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Added L3GD20 shared SPI switch, 

Minor indent fixes.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9045 35acf78f-673a-0410-8e92-d51de3d6d3f4
This commit is contained in:
Rocco Marco Guglielmi 2016-03-06 20:24:38 +00:00
parent 92c4f97fa4
commit e080a1b8b6
3 changed files with 37 additions and 11 deletions
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18
os/ex/ST/l3gd20.c
View File

@ -101,8 +101,8 @@
* @brief L3GD20 Power Mode * @brief L3GD20 Power Mode
*/ */
typedef enum { typedef enum {
L3GD20_PM_POWER_DOWN = 0x00, /**< Power down enabled. */ L3GD20_PM_POWER_DOWN = 0x00, /**< Power down enabled. */
L3GD20_PM_SLEEP_NORMAL = 0x08 /**< Normal operation mode. */ L3GD20_PM_SLEEP_NORMAL = 0x08 /**< Normal operation mode. */
}l3gd20_pm_t; }l3gd20_pm_t;
/*===========================================================================*/ /*===========================================================================*/
@ -199,9 +199,11 @@ static msg_t read_raw(void *ip, int32_t axes[L3GD20_NUMBER_OF_AXES]) {
#if L3GD20_USE_SPI #if L3GD20_USE_SPI
osalDbgAssert((((L3GD20Driver *)ip)->config->spip->state == SPI_READY), osalDbgAssert((((L3GD20Driver *)ip)->config->spip->state == SPI_READY),
"read_raw(), channel not ready"); "read_raw(), channel not ready");
#if L3GD20_SHARED_SPI
spiAcquireBus(((L3GD20Driver *)ip)->config->spip); spiAcquireBus(((L3GD20Driver *)ip)->config->spip);
spiStart(((L3GD20Driver *)ip)->config->spip, spiStart(((L3GD20Driver *)ip)->config->spip,
((L3GD20Driver *)ip)->config->spicfg); ((L3GD20Driver *)ip)->config->spicfg);
#endif /* L3GD20_SHARED_SPI */
if(((L3GD20Driver *)ip)->config->axesenabling & L3GD20_AE_X){ if(((L3GD20Driver *)ip)->config->axesenabling & L3GD20_AE_X){
axes[0] = (int16_t)(l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip, axes[0] = (int16_t)(l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip,
L3GD20_AD_OUT_X_L)); L3GD20_AD_OUT_X_L));
@ -223,7 +225,9 @@ static msg_t read_raw(void *ip, int32_t axes[L3GD20_NUMBER_OF_AXES]) {
L3GD20_AD_OUT_Y_H) << 8); L3GD20_AD_OUT_Y_H) << 8);
axes[2] -= ((L3GD20Driver *)ip)->bias[2]; axes[2] -= ((L3GD20Driver *)ip)->bias[2];
} }
#if L3GD20_SHARED_SPI
spiReleaseBus(((L3GD20Driver *)ip)->config->spip); spiReleaseBus(((L3GD20Driver *)ip)->config->spip);
#endif /* L3GD20_SHARED_SPI */
#endif #endif
return MSG_OK; return MSG_OK;
} }
@ -326,8 +330,10 @@ void l3gd20Start(L3GD20Driver *devp, const L3GD20Config *config) {
devp->config = config; devp->config = config;
#if (L3GD20_USE_SPI) #if L3GD20_USE_SPI
#if L3GD20_SHARED_SPI
spiAcquireBus((devp)->config->spip); spiAcquireBus((devp)->config->spip);
#endif /* L3GD20_SHARED_SPI */
spiStart((devp)->config->spip, spiStart((devp)->config->spip,
(devp)->config->spicfg); (devp)->config->spicfg);
l3gd20SPIWriteRegister(devp->config->spip, L3GD20_AD_CTRL_REG1, l3gd20SPIWriteRegister(devp->config->spip, L3GD20_AD_CTRL_REG1,
@ -338,7 +344,9 @@ void l3gd20Start(L3GD20Driver *devp, const L3GD20Config *config) {
devp->config->fullscale | devp->config->fullscale |
devp->config->blockdataupdate | devp->config->blockdataupdate |
devp->config->endianness); devp->config->endianness);
#if L3GD20_SHARED_SPI
spiReleaseBus((devp)->config->spip); spiReleaseBus((devp)->config->spip);
#endif /* L3GD20_SHARED_SPI */
#endif /* L3GD20_USE_SPI */ #endif /* L3GD20_USE_SPI */
/* Storing sensitivity information according to full scale value */ /* Storing sensitivity information according to full scale value */
@ -372,13 +380,17 @@ void l3gd20Stop(L3GD20Driver *devp) {
#if (L3GD20_USE_SPI) #if (L3GD20_USE_SPI)
if (devp->state == L3GD20_STOP) { if (devp->state == L3GD20_STOP) {
#if L3GD20_SHARED_SPI
spiAcquireBus((devp)->config->spip); spiAcquireBus((devp)->config->spip);
spiStart((devp)->config->spip, spiStart((devp)->config->spip,
(devp)->config->spicfg); (devp)->config->spicfg);
#endif /* L3GD20_SHARED_SPI */
l3gd20SPIWriteRegister(devp->config->spip, L3GD20_AD_CTRL_REG1, l3gd20SPIWriteRegister(devp->config->spip, L3GD20_AD_CTRL_REG1,
L3GD20_PM_POWER_DOWN | L3GD20_AE_DISABLED); L3GD20_PM_POWER_DOWN | L3GD20_AE_DISABLED);
spiStop((devp)->config->spip); spiStop((devp)->config->spip);
#if L3GD20_SHARED_SPI
spiReleaseBus((devp)->config->spip); spiReleaseBus((devp)->config->spip);
#endif /* L3GD20_SHARED_SPI */
} }
#endif /* L3GD20_USE_SPI */ #endif /* L3GD20_USE_SPI */
devp->state = L3GD20_STOP; devp->state = L3GD20_STOP;

