ChibiOS  21.6.0
l3gd20.h
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1 /*
2  ChibiOS - Copyright (C) 2016..2019 Rocco Marco Guglielmi
3 
4  This file is part of ChibiOS.
5 
6  ChibiOS is free software; you can redistribute it and/or modify
7  it under the terms of the GNU General Public License as published by
8  the Free Software Foundation; either version 3 of the License, or
9  (at your option) any later version.
10 
11  ChibiOS is distributed in the hope that it will be useful,
12  but WITHOUT ANY WARRANTY; without even the implied warranty of
13  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  GNU General Public License for more details.
15 
16  You should have received a copy of the GNU General Public License
17  along with this program. If not, see <http://www.gnu.org/licenses/>.
18 
19 */
20 
21 /**
22  * @file l3gd20.h
23  * @brief L3GD20 MEMS interface module header.
24  *
25  * @addtogroup L3GD20
26  * @ingroup EX_ST
27  * @{
28  */
29 #ifndef _L3GD20_H_
30 #define _L3GD20_H_
31 
32 #include "ex_gyroscope.h"
33 
34 /*===========================================================================*/
35 /* Driver constants. */
36 /*===========================================================================*/
37 
38 /**
39  * @name Version identification
40  * @{
41  */
42 /**
43  * @brief L3GD20 driver version string.
44  */
45 #define EX_L3GD20_VERSION "1.1.2"
46 
47 /**
48  * @brief L3GD20 driver version major number.
49  */
50 #define EX_L3GD20_MAJOR 1
51 
52 /**
53  * @brief L3GD20 driver version minor number.
54  */
55 #define EX_L3GD20_MINOR 1
56 
57 /**
58  * @brief L3GD20 driver version patch number.
59  */
60 #define EX_L3GD20_PATCH 2
61 /** @} */
62 
63 /**
64  * @brief L3GD20 gyroscope system characteristics.
65  * @note Sensitivity is expressed as DPS/LSB whereas DPS stand for Degree
66  * per second [°/s].
67  * @note Bias is expressed as DPS.
68  *
69  * @{
70  */
71 #define L3GD20_GYRO_NUMBER_OF_AXES 3U
72 
73 #define L3GD20_250DPS 250.0f
74 #define L3GD20_500DPS 500.0f
75 #define L3GD20_2000DPS 2000.0f
76 
77 #define L3GD20_GYRO_SENS_250DPS 0.00875f
78 #define L3GD20_GYRO_SENS_500DPS 0.01750f
79 #define L3GD20_GYRO_SENS_2000DPS 0.07000f
80 
81 #define L3GD20_GYRO_BIAS 0.0f
82 /** @} */
83 
84 /**
85  * @name L3GD20 communication interfaces related bit masks
86  * @{
87  */
88 #define L3GD20_DI_MASK 0xFF
89 #define L3GD20_DI(n) (1 << n)
90 #define L3GD20_AD_MASK 0x3F
91 #define L3GD20_AD(n) (1 << n)
92 #define L3GD20_MS (1 << 6)
93 #define L3GD20_RW (1 << 7)
94 /** @} */
95 
96 /**
97  * @name L3GD20 register addresses
98  * @{
99  */
100 #define L3GD20_AD_WHO_AM_I 0x0F
101 #define L3GD20_AD_CTRL_REG1 0x20
102 #define L3GD20_AD_CTRL_REG2 0x21
103 #define L3GD20_AD_CTRL_REG3 0x22
104 #define L3GD20_AD_CTRL_REG4 0x23
105 #define L3GD20_AD_CTRL_REG5 0x24
106 #define L3GD20_AD_REFERENCE 0x25
107 #define L3GD20_AD_OUT_TEMP 0x26
108 #define L3GD20_AD_STATUS_REG 0x27
109 #define L3GD20_AD_OUT_X_L 0x28
110 #define L3GD20_AD_OUT_X_H 0x29
111 #define L3GD20_AD_OUT_Y_L 0x2A
112 #define L3GD20_AD_OUT_Y_H 0x2B
113 #define L3GD20_AD_OUT_Z_L 0x2C
114 #define L3GD20_AD_OUT_Z_H 0x2D
115 #define L3GD20_AD_FIFO_CTRL_REG 0x2E
116 #define L3GD20_AD_FIFO_SRC_REG 0x2F
117 #define L3GD20_AD_INT1_CFG 0x30
118 #define L3GD20_AD_INT1_SRC 0x31
119 #define L3GD20_AD_INT1_THS_XH 0x32
120 #define L3GD20_AD_INT1_THS_XL 0x33
121 #define L3GD20_AD_INT1_THS_YH 0x34
122 #define L3GD20_AD_INT1_THS_YL 0x35
123 #define L3GD20_AD_INT1_THS_ZH 0x36
124 #define L3GD20_AD_INT1_THS_ZL 0x37
