409 lines
15 KiB
C
409 lines
15 KiB
C
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/**
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* Driver for L3GD20H 3-axes digital output gyroscope connected to I2C or SPI.
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* It can also be used with L3GD20 and L3G4200D.
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*
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* This driver is for the usage with the ESP8266 and FreeRTOS (esp-open-rtos)
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* [https://github.com/SuperHouse/esp-open-rtos]. It is also working with ESP32
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* and ESP-IDF [https://github.com/espressif/esp-idf.git] as well as Linux
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* based systems using a wrapper library for ESP8266 functions.
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*
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* ---------------------------------------------------------------------------
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*
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* The BSD License (3-clause license)
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*
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* Copyright (c) 2017 Gunar Schorcht (https://github.com/gschorcht)
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* 1. Redistributions of source code must retain the above copyright notice,
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* this list of conditions and the following disclaimer.
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*
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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*
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* 3. Neither the name of the copyright holder nor the names of its
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* contributors may be used to endorse or promote products derived from this
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* software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef __L3GD20H_H__
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#define __L3GD20H_H__
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// Uncomment one of the following defines to enable debug output
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// #define L3GD20H_DEBUG_LEVEL_1 // only error messages
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// #define L3GD20H_DEBUG_LEVEL_2 // debug and error messages
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// L3GD20H addresses
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#define L3GD20H_I2C_ADDRESS_1 0x6a // SDO pin is low
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#define L3GD20H_I2C_ADDRESS_2 0x6b // SDO pin is high
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// L3GD20 addresses
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#define L3GD20_I2C_ADDRESS_1 0x6a // SDO pin is low
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#define L3GD20_I2C_ADDRESS_2 0x6b // SDO pin is high
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// L3G4200D addresses
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#define L3G4200D_I2C_ADDRESS_1 0x68 // SDO pin is low
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#define L3G4200D_I2C_ADDRESS_2 0x69 // SDO pin is high
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// L3GD20H chip id
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#define L3GD20H_CHIP_ID 0xd7 // L3GD20H_REG_WHO_AM_I<7:0>
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// L3GD20 chip id
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#define L3GD20_CHIP_ID 0xd4 // L3GD20H_REG_WHO_AM_I<7:0>
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// L3G4200D chip id
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#define L3G4200D_CHIP_ID 0xd3 // L3GD20H_REG_WHO_AM_I<7:0>
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// Definition of error codes
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#define L3GD20H_OK 0
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#define L3GD20H_NOK -1
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#define L3GD20H_INT_ERROR_MASK 0x000f
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#define L3GD20H_DRV_ERROR_MASK 0xfff0
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// Error codes for I2C and SPI interfaces ORed with L3GD20H driver error codes
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#define L3GD20H_I2C_READ_FAILED 1
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#define L3GD20H_I2C_WRITE_FAILED 2
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#define L3GD20H_I2C_BUSY 3
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#define L3GD20H_SPI_WRITE_FAILED 4
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#define L3GD20H_SPI_READ_FAILED 5
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#define L3GD20H_SPI_BUFFER_OVERFLOW 6
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#define L3GD20H_SPI_SET_PAGE_FAILED 7
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// L3GD20H driver error codes ORed with error codes for I2C and SPI interfaces
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#define L3GD20H_WRONG_CHIP_ID ( 1 << 8)
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#define L3GD20H_WRONG_BANDWIDTH ( 2 << 8)
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#define L3GD20H_GET_RAW_DATA_FAILED ( 3 << 8)
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#define L3GD20H_GET_RAW_DATA_FIFO_FAILED ( 4 << 8)
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#define L3GD20H_WRONG_INT_TYPE ( 5 << 8)
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#define L3GD20H_CONFIG_INT_SIGNALS_FAILED ( 6 << 8)
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#define L3GD20H_CONFIG_INT1_FAILED ( 7 << 8)
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#define L3GD20H_CONFIG_INT2_FAILED ( 8 << 8)
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#define L3GD20H_INT1_SOURCE_FAILED ( 9 << 8)
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#define L3GD20H_INT2_SOURCE_FAILED (10 << 8)
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#define L3GD20H_SEL_OUT_FILTER_FAILED (11 << 8)
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#define L3GD20H_CONFIG_HPF_FAILED (12 << 8)
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#define L3GD20H_ENABLE_HPF_FAILED (13 << 8)
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#define L3GD20H_SENSOR_IN_BYPASS_MODE (14 << 8)
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#define L3GD20H_SENSOR_IN_FIFO_MODE (15 << 8)
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#define L3GD20H_ODR_TOO_HIGH (16 << 8)
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#define L3GD20H_ODR_NOT_AVAILABLE (17 << 8)
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#define L3GD20H_FIFO_MODE_NOT_AVAILABLE (18 << 8)
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#include "l3gd20h_platform.h"
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#include "l3gd20h_types.h"
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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/**
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* @brief Initialize the sensor
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*
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* Reset the sensor and switch to power down mode. All registers are reset to
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* default values. FIFO is cleared.
