48 #include "lib/sensors.h" 49 #include "dev/watchdog.h" 53 #define PRINTF(...) printf(__VA_ARGS__) 58 #define GROVE_GYRO_INT_PORT_BASE GPIO_PORT_TO_BASE(I2C_INT_PORT) 59 #define GROVE_GYRO_INT_PIN_MASK GPIO_PIN_MASK(I2C_INT_PIN) 61 static uint8_t enabled;
62 static uint8_t power_mgmt;
63 static uint8_t int_en;
65 grove_gyro_values_t gyro_values;
67 void (*grove_gyro_int_callback)(uint8_t value);
70 grove_gyro_read_reg(uint8_t reg, uint8_t *buf, uint8_t num)
72 if((buf == NULL) || (num <= 0)) {
73 return GROVE_GYRO_ERROR;
79 return GROVE_GYRO_SUCCESS;
83 PRINTF(
"Gyro: failed to read from sensor\n");
84 return GROVE_GYRO_ERROR;
88 grove_gyro_write_reg(uint8_t *buf, uint8_t num)
90 if((buf == NULL) || (num <= 0)) {
91 PRINTF(
"Gyro: invalid write values\n");
92 return GROVE_GYRO_ERROR;
96 if(
i2c_burst_send(GROVE_GYRO_ADDR, buf, num) == I2C_MASTER_ERR_NONE) {
97 return GROVE_GYRO_SUCCESS;
99 return GROVE_GYRO_ERROR;
103 grove_gyro_sampdiv(uint8_t value)
106 buf[0] = GROVE_GYRO_SMPLRT_DIV;
108 if(grove_gyro_write_reg(buf, 2) == GROVE_GYRO_SUCCESS) {
109 PRINTF(
"Gyro: new sampdiv 0x%02X\n", value);
110 return GROVE_GYRO_SUCCESS;
112 PRINTF(
"Gyro: failed to set sampdiv\n");
113 return GROVE_GYRO_ERROR;
117 grove_gyro_clear_interrupt(
void)
122 grove_gyro_read_reg(GROVE_GYRO_INT_STATUS, &aux, 1);
124 if(aux & GROVE_GYRO_INT_STATUS_DATA_RDY_MASK) {
125 return GROVE_GYRO_INT_STATUS_DATA_RDY_MASK;
132 grove_gyro_interrupt(uint8_t value)
135 buf[0] = GROVE_GYRO_INT_CFG;
137 if(grove_gyro_write_reg(buf, 2) == GROVE_GYRO_SUCCESS){
138 PRINTF(
"Gyro: interrupt cfg 0x%02X\n", value);
139 return GROVE_GYRO_SUCCESS;
141 PRINTF(
"Gyro: failed to change interrupt config\n");
142 return GROVE_GYRO_ERROR;
146 grove_gyro_reset(
void)
149 buf[0] = GROVE_GYRO_PWR_MGMT;
152 if(grove_gyro_read_reg(GROVE_GYRO_PWR_MGMT, &power_mgmt, 1) ==
153 GROVE_GYRO_SUCCESS) {
154 PRINTF(
"Gyro: current power mgmt 0x%02X\n", power_mgmt);
155 buf[1] = power_mgmt + GROVE_GYRO_PWR_MGMT_RESET;
156 if(grove_gyro_write_reg(buf, 2) == GROVE_GYRO_SUCCESS) {
157 PRINTF(
"Gyro: restarted with 0x%02X, now with default values\n", buf[1]);
158 return GROVE_GYRO_SUCCESS;
161 PRINTF(
"Gyro: failed to restart\n");
162 return GROVE_GYRO_ERROR;
166 grove_gyro_osc(uint8_t value)
169 buf[0] = GROVE_GYRO_PWR_MGMT;
172 if(grove_gyro_read_reg(GROVE_GYRO_PWR_MGMT, &power_mgmt, 1) ==
173 GROVE_GYRO_SUCCESS) {
174 PRINTF(
"Gyro: current power mgmt 0x%02X\n", power_mgmt);
175 power_mgmt &= ~GROVE_GYRO_PWR_MGMT_CLK_SEL_MASK;
176 buf[1] = power_mgmt + value;
177 if(grove_gyro_write_reg(buf, 2) == GROVE_GYRO_SUCCESS) {
178 PRINTF(
"Gyro: new clock source 0x%02X\n", buf[1]);
179 return GROVE_GYRO_SUCCESS;
182 PRINTF(
"Gyro: failed to change the clock source\n");
