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
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@ -101,8 +101,8 @@
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* @brief L3GD20 Power Mode
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*/
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typedef enum {
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L3GD20_PM_POWER_DOWN = 0x00, /**< Power down enabled. */
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L3GD20_PM_SLEEP_NORMAL = 0x08 /**< Normal operation mode. */
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L3GD20_PM_POWER_DOWN = 0x00, /**< Power down enabled. */
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L3GD20_PM_SLEEP_NORMAL = 0x08 /**< Normal operation mode. */
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}l3gd20_pm_t;
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/*===========================================================================*/
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@ -199,9 +199,11 @@ static msg_t read_raw(void *ip, int32_t axes[L3GD20_NUMBER_OF_AXES]) {
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#if L3GD20_USE_SPI
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osalDbgAssert((((L3GD20Driver *)ip)->config->spip->state == SPI_READY),
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"read_raw(), channel not ready");
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#if L3GD20_SHARED_SPI
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spiAcquireBus(((L3GD20Driver *)ip)->config->spip);
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spiStart(((L3GD20Driver *)ip)->config->spip,
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((L3GD20Driver *)ip)->config->spicfg);
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#endif /* L3GD20_SHARED_SPI */
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if(((L3GD20Driver *)ip)->config->axesenabling & L3GD20_AE_X){
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axes[0] = (int16_t)(l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip,
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L3GD20_AD_OUT_X_L));
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@ -223,7 +225,9 @@ static msg_t read_raw(void *ip, int32_t axes[L3GD20_NUMBER_OF_AXES]) {
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L3GD20_AD_OUT_Y_H) << 8);
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axes[2] -= ((L3GD20Driver *)ip)->bias[2];
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}
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#if L3GD20_SHARED_SPI
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spiReleaseBus(((L3GD20Driver *)ip)->config->spip);
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#endif /* L3GD20_SHARED_SPI */
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#endif
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return MSG_OK;
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}
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@ -326,8 +330,10 @@ void l3gd20Start(L3GD20Driver *devp, const L3GD20Config *config) {
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devp->config = config;
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#if (L3GD20_USE_SPI)
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#if L3GD20_USE_SPI
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#if L3GD20_SHARED_SPI
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spiAcquireBus((devp)->config->spip);
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#endif /* L3GD20_SHARED_SPI */
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spiStart((devp)->config->spip,
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(devp)->config->spicfg);
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l3gd20SPIWriteRegister(devp->config->spip, L3GD20_AD_CTRL_REG1,
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@ -338,7 +344,9 @@ void l3gd20Start(L3GD20Driver *devp, const L3GD20Config *config) {
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devp->config->fullscale |
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devp->config->blockdataupdate |
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devp->config->endianness);
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#if L3GD20_SHARED_SPI
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spiReleaseBus((devp)->config->spip);
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#endif /* L3GD20_SHARED_SPI */
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#endif /* L3GD20_USE_SPI */
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/* Storing sensitivity information according to full scale value */
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@ -372,13 +380,17 @@ void l3gd20Stop(L3GD20Driver *devp) {
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#if (L3GD20_USE_SPI)
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if (devp->state == L3GD20_STOP) {
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#if L3GD20_SHARED_SPI
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spiAcquireBus((devp)->config->spip);
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spiStart((devp)->config->spip,
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(devp)->config->spicfg);
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#endif /* L3GD20_SHARED_SPI */
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l3gd20SPIWriteRegister(devp->config->spip, L3GD20_AD_CTRL_REG1,
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L3GD20_PM_POWER_DOWN | L3GD20_AE_DISABLED);
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spiStop((devp)->config->spip);
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#if L3GD20_SHARED_SPI
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spiReleaseBus((devp)->config->spip);
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#endif /* L3GD20_SHARED_SPI */
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}
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#endif /* L3GD20_USE_SPI */
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devp->state = L3GD20_STOP;
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@ -48,7 +48,7 @@
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* @{
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*/
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/**
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* @brief L3GD20 SPI interface selector.
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* @brief L3GD20 SPI interface switch.
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* @details If set to @p TRUE the support for SPI is included.
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* @note The default is @p TRUE.
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*/
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@ -57,7 +57,7 @@
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#endif
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/**
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* @brief L3GD20 I2C interface selector.
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* @brief L3GD20 I2C interface switch.
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* @details If set to @p TRUE the support for I2C is included.
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* @note The default is @p FALSE.
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*/
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@ -65,6 +65,16 @@
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#define L3GD20_USE_I2C FALSE
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#endif
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/**
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* @brief L3GD20 shared SPI switch.
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* @details If set to @p TRUE the device acquires SPI bus ownership
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* on each transaction.
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* @note The default is @p FALSE. Requires SPI_USE_MUTUAL_EXCLUSION
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*/
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#if !defined(L3GD20_SHARED_SPI) || defined(__DOXYGEN__)
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#define L3GD20_SHARED_SPI FALSE
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#endif
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/**
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* @brief Number of acquisitions for bias removal
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* @details This is the number of acquisitions performed to compute the
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@ -87,8 +97,8 @@
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/* Derived constants and error checks. */
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/*===========================================================================*/
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#if L3GD20_USE_SPI && L3GD20_USE_I2C
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#error "L3GD20_USE_SPI and L3GD20_USE_I2C cannot be both true"
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#if !(L3GD20_USE_SPI ^ L3GD20_USE_I2C)
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#error "L3GD20_USE_SPI and L3GD20_USE_I2C cannot be both true or both false"
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#endif
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#if L3GD20_USE_SPI && !HAL_USE_SPI
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@ -99,6 +109,10 @@
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#error "L3GD20_USE_I2C requires HAL_USE_I2C"
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#endif
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#if L3GD20_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION
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#error "L3GD20_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION"
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#endif
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/*===========================================================================*/
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/* Driver data structures and types. */
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/*===========================================================================*/
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@ -111,9 +125,9 @@
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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, /**< 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_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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@ -46,7 +46,7 @@ static L3GD20Config l3gd20cfg = {
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&SPID2, /* Pointer to SPI Driver */
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&spicfg, /* Pointer to SPI Configuration */
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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_ODR_760HZ_FC_30, /* Output data rate */
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L3GD20_AE_XYZ, /* Enabled axes */
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L3GD20_BDU_BLOCKED, /* Block data update */
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L3GD20_END_LITTLE /* Endianness */
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