 0;
l3gd20_read_register(priv, L3GD20_WHO_AM_I, &reg_content);
sninfo("WHO_AM_I_REG = %04x\n", reg_content);
for (reg_addr = L3GD20_CTRL_REG_1;
reg_addr <= L3GD20_CTRL_REG_5;
reg_addr++)
{
l3gd20_read_register(priv, reg_addr, &reg_content);
sninfo("R#%04x = %04x\n", reg_addr, reg_content);
}
l3gd20_read_register(priv, L3GD20_STATUS_REG, &reg_content);
sninfo("STATUS_REG = %04x\n", reg_content);
#endif
return OK;
}
/****************************************************************************
* Name: l3gd20_close
****************************************************************************/
static int l3gd20_close(FAR struct file *filep)
{
FAR struct inode *inode = filep->f_inode;
FAR struct l3gd20_dev_s *priv = inode->i_private;
DEBUGASSERT(priv != NULL);
/* Perform a reset */
l3gd20_reset(priv);
return OK;
}
/****************************************************************************
* Name: l3gd20_read
****************************************************************************/
static ssize_t l3gd20_read(FAR struct file *filep, FAR char *buffer,
size_t buflen)
{
FAR struct inode *inode = filep->f_inode;
FAR struct l3gd20_dev_s *priv = inode->i_private;
FAR struct l3gd20_sensor_data_s *data;
int ret;
DEBUGASSERT(priv != NULL);
/* Check if enough memory was provided for the read call */
if (buflen < sizeof(FAR struct l3gd20_sensor_data_s))
{
snerr("ERROR: Not enough memory for reading out a sensor data sample\n");
return -ENOSYS;
}
/* Aquire the semaphore before the data is copied */
ret = sem_wait(&priv->datasem);
if (ret < 0)
{
int errcode = errno;
snerr("ERROR: Could not aquire priv->datasem: %d\n", errcode);
return -errcode;
}
/* Copy the sensor data into the buffer */
data = (FAR struct l3gd20_sensor_data_s *)buffer;
memset(data, 0, sizeof(FAR struct l3gd20_sensor_data_s));
data->x_gyr = priv->data.x_gyr;
data->y_gyr = priv->data.y_gyr;
data->z_gyr = priv->data.z_gyr;
data->temperature = priv->data.temperature;
/* Give back the semaphore */
sem_post(&priv->datasem);
return sizeof(FAR struct l3gd20_sensor_data_s);
}
/****************************************************************************
* Name: l3gd20_write
****************************************************************************/
static ssize_t l3gd20_write(FAR struct file *filep, FAR const char *buffer,
size_t buflen)
{
return -ENOSYS;
}
/****************************************************************************
* Name: l3gd20_ioctl
****************************************************************************/
static int l3gd20_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
{
int ret = OK;
switch (cmd)
{
/* @TODO */
/* Command was not recognized */
default:
snerr("ERROR: Unrecognized cmd: %d\n", cmd);
ret = -ENOTTY;
break;
}
return ret;
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: l3gd20_register
*
* Description:
* Register the L3DF20 character device as 'devpath'.
*
* Input Parameters:
* devpath - The full path to the driver to register, e.g., "/dev/gyr0".
* spi - An SPI driver instance.
* config - configuration for the L3GD20 driver.
*
* Returned Value:
* Zero (OK) on success; a negated errno value on failure.