183 return GROVE_GYRO_ERROR;
187 grove_gyro_power_mgmt(uint8_t value, uint8_t type)
190 buf[0] = GROVE_GYRO_PWR_MGMT;
192 if((type != GROVE_GYRO_POWER_ON) && (type != GROVE_GYRO_POWER_OFF)) {
193 PRINTF(
"Gyro: invalid power command type\n");
194 return GROVE_GYRO_ERROR;
198 if(grove_gyro_read_reg(GROVE_GYRO_PWR_MGMT, &power_mgmt, 1) ==
199 GROVE_GYRO_SUCCESS) {
200 PRINTF(
"Gyro: current power mgmt 0x%02X\n", power_mgmt);
202 if(type == GROVE_GYRO_POWER_ON) {
203 power_mgmt &= ~value;
209 if(grove_gyro_write_reg(buf, 2) == GROVE_GYRO_SUCCESS) {
210 PRINTF(
"Gyro: new power management register value 0x%02X\n", power_mgmt);
213 if(type == GROVE_GYRO_POWER_ON) {
217 return GROVE_GYRO_SUCCESS;
220 PRINTF(
"Gyro: power management fail\n");
222 return GROVE_GYRO_ERROR;
226 grove_gyro_dlpf(uint8_t value)
229 buf[0] = GROVE_GYRO_DLPF_FS;
230 buf[1] = GROVE_GYRO_DLPF_FS_SEL + value;
232 if(grove_gyro_write_reg(buf, 2) == GROVE_GYRO_SUCCESS) {
234 if(grove_gyro_read_reg(GROVE_GYRO_DLPF_FS, &buf[0], 1) ==
235 GROVE_GYRO_SUCCESS) {
236 if(buf[0] == buf[1]) {
237 PRINTF(
"Gyro: updated lp/sr 0x%02X\n", buf[0]);
238 return GROVE_GYRO_SUCCESS;
240 PRINTF(
"Gyro: DLPF register value mismatch\n");
241 return GROVE_GYRO_ERROR;
246 PRINTF(
"Gyro: failed to change the lp/sr\n");
247 return GROVE_GYRO_ERROR;
251 grove_gyro_convert_to_value(uint16_t val)
266 return (uint16_t)aux;
270 grove_gyro_convert(uint8_t *buf, uint8_t type)
274 if(type & GROVE_GYRO_X) {
275 aux = (buf[0] << 8) + buf[1];
276 PRINTF(
"Gyro: X_axis (raw) 0x%02X\n", aux);
277 gyro_values.x = grove_gyro_convert_to_value(aux);
280 if(type & GROVE_GYRO_Y) {
281 aux = (buf[2] << 8) + buf[3];
282 PRINTF(
"Gyro: Y_axis (raw) 0x%02X\n", aux);
283 gyro_values.y = grove_gyro_convert_to_value(aux);
286 if(type & GROVE_GYRO_Z) {
287 aux = (buf[4] << 8) + buf[5];
288 PRINTF(
"Gyro: Z_axis (raw) 0x%02X\n", aux);
289 gyro_values.z = grove_gyro_convert_to_value(aux);
292 if(type == GROVE_GYRO_TEMP) {
293 aux = (buf[0] << 8) + buf[1];
294 PRINTF(
"Gyro: Temp (raw) 0x%02X\n", aux);
296 aux = (aux + 13200) / 28;
298 gyro_values.temp = (int16_t)aux;
303 grove_gyro_read(
int type)
308 uint8_t buf[GROVE_GYRO_MAX_DATA];
310 len = (type == GROVE_GYRO_XYZ) ? GROVE_GYRO_MAX_DATA : 2;
316 reg = GROVE_GYRO_XOUT_H;
320 reg = GROVE_GYRO_YOUT_H;
324 reg = GROVE_GYRO_ZOUT_H;
326 case GROVE_GYRO_TEMP:
328 reg = GROVE_GYRO_TEMP_OUT_H;
330 case GROVE_GYRO_ADDR:
333 reg = GROVE_GYRO_WHO_AM_I;
336 PRINTF(
"Gyro: invalid value requested\n");
337 return GROVE_GYRO_ERROR;
340 if(grove_gyro_read_reg(reg, &buf[buf_ptr], len) == GROVE_GYRO_SUCCESS) {
341 if(type == GROVE_GYRO_ADDR) {
342 PRINTF(
"Gyro: I2C_addr 0x%02X\n", buf[0]);
345 grove_gyro_convert(buf, type);
346 return GROVE_GYRO_SUCCESS;
