From 7d6f337b8cb2c311a6adcd811e362bc5bd918291 Mon Sep 17 00:00:00 2001 From: Rocco Marco Guglielmi Date: Sun, 6 Mar 2016 18:17:28 +0000 Subject: [PATCH] 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 --- os/ex/{gyroscope => }/ST/l3gd20.c | 0 os/ex/{gyroscope => }/ST/l3gd20.h | 129 +++++++++---------- os/ex/{gyroscope => }/ST/l3gd20.mk | 4 +- testhal/STM32/STM32L4xx/SPI-L3GD20/.cproject | 1 + testhal/STM32/STM32L4xx/SPI-L3GD20/Makefile | 4 +- testhal/STM32/STM32L4xx/SPI-L3GD20/main.c | 4 +- 6 files changed, 71 insertions(+), 71 deletions(-) rename os/ex/{gyroscope => }/ST/l3gd20.c (100%) rename os/ex/{gyroscope => }/ST/l3gd20.h (61%) rename os/ex/{gyroscope => }/ST/l3gd20.mk (56%) diff --git a/os/ex/gyroscope/ST/l3gd20.c b/os/ex/ST/l3gd20.c similarity index 100% rename from os/ex/gyroscope/ST/l3gd20.c rename to os/ex/ST/l3gd20.c diff --git a/os/ex/gyroscope/ST/l3gd20.h b/os/ex/ST/l3gd20.h similarity index 61% rename from os/ex/gyroscope/ST/l3gd20.h rename to os/ex/ST/l3gd20.h index 9951d5041..39b5d7e48 100644 --- a/os/ex/gyroscope/ST/l3gd20.h +++ b/os/ex/ST/l3gd20.h @@ -96,7 +96,7 @@ #endif #if L3GD20_USE_I2C && !HAL_USE_I2C -#error "L3GD20_USE_SPI requires HAL_USE_I2C" +#error "L3GD20_USE_I2C requires HAL_USE_I2C" #endif /*===========================================================================*/ /* Driver data structures and types. */ @@ -106,73 +106,72 @@ * @name L3GD20 data structures and types * @{ */ - /** - * @brief L3GD20 Output Data Rate + * @brief L3GD20 full scale */ typedef enum { - L3GD20_ODR_95HZ_FC_12_5 = 0x00, - L3GD20_ODR_95HZ_FC_25 = 0x10, - L3GD20_ODR_190HZ_FC_12_5 = 0x40, - L3GD20_ODR_190HZ_FC_25 = 0x50, - L3GD20_ODR_190HZ_FC_50 = 0x60, - L3GD20_ODR_190HZ_FC_70 = 0x70, - L3GD20_ODR_380HZ_FC_20 = 0x80, - L3GD20_ODR_380HZ_FC_25 = 0x90, - L3GD20_ODR_380HZ_FC_50 = 0xA0, - L3GD20_ODR_380HZ_FC_100 = 0xB0, - L3GD20_ODR_760HZ_FC_30 = 0xC0, - L3GD20_ODR_760HZ_FC_35 = 0xD0, - L3GD20_ODR_760HZ_FC_50 = 0xE0, - L3GD20_ODR_760HZ_FC_100 = 0xF0 -}l3gd20_odr_t; - -/** - * @brief L3GD20 Full Scale - */ -typedef enum { - L3GD20_FS_250DPS = 0x00, - L3GD20_FS_500DPS = 0x10, - L3GD20_FS_2000DPS = 0x20 + L3GD20_FS_250DPS = 0x00, /**< Full scale 250 degree per second. */ + L3GD20_FS_500DPS = 0x10, /**< Full scale 500 degree per second. */ + L3GD20_FS_2000DPS = 0x20 /**< Full scale 2000 degree per second. */ }l3gd20_fs_t; /** - * @brief L3GD20 Axes Enabling + * @brief L3GD20 output data rate and bandwidth */ typedef enum { - L3GD20_AE_DISABLED = 0x00, - L3GD20_AE_X = 0x01, - L3GD20_AE_Y = 0x02, - L3GD20_AE_XY = 0x03, - L3GD20_AE_Z = 0x04, - L3GD20_AE_XZ = 0x05, - L3GD20_AE_YZ = 0x06, - L3GD20_AE_XYZ = 0x07 + L3GD20_ODR_95HZ_FC_12_5 = 0x00, /**< ODR 95 Hz, BW 12.5 Hz. */ + L3GD20_ODR_95HZ_FC_25 = 0x10, /**< ODR 95 Hz, BW 25Hz. */ + L3GD20_ODR_190HZ_FC_12_5 = 0x40, /**< ODR 190 Hz, BW 12.5 Hz. */ + L3GD20_ODR_190HZ_FC_25 = 0x50, /**< ODR 190 Hz, BW 25 Hz. */ + L3GD20_ODR_190HZ_FC_50 = 0x60, /**< ODR 190 Hz, BW 50 Hz. */ + L3GD20_ODR_190HZ_FC_70 = 0x70, /**< ODR 190 Hz, BW 70 Hz. */ + L3GD20_ODR_380HZ_FC_20 = 0x80, /**< ODR 380 Hz, BW 20 Hz. */ + L3GD20_ODR_380HZ_FC_25 = 0x90, /**< ODR 380 Hz, BW 25 Hz. */ + L3GD20_ODR_380HZ_FC_50 = 0xA0, /**< ODR 380 Hz, BW 50 Hz. */ + L3GD20_ODR_380HZ_FC_100 = 0xB0, /**< ODR 380 Hz, BW 100 Hz. */ + L3GD20_ODR_760HZ_FC_30 = 0xC0, /**< ODR 760 Hz, BW 30 Hz. */ + L3GD20_ODR_760HZ_FC_35 = 0xD0, /**< ODR 760 Hz, BW 35 Hz. */ + L3GD20_ODR_760HZ_FC_50 = 0xE0, /**< ODR 760 Hz, BW 50 Hz. */ + L3GD20_ODR_760HZ_FC_100 = 0xF0 /**< ODR 760 Hz, BW 100 Hz. */ +}l3gd20_odr_t; + +/** + * @brief L3GD20 axes enabling + */ +typedef enum { + L3GD20_AE_DISABLED = 0x00, /**< All axes disabled. */ + L3GD20_AE_X = 0x01, /**< Only X-axis enabled. */ + L3GD20_AE_Y = 0x02, /**< Only Y-axis enabled. */ + L3GD20_AE_XY = 0x03, /**< X and Y axes enabled. */ + L3GD20_AE_Z = 0x04, /**< Only Z-axis enabled. */ + L3GD20_AE_XZ = 0x05, /**< X and Z axes enabled. */ + L3GD20_AE_YZ = 0x06, /**< Y and Z axes enabled. */ + L3GD20_AE_XYZ = 0x07 /**< All axes enabled. */ }l3gd20_ae_t; /** - * @brief L3GD20 Block Data Update + * @brief L3GD20 block data update */ typedef enum { - L3GD20_BDU_CONTINOUS = 0x00, - L3GD20_BDU_BLOCKED = 0x80 + L3GD20_BDU_CONTINOUS = 0x00, /**< Block data continuously updated. */ + L3GD20_BDU_BLOCKED = 0x80 /**< Block data updated after reading. */ }l3gd20_bdu_t; /** - * @brief L3GD20 Endianness + * @brief L3GD20 endianness */ typedef enum { - L3GD20_END_LITTLE = 0x00, - L3GD20_END_BIG = 0x40 + L3GD20_END_LITTLE = 0x00, /**< Little endian. */ + L3GD20_END_BIG = 0x40 /**< Big endian. */ }l3gd20_end_t; /** * @brief Driver state machine possible states. */ typedef enum { - L3GD20_UNINIT = 0, /**< Not initialized. */ - L3GD20_STOP = 1, /**< Stopped. */ - L3GD20_READY = 2, /**< Ready. */ + L3GD20_UNINIT = 0, /**< Not initialized. */ + L3GD20_STOP = 1, /**< Stopped. */ + L3GD20_READY = 2, /**< Ready. */ } l3gd20_state_t; /** @@ -184,42 +183,42 @@ typedef struct { /** * @brief SPI driver associated to this L3GD20. */ - SPIDriver *spip; + SPIDriver *spip; /** * @brief SPI configuration associated to this L3GD20. */ - const SPIConfig *spicfg; + const SPIConfig *spicfg; #endif /* L3GD20_USE_SPI */ #if (L3GD20_USE_I2C) || defined(__DOXYGEN__) /** * @brief I2C driver associated to this L3GD20. */ - I2CDriver *i2cp; + I2CDriver *i2cp; /** * @brief I2C configuration associated to this L3GD20. */ - const I2CConfig *i2ccfg; + const I2CConfig *i2ccfg; #endif /* L3GD20_USE_I2C */ /** * @brief L3GD20 full scale value. */ - l3gd20_fs_t fullscale; + l3gd20_fs_t fullscale; /** * @brief L3GD20 output data rate selection. */ - l3gd20_odr_t outputdatarate; + l3gd20_odr_t outputdatarate; /** * @brief L3GD20 axes enabling. */ - l3gd20_ae_t axesenabling; - /** - * @brief L3GD20 endianness. - */ - l3gd20_end_t endianness; + l3gd20_ae_t axesenabling; /** * @brief L3GD20 block data update. */ - l3gd20_bdu_t blockdataupdate; + l3gd20_bdu_t blockdataupdate; + /** + * @brief L3GD20 endianness. + */ + l3gd20_end_t endianness; } L3GD20Config; /** @@ -246,15 +245,15 @@ struct L3GD20VMT { * @brief @p L3GD20Driver specific data. */ #define _l3gd20_data \ - _base_gyroscope_data \ - /* Driver state.