*
****************************************************************************/
int l3gd20_register(FAR const char *devpath, FAR struct spi_dev_s *spi,
FAR struct l3gd20_config_s *config)
{
FAR struct l3gd20_dev_s *priv;
int ret = OK;
/* Sanity check */
DEBUGASSERT(spi != NULL);
DEBUGASSERT(config != NULL);
/* Initialize the L3GD20 device structure */
priv = (FAR struct l3gd20_dev_s *)kmm_malloc(sizeof(struct l3gd20_dev_s));
if (priv == NULL)
{
snerr("ERROR: Failed to allocate instance\n");
ret = -ENOMEM;
goto errout;
}
priv->spi = spi;
priv->config = config;
priv->work.worker = NULL;
priv->data.x_gyr = 0;
priv->data.y_gyr = 0;
priv->data.z_gyr = 0;
priv->data.temperature = 0;
/* Initialize sensor data access semaphore */
sem_init(&priv->datasem, 0, 1);
/* Setup SPI frequency and mode */
SPI_SETFREQUENCY(spi, L3GD20_SPI_FREQUENCY);
SPI_SETMODE(spi, L3GD20_SPI_MODE);
/* Attach the interrupt handler */
ret = priv->config->attach(priv->config, &l3gd20_interrupt_handler);
if (ret < 0)
{
snerr("ERROR: Failed to attach interrupt\n");
goto errout;
}
/* Register the character driver */
ret = register_driver(devpath, &g_l3gd20_fops, 0666, priv);
if (ret < 0)
{
snerr("ERROR: Failed to register driver: %d\n", ret);
kmm_free(priv);
sem_destroy(&priv->datasem);
goto errout;
}
/* Since we support multiple L3GD20 devices, we will need to add this new
* instance to a list of device instances so that it can be found by the
* interrupt handler based on the received IRQ number. */
priv->flink = g_l3gd20_list;
g_l3gd20_list = priv;
errout:
return ret;
}
#endif /* CONFIG_SPI && CONFIG_SENSORS_L3GD20 */

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/****************************************************************************
* drivers/sensors/l3gd20.c
*
* Authors: Mateusz Szafoni <raiden00@railab.me>
*
* 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 NuttX 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.
*
****************************************************************************/
#ifndef __INCLUDE_NUTTX_SENSORS_L3GD20_H
#define __INCLUDE_NUTTX_SENSORS_L3GD20_H
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/irq.h>
#include <nuttx/config.h>
#include <nuttx/fs/ioctl.h>
#include <nuttx/spi/spi.h>
#if defined(CONFIG_SPI) && defined(CONFIG_SENSORS_L3GD20)
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/* SPI BUS PARAMETERS ********************************************************/
#define L3GD20_SPI_FREQUENCY (4000000) /* 4 MHz */
#define L3GD20_SPI_MODE (SPIDEV_MODE3) /* Device uses SPI Mode 3: CPOL=1, CPHA=1 *
/* Register Addresses *******************************************************/
/* Gyroscope registers */
#define L3GD20_WHO_AM_I 0x0F /* Accelerometer and gyroscope device identification */
#define L3GD20_CTRL_REG_1 0x20 /* Gyroscope control register 1 */
