Updated L3GD20 driver to v 1.0.5 (Fixing Bug #915).
git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@11442 35acf78f-673a-0410-8e92-d51de3d6d3f4
This commit is contained in:
Rocco Marco Guglielmi
parent
4ddc3c188b
commit
2268a0e69a
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@ -304,17 +304,11 @@ static msg_t set_full_scale(void *ip, l3gd20_fs_t fs) {
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return MSG_OK;
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}
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static const struct BaseSensorVMT vmt_basesensor = {
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static const struct BaseSensorVMT vmt_sensor = {
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get_axes_number, read_raw, read_cooked
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};
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static const struct BaseGyroscopeVMT vmt_basegyroscope = {
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get_axes_number, read_raw, read_cooked,
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sample_bias, set_bias, reset_bias,
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set_sensivity, reset_sensivity
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};
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static const struct L3GD20VMT vmt_l3gd20 = {
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static const struct L3GD20GyroscopeVMT vmt_gyroscope = {
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get_axes_number, read_raw, read_cooked,
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sample_bias, set_bias, reset_bias,
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set_sensivity, reset_sensivity,
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@ -334,9 +328,8 @@ static const struct L3GD20VMT vmt_l3gd20 = {
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*/
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void l3gd20ObjectInit(L3GD20Driver *devp) {
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uint32_t i;
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devp->vmt_basesensor = &vmt_basesensor;
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devp->vmt_basegyroscope = &vmt_basegyroscope;
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devp->vmt_l3gd20 = &vmt_l3gd20;
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devp->vmt_sensor = &vmt_sensor;
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devp->vmt_gyroscope = &vmt_gyroscope;
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devp->config = NULL;
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for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
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devp->bias[i] = 0.0f;
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@ -42,22 +42,22 @@
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/**
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* @brief L3GD20 driver version string.
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*/
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#define EX_L3GD20_VERSION "1.0.4"
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#define EX_L3GD20_VERSION "1.0.5"
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/**
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* @brief L3GD20 driver version major number.
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*/
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#define EX_L3GD20_MAJOR 1
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#define EX_L3GD20_MAJOR 1
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/**
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* @brief L3GD20 driver version minor number.
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*/
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#define EX_L3GD20_MINOR 0
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#define EX_L3GD20_MINOR 0
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/**
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* @brief L3GD20 driver version patch number.
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*/
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#define EX_L3GD20_PATCH 4
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#define EX_L3GD20_PATCH 5
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/** @} */
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/**
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@ -65,59 +65,59 @@
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*
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* @{
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*/
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#define L3GD20_NUMBER_OF_AXES 3U
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#define L3GD20_250DPS 250.0f
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#define L3GD20_500DPS 500.0f
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#define L3GD20_2000DPS 2000.0f
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#define L3GD20_SENS_250DPS 0.00875f
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#define L3GD20_SENS_500DPS 0.01750f
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#define L3GD20_SENS_2000DPS 0.07000f
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#define L3GD20_NUMBER_OF_AXES 3U
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#define L3GD20_250DPS 250.0f
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#define L3GD20_500DPS 500.0f
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#define L3GD20_2000DPS 2000.0f
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#define L3GD20_SENS_250DPS 0.00875f
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#define L3GD20_SENS_500DPS 0.01750f
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#define L3GD20_SENS_2000DPS 0.07000f
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/** @} */
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/**
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* @name L3GD20 communication interfaces related bit masks
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* @{
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*/
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#define L3GD20_DI_MASK 0xFF /**< Data In mask */
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#define L3GD20_DI(n) (1 << n) /**< Data In bit n */
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#define L3GD20_AD_MASK 0x3F /**< Address Data mask */
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#define L3GD20_AD(n) (1 << n) /**< Address Data bit n */
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#define L3GD20_MS (1 << 6) /**< Multiple read write */
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#define L3GD20_RW (1 << 7) /**< Read Write selector */
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#define L3GD20_DI_MASK 0xFF
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#define L3GD20_DI(n) (1 << n)
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#define L3GD20_AD_MASK 0x3F
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#define L3GD20_AD(n) (1 << n)
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#define L3GD20_MS (1 << 6)
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#define L3GD20_RW (1 << 7)
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/** @} */
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/**
