mirror of
https://github.com/oliverschmidt/contiki.git
synced 2024-11-19 03:05:14 +00:00
185 lines
7.0 KiB
C
185 lines
7.0 KiB
C
/*
|
|
* Copyright (c) 2016, Zolertia <http://www.zolertia.com>
|
|
* All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
* 1. Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* 2. Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in the
|
|
* documentation and/or other materials provided with the distribution.
|
|
* 3. Neither the name of the Institute nor the names of its contributors
|
|
* may be used to endorse or promote products derived from this software
|
|
* without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
|
|
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
|
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
|
* ARE DISCLAIMED. IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
|
|
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
|
|
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
|
|
* OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
|
|
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
|
|
* OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
|
|
* SUCH DAMAGE.
|
|
*
|
|
* This file is part of the Contiki operating system.
|
|
*
|
|
*/
|
|
/*---------------------------------------------------------------------------*/
|
|
/**
|
|
* \addtogroup zoul-sensors
|
|
* @{
|
|
*
|
|
* \defgroup zoul-grove-gyro-sensor Grove 3-axis gyroscope based on ITG-3200
|
|
* @{
|
|
*
|
|
* \file
|
|
* Grove 3-axis gyroscope header file
|
|
* \author
|
|
* Antonio Lignan <alinan@zolertia.com>
|
|
*/
|
|
/*---------------------------------------------------------------------------*/
|
|
#include "lib/sensors.h"
|
|
/* -------------------------------------------------------------------------- */
|
|
#ifndef GROVE_GYRO_H_
|
|
#define GROVE_GYRO_H_
|
|
/* -------------------------------------------------------------------------- */
|
|
/**
|
|
* \name Callback function to handle the interrupt
|
|
* @{
|
|
*/
|
|
#define GROVE_GYRO_REGISTER_INT(ptr) grove_gyro_int_callback = ptr;
|
|
extern void (*grove_gyro_int_callback)(uint8_t value);
|
|
/** @} */
|
|
/* -------------------------------------------------------------------------- */
|
|
/**
|
|
* \name Gyroscope data values structure
|
|
* @{
|
|
*/
|
|
typedef struct {
|
|
uint16_t x;
|
|
uint16_t y;
|
|
uint16_t z;
|
|
uint16_t x_offset;
|
|
uint16_t y_offset;
|
|
uint16_t z_offset;
|
|
int16_t temp;
|
|
} grove_gyro_values_t;
|
|
|
|
extern grove_gyro_values_t gyro_values;
|
|
/** @} */
|
|
/* -------------------------------------------------------------------------- */
|
|
/**
|
|
* \name Grove 3-axis gyroscope address and registers
|
|
* @{
|
|
*/
|
|
#define GROVE_GYRO_ADDR 0x68
|
|
|
|
#define GROVE_GYRO_WHO_AM_I 0x00
|
|
#define GROVE_GYRO_SMPLRT_DIV 0x15
|
|
#define GROVE_GYRO_DLPF_FS 0x16
|
|
#define GROVE_GYRO_INT_CFG 0x17
|
|
#define GROVE_GYRO_INT_STATUS 0x1A
|
|
#define GROVE_GYRO_TEMP_OUT_H 0x1B
|
|
#define GROVE_GYRO_TEMP_OUT_L 0x1C
|
|
#define GROVE_GYRO_XOUT_H 0x1D
|
|
#define GROVE_GYRO_XOUT_L 0x1E
|
|
#define GROVE_GYRO_YOUT_H 0x1F
|
|
#define GROVE_GYRO_YOUT_L 0x20
|
|
#define GROVE_GYRO_ZOUT_H 0x21
|
|
#define GROVE_GYRO_ZOUT_L 0x22
|
|
#define GROVE_GYRO_PWR_MGMT 0x3E
|
|
/** @} */
|
|
/*--------------------------------------------------------------------------*/
|
|
