334 lines
11 KiB
C
334 lines
11 KiB
C
/**
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* Simple example with one sensor connected to I2C or SPI. It demonstrates the
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* different approaches to fetch the data. Either one of the interrupt signals
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* for axis movement wake up *INT1* and data ready interrupt *INT2* is used
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* or the new data are fetched periodically.
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*
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* Harware configuration:
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*
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* I2C
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*
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* +-----------------+ +----------+
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* | ESP8266 / ESP32 | | L3GD20H |
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* | | | |
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* | GPIO 14 (SCL) ----> SCL |
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* | GPIO 13 (SDA) <---> SDA |
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* | GPIO 5 <---- INT1 |
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* | GPIO 4 <---- DRDY/INT2|
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* +-----------------+ +----------+
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*
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* SPI
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*
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* +---------------+ +----------+ +---------------+ +----------+
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* | ESP8266 | | L3GD20H | | ESP32 | | L3GD20H |
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* | | | | | | | |
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* | GPIO 14 (SCK) ----> SCK | | GPIO 16 (SCK) ----> SCK |
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* | GPIO 13 (MOSI)----> SDI | | GPIO 17 (MOSI)----> SDI |
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* | GPIO 12 (MISO)<---- SDO | | GPIO 18 (MISO)<---- SDO |
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* | GPIO 2 (CS) ----> CS | | GPIO 19 (CS) ----> CS |
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* | GPIO 5 <---- INT1 | | GPIO 5 <---- INT1 |
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* | GPIO 4 <---- DRDY/INT2| | GPIO 4 <---- DRDY/INT2|
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* +---------------+ +---------+ +---------------+ +----------+
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*/
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/* -- use following constants to define the example mode ----------- */
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// #define SPI_USED // if defined SPI is used, otherwise I2C
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// #define FIFO_MODE // multiple sample read mode
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// #define INT_DATA // data interrupts used (data ready and FIFO status)
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// #define INT_EVENT // event interrupts used (axis movement and wake up)
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#if defined(INT_EVENT) || defined(INT_DATA)
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#define INT_USED
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#endif
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/* -- includes -------------------------------------------------- */
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#include "l3gd20h.h"
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/* -- platform dependent definitions ---------------------------- */
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#ifdef ESP_PLATFORM // ESP32 (ESP-IDF)
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// user task stack depth
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#define TASK_STACK_DEPTH 2048
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// define SPI interface for L3GD20H sensors
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#define SPI_BUS HSPI_HOST
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#define SPI_SCK_GPIO 16
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#define SPI_MOSI_GPIO 17
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#define SPI_MISO_GPIO 18
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#define SPI_CS_GPIO 19
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#else // ESP8266 (esp-open-rtos)
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// user task stack depth
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#define TASK_STACK_DEPTH 256
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// define SPI interface for L3GD20H sensors
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#define SPI_BUS 1
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#define SPI_SCK_GPIO 14
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#define SPI_MOSI_GPIO 13
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#define SPI_MISO_GPIO 12
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#define SPI_CS_GPIO 2 // GPIO 15, the default CS of SPI bus 1, can't be used
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#endif // ESP_PLATFORM
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// define I2C interfaces for L3GD20H sensors
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#define I2C_BUS 0
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#define I2C_SCL_PIN 14
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#define I2C_SDA_PIN 13
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#define I2C_FREQ I2C_FREQ_100K
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// define GPIOs for interrupt
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#define INT1_PIN 5
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#define INT2_PIN 4
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/* -- user tasks ---------------------------------------------- */
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static l3gd20h_sensor_t* sensor;
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/**
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* Common function used to get sensor data.