125 #define L3GD20_AD_INT1_DURATION 0x38
126 /** @} */
127 
128 /**
129  * @name L3GD20_CTRL_REG1 register bits definitions
130  * @{
131  */
132 #define L3GD20_CTRL_REG1_MASK 0xFF
133 #define L3GD20_CTRL_REG1_XEN (1 << 0)
134 #define L3GD20_CTRL_REG1_YEN (1 << 1)
135 #define L3GD20_CTRL_REG1_ZEN (1 << 2)
136 #define L3GD20_CTRL_REG1_PD (1 << 3)
137 #define L3GD20_CTRL_REG1_BW0 (1 << 4)
138 #define L3GD20_CTRL_REG1_BW1 (1 << 5)
139 #define L3GD20_CTRL_REG1_DR0 (1 << 6)
140 #define L3GD20_CTRL_REG1_DR1 (1 << 7)
141 /** @} */
142 
143 /**
144  * @name L3GD20_CTRL_REG2 register bits definitions
145  * @{
146  */
147 #define L3GD20_CTRL_REG2_MASK 0x3F
148 #define L3GD20_CTRL_REG2_HPCF0 (1 << 0)
149 #define L3GD20_CTRL_REG2_HPCF1 (1 << 1)
150 #define L3GD20_CTRL_REG2_HPCF2 (1 << 2)
151 #define L3GD20_CTRL_REG2_HPCF3 (1 << 3)
152 #define L3GD20_CTRL_REG2_HPM0 (1 << 4)
153 #define L3GD20_CTRL_REG2_HPM1 (1 << 5)
154 /** @} */
155 
156 /**
157  * @name L3GD20_CTRL_REG3 register bits definitions
158  * @{
159  */
160 #define L3GD20_CTRL_REG3_MASK 0xFF
161 #define L3GD20_CTRL_REG3_I2_EMPTY (1 << 0)
162 #define L3GD20_CTRL_REG3_I2_ORUN (1 << 1)
163 #define L3GD20_CTRL_REG3_I2_WTM (1 << 2)
164 #define L3GD20_CTRL_REG3_I2_DRDY (1 << 3)
165 #define L3GD20_CTRL_REG3_PP_OD (1 << 4)
166 #define L3GD20_CTRL_REG3_H_LACTIVE (1 << 5)
167 #define L3GD20_CTRL_REG3_I1_BOOT (1 << 6)
168 #define L3GD20_CTRL_REG3_I1_INT1 (1 << 7)
169 /** @} */
170 
171 /**
172  * @name L3GD20_CTRL_REG4 register bits definitions
173  * @{
174  */
175 #define L3GD20_CTRL_REG4_MASK 0xF1
176 #define L3GD20_CTRL_REG4_SIM (1 << 0)
177 #define L3GD20_CTRL_REG4_FS_MASK 0x30
178 #define L3GD20_CTRL_REG4_FS0 (1 << 4)
179 #define L3GD20_CTRL_REG4_FS1 (1 << 5)
180 #define L3GD20_CTRL_REG4_BLE (1 << 6)
181 #define L3GD20_CTRL_REG4_BDU (1 << 7)
182 /** @} */
183 
184 /**
185  * @name L3GD20_CTRL_REG5 register bits definitions
186  * @{
187  */
188 #define L3GD20_CTRL_REG5_MASK 0xDF
189 #define L3GD20_CTRL_REG5_OUT_SEL0 (1 << 0)
190 #define L3GD20_CTRL_REG5_OUT_SEL1 (1 << 1)
191 #define L3GD20_CTRL_REG5_INT1_SEL0 (1 << 2)
192 #define L3GD20_CTRL_REG5_INT1_SEL1 (1 << 3)
193 #define L3GD20_CTRL_REG5_HPEN (1 << 4)
194 #define L3GD20_CTRL_REG5_FIFO_EN (1 << 6)
195 #define L3GD20_CTRL_REG5_BOOT (1 << 7)
196 /** @} */
197 
198 /**
199  * @name L3GD20_INT1_CFG register bits definitions
200  * @{
201  */
202 #define L3GD20_INT1_CFG_MASK 0xFF
203 #define L3GD20_INT1_CFG_XLIE (1 << 0)
204 #define L3GD20_INT1_CFG_XHIE (1 << 1)
205 #define L3GD20_INT1_CFG_YLIE (1 << 2)
206 #define L3GD20_INT1_CFG_YHIE (1 << 3)
207 #define L3GD20_INT1_CFG_ZLIE (1 << 4)
208 #define L3GD20_INT1_CFG_ZHIE (1 << 5)
209 #define L3GD20_INT1_CFG_LIR (1 << 6)
210 #define L3GD20_INT1_CFG_AND_OR (1 << 7)
211 /** @} */
212 
213 /**
214  * @name L3GD20_INT1_SRC register bits definitions
215  * @{
216  */
217 #define L3GD20_INT1_SRC_MASK 0x7F
218 #define L3GD20_INT1_SRC_XL (1 << 0)
219 #define L3GD20_INT1_SRC_XH (1 << 1)
220 #define L3GD20_INT1_SRC_YL (1 << 2)
221 #define L3GD20_INT1_SRC_YH (1 << 3)
222 #define L3GD20_INT1_SRC_ZL (1 << 4)
223 #define L3GD20_INT1_SRC_ZH (1 << 5)
224 #define L3GD20_INT1_SRC_IA (1 << 6)
225 /** @} */
226 
227 /*===========================================================================*/
228 /* Driver pre-compile time settings. */
229 /*===========================================================================*/
230 
231 /**
232  * @name Configuration options
233  * @{
234  */
235 /**
236  * @brief L3GD20 SPI interface switch.