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*
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* @param bus I2C or SPI bus at which L3GD20H sensor is connected
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* @param addr I2C addr of the L3GD20H sensor, 0 for using SPI
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* @param cs SPI CS GPIO, ignored for I2C
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* @return pointer to sensor data structure, or NULL on error
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*/
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l3gd20h_sensor_t* l3gd20h_init_sensor (uint8_t bus, uint8_t addr, uint8_t cs);
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/**
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* @brief Set sensor mode
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*
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* @param dev pointer to the sensor device data structure
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* @param mode sensor mode with certain output data rate
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* @param bw bandwidth
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* @param x true enable x-axis, false disable x-axis
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* @param y true enable y-axis, false disable y-axis
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* @param z true enable z-axis, false disable z-axis
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* @return true on success, false on error
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*/
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bool l3gd20h_set_mode (l3gd20h_sensor_t* dev, l3gd20h_mode_t mode, uint8_t bw,
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bool x, bool y, bool z);
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/**
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* @brief Set scale (full range range)
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*
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* @param dev pointer to the sensor device data structure
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* @param scale range setting
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* @return true on success, false on error
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*/
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bool l3gd20h_set_scale (l3gd20h_sensor_t* dev, l3gd20h_scale_t sens);
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/**
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* @brief Set FIFO mode
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*
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* @param dev pointer to the sensor device data structure
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* @param mode FIFO mode
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* @param thresh FIFO watermark (ignored in bypass mode)
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* @return true on success, false on error
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*/
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bool l3gd20h_set_fifo_mode (l3gd20h_sensor_t* dev,
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l3gd20h_fifo_mode_t mode, uint8_t thresh);
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/**
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* @brief Filter selection for raw data output values
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*
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* High pass filter (HPF) is configured with function *l3gd20h_config_hpf*. If
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* HPF is selected, it is enabled implicitly.
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*
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* @param dev pointer to the sensor device data structure
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* @param filter selected filters for output values
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* @return true on success, false on error
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*/
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bool l3gd20h_select_output_filter (l3gd20h_sensor_t* dev,
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l3gd20h_filter_t filter);
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/**
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* @brief Test whether new sets of data are available
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*
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* @param dev pointer to the sensor device data structure
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* @return true on new data, otherwise false
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*/
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bool l3gd20h_new_data (l3gd20h_sensor_t* dev);
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/**
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* @brief Get one sample of floating point sensor data (unit degree)
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*
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* Function works only in bypass mode and fails in FIFO modes. In FIFO modes,
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* function *l3gd20h_get_float_data_fifo* has to be used instead to get data.
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*
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* @param dev pointer to the sensor device data structure
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* @param data pointer to float data structure filled with values
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* @return true on success, false on error
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*/
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bool l3gd20h_get_float_data (l3gd20h_sensor_t* dev,
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l3gd20h_float_data_t* data);
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/**
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* @brief Get all samples of sensor data stored in the FIFO (unit dps)
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*
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* In bypass mode, it returns only one sensor data sample.