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* @name L3GD20 register addresses
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* @{
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*/
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#define L3GD20_AD_WHO_AM_I 0x0F
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#define L3GD20_AD_CTRL_REG1 0x20
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#define L3GD20_AD_CTRL_REG2 0x21
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#define L3GD20_AD_CTRL_REG3 0x22
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#define L3GD20_AD_CTRL_REG4 0x23
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#define L3GD20_AD_CTRL_REG5 0x24
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#define L3GD20_AD_REFERENCE 0x25
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#define L3GD20_AD_OUT_TEMP 0x26
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#define L3GD20_AD_STATUS_REG 0x27
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#define L3GD20_AD_OUT_X_L 0x28
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#define L3GD20_AD_OUT_X_H 0x29
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#define L3GD20_AD_OUT_Y_L 0x2A
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#define L3GD20_AD_OUT_Y_H 0x2B
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#define L3GD20_AD_OUT_Z_L 0x2C
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#define L3GD20_AD_OUT_Z_H 0x2D
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#define L3GD20_AD_FIFO_CTRL_REG 0x2E
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#define L3GD20_AD_FIFO_SRC_REG 0x2F
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#define L3GD20_AD_INT1_CFG 0x30
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#define L3GD20_AD_INT1_SRC 0x31
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#define L3GD20_AD_INT1_THS_XH 0x32
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#define L3GD20_AD_INT1_THS_XL 0x33
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#define L3GD20_AD_INT1_THS_YH 0x34
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#define L3GD20_AD_INT1_THS_YL 0x35
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#define L3GD20_AD_INT1_THS_ZH 0x36
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#define L3GD20_AD_INT1_THS_ZL 0x37
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#define L3GD20_AD_INT1_DURATION 0x38
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#define L3GD20_AD_WHO_AM_I 0x0F
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#define L3GD20_AD_CTRL_REG1 0x20
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#define L3GD20_AD_CTRL_REG2 0x21
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#define L3GD20_AD_CTRL_REG3 0x22
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#define L3GD20_AD_CTRL_REG4 0x23
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#define L3GD20_AD_CTRL_REG5 0x24
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#define L3GD20_AD_REFERENCE 0x25
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#define L3GD20_AD_OUT_TEMP 0x26
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#define L3GD20_AD_STATUS_REG 0x27
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#define L3GD20_AD_OUT_X_L 0x28
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#define L3GD20_AD_OUT_X_H 0x29
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#define L3GD20_AD_OUT_Y_L 0x2A
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#define L3GD20_AD_OUT_Y_H 0x2B
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#define L3GD20_AD_OUT_Z_L 0x2C
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#define L3GD20_AD_OUT_Z_H 0x2D
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#define L3GD20_AD_FIFO_CTRL_REG 0x2E
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#define L3GD20_AD_FIFO_SRC_REG 0x2F
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#define L3GD20_AD_INT1_CFG 0x30
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#define L3GD20_AD_INT1_SRC 0x31
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#define L3GD20_AD_INT1_THS_XH 0x32
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#define L3GD20_AD_INT1_THS_XL 0x33
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#define L3GD20_AD_INT1_THS_YH 0x34
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#define L3GD20_AD_INT1_THS_YL 0x35
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#define L3GD20_AD_INT1_THS_ZH 0x36
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#define L3GD20_AD_INT1_THS_ZL 0x37
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#define L3GD20_AD_INT1_DURATION 0x38
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/** @} */
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/**
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@ -194,29 +194,29 @@
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* @name L3GD20_INT1_CFG register bits definitions
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* @{
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*/
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#define L3GD20_INT1_CFG_MASK 0xFF /**< L3GD20_INT1_CFG mask */
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#define L3GD20_INT1_CFG_XLIE (1 << 0) /**< Enable INT1 on X low */
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#define L3GD20_INT1_CFG_XHIE (1 << 1) /**< Enable INT1 on X high */
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#define L3GD20_INT1_CFG_YLIE (1 << 2) /**< Enable INT1 on Y low */
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#define L3GD20_INT1_CFG_YHIE (1 << 3) /**< Enable INT1 on Y high */
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#define L3GD20_INT1_CFG_ZLIE (1 << 4) /**< Enable INT1 on Z low */
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#define L3GD20_INT1_CFG_ZHIE (1 << 5) /**< Enable INT1 on Z high */
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#define L3GD20_INT1_CFG_LIR (1 << 6) /**< Latch INT1 */
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#define L3GD20_INT1_CFG_AND_OR (1 << 7) /**< AND OR combination */
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#define L3GD20_INT1_CFG_MASK 0xFF /**< L3GD20_INT1_CFG mask */
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#define L3GD20_INT1_CFG_XLIE (1 << 0) /**< Enable INT1 on X low */
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#define L3GD20_INT1_CFG_XHIE (1 << 1) /**< Enable INT1 on X high */
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#define L3GD20_INT1_CFG_YLIE (1 << 2) /**< Enable INT1 on Y low */
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#define L3GD20_INT1_CFG_YHIE (1 << 3) /**< Enable INT1 on Y high */
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#define L3GD20_INT1_CFG_ZLIE (1 << 4) /**< Enable INT1 on Z low */
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#define L3GD20_INT1_CFG_ZHIE (1 << 5) /**< Enable INT1 on Z high */
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#define L3GD20_INT1_CFG_LIR (1 << 6) /**< Latch INT1 */
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#define L3GD20_INT1_CFG_AND_OR (1 << 7) /**< AND OR combination */
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/** @} */
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/**
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* @name L3GD20_INT1_SRC register bits definitions
