EX hierarchy re-organized,
Improved documentation for L3GD20 related files, SPI-L3GD20 demo updated, Minor indent fixes. git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9043 35acf78f-673a-0410-8e92-d51de3d6d3f4
This commit is contained in:
Rocco Marco Guglielmi
parent
2eef164c17
commit
7d6f337b8c
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@ -96,7 +96,7 @@
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#endif
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#if L3GD20_USE_I2C && !HAL_USE_I2C
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#error "L3GD20_USE_SPI requires HAL_USE_I2C"
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#error "L3GD20_USE_I2C requires HAL_USE_I2C"
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#endif
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/*===========================================================================*/
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/* Driver data structures and types. */
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@ -106,73 +106,72 @@
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* @name L3GD20 data structures and types
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* @{
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*/
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/**
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* @brief L3GD20 Output Data Rate
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* @brief L3GD20 full scale
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*/
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typedef enum {
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L3GD20_ODR_95HZ_FC_12_5 = 0x00,
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L3GD20_ODR_95HZ_FC_25 = 0x10,
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L3GD20_ODR_190HZ_FC_12_5 = 0x40,
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L3GD20_ODR_190HZ_FC_25 = 0x50,
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L3GD20_ODR_190HZ_FC_50 = 0x60,
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L3GD20_ODR_190HZ_FC_70 = 0x70,
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L3GD20_ODR_380HZ_FC_20 = 0x80,
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L3GD20_ODR_380HZ_FC_25 = 0x90,
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L3GD20_ODR_380HZ_FC_50 = 0xA0,
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L3GD20_ODR_380HZ_FC_100 = 0xB0,
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L3GD20_ODR_760HZ_FC_30 = 0xC0,
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L3GD20_ODR_760HZ_FC_35 = 0xD0,
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L3GD20_ODR_760HZ_FC_50 = 0xE0,
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L3GD20_ODR_760HZ_FC_100 = 0xF0
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}l3gd20_odr_t;
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/**
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* @brief L3GD20 Full Scale
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*/
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typedef enum {
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L3GD20_FS_250DPS = 0x00,
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L3GD20_FS_500DPS = 0x10,
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L3GD20_FS_2000DPS = 0x20
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L3GD20_FS_250DPS = 0x00, /**< Full scale 250 degree per second. */
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L3GD20_FS_500DPS = 0x10, /**< Full scale 500 degree per second. */
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L3GD20_FS_2000DPS = 0x20 /**< Full scale 2000 degree per second. */
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}l3gd20_fs_t;
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/**
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* @brief L3GD20 Axes Enabling
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* @brief L3GD20 output data rate and bandwidth
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*/
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typedef enum {
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L3GD20_AE_DISABLED = 0x00,
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L3GD20_AE_X = 0x01,
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L3GD20_AE_Y = 0x02,
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L3GD20_AE_XY = 0x03,
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L3GD20_AE_Z = 0x04,
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L3GD20_AE_XZ = 0x05,
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L3GD20_AE_YZ = 0x06,
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L3GD20_AE_XYZ = 0x07
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L3GD20_ODR_95HZ_FC_12_5 = 0x00, /**< ODR 95 Hz, BW 12.5 Hz. */
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L3GD20_ODR_95HZ_FC_25 = 0x10, /**< ODR 95 Hz, BW 25Hz. */
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L3GD20_ODR_190HZ_FC_12_5 = 0x40, /**< ODR 190 Hz, BW 12.5 Hz. */
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L3GD20_ODR_190HZ_FC_25 = 0x50, /**< ODR 190 Hz, BW 25 Hz. */
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L3GD20_ODR_190HZ_FC_50 = 0x60, /**< ODR 190 Hz, BW 50 Hz. */
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L3GD20_ODR_190HZ_FC_70 = 0x70, /**< ODR 190 Hz, BW 70 Hz. */
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L3GD20_ODR_380HZ_FC_20 = 0x80, /**< ODR 380 Hz, BW 20 Hz. */
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L3GD20_ODR_380HZ_FC_25 = 0x90, /**< ODR 380 Hz, BW 25 Hz. */
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L3GD20_ODR_380HZ_FC_50 = 0xA0, /**< ODR 380 Hz, BW 50 Hz. */
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L3GD20_ODR_380HZ_FC_100 = 0xB0, /**< ODR 380 Hz, BW 100 Hz. */
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L3GD20_ODR_760HZ_FC_30 = 0xC0, /**< ODR 760 Hz, BW 30 Hz. */
