144 lines
4.8 KiB
C
144 lines
4.8 KiB
C
/****************************************************************************
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* boards/arm/stm32/common/src/stm32_l3gd20.c
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*
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* Copyright (C) 2017 Gregory Nutt. All rights reserved.
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* Author: 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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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <errno.h>
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#include <debug.h>
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#include <stdio.h>
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#include <nuttx/spi/spi.h>
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#include <nuttx/sensors/l3gd20.h>
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#include <arch/board/board.h>
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#include "stm32.h"
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#include "stm32_spi.h"
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/****************************************************************************
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* Private Function Prototypes
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****************************************************************************/
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static int l3gd20_attach(FAR struct l3gd20_config_s * cfg, xcpt_t irq);
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/****************************************************************************
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* Private Data
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****************************************************************************/
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/* Only one L3GD20 device on board */
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static struct l3gd20_config_s g_l3gd20_config =
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{
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.attach = l3gd20_attach,
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.irq = BOARD_L3GD20_IRQ,
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.spi_devid = SPIDEV_ACCELEROMETER(0)
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};
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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/****************************************************************************
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* Name: l3gd20_attach()
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*
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* Description: Attach the l3gd20 interrupt handler to the GPIO interrupt
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*
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****************************************************************************/
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static int l3gd20_attach(FAR struct l3gd20_config_s *cfg, xcpt_t irq)
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{
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return stm32_gpiosetevent(BOARD_L3GD20_GPIO_DREADY, true, false,
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true, irq, NULL);
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}
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: board_l3gd20_initialize()
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*
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* Description:
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* Initialize and register the L3GD20 3 axis gyroscope sensor driver.
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*
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* Input Parameters:
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* devno - The device number, used to build the device path as /dev/gyroN
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* busno - The SPI bus number
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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 board_l3gd20_initialize(int devno, int busno)
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{
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int ret = 0;
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struct spi_dev_s *spi;
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char devpath[12];
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/* Configure DREADY IRQ input */
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stm32_configgpio(BOARD_L3GD20_GPIO_DREADY);
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/* Initialize SPI */
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spi = stm32_spibus_initialize(busno);
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if (!spi)
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{
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ret = -ENODEV;
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goto errout;
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}
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/* Then register the gyro */
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snprintf(devpath, 12, "/dev/gyro%d", devno);
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ret = l3gd20_register(devpath, spi, &g_l3gd20_config);
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if (ret != OK)
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{
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goto errout;
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}
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errout:
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return ret;
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}
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