237  * @details If set to @p TRUE the support for SPI is included.
238  * @note The default is @p TRUE.
239  */
240 #if !defined(L3GD20_USE_SPI) || defined(__DOXYGEN__)
241 #define L3GD20_USE_SPI TRUE
242 #endif
243 
244 /**
245  * @brief L3GD20 shared SPI switch.
246  * @details If set to @p TRUE the device acquires SPI bus ownership
247  * on each transaction.
248  * @note The default is @p FALSE. Requires SPI_USE_MUTUAL_EXCLUSION.
249  */
250 #if !defined(L3GD20_SHARED_SPI) || defined(__DOXYGEN__)
251 #define L3GD20_SHARED_SPI FALSE
252 #endif
253 
254 /**
255  * @brief L3GD20 I2C interface switch.
256  * @details If set to @p TRUE the support for I2C is included.
257  * @note The default is @p FALSE.
258  */
259 #if !defined(L3GD20_USE_I2C) || defined(__DOXYGEN__)
260 #define L3GD20_USE_I2C FALSE
261 #endif
262 
263 /**
264  * @brief L3GD20 shared I2C switch.
265  * @details If set to @p TRUE the device acquires I2C bus ownership
266  * on each transaction.
267  * @note The default is @p FALSE. Requires I2C_USE_MUTUAL_EXCLUSION.
268  */
269 #if !defined(L3GD20_SHARED_I2C) || defined(__DOXYGEN__)
270 #define L3GD20_SHARED_I2C FALSE
271 #endif
272 
273 /**
274  * @brief L3GD20 advanced configurations switch.
275  * @details If set to @p TRUE more configurations are available.
276  * @note The default is @p FALSE.
277  */
278 #if !defined(L3GD20_USE_ADVANCED) || defined(__DOXYGEN__)
279 #define L3GD20_USE_ADVANCED FALSE
280 #endif
281 
282 /**
283  * @brief Number of acquisitions for bias removal
284  * @details This is the number of acquisitions performed to compute the
285  * bias. A repetition is required in order to remove noise.
286  */
287 #if !defined(L3GD20_BIAS_ACQ_TIMES) || defined(__DOXYGEN__)
288 #define L3GD20_BIAS_ACQ_TIMES 50
289 #endif
290 
291 /**
292  * @brief Settling time for bias removal
293  * @details This is the time between each bias acquisition.
294  */
295 #if !defined(L3GD20_BIAS_SETTLING_US) || defined(__DOXYGEN__)
296 #define L3GD20_BIAS_SETTLING_US 5000
297 #endif
298 /** @} */
299 
300 /*===========================================================================*/
301 /* Derived constants and error checks. */
302 /*===========================================================================*/
303 
304 #if !(L3GD20_USE_SPI ^ L3GD20_USE_I2C)
305 #error "L3GD20_USE_SPI and L3GD20_USE_I2C cannot be both true or both false"
306 #endif
307 
308 #if L3GD20_USE_SPI && !HAL_USE_SPI
309 #error "L3GD20_USE_SPI requires HAL_USE_SPI"
310 #endif
311 
312 #if L3GD20_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION
313 #error "L3GD20_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION"
314 #endif
315 
316 #if L3GD20_USE_I2C && !HAL_USE_I2C
317 #error "L3GD20_USE_I2C requires HAL_USE_I2C"
318 #endif
319 
320 #if L3GD20_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION
321 #error "L3GD20_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION"
322 #endif
323 
324 /*
325  * CHTODO: Add support for L3GD20 over I2C.
326  */
327 #if L3GD20_USE_I2C
328 #error "L3GD20 over I2C still not supported"
329 #endif
330 
331 /*===========================================================================*/
332 /* Driver data structures and types. */
333 /*===========================================================================*/
334 
335 /**
336  * @name L3GD20 data structures and types.
337  * @{
338  */
339 /**
340  * @brief Structure representing a L3GD20 driver.