349 PRINTF(
"Gyro: failed to change the lp/sr\n");
350 return GROVE_GYRO_ERROR;
354 grove_gyro_calibrate(
void)
357 uint8_t buf[GROVE_GYRO_MAX_DATA];
358 uint8_t power_mgmt_backup;
363 if(grove_gyro_interrupt(GROVE_GYRO_INT_CFG_DISABLE) == GROVE_GYRO_ERROR) {
364 PRINTF(
"Gyro: failed to disable the interrupts\n");
365 return GROVE_GYRO_ERROR;
371 if(grove_gyro_read_reg(GROVE_GYRO_PWR_MGMT, &power_mgmt_backup, 1) ==
373 PRINTF(
"Gyro: failed to read power mgmt config\n");
374 return GROVE_GYRO_ERROR;
377 if(grove_gyro_power_mgmt(GROVE_GYRO_ALL, GROVE_GYRO_POWER_ON) ==
379 PRINTF(
"Gyro: failed to bring sensor up\n");
380 return GROVE_GYRO_ERROR;
387 for (i = 0; i < GROVE_GYRO_CALIB_SAMPLES; i++){
390 if(grove_gyro_read_reg(GROVE_GYRO_XOUT_H, buf, GROVE_GYRO_MAX_DATA) ==
391 GROVE_GYRO_SUCCESS) {
392 x += (buf[0] << 8) + buf[1];
393 y += (buf[2] << 8) + buf[3];
394 z += (buf[4] << 8) + buf[5];
398 gyro_values.x_offset = ABS(x)/GROVE_GYRO_CALIB_SAMPLES;
399 gyro_values.y_offset = ABS(y)/GROVE_GYRO_CALIB_SAMPLES;
400 gyro_values.z_offset = ABS(z)/GROVE_GYRO_CALIB_SAMPLES;
402 PRINTF(
"Gyro: x_offset (RAW) 0x%02X\n", gyro_values.x_offset);
403 PRINTF(
"Gyro: y_offset (RAW) 0x%02X\n", gyro_values.y_offset);
404 PRINTF(
"Gyro: z_offset (RAW) 0x%02X\n", gyro_values.z_offset);
406 gyro_values.x_offset = grove_gyro_convert_to_value(gyro_values.x_offset);
407 gyro_values.y_offset = grove_gyro_convert_to_value(gyro_values.y_offset);
408 gyro_values.z_offset = grove_gyro_convert_to_value(gyro_values.z_offset);
410 PRINTF(
"Gyro: x_offset (converted) %d\n", gyro_values.x_offset);
411 PRINTF(
"Gyro: y_offset (converted) %d\n", gyro_values.y_offset);
412 PRINTF(
"Gyro: z_offset (converted) %d\n", gyro_values.z_offset);
415 buf[0] = GROVE_GYRO_PWR_MGMT;
416 buf[1] = power_mgmt_backup;
418 if(grove_gyro_write_reg(&buf[0], 2) != GROVE_GYRO_SUCCESS) {
419 PRINTF(
"Gyro: failed restoring power mgmt (0x%02X)\n", power_mgmt_backup);
420 return GROVE_GYRO_ERROR;
424 if(grove_gyro_interrupt(GROVE_GYRO_INT_CFG_RAW_READY_EN +
425 GROVE_GYRO_INT_CFG_LATCH_EN) == GROVE_GYRO_ERROR) {
426 PRINTF(
"Gyro: failed to enable the interrupt\n");
427 return GROVE_GYRO_ERROR;
433 return GROVE_GYRO_SUCCESS;
436 PROCESS(grove_gyro_int_process,
"Grove gyroscope interrupt process handler");
443 static uint8_t axis_to_read = 0;
447 if(grove_gyro_clear_interrupt() == GROVE_GYRO_INT_STATUS_DATA_RDY_MASK) {
449 axis_to_read += (power_mgmt & GROVE_GYRO_X) ? 0: GROVE_GYRO_X;
450 axis_to_read += (power_mgmt & GROVE_GYRO_Y) ? 0: GROVE_GYRO_Y;
451 axis_to_read += (power_mgmt & GROVE_GYRO_Z) ? 0: GROVE_GYRO_Z;
453 if(grove_gyro_read(axis_to_read) == GROVE_GYRO_SUCCESS) {
454 grove_gyro_int_callback(GROVE_GYRO_SUCCESS);
469 .handler = grove_gyro_interrupt_handler,
