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This commit is contained in:
Gunar Schorcht 2018-01-06 15:37:48 +01:00
parent 62ca216188
commit 03a14e7047
4 changed files with 89 additions and 112 deletions
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52
examples/l3gd20h/l3gd20h_example.c
View file

@ -1,7 +1,7 @@
/** /**
* Simple example with one sensor connected to I2C or SPI. It demonstrates the * Simple example with one sensor connected to I2C or SPI. It demonstrates the
* different approaches to fetch the data. Either one of the interrupt signals * different approaches to fetch the data. Either one of the interrupt signals
* for axes movement wake up *INT1* and data ready interrupt *INT2* is used * for axis movement wake up *INT1* and data ready interrupt *INT2* is used
* or the new data are fetched periodically. * or the new data are fetched periodically.
* *
* Harware configuration: * Harware configuration:
@ -31,7 +31,8 @@
* +---------------+ +---------+ +---------------+ +----------+ * +---------------+ +---------+ +---------------+ +----------+
*/ */
// use following constants to define the example mode /* -- use following constants to define the example mode ----------- */
// #define SPI_USED // if defined SPI is used, otherwise I2C // #define SPI_USED // if defined SPI is used, otherwise I2C
// #define FIFO_MODE // multiple sample read mode // #define FIFO_MODE // multiple sample read mode
// #define INT_DATA // data interrupts used (data ready and FIFO status) // #define INT_DATA // data interrupts used (data ready and FIFO status)
@ -233,33 +234,27 @@ void user_init(void)
if (sensor) if (sensor)
{ {
// --- SYSTEM CONFIGURATION PART ---- #ifdef INT_USED
/** --- INTERRUPT CONFIGURATION PART ---- */
#if !defined (INT_USED) // Interrupt configuration has to be done before the sensor is set
// into measurement mode to avoid losing interrupts
// create a user task that fetches data from sensor periodically // create an event queue to send interrupt events from interrupt
xTaskCreate(user_task_periodic, "user_task_periodic", TASK_STACK_DEPTH, NULL, 2, NULL); // handler to the interrupt task
#else // INT_USED
// create a task that is triggered only in case of interrupts to fetch the data
xTaskCreate(user_task_interrupt, "user_task_interrupt", TASK_STACK_DEPTH, NULL, 2, NULL);
// create event queue
gpio_evt_queue = xQueueCreate(10, sizeof(uint8_t)); gpio_evt_queue = xQueueCreate(10, sizeof(uint8_t));
// configure interupt pins for *INT1* and *INT2* signals and set the interrupt handler // configure interupt pins for *INT1* and *INT2* signals and set the
// interrupt handler
gpio_enable(INT1_PIN, GPIO_INPUT); gpio_enable(INT1_PIN, GPIO_INPUT);
gpio_enable(INT2_PIN, GPIO_INPUT); gpio_enable(INT2_PIN, GPIO_INPUT);
gpio_set_interrupt(INT1_PIN, GPIO_INTTYPE_EDGE_POS, int_signal_handler); gpio_set_interrupt(INT1_PIN, GPIO_INTTYPE_EDGE_POS, int_signal_handler);
gpio_set_interrupt(INT2_PIN, GPIO_INTTYPE_EDGE_POS, int_signal_handler); gpio_set_interrupt(INT2_PIN, GPIO_INTTYPE_EDGE_POS, int_signal_handler);
#endif // !defined(INT_USED) #endif // INT_USED
// -- SENSOR CONFIGURATION PART --- /** -- SENSOR CONFIGURATION PART --- */
// Interrupt configuration has to be done before the sensor is set
// into measurement mode
// set type and polarity of INT signals if necessary // set type and polarity of INT signals if necessary
// l3gd20h_config_int_signals (dev, l3gd20h_push_pull, l3gd20h_high_active); // l3gd20h_config_int_signals (dev, l3gd20h_push_pull, l3gd20h_high_active);
@ -316,7 +311,24 @@ void user_init(void)
l3gd20h_set_scale(sensor, l3gd20h_scale_245_dps); l3gd20h_set_scale(sensor, l3gd20h_scale_245_dps);
l3gd20h_set_mode (sensor, l3gd20h_normal_odr_12_5, 3, true, true, true); l3gd20h_set_mode (sensor, l3gd20h_normal_odr_12_5, 3, true, true, true);
// -- SENSOR CONFIGURATION PART --- /** -- TASK CREATION PART --- */
// must be done last to avoid concurrency situations with the sensor
// configuration part
#ifdef INT_USED
// create a task that is triggered only in case of interrupts to fetch the data
xTaskCreate(user_task_interrupt, "user_task_interrupt", TASK_STACK_DEPTH, NULL, 2, NULL);
#else // INT_USED
// create a user task that fetches data from sensor periodically
xTaskCreate(user_task_periodic, "user_task_periodic", TASK_STACK_DEPTH, NULL, 2, NULL);
#endif
} }
else
printf("Could not initialize L3GD20H sensor\n");
} }