341  */
342 typedef struct L3GD20Driver L3GD20Driver;
343 
344 /**
345  * @brief L3GD20 full scale.
346  */
347 typedef enum {
348  L3GD20_FS_250DPS = 0x00, /**< Full scale 250 degree per second. */
349  L3GD20_FS_500DPS = 0x10, /**< Full scale 500 degree per second. */
350  L3GD20_FS_2000DPS = 0x20 /**< Full scale 2000 degree per second. */
351 } l3gd20_fs_t;
352 
353 /**
354  * @brief L3GD20 output data rate and bandwidth.
355  */
356 typedef enum {
357  L3GD20_ODR_95HZ = 0x00, /**< Output data rate 95 Hz. */
358  L3GD20_ODR_190HZ = 0x40, /**< Output data rate 190 Hz. */
359  L3GD20_ODR_380HZ = 0x80, /**< Output data rate 380 Hz. */
360  L3GD20_ODR_760HZ = 0xC0 /**< Output data rate 760 Hz. */
361 } l3gd20_odr_t;
362 
363 /**
364  * @brief L3GD20 low pass filter 1 bandwidth.
365  */
366 typedef enum {
367  L3GD20_BW0 = 0x00, /**< LPF1 bandwidth. Depends on ODR. */
368  L3GD20_BW1 = 0x40, /**< LPF1 bandwidth. Depends on ODR. */
369  L3GD20_BW2 = 0x80, /**< LPF1 bandwidth. Depends on ODR. */
370  L3GD20_BW3 = 0xC0 /**< LPF1 bandwidth. Depends on ODR. */
371 } l3gd20_bw_t;
372 
373 /**
374  * @brief L3GD20 block data update.
375  */
376 typedef enum {
377  L3GD20_BDU_CONTINUOUS = 0x00, /**< Block data continuously updated. */
378  L3GD20_BDU_BLOCKED = 0x80 /**< Block data updated after reading. */
379 } l3gd20_bdu_t;
380 
381 /**
382  * @brief L3GD20 HP filter mode.
383  */
384 typedef enum {
385  L3GD20_HPM_NORMAL = 0x00, /**< Normal mode. */
386  L3GD20_HPM_REFERENCE = 0x10, /**< Reference signal for filtering. */
387  L3GD20_HPM_AUTORESET = 0x30, /**< Autoreset on interrupt event. */
388  L3GD20_HPM_BYPASSED = 0xFF /**< HP filter bypassed */
389 } l3gd20_hpm_t;
390 
391 /**
392  * @brief L3GD20 HP configuration.
393  */
394 typedef enum {
395  L3GD20_HPCF_0 = 0x00, /**< Depends on ODR (Table 26 for more).*/
396  L3GD20_HPCF_1 = 0x01, /**< Depends on ODR (Table 26 for more).*/
397  L3GD20_HPCF_2 = 0x02, /**< Depends on ODR (Table 26 for more).*/
398  L3GD20_HPCF_3 = 0x03, /**< Depends on ODR (Table 26 for more).*/
399  L3GD20_HPCF_4 = 0x04, /**< Depends on ODR (Table 26 for more).*/
400  L3GD20_HPCF_5 = 0x05, /**< Depends on ODR (Table 26 for more).*/
401  L3GD20_HPCF_6 = 0x06, /**< Depends on ODR (Table 26 for more).*/
402  L3GD20_HPCF_7 = 0x07, /**< Depends on ODR (Table 26 for more).*/
403  L3GD20_HPCF_8 = 0x08, /**< Depends on ODR (Table 26 for more).*/
404  L3GD20_HPCF_9 = 0x09 /**< Depends on ODR (Table 26 for more).*/
405 } l3gd20_hpcf_t;
406 
407 /**
408  * @brief L3GD20 LP2 filter mode.
409  * @details To activate LP2 HP should be active
410  */
411 typedef enum {
412  L3GD20_LP2M_ON = 0x00, /**< LP2 filter activated. */
413  L3GD20_LP2M_BYPASSED = 0xFF, /**< LP2 filter bypassed. */
414 } l3gd20_lp2m_t;
415 
416 /**
417  * @brief L3GD20 endianness.
418  */
419 typedef enum {
420  L3GD20_END_LITTLE = 0x00, /**< Little endian. */
421  L3GD20_END_BIG = 0x40 /**< Big endian. */
422 } l3gd20_end_t;
423 
424 /**
425  * @brief Driver state machine possible states.
426  */
427 typedef enum {
428  L3GD20_UNINIT = 0, /**< Not initialized. */
429  L3GD20_STOP = 1, /**< Stopped. */
430  L3GD20_READY = 2 /**< Ready. */
431 } l3gd20_state_t;
432 
433 /**
434  * @brief L3GD20 configuration structure.
