124 lines
4.2 KiB
C
124 lines
4.2 KiB
C
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/*
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Pretty LAYer for ChibiOS/RT - Copyright (C) 2015 Rocco Marco Guglielmi
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This file is part of PLAY for ChibiOS/RT.
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PLAY is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 3 of the License, or
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(at your option) any later version.
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PLAY is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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Special thanks to Giovanni Di Sirio for teachings, his moral support and
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friendship. Note that some or every piece of this file could be part of
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the ChibiOS project that is intellectual property of Giovanni Di Sirio.
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Please refer to ChibiOS/RT license before use this file.
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For suggestion or Bug report - roccomarco.guglielmi@playembedded.org
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*/
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/**
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* @file l3gd20.c
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* @brief L3GD20 MEMS interface module code.
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*
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* @addtogroup l3gd20
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* @{
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*/
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#include "ch.h"
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#include "hal.h"
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#include "l3gd20.h"
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/*===========================================================================*/
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/* Driver local definitions. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver exported variables. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver local variables and types. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver local functions. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver exported functions. */
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/*===========================================================================*/
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/**
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* @brief Reads a generic register value.
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* @pre The SPI interface must be initialized and the driver started.
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*
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* @param[in] spip pointer to the SPI interface
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* @param[in] reg register number
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* @return register value.
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*/
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uint8_t l3gd20ReadRegister(SPIDriver *spip, uint8_t reg) {
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uint8_t txbuf[2] = {L3GD20_RW | reg, 0xFF};
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uint8_t rxbuf[2] = {0x00, 0x00};
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spiSelect(spip);
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spiExchange(spip, 2, txbuf, rxbuf);
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spiUnselect(spip);
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return rxbuf[1];
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}
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void l3gd20WriteRegister(SPIDriver *spip, uint8_t reg, uint8_t value) {
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switch (reg) {
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default:
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/* Reserved register must not be written, according to the datasheet
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* this could permanently damage the device.
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*/
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chDbgAssert(FALSE, "lg3d20WriteRegister(), reserved register");
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case L3GD20_AD_WHO_AM_I:
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case L3GD20_AD_OUT_TEMP :
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case L3GD20_AD_STATUS_REG:
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case L3GD20_AD_OUT_X_L:
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case L3GD20_AD_OUT_X_H:
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case L3GD20_AD_OUT_Y_L:
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case L3GD20_AD_OUT_Y_H:
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case L3GD20_AD_OUT_Z_L:
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case L3GD20_AD_OUT_Z_H:
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case L3GD20_AD_FIFO_SRC_REG:
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case L3GD20_AD_INT1_SRC:
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/* Read only registers cannot be written, the command is ignored.*/
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return;
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case L3GD20_AD_CTRL_REG1:
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case L3GD20_AD_CTRL_REG2:
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case L3GD20_AD_CTRL_REG3:
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case L3GD20_AD_CTRL_REG4:
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case L3GD20_AD_CTRL_REG5:
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case L3GD20_AD_REFERENCE:
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case L3GD20_AD_FIFO_CTRL_REG:
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case L3GD20_AD_INT1_CFG:
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case L3GD20_AD_INT1_TSH_XH:
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case L3GD20_AD_INT1_TSH_XL:
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case L3GD20_AD_INT1_TSH_YH:
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case L3GD20_AD_INT1_TSH_YL:
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case L3GD20_AD_INT1_TSH_ZH:
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case L3GD20_AD_INT1_TSH_ZL:
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case L3GD20_AD_INT1_DURATION:
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spiSelect(spip);
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uint8_t txbuf[2] = {reg, value};
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spiSend(spip, 2, txbuf);
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spiUnselect(spip);
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}
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}
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/** @} */
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