129
extras/l3gd20h/README.md
View file

@ -556,9 +556,28 @@ sensor = l3gd20h_init_sensor (SPI_BUS, 0, SPI_CS_GPIO);
The remaining of the program is independent on the communication interface. The remaining of the program is independent on the communication interface.
#### Configuring the sensor
Optionally, you could wish to set some measurement parameters. For details see the sections above, the header file of the driver ```l3gd20h.h```, and of course the data sheet of the sensor.
#### Starting measurements
As last step, the sensor mode has be set to start periodic measurement. The sensor mode can be changed anytime later.
```
...
// start periodic measurement with output data rate of 12.5 Hz
l3gd20h_set_mode (sensor, l3gd20h_normal_odr_12_5, 3, true, true, true);
...
```
#### Periodic user task #### Periodic user task
If initialization of the sensor was successful, the user task that uses the sensor has to be created. The user task can use different approaches to fetch new data. Either new data are fetched periodically or interrupt signals are used when new data are available or a configured event happens. Finally, a user task that uses the sensor has to be created.
**Please note:** To avoid concurrency situations when driver functions are used to access the sensor, for example to read data, the user task must not be created until the sensor configuration is completed.
The user task can use different approaches to fetch new data. Either new data are fetched periodically or interrupt signals are used when new data are available or a configured event happens.
If new data are fetched **periodically** the implementation of the user task is quite simple and could look like following. If new data are fetched **periodically** the implementation of the user task is quite simple and could look like following.
@ -657,62 +676,15 @@ gpio_set_interrupt(INT2_PIN, GPIO_INTTYPE_EDGE_POS, int_signal_handler);
Furthermore, the interrupts have to be enabled and configured in the L3GD20H sensor, see section **Interrupts** above. Furthermore, the interrupts have to be enabled and configured in the L3GD20H sensor, see section **Interrupts** above.
#### Configuring the sensor
Optionally, you could wish to set some measurement parameters. For details see the sections above, the header file of the driver ```l3gd20h.h```, and of course the data sheet of the sensor.
#### Starting measurements
As last step, the sensor mode has be set to start periodic measurement. The sensor mode can be changed anytime later.
```
...
// start periodic measurement with output data rate of 12.5 Hz
l3gd20h_set_mode (sensor, l3gd20h_normal_odr_12_5, 3, true, true, true);
...
```
## Full Example ## Full Example
``` ```
/** /* -- use following constants to define the example mode ----------- */
* Simple example with one sensor connected to I2C or SPI. It demonstrates the
* different approaches to fetch the data. Either one of the interrupt signals
* for axes movement wake up *INT1* and data ready interrupt *INT2* is used
* or the new data are fetched periodically.
*
* Harware configuration:
*
* I2C
*
* +-----------------+ +----------+
* | ESP8266 / ESP32 | | L3GD20H |
* | | | |
* | GPIO 14 (SCL) ----> SCL |
* | GPIO 13 (SDA) <---> SDA |
* | GPIO 5 <---- INT1 |
* | GPIO 4 <---- DRDY/INT2|
* +-----------------+ +----------+
*
* SPI
*
* +---------------+ +----------+ +---------------+ +----------+
* | ESP8266 | | L3GD20H | | ESP32 | | L3GD20H |
* | | | | | | | |
* | GPIO 14 (SCK) ----> SCK | | GPIO 16 (SCK) ----> SCK |
* | GPIO 13 (MOSI)----> SDI | | GPIO 17 (MOSI)----> SDI |
* | GPIO 12 (MISO)<---- SDO | | GPIO 18 (MISO)<---- SDO |
* | GPIO 2 (CS) ----> CS | | GPIO 19 (CS) ----> CS |
* | GPIO 5 <---- INT1 | | GPIO 5 <---- INT1 |
* | GPIO 4 <---- DRDY/INT2| | GPIO 4 <---- DRDY/INT2|
* +---------------+ +---------+ +---------------+ +----------+
*/
// use following constants to define the example mode
// #define SPI_USED // if defined SPI is used, otherwise I2C // #define SPI_USED // if defined SPI is used, otherwise I2C
// #define INT_EVENT // event interrupts used (axes movement and wake up)
// #define INT_DATA // data interrupts used (data ready and FIFO status)