435  */
436 typedef struct {
437 
438 #if L3GD20_USE_SPI || defined(__DOXYGEN__)
439  /**
440  * @brief SPI driver associated to this L3GD20.
441  */
442  SPIDriver *spip;
443  /**
444  * @brief SPI configuration associated to this L3GD20.
445  */
446  const SPIConfig *spicfg;
447 #endif /* L3GD20_USE_SPI */
448 #if L3GD20_USE_I2C || defined(__DOXYGEN__)
449  /**
450  * @brief I2C driver associated to this L3GD20.
451  */
452  I2CDriver *i2cp;
453  /**
454  * @brief I2C configuration associated to this L3GD20.
455  */
456  const I2CConfig *i2ccfg;
457 #endif /* L3GD20_USE_I2C */
458  /**
459  * @brief L3GD20 gyroscope system initial sensitivity.
460  */
461  float *gyrosensitivity;
462  /**
463  * @brief L3GD20 gyroscope system initial bias.
464  */
465  float *gyrobias;
466  /**
467  * @brief L3GD20 gyroscope system initial full scale value.
468  */
469  l3gd20_fs_t gyrofullscale;
470  /**
471  * @brief L3GD20 gyroscope system output data rate selection.
472  */
473  l3gd20_odr_t gyrooutputdatarate;
474 #if L3GD20_USE_ADVANCED || defined(__DOXYGEN__)
475  /**
476  * @brief L3GD20 gyroscope system block data update.
477  */
478  l3gd20_bdu_t gyroblockdataupdate;
479  /**
480  * @brief L3GD20 gyroscope system endianness.
481  */
482  l3gd20_end_t gyroendianness;
483  /**
484  * @brief L3GD20 gyroscope system LP1 filter bandwidth.
485  */
486  l3gd20_bw_t gyrobandwidth;
487  /**
488  * @brief L3GD20 gyroscope system HP filter mode.
489  */
490  l3gd20_hpm_t gyrohpmode;
491  /**
492  * @brief L3GD20 gyroscope system HP configuration.
493  */
494  l3gd20_hpcf_t gyrohpconfiguration;
495  /**
496  * @brief L3GD20 gyroscope system LP2 filter mode.
497  * @details To activate LP2 HP should be active
498  */
499  l3gd20_lp2m_t gyrolp2mode;
500 #endif
501 } L3GD20Config;
502 
503 /**
504  * @brief @p L3GD20 specific methods.
505  */
506 #define _l3gd20_methods_alone \
507  /* Change full scale value of L3GD20.*/ \
508  msg_t (*gyro_set_full_scale)(L3GD20Driver *devp, l3gd20_fs_t fs);
509 
510 /**
511  * @brief @p L3GD20 specific methods with inherited ones.
512  */
513 #define _l3gd20_methods \
514  _base_object_methods \
515  _l3gd20_methods_alone
516 
517 /**
518  * @extends BaseObjectVMT
519  *
520  * @brief @p L3GD20 virtual methods table.
521  */
522 struct L3GD20VMT {
523  _l3gd20_methods
524 };
525 
526 /**
527  * @brief @p L3GD20Driver specific data.
528  */
529 #define _l3gd20_data \
530  _base_sensor_data \
531  /* Driver state.*/ \
532  l3gd20_state_t state; \
533  /* Current configuration data.*/ \
534  const L3GD20Config *config; \
535  /* Gyroscope subsystem axes number.*/ \
536  size_t gyroaxes; \
537  /* Gyroscope subsystem current sensitivity.*/ \
538  float gyrosensitivity[L3GD20_GYRO_NUMBER_OF_AXES]; \
539  /* Gyroscope subsystem current Bias.*/ \
540  float gyrobias[L3GD20_GYRO_NUMBER_OF_AXES]; \
541  /* Gyroscope subsystem current full scale value.*/ \
542  float gyrofullscale;
543 
544 /**
545  * @brief L3GD20 3-axis gyroscope class.
546  */
547 struct L3GD20Driver {
548  /** @brief Virtual Methods Table. */
549  const struct L3GD20VMT *vmt;
550  /** @brief Base gyroscope interface.*/
551  BaseGyroscope gyro_if;
552  _l3gd20_data
553 };
554 /** @} */
555 
556 /*===========================================================================*/
557 /* Driver macros. */
558 /*===========================================================================*/
559 
560 /**
561  * @brief Return the number of axes of the BaseGyroscope.
562  *
563  * @param[in] devp pointer to @p L3GD20Driver.
564  *
565  * @return the number of axes.
566  *
567  * @api
568  */
569 #define l3gd20GyroscopeGetAxesNumber(devp) \
570  gyroscopeGetAxesNumber(&((devp)->gyro_if))
571 
572 /**
573  * @brief Retrieves raw data from the BaseGyroscope.
574  * @note This data is retrieved from MEMS register without any algebraical
575  * manipulation.