#define L3GD20_CTRL_REG_2 0x21 /* Gyroscope control register 2 */
#define L3GD20_CTRL_REG_3 0x22 /* Gyroscope control register 3 */
#define L3GD20_CTRL_REG_4 0x23 /* Gyroscope control register 4 */
#define L3GD20_CTRL_REG_5 0x24 /* Gyroscope control register 5 */
#define L3GD20_REF_REG 0x25 /* Gyroscope reference value for interrupt generation */
#define L3GD20_OUT_TEMP_REG 0x26 /* Temperature data */
#define L3GD20_STATUS_REG 0x27 /* Status register */
#define L3GD20_OUT_X_L_REG 0x28 /* Gyroscope pitch (X) low byte */
#define L3GD20_OUT_X_H_REG 0x29 /* Gyroscope pitch (X) high byte */
#define L3GD20_OUT_Y_L_REG 0x2A /* Gyroscope roll (Y) low byte */
#define L3GD20_OUT_Y_H_REG 0x2B /* Gyroscope roll (Y) high byte */
#define L3GD20_OUT_Z_L_REG 0x2C /* Gyroscope yaw (Z) low byte */
#define L3GD20_OUT_Z_H_REG 0x2D /* Gyroscope yaw (Z) high byte */
#define L3GD20_FIFO_CTRL_REG 0x2E /* FIFO control register */
#define L3GD20_FIFO_SRC_REG 0x2f /* FIFO status control register */
#define L3GD20_INT_GEN_CFG_REG 0x30 /* Gyroscope interrupt configuration */
#define L3GD20_INT_GEN_SRC_REG 0x31 /* Gyroscope interrupt source */
#define L3GD20_INT_GEN_THS_X_H_REG 0x32 /* Gyroscope pitch (X) interrupt threshold high byte */
#define L3GD20_INT_GEN_THS_X_L_REG 0x33 /* Gyroscope pitch (X) interrupt threshold low byte */
#define L3GD20_INT_GEN_THS_Y_H_REG 0x34 /* Gyroscope roll (Y) interrupt threshold high byte */
#define L3GD20_INT_GEN_THS_Y_L_REG 0x35 /* Gyroscope roll (Y) interrupt threshold low byte */
#define L3GD20_INT_GEN_THS_Z_H_REG 0x36 /* Gyroscope yaw (Z) interrupt threshold high byte */
#define L3GD20_INT_GEN_THS_Z_L_REG 0x37 /* Gyroscope yaw (Z) interrupt threshold low byte */
#define L3GD20_INT_GEN_DUR_REG 0x38 /* Gyroscope interrupt duration */
/* Register Bit Definitions *************************************************/
/* Device identification register */
#define L3GD20_WHO_AM_I_VALUE 0xD4
/* Gyroscope control register 1 */
#define L3GD20_CTRL_REG_1_X_EN_bm (1 << 0)
#define L3GD20_CTRL_REG_1_Y_EN_bm (1 << 1)
#define L3GD20_CTRL_REG_1_Z_EN_bm (1 << 2)
#define L3GD20_CTRL_REG_1_POWERDOWN_bm (1 << 3)
#define L3GD20_CTRL_REG_1_BW_0_bm (1 << 4)
#define L3GD20_CTRL_REG_1_BW_1_bm (1 << 5)
#define L3GD20_CTRL_REG_1_DR_0_bm (1 << 6)
#define L3GD20_CTRL_REG_1_DR_1_bm (1 << 7)
/* Gyroscope control register 2 */
#define L3GD20_CTRL_REG_2_HPCF_0_bm (1 << 0)
#define L3GD20_CTRL_REG_2_HPCF_1_bm (1 << 1)
#define L3GD20_CTRL_REG_2_HPCF_2_bm (1 << 2)
#define L3GD20_CTRL_REG_2_HPCF_3_bm (1 << 3)
#define L3GD20_CTRL_REG_2_HPM_0_bm (1 << 4)
#define L3GD20_CTRL_REG_2_HPM_1_bm (1 << 5)
#define L3GD20_CTRL_REG_2_RES6_ (1 << 6)
#define L3GD20_CTRL_REG_2_RES7_ (1 << 7)
/* Gyroscope control register 3 */
#define L3GD20_CTRL_REG_3_I2_EMPTY_bm (1 << 0)
#define L3GD20_CTRL_REG_3_I2_ORUN_bm (1 << 1)
#define L3GD20_CTRL_REG_3_I2_WTM_bm (1 << 2)
