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#/*
* Copyright (C) 2014 Freie Universitรคt Berlin
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*/
/**
* @ingroup driver_l3g4200d
* @{
*
* @file
* @brief Device driver implementation for the L3G4200D gyroscope
*
* @author Hauke Petersen <hauke.petersen@fu-berlin.de>
* @author Peter Kietzmann <peter.kietzmann@haw-hamburg.de>
*
* @}
*/
#include <stdint.h>
#include "l3g4200d.h"
#include "l3g4200d-regs.h"
#include "periph/i2c.h"
#include "periph/gpio.h"
#define ENABLE_DEBUG (0)
#include "debug.h"
#define I2C_SPEED I2C_SPEED_FAST
#define MAX_VAL 0x7fff
int l3g4200d_init(l3g4200d_t *dev, i2c_t i2c, uint8_t address,
gpio_t int1_pin, gpio_t int2_pin,
l3g4200d_mode_t mode, l3g4200d_scale_t scale)
{
uint8_t tmp;
/* write device descriptor */
dev->i2c = i2c;
dev->addr = address;
dev->int1 = int1_pin;
dev->int2 = int2_pin;
/* set scale */
switch (scale) {
case L3G4200D_SCALE_250DPS:
dev->scale = 250;
break;
case L3G4200D_SCALE_500DPS:
dev->scale = 500;
break;
case L3G4200D_SCALE_2000DPS:
dev->scale = 2000;
break;
default:
dev->scale = 500;
break;
}
/* acquire exclusive access to the bus. */
i2c_acquire(dev->i2c);
/* initialize the I2C bus */
if (i2c_init_master(i2c, I2C_SPEED) < 0) {
/* Release the bus for other threads. */
i2c_release(dev->i2c);
return -1;
}
/* configure CTRL_REG1 */
tmp = ((mode & 0xf) << L3G4200D_CTRL1_MODE_POS) | L3G4200D_CTRL1_ALLON;
if (i2c_write_reg(dev->i2c, dev->addr, L3G4200D_REG_CTRL1, tmp) != 1) {
i2c_release(dev->i2c);
return -1;
}
tmp = ((scale & 0x3) << L3G4200D_CTRL4_FS_POS) | L3G4200D_CTRL4_BDU;
if (i2c_write_reg(dev->i2c, dev->addr, L3G4200D_REG_CTRL4, tmp) != 1) {
i2c_release(dev->i2c);
return -1;
}
i2c_release(dev->i2c);
return 0;
}
int l3g4200d_read(l3g4200d_t *dev, l3g4200d_data_t *data)
{
uint8_t tmp[6];
int16_t res;
i2c_acquire(dev->i2c);
/* get acceleration in x direction */
i2c_read_regs(dev->i2c, dev->addr, L3G4200D_REG_OUT_X_L | L3G4200D_AUTOINC, tmp, 6);
i2c_release(dev->i2c);
/* parse and normalize data into result vector */
res = (tmp[1] << 8) | tmp[0];
data->acc_x = (int16_t)((dev->scale * res) / MAX_VAL);
res = (tmp[3] << 8) | tmp[2];
data->acc_y = (int16_t)((dev->scale * res) / MAX_VAL);
res = (tmp[5] << 8) | tmp[4];
data->acc_z = (int16_t)((dev->scale * res) / MAX_VAL);
return 0;
}
int l3g4200d_enable(l3g4200d_t *dev)
{
uint8_t tmp;
int res;
i2c_acquire(dev->i2c);
res = i2c_read_reg(dev->i2c, dev->addr, L3G4200D_REG_CTRL1, &tmp);
if (res < 1) {
i2c_release(dev->i2c);
return res;
}
tmp |= L3G4200D_CTRL1_PD;
if (i2c_write_reg(dev->i2c, dev->addr, L3G4200D_REG_CTRL1, tmp) != 1) {
i2c_release(dev->i2c);
return -1;
}
i2c_release(dev->i2c);
return 0;
}
int l3g4200d_disable(l3g4200d_t *dev)
{
uint8_t tmp;
int res;
i2c_acquire(dev->i2c);
res = i2c_read_reg(dev->i2c, dev->addr, L3G4200D_REG_CTRL1, &tmp);
if (res < 1) {
i2c_release(dev->i2c);
return res;
}
tmp &= ~L3G4200D_CTRL1_PD;
if (i2c_write_reg(dev->i2c, dev->addr, L3G4200D_REG_CTRL1, tmp) != 1) {
i2c_release(dev->i2c);
return -1;
}
i2c_release(dev->i2c);
return 0;
}
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