576  * @note The axes array must be at least the same size of the
577  * BaseGyroscope axes number.
578  *
579  * @param[in] devp pointer to @p L3GD20Driver.
580  * @param[out] axes a buffer which would be filled with raw data.
581  *
582  * @return The operation status.
583  * @retval MSG_OK if the function succeeded.
584  *
585  * @api
586  */
587 #define l3gd20GyroscopeReadRaw(devp, axes) \
588  gyroscopeReadRaw(&((devp)->gyro_if), axes)
589 
590 /**
591  * @brief Retrieves cooked data from the BaseGyroscope.
592  * @note This data is manipulated according to the formula
593  * cooked = (raw * sensitivity) - bias.
594  * @note Final data is expressed as DPS.
595  * @note The axes array must be at least the same size of the
596  * BaseGyroscope axes number.
597  *
598  * @param[in] devp pointer to @p L3GD20Driver.
599  * @param[out] axes a buffer which would be filled with cooked data.
600  *
601  * @return The operation status.
602  * @retval MSG_OK if the function succeeded.
603  *
604  * @api
605  */
606 #define l3gd20GyroscopeReadCooked(devp, axes) \
607  gyroscopeReadCooked(&((devp)->gyro_if), axes)
608 
609 /**
610  * @brief Samples bias values for the BaseGyroscope.
611  * @note The L3GD20 shall not be moved during the whole procedure.
612  * @note After this function internal bias is automatically updated.
613  * @note The behavior of this function depends on @p L3GD20_BIAS_ACQ_TIMES
614  * and @p L3GD20_BIAS_SETTLING_US.
615  *
616  * @param[in] devp pointer to @p L3GD20Driver.
617  *
618  * @return The operation status.
619  * @retval MSG_OK if the function succeeded.
620  *
621  * @api
622  */
623 #define l3gd20GyroscopeSampleBias(devp) \
624  gyroscopeSampleBias(&((devp)->gyro_if))
625 
626 /**
627  * @brief Set bias values for the BaseGyroscope.
628  * @note Bias must be expressed as DPS.
629  * @note The bias buffer must be at least the same size of the BaseGyroscope
630  * axes number.
631  *
632  * @param[in] devp pointer to @p L3GD20Driver.
633  * @param[in] bp a buffer which contains biases.
634  *
635  * @return The operation status.
636  * @retval MSG_OK if the function succeeded.
637  *
638  * @api
639  */
640 #define l3gd20GyroscopeSetBias(devp, bp) \
641  gyroscopeSetBias(&((devp)->gyro_if), bp)
642 
643 /**
644  * @brief Reset bias values for the BaseGyroscope.
645  * @note Default biases value are obtained from device datasheet when
646  * available otherwise they are considered zero.
647  *
648  * @param[in] devp pointer to @p L3GD20Driver.
649  *
650  * @return The operation status.
651  * @retval MSG_OK if the function succeeded.
652  *
653  * @api
654  */
655 #define l3gd20GyroscopeResetBias(devp) \
656  gyroscopeResetBias(&((devp)->gyro_if))
657 
658 /**
659  * @brief Set sensitivity values for the BaseGyroscope.
660  * @note Sensitivity must be expressed as DPS/LSB.
661  * @note The sensitivity buffer must be at least the same size of the
662  * BaseGyroscope axes number.
663  *
664  * @param[in] devp pointer to @p L3GD20Driver.
665  * @param[in] sp a buffer which contains sensitivities.
666  *
667  * @return The operation status.
668  * @retval MSG_OK if the function succeeded.
669  *
670  * @api
671  */
672 #define l3gd20GyroscopeSetSensitivity(devp, sp) \
673  gyroscopeSetSensitivity(&((devp)->gyro_if), sp)
674 
675 /**
676  * @brief Reset sensitivity values for the BaseGyroscope.
677  * @note Default sensitivities value are obtained from device datasheet.
678  *
679  * @param[in] devp pointer to @p L3GD20Driver.
680  *
681  * @return The operation status.
682  * @retval MSG_OK if the function succeeded.
683  * @retval MSG_RESET otherwise.
684  *
685  * @api
686  */
687 #define l3gd20GyroscopeResetSensitivity(devp) \
688  gyroscopeResetSensitivity(&((devp)->gyro_if))
689 
690 /**
691  * @brief Changes the L3GD20Driver gyroscope fullscale value.
692  * @note This function also rescale sensitivities and biases based on
693  * previous and next fullscale value.
694  * @note A recalibration is highly suggested after calling this function.
695  *
696  * @param[in] devp pointer to @p L3GD20Driver.
697  * @param[in] fs new fullscale value.
698  *
699  * @return The operation status.
700  * @retval MSG_OK if the function succeeded.
701  * @retval MSG_RESET otherwise.