/**
|
|
* \name Grove 3-axis gyroscope bitmasks and config
|
|
* @{
|
|
*/
|
|
#define GROVE_GYRO_DLPF_FS_SEL 0x18
|
|
#define GROVE_GYRO_DLPF_FS_CGF_8KHZ_LP256HZ 0x00
|
|
#define GROVE_GYRO_DLPF_FS_CGF_1KHZ_LP188HZ 0x01
|
|
#define GROVE_GYRO_DLPF_FS_CGF_1KHZ_LP98HZ 0x02
|
|
#define GROVE_GYRO_DLPF_FS_CGF_1KHZ_LP42HZ 0x03
|
|
#define GROVE_GYRO_DLPF_FS_CGF_1KHZ_LP20HZ 0x04
|
|
#define GROVE_GYRO_DLPF_FS_CGF_1KHZ_LP10HZ 0x05
|
|
#define GROVE_GYRO_DLPF_FS_CGF_1KHZ_LP5HZ 0x06
|
|
|
|
#define GROVE_GYRO_INT_CFG_RAW_READY_EN 0x01
|
|
#define GROVE_GYRO_INT_CFG_READY_EN 0x04
|
|
#define GROVE_GYRO_INT_CFG_LATCH_CLR_ANY 0x10
|
|
#define GROVE_GYRO_INT_CFG_LATCH_EN 0x20
|
|
#define GROVE_GYRO_INT_CFG_PIN_OPEN 0x40
|
|
#define GROVE_GYRO_INT_CFG_PIN_ACTL 0x80
|
|
#define GROVE_GYRO_INT_CFG_DISABLE 0x00
|
|
|
|
#define GROVE_GYRO_INT_STATUS_DATA_RDY_MASK 0x01
|
|
#define GROVE_GYRO_INT_STATUS_PLL_RDY_MASK 0x04
|
|
|
|
#define GROVE_GYRO_PWR_MGMT_CLK_SEL_INTOSC 0x00
|
|
#define GROVE_GYRO_PWR_MGMT_CLK_SEL_PLL_X 0x01
|
|
#define GROVE_GYRO_PWR_MGMT_CLK_SEL_PLL_Y 0x02
|
|
#define GROVE_GYRO_PWR_MGMT_CLK_SEL_PLL_Z 0x03
|
|
#define GROVE_GYRO_PWR_MGMT_CLK_SEL_EXT_32K 0x04
|
|
#define GROVE_GYRO_PWR_MGMT_CLK_SEL_EXT_19K 0x05
|
|
#define GROVE_GYRO_PWR_MGMT_STBY_ZG 0x08
|
|
#define GROVE_GYRO_PWR_MGMT_STBY_YG 0x10
|
|
#define GROVE_GYRO_PWR_MGMT_STBY_XG 0x20
|
|
#define GROVE_GYRO_PWR_MGMT_SLEEP 0x40
|
|
#define GROVE_GYRO_PWR_MGMT_RESET 0x80
|
|
|
|
#ifdef GROVE_GYRO_CONF_OSC
|
|
#define GROVE_GYRO_DEFAULT_OSC GROVE_GYRO_CONF_OSC
|
|
#else
|
|
#define GROVE_GYRO_DEFAULT_OSC GROVE_GYRO_PWR_MGMT_CLK_SEL_INTOSC
|
|
#endif
|
|
|
|
#define GROVE_GYRO_PWR_MGMT_CLK_SEL_MASK 0x07
|
|
#define GROVE_GYRO_MAX_DATA 0x06
|
|
/** @} */
|
|
/* -------------------------------------------------------------------------- */
|
|
/**
|
|
* \name Grove 3-axis gyroscope operation values
|
|
* @{
|
|
*/
|
|
/* Configure request type */
|
|
#define GROVE_GYRO_ACTIVE SENSORS_ACTIVE
|
|
#define GROVE_GYRO_DATA_INTERRUPT 0x01
|
|
#define GROVE_GYRO_SAMPLE_RATE 0x02
|
|
#define GROVE_GYRO_SAMPLE_RATE_DIVIDER 0x03
|
|
#define GROVE_GYRO_POWER_ON 0x04
|
|
#define GROVE_GYRO_POWER_OFF 0x05
|
|
#define GROVE_GYRO_CALIBRATE_ZERO 0x06
|
|
|
|
/* Sensor value request type, match to the stand-by mask to check if enabled */
|
|
#define GROVE_GYRO_X GROVE_GYRO_PWR_MGMT_STBY_XG
|
|
#define GROVE_GYRO_Y GROVE_GYRO_PWR_MGMT_STBY_YG
|
|
#define GROVE_GYRO_Z GROVE_GYRO_PWR_MGMT_STBY_ZG
|
|
#define GROVE_GYRO_SENSOR GROVE_GYRO_PWR_MGMT_SLEEP
|
|
#define GROVE_GYRO_XYZ (GROVE_GYRO_X + GROVE_GYRO_Y + \
|
|
GROVE_GYRO_Z)
|
|
#define GROVE_GYRO_ALL (GROVE_GYRO_XYZ + GROVE_GYRO_SENSOR)
|
|
#define GROVE_GYRO_TEMP 0x06
|
|
|
|
/* Return types */
|
|
#define GROVE_GYRO_ERROR (-1)
|
|
#define GROVE_GYRO_SUCCESS 0x00
|
|
|
|
/* Calibration constants */
|
|
#define GROVE_GYRO_CALIB_SAMPLES 200
|
|
#define GROVE_GYRO_CALIB_TIME_US 5000
|
|
/** @} */
|
|
/* -------------------------------------------------------------------------- */
|
|
#define GROVE_GYRO_STRING "Grove 3-axis gyroscope Sensor"
|
|
/* -------------------------------------------------------------------------- */
|
|
extern const struct sensors_sensor grove_gyro;
|
|
/* -------------------------------------------------------------------------- */
|
|
#endif /* ifndef GROVE_GYRO_H_ */
|
|
/**
|
|
* @}
|
|
* @}
|
|
*/
|