*/ \ - l3gd20_state_t state; \ - /* Current configuration data.*/ \ - const L3GD20Config *config; \ - /* Current sensitivity.*/ \ - float sensitivity; \ - /* Bias data.*/ \ - int32_t bias[L3GD20_NUMBER_OF_AXES]; + _base_gyroscope_data \ + /* Driver state.*/ \ + l3gd20_state_t state; \ + /* Current configuration data.*/ \ + const L3GD20Config *config; \ + /* Current sensitivity.*/ \ + float sensitivity; \ + /* Bias data.*/ \ + int32_t bias[L3GD20_NUMBER_OF_AXES]; /** * @extends BaseGyroscope diff --git a/os/ex/gyroscope/ST/l3gd20.mk b/os/ex/ST/l3gd20.mk similarity index 56% rename from os/ex/gyroscope/ST/l3gd20.mk rename to os/ex/ST/l3gd20.mk index 7671addbd..ee715b9a0 100644 --- a/os/ex/gyroscope/ST/l3gd20.mk +++ b/os/ex/ST/l3gd20.mk @@ -1,6 +1,6 @@ # List of all the L3GD20 device files. -L3GD20SRC := $(CHIBIOS)/os/ex/gyroscope/ST/l3gd20.c +L3GD20SRC := $(CHIBIOS)/os/ex/ST/l3gd20.c # Required include directories L3GD20INC := $(CHIBIOS)/os/hal/lib/peripherals/include \ - $(CHIBIOS)/os/ex/gyroscope/ST \ No newline at end of file + $(CHIBIOS)/os/ex/ST \ No newline at end of file diff --git a/testhal/STM32/STM32L4xx/SPI-L3GD20/.cproject b/testhal/STM32/STM32L4xx/SPI-L3GD20/.cproject index 4d86467e8..0012badfd 100644 --- a/testhal/STM32/STM32L4xx/SPI-L3GD20/.cproject +++ b/testhal/STM32/STM32L4xx/SPI-L3GD20/.cproject @@ -51,4 +51,5 @@ + diff --git a/testhal/STM32/STM32L4xx/SPI-L3GD20/Makefile b/testhal/STM32/STM32L4xx/SPI-L3GD20/Makefile index 168982cc1..87daea287 100644 --- a/testhal/STM32/STM32L4xx/SPI-L3GD20/Makefile +++ b/testhal/STM32/STM32L4xx/SPI-L3GD20/Makefile @@ -5,7 +5,7 @@ # Compiler options here. ifeq ($(USE_OPT),) - USE_OPT = -O0 -ggdb -fomit-frame-pointer -falign-functions=16 + USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16 endif # C specific options here (added to USE_OPT). @@ -98,7 +98,7 @@ include $(CHIBIOS)/os/hal/osal/rt/osal.mk include $(CHIBIOS)/os/rt/rt.mk include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk # Other files (optional). -include $(CHIBIOS)/os/ex/gyroscope/ST/l3gd20.mk +include $(CHIBIOS)/os/ex/ST/l3gd20.mk include $(CHIBIOS)/os/hal/lib/streams/streams.mk # Define linker script file here diff --git a/testhal/STM32/STM32L4xx/SPI-L3GD20/main.c b/testhal/STM32/STM32L4xx/SPI-L3GD20/main.c index 6ceb84297..b07e384ce 100644 --- a/testhal/STM32/STM32L4xx/SPI-L3GD20/main.c +++ b/testhal/STM32/STM32L4xx/SPI-L3GD20/main.c @@ -48,8 +48,8 @@ static L3GD20Config l3gd20cfg = { L3GD20_FS_250DPS, /* Full scale value */ L3GD20_ODR_760HZ_FC_100, /* Output data rate */ L3GD20_AE_XYZ, /* Enabled axes */ - L3GD20_END_LITTLE, /* Endianness */ - L3GD20_BDU_BLOCKED /* Block data update */ + L3GD20_BDU_BLOCKED, /* Block data update */ + L3GD20_END_LITTLE /* Endianness */ }; /*