702  *
703  * @api
704  */
705 #define l3gd20GyroscopeSetFullScale(devp, fs) \
706  (devp)->vmt->acc_set_full_scale(devp, fs)
707 
708 /*===========================================================================*/
709 /* External declarations. */
710 /*===========================================================================*/
711 
712 #ifdef __cplusplus
713 extern "C" {
714 #endif
715  void l3gd20ObjectInit(L3GD20Driver *devp);
716  void l3gd20Start(L3GD20Driver *devp, const L3GD20Config *config);
717  void l3gd20Stop(L3GD20Driver *devp);
718 #ifdef __cplusplus
719 }
720 #endif
721 
722 #endif /* _L3GD20_H_ */
723 
724 /** @} */
725 
_l3gd20_methods
#define _l3gd20_methods
L3GD20 specific methods with inherited ones.
Definition: l3gd20.h:513
l3gd20_end_t
l3gd20_end_t
L3GD20 endianness.
Definition: l3gd20.h:419
L3GD20_ODR_95HZ
@ L3GD20_ODR_95HZ
Definition: l3gd20.h:357
I2CDriver
Structure representing an I2C driver.
Definition: hal_i2c_lld.h:88
L3GD20_BW2
@ L3GD20_BW2
Definition: l3gd20.h:369
L3GD20_HPCF_7
@ L3GD20_HPCF_7
Definition: l3gd20.h:402
l3gd20_fs_t
l3gd20_fs_t
L3GD20 full scale.
Definition: l3gd20.h:347
L3GD20Config::i2ccfg
const I2CConfig * i2ccfg
I2C configuration associated to this L3GD20.
Definition: l3gd20.h:456
l3gd20_hpcf_t
l3gd20_hpcf_t
L3GD20 HP configuration.
Definition: l3gd20.h:394
L3GD20_ODR_190HZ
@ L3GD20_ODR_190HZ
Definition: l3gd20.h:358
L3GD20Config::spicfg
const SPIConfig * spicfg
SPI configuration associated to this L3GD20.
Definition: l3gd20.h:446
L3GD20Config::gyrohpmode
l3gd20_hpm_t gyrohpmode
L3GD20 gyroscope system HP filter mode.
Definition: l3gd20.h:490
L3GD20_HPM_REFERENCE
@ L3GD20_HPM_REFERENCE
Definition: l3gd20.h:386
l3gd20_lp2m_t
l3gd20_lp2m_t
L3GD20 LP2 filter mode.
Definition: l3gd20.h:411
L3GD20_HPCF_2
@ L3GD20_HPCF_2
Definition: l3gd20.h:397
L3GD20Config::gyrooutputdatarate
l3gd20_odr_t gyrooutputdatarate
L3GD20 gyroscope system output data rate selection.
Definition: l3gd20.h:473
hal_spi_config
Driver configuration structure.
Definition: hal_spi.h:146
L3GD20Config::gyrobandwidth
l3gd20_bw_t gyrobandwidth
L3GD20 gyroscope system LP1 filter bandwidth.
Definition: l3gd20.h:486
L3GD20_HPCF_8
@ L3GD20_HPCF_8
Definition: l3gd20.h:403
L3GD20_HPCF_5
@ L3GD20_HPCF_5
Definition: l3gd20.h:400
L3GD20Config::gyroendianness
l3gd20_end_t gyroendianness
L3GD20 gyroscope system endianness.
Definition: l3gd20.h:482
L3GD20_UNINIT
@ L3GD20_UNINIT
Definition: l3gd20.h:428
hal_spi_driver
Structure representing an SPI driver.
Definition: hal_spi.h:190
l3gd20ObjectInit
void l3gd20ObjectInit(L3GD20Driver *devp)
Initializes an instance.
Definition: l3gd20.c:473
L3GD20Config::gyrolp2mode
l3gd20_lp2m_t gyrolp2mode
L3GD20 gyroscope system LP2 filter mode.
Definition: l3gd20.h:499
L3GD20Driver::vmt
const struct L3GD20VMT * vmt
Virtual Methods Table.
Definition: l3gd20.h:549
L3GD20_BW0
@ L3GD20_BW0
Definition: l3gd20.h:367
L3GD20Driver::gyro_if
BaseGyroscope gyro_if
Base gyroscope interface.
Definition: l3gd20.h:551
L3GD20_ODR_380HZ
@ L3GD20_ODR_380HZ
Definition: l3gd20.h:359
L3GD20Config::gyrofullscale
l3gd20_fs_t gyrofullscale
L3GD20 gyroscope system initial full scale value.
Definition: l3gd20.h:469
L3GD20_FS_500DPS
@ L3GD20_FS_500DPS
Definition: l3gd20.h:349
L3GD20Driver
L3GD20 3-axis gyroscope class.