// #define FIFO_MODE // multiple sample read mode // #define FIFO_MODE // multiple sample read mode
// #define INT_DATA // data interrupts used (data ready and FIFO status)
// #define INT_EVENT // event interrupts used (axis movement and wake up)
#if defined(INT_EVENT) || defined(INT_DATA) #if defined(INT_EVENT) || defined(INT_DATA)
#define INT_USED #define INT_USED
@ -787,8 +759,8 @@ void read_data (void)
l3gd20h_float_data_t data; l3gd20h_float_data_t data;
while (l3gd20h_new_data (sensor) && if (l3gd20h_new_data (sensor) &&
l3gd20h_get_float_data (sensor, &data)) l3gd20h_get_float_data (sensor, &data))
// max. full scale is +-2000 dps and best sensitivity is 1 mdps, i.e. 7 digits // max. full scale is +-2000 dps and best sensitivity is 1 mdps, i.e. 7 digits
printf("%.3f L3GD20H (xyz)[dps]: %+9.3f %+9.3f %+9.3f\n", printf("%.3f L3GD20H (xyz)[dps]: %+9.3f %+9.3f %+9.3f\n",
(double)sdk_system_get_time()*1e-3, data.x, data.y, data.z); (double)sdk_system_get_time()*1e-3, data.x, data.y, data.z);
@ -871,9 +843,9 @@ void user_task_periodic(void *pvParameters)
{ {
// read sensor data // read sensor data
read_data (); read_data ();
// passive waiting until 1 second is over // passive waiting until 1 second is over
vTaskDelay (1000/portTICK_PERIOD_MS); vTaskDelay (100/portTICK_PERIOD_MS);
} }
} }
@ -910,33 +882,27 @@ void user_init(void)
if (sensor) if (sensor)
{ {
// --- SYSTEM CONFIGURATION PART ---- #ifdef INT_USED
/** --- INTERRUPT CONFIGURATION PART ---- */
#if !defined (INT_USED) // Interrupt configuration has to be done before the sensor is set
// into measurement mode to avoid losing interrupts
// create a user task that fetches data from sensor periodically // create an event queue to send interrupt events from interrupt
xTaskCreate(user_task_periodic, "user_task_periodic", TASK_STACK_DEPTH, NULL, 2, NULL); // handler to the interrupt task
#else // INT_USED
// create a task that is triggered only in case of interrupts to fetch the data
xTaskCreate(user_task_interrupt, "user_task_interrupt", TASK_STACK_DEPTH, NULL, 2, NULL);
// create event queue
gpio_evt_queue = xQueueCreate(10, sizeof(uint8_t)); gpio_evt_queue = xQueueCreate(10, sizeof(uint8_t));
// configure interupt pins for *INT1* and *INT2* signals and set the interrupt handler // configure interupt pins for *INT1* and *INT2* signals and set the
// interrupt handler
gpio_enable(INT1_PIN, GPIO_INPUT); gpio_enable(INT1_PIN, GPIO_INPUT);
gpio_enable(INT2_PIN, GPIO_INPUT); gpio_enable(INT2_PIN, GPIO_INPUT);
gpio_set_interrupt(INT1_PIN, GPIO_INTTYPE_EDGE_POS, int_signal_handler); gpio_set_interrupt(INT1_PIN, GPIO_INTTYPE_EDGE_POS, int_signal_handler);
gpio_set_interrupt(INT2_PIN, GPIO_INTTYPE_EDGE_POS, int_signal_handler); gpio_set_interrupt(INT2_PIN, GPIO_INTTYPE_EDGE_POS, int_signal_handler);
#endif // !defined(INT_USED) #endif // INT_USED
// -- SENSOR CONFIGURATION PART --- /** -- SENSOR CONFIGURATION PART --- */
// Interrupt configuration has to be done before the sensor is set
// into measurement mode
// set type and polarity of INT signals if necessary // set type and polarity of INT signals if necessary
// l3gd20h_config_int_signals (dev, l3gd20h_push_pull, l3gd20h_high_active); // l3gd20h_config_int_signals (dev, l3gd20h_push_pull, l3gd20h_high_active);
@ -993,8 +959,25 @@ void user_init(void)
l3gd20h_set_scale(sensor, l3gd20h_scale_245_dps); l3gd20h_set_scale(sensor, l3gd20h_scale_245_dps);
l3gd20h_set_mode (sensor, l3gd20h_normal_odr_12_5, 3, true, true, true); l3gd20h_set_mode (sensor, l3gd20h_normal_odr_12_5, 3, true, true, true);
// -- SENSOR CONFIGURATION PART --- /** -- TASK CREATION PART --- */
// must be done last to avoid concurrency situations with the sensor
// configuration part
#ifdef INT_USED
// create a task that is triggered only in case of interrupts to fetch the data
xTaskCreate(user_task_interrupt, "user_task_interrupt", TASK_STACK_DEPTH, NULL, 2, NULL);
#else // INT_USED
// create a user task that fetches data from sensor periodically
xTaskCreate(user_task_periodic, "user_task_periodic", TASK_STACK_DEPTH, NULL, 2, NULL);
#endif
} }
else
printf("Could not initialize L3GD20H sensor\n");
} }
``` ```