#define L3GD20_CTRL_REG_3_I2_DRDY_bm (1 << 3)
#define L3GD20_CTRL_REG_3_PP_OD_bm (1 << 4)
#define L3GD20_CTRL_REG_3_H_LACTIVE_bm (1 << 5)
#define L3GD20_CTRL_REG_3_I1_BOOT_bm (1 << 6)
#define L3GD20_CTRL_REG_3_I1_INT1_bm (1 << 7)
/* Gyroscope control register 4 */
#define L3GD20_CTRL_REG_4_SIM_bm (1 << 0)
#define L3GD20_CTRL_REG_4_RES1_ (1 << 1)
#define L3GD20_CTRL_REG_4_RES2_ (1 << 2)
#define L3GD20_CTRL_REG_4_RES3_ (1 << 3)
#define L3GD20_CTRL_REG_4_FS_0_bm (1 << 4)
#define L3GD20_CTRL_REG_4_FS_1_bm (1 << 5)
#define L3GD20_CTRL_REG_4_BLE_bm (1 << 6)
#define L3GD20_CTRL_REG_4_BDU_bm (1 << 7)
/* Gyroscope control register 5 */
#define L3GD20_CTRL_REG_5_OUT_SEL_0_bm (1 << 0)
#define L3GD20_CTRL_REG_5_OUT_SEL_1_bm (1 << 1)
#define L3GD20_CTRL_REG_5_INT1_SEL_0_bm (1 << 2)
#define L3GD20_CTRL_REG_5_INT1_SEL_1_bm (1 << 3)
#define L3GD20_CTRL_REG_5_HP_EN_bm (1 << 4)
#define L3GD20_CTRL_REG_5_RES5_ (1 << 5)
#define L3GD20_CTRL_REG_5_FIFO_EN_bm (1 << 6)
#define L3GD20_CTRL_REG_5_BOOT_bm (1 << 7)
/* Status register */
#define L3GD20_STATUS_REG_X_DA_bm (1 << 0)
#define L3GD20_STATUS_REG_Y_DA_bm (1 << 1)
#define L3GD20_STATUS_REG_Z_DA_bm (1 << 2)
#define L3GD20_STATUS_REG_ZYX_DA_bm (1 << 3)
#define L3GD20_STATUS_REG_X_OR_bm (1 << 4)
#define L3GD20_STATUS_REG_Y_OR_bm (1 << 5)
#define L3GD20_STATUS_REG_Z_OR_bm (1 << 6)
#define L3GD20_STATUS_REG_ZYX_OR_bm (1 << 7)
/* FIFO control register */
#define L3GD20_FIFO_CTRL_WTM_0_bm (1 << 0)
#define L3GD20_FIFO_CTRL_WTM_1_bm (1 << 1)
#define L3GD20_FIFO_CTRL_WTM_2_bm (1 << 2)
#define L3GD20_FIFO_CTRL_WTM_3_bm (1 << 3)
#define L3GD20_FIFO_CTRL_WTM_4_bm (1 << 4)
#define L3GD20_FIFO_CTRL_FM_0_bm (1 << 5)
#define L3GD20_FIFO_CTRL_FM_1_bm (1 << 6)
#define L3GD20_FIFO_CTRL_FM_2_bm (1 << 7)
#define L3GD20_FIFO_CTRL_FMODE_BYPASS (0)
#define L3GD20_FIFO_CTRL_FMODE_FIFO (L3GD20_FIFO_CTRL_FM0)
#define L3GD20_FIFO_CTRL_FMODE_CONT (L3GD20_FIFO_CTRL_FM1)
#define L3GD20_FIFO_CTRL_FMODE_CONT_FIFO (L3GD20_FIFO_CTRL_FM1 | L3GD20_FIFO_CTRL_FM0)
#define L3GD20_FIFO_CTRL_FMODE_BYPASS_CONT (L3GD20_FIFO_CTRL_FM2 | L3GD20_FIFO_CTRL_FM1)
/* FIFO status control register */
#define L3GD20_FIFO_SRC_FSS_0_bm (1 << 0)
#define L3GD20_FIFO_SRC_FSS_1_bm (1 << 1)
#define L3GD20_FIFO_SRC_FSS_2_bm (1 << 2)
#define L3GD20_FIFO_SRC_FSS_3_bm (1 << 3)
#define L3GD20_FIFO_SRC_FSS_4_bm (1 << 4)
#define L3GD20_FIFO_SRC_EMPTY_bm (1 << 5)
#define L3GD20_FIFO_SRC_OVRUN_bm (1 << 6)
#define L3GD20_FIFO_SRC_WTM_bm (1 << 7)
/* Gyroscope interrupt configuration */
#define L3GD20_INT_GEN_CFG_X_L_IE_bm (1 << 0)
#define L3GD20_INT_GEN_CFG_X_H_IE_bm (1 << 1)
#define L3GD20_INT_GEN_CFG_Y_L_IE_bm (1 << 2)
#define L3GD20_INT_GEN_CFG_Y_H_IE_bm (1 << 3)
#define L3GD20_INT_GEN_CFG_Z_L_IE_bm (1 << 4)
#define L3GD20_INT_GEN_CFG_Z_H_IE_bm (1 << 5)
#define L3GD20_INT_GEN_CFG_LIR_bm (1 << 6)
