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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 2018-02-05 10:31:52 +00:00
parent 4ddc3c188b
commit 2268a0e69a
2 changed files with 90 additions and 91 deletions
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15
os/ex/ST/l3gd20.c
View File

@ -304,17 +304,11 @@ static msg_t set_full_scale(void *ip, l3gd20_fs_t fs) {
return MSG_OK; return MSG_OK;
} }
static const struct BaseSensorVMT vmt_basesensor = { static const struct BaseSensorVMT vmt_sensor = {
get_axes_number, read_raw, read_cooked get_axes_number, read_raw, read_cooked
}; };
static const struct BaseGyroscopeVMT vmt_basegyroscope = { static const struct L3GD20GyroscopeVMT vmt_gyroscope = {
get_axes_number, read_raw, read_cooked,
sample_bias, set_bias, reset_bias,
set_sensivity, reset_sensivity
};
static const struct L3GD20VMT vmt_l3gd20 = {
get_axes_number, read_raw, read_cooked, get_axes_number, read_raw, read_cooked,
sample_bias, set_bias, reset_bias, sample_bias, set_bias, reset_bias,
set_sensivity, reset_sensivity, set_sensivity, reset_sensivity,
@ -334,9 +328,8 @@ static const struct L3GD20VMT vmt_l3gd20 = {
*/ */
void l3gd20ObjectInit(L3GD20Driver *devp) { void l3gd20ObjectInit(L3GD20Driver *devp) {
uint32_t i; uint32_t i;
devp->vmt_basesensor = &vmt_basesensor; devp->vmt_sensor = &vmt_sensor;
devp->vmt_basegyroscope = &vmt_basegyroscope; devp->vmt_gyroscope = &vmt_gyroscope;
devp->vmt_l3gd20 = &vmt_l3gd20;
devp->config = NULL; devp->config = NULL;
for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++) for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
devp->bias[i] = 0.0f; devp->bias[i] = 0.0f;

56
os/ex/ST/l3gd20.h
View File

@ -42,7 +42,7 @@
/** /**
* @brief L3GD20 driver version string. * @brief L3GD20 driver version string.
*/ */
#define EX_L3GD20_VERSION "1.0.4" #define EX_L3GD20_VERSION "1.0.5"
/** /**
* @brief L3GD20 driver version major number. * @brief L3GD20 driver version major number.
@ -57,7 +57,7 @@
/** /**
* @brief L3GD20 driver version patch number. * @brief L3GD20 driver version patch number.
*/ */
#define EX_L3GD20_PATCH 4 #define EX_L3GD20_PATCH 5
/** @} */ /** @} */
/** /**
@ -80,12 +80,12 @@
* @name L3GD20 communication interfaces related bit masks * @name L3GD20 communication interfaces related bit masks
* @{ * @{
*/ */
#define L3GD20_DI_MASK 0xFF /**< Data In mask */ #define L3GD20_DI_MASK 0xFF
#define L3GD20_DI(n) (1 << n) /**< Data In bit n */ #define L3GD20_DI(n) (1 << n)
#define L3GD20_AD_MASK 0x3F /**< Address Data mask */ #define L3GD20_AD_MASK 0x3F
#define L3GD20_AD(n) (1 << n) /**< Address Data bit n */ #define L3GD20_AD(n) (1 << n)
#define L3GD20_MS (1 << 6) /**< Multiple read write */ #define L3GD20_MS (1 << 6)
#define L3GD20_RW (1 << 7) /**< Read Write selector */ #define L3GD20_RW (1 << 7)
/** @} */ /** @} */
/** /**
@ -474,25 +474,26 @@ typedef struct {
} L3GD20Config; } L3GD20Config;
/** /**
* @brief Structure representing a L3GD20 driver. * @brief @p L3GD20 gyroscope subsystem specific methods.
*/ */
typedef struct L3GD20Driver L3GD20Driver; #define _l3gd20_gyroscope_methods_alone \
/**
* @brief @p L3GD20 specific methods.
*/
#define _l3gd20_methods \
_base_gyroscope_methods \
/* Change full scale value of L3GD20.*/ \ /* Change full scale value of L3GD20.*/ \
msg_t (*set_full_scale)(void *instance, l3gd20_fs_t fs); msg_t (*set_full_scale)(void *instance, l3gd20_fs_t fs);
/**
* @brief @p L3GD20 specific methods.
*/
#define _l3gd20_gyroscope_methods \
_base_gyroscope_methods \
_l3gd20_gyroscope_methods_alone
/** /**
* @extends BaseGyroscopeVMT * @extends BaseGyroscopeVMT
* *
* @brief @p L3GD20 virtual methods table. * @brief @p L3GD20 gyroscope virtual methods table.
*/ */
struct L3GD20VMT { struct L3GD20GyroscopeVMT {
_l3gd20_methods _l3gd20_gyroscope_methods
}; };
/** /**
@ -520,13 +521,18 @@ struct L3GD20VMT {
*/ */
struct L3GD20Driver { struct L3GD20Driver {
/** @brief BaseSensor Virtual Methods Table. */ /** @brief BaseSensor Virtual Methods Table. */
const struct BaseSensorVMT *vmt_basesensor; const struct BaseSensorVMT *vmt_sensor;
/** @brief BaseGyroscope Virtual Methods Table. */ _base_sensor_data
const struct BaseGyroscopeVMT *vmt_basegyroscope; /** @brief L3GD20 Gyroscope Virtual Methods Table. */
/** @brief L3GD20 Virtual Methods Table. */ const struct L3GD20GyroscopeVMT *vmt_gyroscope;
const struct L3GD20VMT *vmt_l3gd20; _base_gyroscope_data
_l3gd20_data _l3gd20_data
}; };
/**
* @brief Structure representing a L3GD20 driver.
*/
typedef struct L3GD20Driver L3GD20Driver;
/** @} */ /** @} */
/*===========================================================================*/ /*===========================================================================*/
@ -545,7 +551,7 @@ struct L3GD20Driver {
* @api * @api
*/ */
#define gyroscopeSetFullScale(ip, fs) \ #define gyroscopeSetFullScale(ip, fs) \
(ip)->vmt_l3gd20->set_full_scale(ip, fs) (ip)->vmt_gyroscope->set_full_scale(ip, fs)
/*===========================================================================*/ /*===========================================================================*/
/* External declarations. */ /* External declarations. */