14
extras/l3gd20h/l3gd20h.c
View file

@ -218,9 +218,7 @@ l3gd20h_sensor_t* l3gd20h_init_sensor (uint8_t bus, uint8_t addr, uint8_t cs)
free (dev); free (dev);
return NULL; return NULL;
} }
if (!addr)
spi_semaphore_init(dev);
// check availability of the sensor // check availability of the sensor
if (!l3gd20h_is_available (dev)) if (!l3gd20h_is_available (dev))
{ {
@ -955,8 +953,6 @@ static bool l3gd20h_spi_read(l3gd20h_sensor_t* dev, uint8_t reg, uint8_t *data,
uint8_t addr = (reg & 0x3f) | L3GD20H_SPI_READ_FLAG | L3GD20H_SPI_AUTO_INC_FLAG; uint8_t addr = (reg & 0x3f) | L3GD20H_SPI_READ_FLAG | L3GD20H_SPI_AUTO_INC_FLAG;
spi_semaphore_take (dev);
static uint8_t mosi[L3GD20H_SPI_BUF_SIZE]; static uint8_t mosi[L3GD20H_SPI_BUF_SIZE];
static uint8_t miso[L3GD20H_SPI_BUF_SIZE]; static uint8_t miso[L3GD20H_SPI_BUF_SIZE];
@ -969,7 +965,6 @@ static bool l3gd20h_spi_read(l3gd20h_sensor_t* dev, uint8_t reg, uint8_t *data,
{ {
error_dev ("Could not read data from SPI", __FUNCTION__, dev); error_dev ("Could not read data from SPI", __FUNCTION__, dev);
dev->error_code |= L3GD20H_SPI_READ_FAILED; dev->error_code |= L3GD20H_SPI_READ_FAILED;
spi_semaphore_give (dev);
return false; return false;
} }
@ -977,8 +972,6 @@ static bool l3gd20h_spi_read(l3gd20h_sensor_t* dev, uint8_t reg, uint8_t *data,
for (int i=0; i < len; i++) for (int i=0; i < len; i++)
data[i] = miso[i+1]; data[i] = miso[i+1];
spi_semaphore_give (dev);
#ifdef L3GD20H_DEBUG_LEVEL_2 #ifdef L3GD20H_DEBUG_LEVEL_2
printf("L3GD20H %s: read the following bytes from reg %02x: ", __FUNCTION__, reg); printf("L3GD20H %s: read the following bytes from reg %02x: ", __FUNCTION__, reg);
for (int i=0; i < len; i++) for (int i=0; i < len; i++)
@ -1007,8 +1000,6 @@ static bool l3gd20h_spi_write(l3gd20h_sensor_t* dev, uint8_t reg, uint8_t *data,
return false; return false;
} }
spi_semaphore_take (dev);
reg &= 0x7f; reg &= 0x7f;
// first byte in output is the register address // first byte in output is the register address
@ -1027,14 +1018,11 @@ static bool l3gd20h_spi_write(l3gd20h_sensor_t* dev, uint8_t reg, uint8_t *data,
if (!spi_transfer_pf (dev->bus, dev->cs, mosi, NULL, len+1)) if (!spi_transfer_pf (dev->bus, dev->cs, mosi, NULL, len+1))
{ {
spi_semaphore_give (dev);
error_dev ("Could not write data to SPI.", __FUNCTION__, dev); error_dev ("Could not write data to SPI.", __FUNCTION__, dev);
dev->error_code |= L3GD20H_SPI_WRITE_FAILED; dev->error_code |= L3GD20H_SPI_WRITE_FAILED;
return false; return false;
} }
spi_semaphore_give (dev);
return true; return true;
} }

6
extras/l3gd20h/l3gd20h_platform.h
View file

@ -67,12 +67,6 @@
#include "esp/spi.h" #include "esp/spi.h"
#include "i2c/i2c.h" #include "i2c/i2c.h"
// platform specific definitions
#define spi_semaphore_init(d)
#define spi_semaphore_take(d)
#define spi_semaphore_give(d)
// platform specific SPI functions // platform specific SPI functions
#define spi_bus_init(bus,sck,miso,mosi) // not needed on ESP8266 #define spi_bus_init(bus,sck,miso,mosi) // not needed on ESP8266