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*/
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void read_data (void)
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{
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#ifdef FIFO_MODE
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l3gd20h_float_data_fifo_t data;
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if (l3gd20h_new_data (sensor))
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{
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uint8_t num = l3gd20h_get_float_data_fifo (sensor, data);
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printf("%.3f L3GD20H num=%d\n", (double)sdk_system_get_time()*1e-3, num);
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for (int i = 0; i < num; i++)
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// max. full scale is +-2000 dps and best sensitivity is 1 mdps, i.e. 7 digits
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printf("%.3f L3GD20H (xyz)[dps]: %+9.3f %+9.3f %+9.3f\n",
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(double)sdk_system_get_time()*1e-3, data[i].x, data[i].y, data[i].z);
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}
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#else // !FIFO_MODE
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l3gd20h_float_data_t data;
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if (l3gd20h_new_data (sensor) &&
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l3gd20h_get_float_data (sensor, &data))
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// max. full scale is +-2000 dps and best sensitivity is 1 mdps, i.e. 7 digits
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printf("%.3f L3GD20H (xyz)[dps]: %+9.3f %+9.3f %+9.3f\n",
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(double)sdk_system_get_time()*1e-3, data.x, data.y, data.z);
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#endif // FIFO_MODE
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}
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#ifdef INT_USED
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/**
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* In this case, axes movement wake up interrupt *INT1* and/or data ready
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* interrupt *INT2* are used. While data ready interrupt *INT2* is generated
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* every time new data are available or the FIFO status changes, the axes
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* movement wake up interrupt *INT1* is triggered when output data across
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* defined thresholds.
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*
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* When interrupts are used, the user has to define interrupt handlers that
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* either fetches the data directly or triggers a task which is waiting to
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* fetch the data. In this example, the interrupt handler sends an event to
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* a waiting task to trigger the data gathering.
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*/
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static QueueHandle_t gpio_evt_queue = NULL;
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// User task that fetches the sensor values.
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void user_task_interrupt (void *pvParameters)
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{
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uint8_t gpio_num;
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while (1)
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{
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if (xQueueReceive(gpio_evt_queue, &gpio_num, portMAX_DELAY))
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{
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if (gpio_num == INT1_PIN)
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{
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l3gd20h_int_event_source_t source;
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// get the source of INT1 reset INT1 signal
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l3gd20h_get_int_event_source (sensor, &source);
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// in case of data ready interrupt, get the results and do something with them
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if (source.active)
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read_data ();
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}
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else if (gpio_num == INT2_PIN)
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{
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l3gd20h_int_data_source_t source;
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// get the source of INT2
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l3gd20h_get_int_data_source (sensor, &source);
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// if data ready interrupt, get the results and do something with them
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read_data();
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}
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}
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}
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}
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// Interrupt handler which resumes sends an event to the waiting user_task_interrupt
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void IRAM int_signal_handler (uint8_t gpio)
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{
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// send an event with GPIO to the interrupt user task
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xQueueSendFromISR(gpio_evt_queue, &gpio, NULL);
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}
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#else // !INT_USED
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/*
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* In this case, no interrupts are used and the user task fetches the sensor
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* values periodically every seconds.
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*/
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void user_task_periodic(void *pvParameters)
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{
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vTaskDelay (100/portTICK_PERIOD_MS);
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while (1)
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{
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// read sensor data
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read_data ();
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// passive waiting until 1 second is over
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vTaskDelay (100/portTICK_PERIOD_MS);
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}
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}
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#endif // INT_USED
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/* -- main program ---------------------------------------------- */
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void user_init(void)
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{
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// Set UART Parameter.
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uart_set_baud(0, 115200);
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// Give the UART some time to settle
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vTaskDelay(1);
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/** -- MANDATORY PART -- */
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#ifdef SPI_USED
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// init the sensor connnected to SPI
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spi_bus_init (SPI_BUS, SPI_SCK_GPIO, SPI_MISO_GPIO, SPI_MOSI_GPIO);
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// init the sensor connected to SPI_BUS with SPI_CS_GPIO as chip select.
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sensor = l3gd20h_init_sensor (SPI_BUS, 0, SPI_CS_GPIO);
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#else // I2C
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// init all I2C bus interfaces at which L3GD20H sensors are connected
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i2c_init (I2C_BUS, I2C_SCL_PIN, I2C_SDA_PIN, I2C_FREQ);
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// init the sensor with slave address L3GD20H_I2C_ADDRESS_2 connected to I2C_BUS.