#define L3GD20_INT_GEN_CFG_AOI_bm (1 << 7)
/* Gyroscope interrupt source */
#define L3GD20_INT_GEN_SRC_X_L_bm (1 << 0)
#define L3GD20_INT_GEN_SRC_X_H_bm (1 << 1)
#define L3GD20_INT_GEN_SRC_Y_L_bm (1 << 2)
#define L3GD20_INT_GEN_SRC_Y_H_bm (1 << 3)
#define L3GD20_INT_GEN_SRC_Z_L_bm (1 << 4)
#define L3GD20_INT_GEN_SRC_Z_H_bm (1 << 5)
#define L3GD20_INT_GEN_SRC_I_A_bm (1 << 6)
#define L3GD20_INT_GEN_SRC_RES7_ (1 << 7)
/****************************************************************************
* Public Types
****************************************************************************/
/* A reference to a structure of this type must be passed to the L3GD20
* driver. This structure provides information about the configuration
* of the sensor and provides some board-specific hooks.
*
* Memory for this structure is provided by the caller. It is not copied
* by the driver and is presumed to persist while the driver is active.
*/
struct l3gd20_config_s
{
/* Since multiple L3GD20 can be connected to the same SPI bus we need
* to use multiple spi device ids which are employed by NuttX to select/
* deselect the desired L3GD20 chip via their chip select inputs.
*/
int spi_devid;
/* The IRQ number must be provided for each L3GD20 device so that
* their interrupts can be distinguished.
*/
int irq;
/* Attach the L3GD20 interrupt handler to the GPIO interrupt of the
* concrete L3GD20 instance.
*/
int (*attach)(FAR struct l3gd20_config_s *, xcpt_t);
};
/* Data returned by reading from the L3GD20 is returned in this format. */
struct l3gd20_sensor_data_s
{
int16_t x_gyr; /* Measurement result for x axis */
int16_t y_gyr; /* Measurement result for y axis */
int16_t z_gyr; /* Measurement result for z axis */
int8_t temperature; /* Measurement result for temperature sensor */
};
/****************************************************************************
* Public Function Prototypes
****************************************************************************/
#ifdef __cplusplus
#define EXTERN extern "C"
extern "C"
{
#else
#define EXTERN extern
#endif
/****************************************************************************
* Name: l3gd20_register
*
* Description:
* Register the L3DF20 character device as 'devpath'.
*
* Input Parameters:
* devpath - The full path to the driver to register, e.g., "/dev/gyr0".
* i2c - An SPI driver instance.
* config - configuration for the L3GD20 driver. For details see
* description above.
*
* Returned Value:
* Zero (OK) on success; a negated errno value on failure.
*
****************************************************************************/
int l3gd20_register(FAR const char *devpath, FAR struct spi_dev_s *spi,
FAR struct l3gd20_config_s *config);
#undef EXTERN
#ifdef __cplusplus
}
#endif
#endif /* CONFIG_SPI && CONFIG_SENSORS_L3GD20 */
#endif /* __INCLUDE_NUTTX_SENSORS_L3GD20_H */