28
os/ex/ST/l3gd20.h
View File

@ -48,7 +48,7 @@
* @{ * @{
*/ */
/** /**
* @brief L3GD20 SPI interface selector. * @brief L3GD20 SPI interface switch.
* @details If set to @p TRUE the support for SPI is included. * @details If set to @p TRUE the support for SPI is included.
* @note The default is @p TRUE. * @note The default is @p TRUE.
*/ */
@ -57,7 +57,7 @@
#endif #endif
/** /**
* @brief L3GD20 I2C interface selector. * @brief L3GD20 I2C interface switch.
* @details If set to @p TRUE the support for I2C is included. * @details If set to @p TRUE the support for I2C is included.
* @note The default is @p FALSE. * @note The default is @p FALSE.
*/ */
@ -65,6 +65,16 @@
#define L3GD20_USE_I2C FALSE #define L3GD20_USE_I2C FALSE
#endif #endif
/**
* @brief L3GD20 shared SPI switch.
* @details If set to @p TRUE the device acquires SPI bus ownership
* on each transaction.
* @note The default is @p FALSE. Requires SPI_USE_MUTUAL_EXCLUSION
*/
#if !defined(L3GD20_SHARED_SPI) || defined(__DOXYGEN__)
#define L3GD20_SHARED_SPI FALSE
#endif
/** /**
* @brief Number of acquisitions for bias removal * @brief Number of acquisitions for bias removal
* @details This is the number of acquisitions performed to compute the * @details This is the number of acquisitions performed to compute the
@ -87,8 +97,8 @@
/* Derived constants and error checks. */ /* Derived constants and error checks. */
/*===========================================================================*/ /*===========================================================================*/
#if L3GD20_USE_SPI && L3GD20_USE_I2C #if !(L3GD20_USE_SPI ^ L3GD20_USE_I2C)
#error "L3GD20_USE_SPI and L3GD20_USE_I2C cannot be both true" #error "L3GD20_USE_SPI and L3GD20_USE_I2C cannot be both true or both false"
#endif #endif
#if L3GD20_USE_SPI && !HAL_USE_SPI #if L3GD20_USE_SPI && !HAL_USE_SPI
@ -99,6 +109,10 @@
#error "L3GD20_USE_I2C requires HAL_USE_I2C" #error "L3GD20_USE_I2C requires HAL_USE_I2C"
#endif #endif
#if L3GD20_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION
#error "L3GD20_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION"
#endif
/*===========================================================================*/ /*===========================================================================*/
/* Driver data structures and types. */ /* Driver data structures and types. */
/*===========================================================================*/ /*===========================================================================*/
@ -111,9 +125,9 @@
* @brief L3GD20 full scale * @brief L3GD20 full scale
*/ */
typedef enum { typedef enum {
L3GD20_FS_250DPS = 0x00, /**< Full scale 250 degree per second. */ L3GD20_FS_250DPS = 0x00, /**< Full scale 250 degree per second. */
L3GD20_FS_500DPS = 0x10, /**< Full scale 500 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_2000DPS = 0x20 /**< Full scale 2000 degree per second. */
}l3gd20_fs_t; }l3gd20_fs_t;
/** /**

2
testhal/STM32/STM32L4xx/SPI-L3GD20/main.c
View File

@ -46,7 +46,7 @@ static L3GD20Config l3gd20cfg = {
&SPID2, /* Pointer to SPI Driver */ &SPID2, /* Pointer to SPI Driver */
&spicfg, /* Pointer to SPI Configuration */ &spicfg, /* Pointer to SPI Configuration */
L3GD20_FS_250DPS, /* Full scale value */ L3GD20_FS_250DPS, /* Full scale value */
L3GD20_ODR_760HZ_FC_100, /* Output data rate */ L3GD20_ODR_760HZ_FC_30, /* Output data rate */
L3GD20_AE_XYZ, /* Enabled axes */ L3GD20_AE_XYZ, /* Enabled axes */
L3GD20_BDU_BLOCKED, /* Block data update */ L3GD20_BDU_BLOCKED, /* Block data update */
L3GD20_END_LITTLE /* Endianness */ L3GD20_END_LITTLE /* Endianness */