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sensor = l3gd20h_init_sensor (I2C_BUS, L3GD20H_I2C_ADDRESS_2, 0);
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#endif // SPI_USED
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if (sensor)
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{
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#ifdef INT_USED
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/** --- INTERRUPT CONFIGURATION PART ---- */
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// Interrupt configuration has to be done before the sensor is set
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// into measurement mode to avoid losing interrupts
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// create an event queue to send interrupt events from interrupt
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// handler to the interrupt task
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gpio_evt_queue = xQueueCreate(10, sizeof(uint8_t));
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// configure interupt pins for *INT1* and *INT2* signals and set the
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// interrupt handler
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gpio_enable(INT1_PIN, GPIO_INPUT);
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gpio_enable(INT2_PIN, GPIO_INPUT);
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gpio_set_interrupt(INT1_PIN, GPIO_INTTYPE_EDGE_POS, int_signal_handler);
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gpio_set_interrupt(INT2_PIN, GPIO_INTTYPE_EDGE_POS, int_signal_handler);
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#endif // INT_USED
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/** -- SENSOR CONFIGURATION PART --- */
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// set type and polarity of INT signals if necessary
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// l3gd20h_config_int_signals (dev, l3gd20h_push_pull, l3gd20h_high_active);
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#ifdef INT_EVENT
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// enable event interrupts (axis movement and wake up)
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l3gd20h_int_event_config_t int_cfg;
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l3gd20h_get_int_event_config (sensor, &int_cfg);
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int_cfg.x_high_enabled = true;
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int_cfg.y_high_enabled = true;
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int_cfg.z_high_enabled = true;
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int_cfg.x_low_enabled = false;
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int_cfg.y_low_enabled = false;
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int_cfg.z_low_enabled = false;
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int_cfg.x_threshold = 1000;
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int_cfg.y_threshold = 1000;
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int_cfg.z_threshold = 1000;
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int_cfg.filter = l3gd20h_hpf_only;
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int_cfg.and_or = false;
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int_cfg.duration = 0;
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int_cfg.latch = true;
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l3gd20h_set_int_event_config (sensor, &int_cfg);
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l3gd20h_enable_int (sensor, l3gd20h_int_event, true);
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#endif // INT_EVENT
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#ifdef INT_DATA
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// enable data ready (DRDY) and FIFO interrupt signal *INT2*
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// NOTE: DRDY and FIFO interrupts must not be enabled at the same time
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#ifdef FIFO_MODE
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l3gd20h_enable_int (sensor, l3gd20h_int_fifo_overrun, true);
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l3gd20h_enable_int (sensor, l3gd20h_int_fifo_threshold, true);
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#else
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l3gd20h_enable_int (sensor, l3gd20h_int_data_ready, true);
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#endif
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#endif // INT_DATA
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#ifdef FIFO_MODE
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// clear FIFO and activate FIFO mode if needed
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l3gd20h_set_fifo_mode (sensor, l3gd20h_bypass, 0);
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l3gd20h_set_fifo_mode (sensor, l3gd20h_stream, 10);
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#endif
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// select LPF/HPF, configure HPF and reset the reference by dummy read
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l3gd20h_select_output_filter (sensor, l3gd20h_hpf_only);
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l3gd20h_config_hpf (sensor, l3gd20h_hpf_normal, 0);
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l3gd20h_get_hpf_ref (sensor);
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// LAST STEP: Finally set scale and sensor mode to start measurements
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l3gd20h_set_scale(sensor, l3gd20h_scale_245_dps);
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l3gd20h_set_mode (sensor, l3gd20h_normal_odr_12_5, 3, true, true, true);
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/** -- TASK CREATION PART --- */
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// must be done last to avoid concurrency situations with the sensor
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// configuration part
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#ifdef INT_USED
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// create a task that is triggered only in case of interrupts to fetch the data
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xTaskCreate(user_task_interrupt, "user_task_interrupt", TASK_STACK_DEPTH, NULL, 2, NULL);
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#else // INT_USED
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// create a user task that fetches data from sensor periodically
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xTaskCreate(user_task_periodic, "user_task_periodic", TASK_STACK_DEPTH, NULL, 2, NULL);
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#endif
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}
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else
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printf("Could not initialize L3GD20H sensor\n");
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}
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