Definition: l3gd20.h:547
L3GD20_HPCF_4
@ L3GD20_HPCF_4
Definition: l3gd20.h:399
L3GD20_HPCF_0
@ L3GD20_HPCF_0
Definition: l3gd20.h:395
L3GD20Config::gyrohpconfiguration
l3gd20_hpcf_t gyrohpconfiguration
L3GD20 gyroscope system HP configuration.
Definition: l3gd20.h:494
L3GD20_FS_2000DPS
@ L3GD20_FS_2000DPS
Definition: l3gd20.h:350
L3GD20_LP2M_BYPASSED
@ L3GD20_LP2M_BYPASSED
Definition: l3gd20.h:413
L3GD20_HPM_BYPASSED
@ L3GD20_HPM_BYPASSED
Definition: l3gd20.h:388
L3GD20Config::spip
SPIDriver * spip
SPI driver associated to this L3GD20.
Definition: l3gd20.h:442
L3GD20_HPM_AUTORESET
@ L3GD20_HPM_AUTORESET
Definition: l3gd20.h:387
L3GD20VMT
L3GD20 virtual methods table.
Definition: l3gd20.h:522
L3GD20Config::gyrosensitivity
float * gyrosensitivity
L3GD20 gyroscope system initial sensitivity.
Definition: l3gd20.h:461
L3GD20_FS_250DPS
@ L3GD20_FS_250DPS
Definition: l3gd20.h:348
L3GD20_END_BIG
@ L3GD20_END_BIG
Definition: l3gd20.h:421
L3GD20_HPCF_1
@ L3GD20_HPCF_1
Definition: l3gd20.h:396
l3gd20_hpm_t
l3gd20_hpm_t
L3GD20 HP filter mode.
Definition: l3gd20.h:384
l3gd20_bdu_t
l3gd20_bdu_t
L3GD20 block data update.
Definition: l3gd20.h:376
BaseGyroscope
Base gyroscope class.
Definition: ex_gyroscope.h:88
L3GD20Config::i2cp
I2CDriver * i2cp
I2C driver associated to this L3GD20.
Definition: l3gd20.h:452
L3GD20_END_LITTLE
@ L3GD20_END_LITTLE
Definition: l3gd20.h:420
L3GD20_BW3
@ L3GD20_BW3
Definition: l3gd20.h:370
L3GD20_BDU_BLOCKED
@ L3GD20_BDU_BLOCKED
Definition: l3gd20.h:378
L3GD20_HPCF_9
@ L3GD20_HPCF_9
Definition: l3gd20.h:404
_l3gd20_data
#define _l3gd20_data
L3GD20Driver specific data.
Definition: l3gd20.h:529
L3GD20_BW1
@ L3GD20_BW1
Definition: l3gd20.h:368
l3gd20Start
void l3gd20Start(L3GD20Driver *devp, const L3GD20Config *config)
Configures and activates L3GD20 Complex Driver peripheral.
Definition: l3gd20.c:490
l3gd20_state_t
l3gd20_state_t
Driver state machine possible states.
Definition: l3gd20.h:427
L3GD20_READY
@ L3GD20_READY
Definition: l3gd20.h:430
L3GD20_HPCF_6
@ L3GD20_HPCF_6
Definition: l3gd20.h:401
L3GD20_LP2M_ON
@ L3GD20_LP2M_ON
Definition: l3gd20.h:412
L3GD20Config::gyroblockdataupdate
l3gd20_bdu_t gyroblockdataupdate
L3GD20 gyroscope system block data update.
Definition: l3gd20.h:478
L3GD20Config
L3GD20 configuration structure.
Definition: l3gd20.h:436
L3GD20_ODR_760HZ
@ L3GD20_ODR_760HZ
Definition: l3gd20.h:360
l3gd20_odr_t
l3gd20_odr_t
L3GD20 output data rate and bandwidth.
Definition: l3gd20.h:356
l3gd20Stop
void l3gd20Stop(L3GD20Driver *devp)
Deactivates the L3GD20 Complex Driver peripheral.
Definition: l3gd20.c:613
L3GD20Config::gyrobias
float * gyrobias
L3GD20 gyroscope system initial bias.
Definition: l3gd20.h:465
L3GD20_HPCF_3
@ L3GD20_HPCF_3
Definition: l3gd20.h:398
L3GD20_BDU_CONTINUOUS
@ L3GD20_BDU_CONTINUOUS
Definition: l3gd20.h:377
L3GD20_STOP
@ L3GD20_STOP
Definition: l3gd20.h:429
L3GD20_HPM_NORMAL
@ L3GD20_HPM_NORMAL
Definition: l3gd20.h:385
I2CConfig
Type of I2C driver configuration structure.
Definition: hal_i2c_lld.h:75
l3gd20_bw_t
l3gd20_bw_t
L3GD20 low pass filter 1 bandwidth.
Definition: l3gd20.h:366
ex_gyroscope.h
Generic gyroscope interface header.