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*
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* @param dev pointer to the sensor device data structure
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* @param data array of 32 float data structures
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* @return number of data sets read from fifo on success or 0 on error
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*/
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uint8_t l3gd20h_get_float_data_fifo (l3gd20h_sensor_t* dev,
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l3gd20h_float_data_fifo_t data);
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/**
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* @brief Get one sample of raw sensor data as 16 bit two's complements
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*
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* Function works only in bypass mode and fails in FIFO modes. In FIFO modes,
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* function *l3gd20h_get_raw_data_fifo* has to be used instead to get data.
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*
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* @param dev pointer to the sensor device data structure
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* @param raw pointer to raw data structure filled with values
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* @return true on success, false on error
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*/
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bool l3gd20h_get_raw_data (l3gd20h_sensor_t* dev,
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l3gd20h_raw_data_t* raw);
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/**
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* @brief Get all samples of raw sensor data stored in the FIFO
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*
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* In bypass mode, it returns only one raw data sample.
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*
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* @param dev pointer to the sensor device data structure
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* @param raw array of 32 raw data structures
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* @return number of data sets read from fifo on success or 0 on error
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*/
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uint8_t l3gd20h_get_raw_data_fifo (l3gd20h_sensor_t* dev,
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l3gd20h_raw_data_fifo_t raw);
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/**
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* @brief Enable / disable data or event interrupts on signal INT1/INT2
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*
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* @param dev pointer to the sensor device data structure
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* @param type type of the interrupt to be enabled/disabled
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* @param value true to enable or false to disable the interrupt
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* @return true on success, false on error
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*/
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bool l3gd20h_enable_int (l3gd20h_sensor_t* dev,
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l3gd20h_int_types_t type, bool value);
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/**
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* @brief Set the configuration of the event interrupt generator
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*
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* The event interrupt generator produces interrupts (axis movement and wake up)
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* on signal INT1 whenever the angular rate of one or more axes becomes higher
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* or lower than defined thresholds.
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*
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* @param dev pointer to the sensor device data structure
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* @param config pointer to the interrupt generator configuration
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* @return true on success, false on error
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*/
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bool l3gd20h_set_int_event_config (l3gd20h_sensor_t* dev,
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l3gd20h_int_event_config_t* config);
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/**
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* @brief Get the configuration of the event interrupt generator
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*
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* The event interrupt generator produces interrupts (axis movement and wake up)
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* on signal INT1 whenever the angular rate of one or more axes becomes higher
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* or lower than defined thresholds.
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*
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* @param dev pointer to the sensor device data structure
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* @param config pointer to the interrupt generator configuration
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* @return true on success, false on error
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*/
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bool l3gd20h_get_int_event_config (l3gd20h_sensor_t* dev,
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l3gd20h_int_event_config_t* config);
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/**
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* @brief Get the source of an event interrupt (axis movement and wake up)
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*
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* @param dev pointer to the sensor device data structure
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* @param type pointer to the interrupt source
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* @return true on success, false on error
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*/
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bool l3gd20h_get_int_event_source (l3gd20h_sensor_t* dev,
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l3gd20h_int_event_source_t* source);
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/**
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* @brief Get the source of a data interrupt (data ready or FIFO status)
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*
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* @param dev pointer to the sensor device data structure
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* @param source pointer to the interrupt source
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* @return true on success, false on error
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*/
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bool l3gd20h_get_int_data_source (l3gd20h_sensor_t* dev,
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l3gd20h_int_data_source_t* source);
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/**
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* @brief Set signal configuration for INT1 and INT2 signals
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*
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* @param dev pointer to the sensor device data structure
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* @param type define interrupt signal as pushed/pulled or open drain
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* @return true on success, false on error
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*/
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bool l3gd20h_config_int_signals (l3gd20h_sensor_t* dev,
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l3gd20h_signal_type_t type,
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l3gd20h_signal_level_t level);
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/**
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* @brief Config HPF (high pass filter)
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*
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* @param dev pointer to the sensor device data structure
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* @param mode high pass filter mode
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* @param cutoff cutoff frequency (depends on output data rate) [0 ... 15]
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* @return true on success, false on error
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*/
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bool l3gd20h_config_hpf (l3gd20h_sensor_t* dev,
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l3gd20h_hpf_mode_t mode, uint8_t cutoff);
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/**
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* @brief Set HPF (high pass filter) reference
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*
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* Used to set the reference of HPF in reference mode *l3gd20h_hpf_reference*.