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L3GD20_ODR_760HZ_FC_35 = 0xD0, /**< ODR 760 Hz, BW 35 Hz. */
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L3GD20_ODR_760HZ_FC_50 = 0xE0, /**< ODR 760 Hz, BW 50 Hz. */
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L3GD20_ODR_760HZ_FC_100 = 0xF0 /**< ODR 760 Hz, BW 100 Hz. */
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}l3gd20_odr_t;
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/**
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* @brief L3GD20 axes enabling
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*/
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typedef enum {
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L3GD20_AE_DISABLED = 0x00, /**< All axes disabled. */
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L3GD20_AE_X = 0x01, /**< Only X-axis enabled. */
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L3GD20_AE_Y = 0x02, /**< Only Y-axis enabled. */
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L3GD20_AE_XY = 0x03, /**< X and Y axes enabled. */
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L3GD20_AE_Z = 0x04, /**< Only Z-axis enabled. */
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L3GD20_AE_XZ = 0x05, /**< X and Z axes enabled. */
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L3GD20_AE_YZ = 0x06, /**< Y and Z axes enabled. */
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L3GD20_AE_XYZ = 0x07 /**< All axes enabled. */
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}l3gd20_ae_t;
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/**
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* @brief L3GD20 Block Data Update
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* @brief L3GD20 block data update
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*/
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typedef enum {
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L3GD20_BDU_CONTINOUS = 0x00,
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L3GD20_BDU_BLOCKED = 0x80
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L3GD20_BDU_CONTINOUS = 0x00, /**< Block data continuously updated. */
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L3GD20_BDU_BLOCKED = 0x80 /**< Block data updated after reading. */
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}l3gd20_bdu_t;
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/**
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* @brief L3GD20 Endianness
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* @brief L3GD20 endianness
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*/
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typedef enum {
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L3GD20_END_LITTLE = 0x00,
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L3GD20_END_BIG = 0x40
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L3GD20_END_LITTLE = 0x00, /**< Little endian. */
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L3GD20_END_BIG = 0x40 /**< Big endian. */
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}l3gd20_end_t;
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/**
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* @brief Driver state machine possible states.
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*/
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typedef enum {
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L3GD20_UNINIT = 0, /**< Not initialized. */
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L3GD20_STOP = 1, /**< Stopped. */
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L3GD20_READY = 2, /**< Ready. */
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L3GD20_UNINIT = 0, /**< Not initialized. */
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L3GD20_STOP = 1, /**< Stopped. */
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L3GD20_READY = 2, /**< Ready. */
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} l3gd20_state_t;
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/**
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@ -184,42 +183,42 @@ typedef struct {
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/**
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* @brief SPI driver associated to this L3GD20.
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*/
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SPIDriver *spip;
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SPIDriver *spip;
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/**
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* @brief SPI configuration associated to this L3GD20.
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*/
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const SPIConfig *spicfg;
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const SPIConfig *spicfg;
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#endif /* L3GD20_USE_SPI */
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#if (L3GD20_USE_I2C) || defined(__DOXYGEN__)
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/**
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* @brief I2C driver associated to this L3GD20.
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*/
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I2CDriver *i2cp;
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I2CDriver *i2cp;
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/**
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* @brief I2C configuration associated to this L3GD20.
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*/
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const I2CConfig *i2ccfg;
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const I2CConfig *i2ccfg;
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#endif /* L3GD20_USE_I2C */
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/**
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* @brief L3GD20 full scale value.