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* @{
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*/
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#define L3GD20_INT1_SRC_MASK 0x7F /**< L3GD20_INT1_SRC mask */
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#define L3GD20_INT1_SRC_XL (1 << 0) /**< X low event */
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#define L3GD20_INT1_SRC_XH (1 << 1) /**< X high event */
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#define L3GD20_INT1_SRC_YL (1 << 2) /**< Y low event */
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#define L3GD20_INT1_SRC_YH (1 << 3) /**< Y high event */
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#define L3GD20_INT1_SRC_ZL (1 << 4) /**< Z low event */
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#define L3GD20_INT1_SRC_ZH (1 << 5) /**< Z high event */
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#define L3GD20_INT1_SRC_IA (1 << 6) /**< Interrupt active */
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#define L3GD20_INT1_SRC_MASK 0x7F /**< L3GD20_INT1_SRC mask */
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#define L3GD20_INT1_SRC_XL (1 << 0) /**< X low event */
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#define L3GD20_INT1_SRC_XH (1 << 1) /**< X high event */
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#define L3GD20_INT1_SRC_YL (1 << 2) /**< Y low event */
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#define L3GD20_INT1_SRC_YH (1 << 3) /**< Y high event */
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#define L3GD20_INT1_SRC_ZL (1 << 4) /**< Z low event */
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#define L3GD20_INT1_SRC_ZH (1 << 5) /**< Z high event */
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#define L3GD20_INT1_SRC_IA (1 << 6) /**< Interrupt active */
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/** @} */
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/*===========================================================================*/
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@ -472,27 +472,28 @@ typedef struct {
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l3gd20_lp2m_t lp2mode;
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#endif
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} L3GD20Config;
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/**
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* @brief Structure representing a L3GD20 driver.
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*/
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typedef struct L3GD20Driver L3GD20Driver;
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/**
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* @brief @p L3GD20 gyroscope subsystem specific methods.
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*/
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#define _l3gd20_gyroscope_methods_alone \
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/* Change full scale value of L3GD20.*/ \
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msg_t (*set_full_scale)(void *instance, l3gd20_fs_t fs);
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/**
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* @brief @p L3GD20 specific methods.
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*/
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#define _l3gd20_methods \
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#define _l3gd20_gyroscope_methods \
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_base_gyroscope_methods \
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/* Change full scale value of L3GD20.*/ \
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msg_t (*set_full_scale)(void *instance, l3gd20_fs_t fs);
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_l3gd20_gyroscope_methods_alone
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/**
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* @extends BaseGyroscopeVMT
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*
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* @brief @p L3GD20 virtual methods table.
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* @brief @p L3GD20 gyroscope virtual methods table.
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*/
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struct L3GD20VMT {
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_l3gd20_methods
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struct L3GD20GyroscopeVMT {
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_l3gd20_gyroscope_methods
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};
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/**
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@ -520,13 +521,18 @@ struct L3GD20VMT {
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*/
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struct L3GD20Driver {
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/** @brief BaseSensor Virtual Methods Table. */
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const struct BaseSensorVMT *vmt_basesensor;
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/** @brief BaseGyroscope Virtual Methods Table. */
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const struct BaseGyroscopeVMT *vmt_basegyroscope;
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/** @brief L3GD20 Virtual Methods Table. */
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const struct L3GD20VMT *vmt_l3gd20;
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const struct BaseSensorVMT *vmt_sensor;
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_base_sensor_data
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/** @brief L3GD20 Gyroscope Virtual Methods Table. */
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const struct L3GD20GyroscopeVMT *vmt_gyroscope;
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_base_gyroscope_data
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_l3gd20_data
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};
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};
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/**
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* @brief Structure representing a L3GD20 driver.
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*/
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typedef struct L3GD20Driver L3GD20Driver;
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/** @} */
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/*===========================================================================*/
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@ -545,7 +551,7 @@ struct L3GD20Driver {
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* @api
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*/
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#define gyroscopeSetFullScale(ip, fs) \
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(ip)->vmt_l3gd20->set_full_scale(ip, fs)
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(ip)->vmt_gyroscope->set_full_scale(ip, fs)
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/*===========================================================================*/
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/* External declarations. */
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