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* Used to reset the HPF in autoreset mode *l3gd20h_hpf_autoreset*.
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* Reference is given as two's complement.
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*
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* @param dev pointer to the sensor device data structure
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* @param ref reference *l3gd20h_hpf_reference* mode, otherwise ignored
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|
* @return true on success, false on error
|
||
|
|
*/
|
||
|
|
bool l3gd20h_set_hpf_ref (l3gd20h_sensor_t* dev, int8_t ref);
|
||
|
|
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get HPF (high pass filter) reference
|
||
|
|
*
|
||
|
|
* Used to reset the HPF in normal mode *l3gd20h_hpf_normal*.
|
||
|
|
*
|
||
|
|
* @param dev pointer to the sensor device data structure
|
||
|
|
* @return HPF reference as two's complement
|
||
|
|
*/
|
||
|
|
int8_t l3gd20h_get_hpf_ref (l3gd20h_sensor_t* dev);
|
||
|
|
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get temperature
|
||
|
|
*
|
||
|
|
* @param dev pointer to the sensor device data structure
|
||
|
|
* @return temperature in degree as two's complement
|
||
|
|
*/
|
||
|
|
int8_t l3gd20h_get_temperature (l3gd20h_sensor_t* dev);
|
||
|
|
|
||
|
|
|
||
|
|
// ---- Low level interface functions -----------------------------
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Direct write to register
|
||
|
|
*
|
||
|
|
* PLEASE NOTE: This function should only be used to do something special that
|
||
|
|
* is not covered by the high level interface AND if you exactly know what you
|
||
|
|
* do and what effects it might have. Please be aware that it might affect the
|
||
|
|
* high level interface.
|
||
|
|
*
|
||
|
|
* @param dev pointer to the sensor device data structure
|
||
|
|
* @param reg address of the first register to be changed
|
||
|
|
* @param data pointer to the data to be written to the register
|
||
|
|
* @param len number of bytes to be written to the register
|
||
|
|
* @return true on success, false on error
|
||
|
|
*/
|
||
|
|
bool l3gd20h_reg_write (l3gd20h_sensor_t* dev,
|
||
|
|
uint8_t reg, uint8_t *data, uint16_t len);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Direct read from register
|
||
|
|
*
|
||
|
|
* PLEASE NOTE: This function should only be used to do something special that
|
||
|
|
* is not covered by the high level interface AND if you exactly know what you
|
||
|
|
* do and what effects it might have. Please be aware that it might affect the
|
||
|
|
* high level interface.
|
||
|
|
*
|
||
|
|
* @param dev pointer to the sensor device data structure
|
||
|
|
* @param reg address of the first register to be read
|
||
|
|
* @param data pointer to the data to be read from the register
|
||
|
|
* @param len number of bytes to be read from the register
|
||
|
|
* @return true on success, false on error
|
||
|
|
*/
|
||
|
|
bool l3gd20h_reg_read (l3gd20h_sensor_t* dev,
|
||
|
|
uint8_t reg, uint8_t *data, uint16_t len);
|
||
|
|
|
||
|
|
#ifdef __cplusplus
|
||
|
|
}
|
||
|
|
#endif /* End of CPP guard */
|
||
|
|
|
||
|
|
#endif /* __L3GD20H_H__ */
|