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*/
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l3gd20_fs_t fullscale;
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l3gd20_fs_t fullscale;
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/**
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* @brief L3GD20 output data rate selection.
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*/
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l3gd20_odr_t outputdatarate;
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l3gd20_odr_t outputdatarate;
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/**
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* @brief L3GD20 axes enabling.
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*/
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l3gd20_ae_t axesenabling;
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/**
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* @brief L3GD20 endianness.
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*/
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l3gd20_end_t endianness;
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l3gd20_ae_t axesenabling;
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/**
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* @brief L3GD20 block data update.
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*/
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l3gd20_bdu_t blockdataupdate;
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l3gd20_bdu_t blockdataupdate;
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/**
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* @brief L3GD20 endianness.
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*/
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l3gd20_end_t endianness;
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} L3GD20Config;
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/**
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@ -246,15 +245,15 @@ struct L3GD20VMT {
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* @brief @p L3GD20Driver specific data.
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*/
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#define _l3gd20_data \
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_base_gyroscope_data \
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/* Driver state.*/ \
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l3gd20_state_t state; \
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/* Current configuration data.*/ \
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const L3GD20Config *config; \
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/* Current sensitivity.*/ \
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float sensitivity; \
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/* Bias data.*/ \
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int32_t bias[L3GD20_NUMBER_OF_AXES];
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_base_gyroscope_data \
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/* Driver state.*/ \
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l3gd20_state_t state; \
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/* Current configuration data.*/ \
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const L3GD20Config *config; \
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/* Current sensitivity.*/ \
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float sensitivity; \
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/* Bias data.*/ \
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int32_t bias[L3GD20_NUMBER_OF_AXES];
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/**
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* @extends BaseGyroscope
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@ -1,6 +1,6 @@
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# List of all the L3GD20 device files.
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L3GD20SRC := $(CHIBIOS)/os/ex/gyroscope/ST/l3gd20.c
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L3GD20SRC := $(CHIBIOS)/os/ex/ST/l3gd20.c
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# Required include directories
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L3GD20INC := $(CHIBIOS)/os/hal/lib/peripherals/include \
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$(CHIBIOS)/os/ex/gyroscope/ST
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$(CHIBIOS)/os/ex/ST
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@ -51,4 +51,5 @@
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<resource resourceType="PROJECT" workspacePath="/RT-STM32L476RG-NUCLEO"/>
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</configuration>
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</storageModule>
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<storageModule moduleId="org.eclipse.cdt.internal.ui.text.commentOwnerProjectMappings"/>
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</cproject>
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@ -5,7 +5,7 @@
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# Compiler options here.
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ifeq ($(USE_OPT),)
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USE_OPT = -O0 -ggdb -fomit-frame-pointer -falign-functions=16
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USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16
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endif
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# C specific options here (added to USE_OPT).
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@ -98,7 +98,7 @@ include $(CHIBIOS)/os/hal/osal/rt/osal.mk
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include $(CHIBIOS)/os/rt/rt.mk
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include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk
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# Other files (optional).
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include $(CHIBIOS)/os/ex/gyroscope/ST/l3gd20.mk
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include $(CHIBIOS)/os/ex/ST/l3gd20.mk
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include $(CHIBIOS)/os/hal/lib/streams/streams.mk
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# Define linker script file here
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@ -48,8 +48,8 @@ static L3GD20Config l3gd20cfg = {
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L3GD20_FS_250DPS, /* Full scale value */
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L3GD20_ODR_760HZ_FC_100, /* Output data rate */
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L3GD20_AE_XYZ, /* Enabled axes */
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L3GD20_END_LITTLE, /* Endianness */
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L3GD20_BDU_BLOCKED /* Block data update */
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L3GD20_BDU_BLOCKED, /* Block data update */
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L3GD20_END_LITTLE /* Endianness */
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};
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/*
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