477 PRINTF(
"Gyro: sensor not started\n");
478 return GROVE_GYRO_ERROR;
481 if((type != GROVE_GYRO_X) && (type != GROVE_GYRO_Y) &&
482 (type != GROVE_GYRO_Z) && (type != GROVE_GYRO_XYZ) &&
483 (type != GROVE_GYRO_TEMP) && (type != GROVE_GYRO_ADDR)) {
484 PRINTF(
"Gyro: invalid value requested 0x%02X\n", type);
485 return GROVE_GYRO_ERROR;
488 if((type != GROVE_GYRO_TEMP) && (type != GROVE_GYRO_ADDR) &&
489 (type & power_mgmt)) {
490 PRINTF(
"Gyro: axis not enabled (0x%02X vs 0x%02X)\n", power_mgmt, type);
491 return GROVE_GYRO_ERROR;
494 return grove_gyro_read(type);
498 configure(
int type,
int value)
500 if((type != GROVE_GYRO_ACTIVE) && (type != GROVE_GYRO_SAMPLE_RATE) &&
501 (type != GROVE_GYRO_SAMPLE_RATE_DIVIDER) && (type != GROVE_GYRO_POWER_ON) &&
502 (type != GROVE_GYRO_POWER_OFF) && (type != GROVE_GYRO_DATA_INTERRUPT) &&
503 (type != GROVE_GYRO_CALIBRATE_ZERO)) {
504 PRINTF(
"Gyro: option not supported\n");
505 return GROVE_GYRO_ERROR;
509 case GROVE_GYRO_ACTIVE:
511 i2c_init(I2C_SDA_PORT, I2C_SDA_PIN, I2C_SCL_PORT, I2C_SCL_PIN,
512 I2C_SCL_FAST_BUS_SPEED);
518 gyro_values.temp = 0;
519 gyro_values.x_offset = 0;
520 gyro_values.y_offset = 0;
521 gyro_values.z_offset = 0;
524 if(grove_gyro_power_mgmt(GROVE_GYRO_ALL, GROVE_GYRO_POWER_ON) !=
525 GROVE_GYRO_SUCCESS) {
526 PRINTF(
"Gyro: failed to power on the sensor\n");
527 return GROVE_GYRO_ERROR;
533 if(grove_gyro_reset() == GROVE_GYRO_SUCCESS) {
534 if(grove_gyro_osc(GROVE_GYRO_DEFAULT_OSC) == GROVE_GYRO_SUCCESS) {
535 if(grove_gyro_dlpf(GROVE_GYRO_DLPF_FS_CGF_8KHZ_LP256HZ) ==
536 GROVE_GYRO_SUCCESS) {
537 PRINTF(
"Gyro: started and configured\n");
539 if(grove_gyro_interrupt(GROVE_GYRO_INT_CFG_DISABLE) ==
540 GROVE_GYRO_SUCCESS) {
541 PRINTF(
"Gyro: interrupts disabled\n");
546 if(grove_gyro_power_mgmt(GROVE_GYRO_ALL, GROVE_GYRO_POWER_OFF) ==
547 GROVE_GYRO_SUCCESS) {
549 PRINTF(
"Gyro: axis and gyroscope in low-power mode now\n");
551 return GROVE_GYRO_SUCCESS;
557 return GROVE_GYRO_ERROR;
563 grove_gyro_int_callback = NULL;
564 if(grove_gyro_interrupt(GROVE_GYRO_INT_CFG_DISABLE) ==
565 GROVE_GYRO_SUCCESS) {
566 return grove_gyro_power_mgmt(GROVE_GYRO_ALL, GROVE_GYRO_POWER_OFF);
568 PRINTF(
"Gyro: hw interrupt disabled but failed to disable sensor\n");
569 return GROVE_GYRO_ERROR;
573 PRINTF(
"Gyro: sensor not started\n");
574 return GROVE_GYRO_ERROR;
577 case GROVE_GYRO_DATA_INTERRUPT:
587 return grove_gyro_interrupt(GROVE_GYRO_INT_CFG_DISABLE);
591 if(grove_gyro_interrupt(GROVE_GYRO_INT_CFG_RAW_READY_EN +
592 GROVE_GYRO_INT_CFG_LATCH_EN) == GROVE_GYRO_ERROR) {
593 PRINTF(
"Gyro: failed to enable the interrupt\n");
594 return GROVE_GYRO_ERROR;
599 GPIO_SET_INPUT(GROVE_GYRO_INT_PORT_BASE, GROVE_GYRO_INT_PIN_MASK);
614 PRINTF(
"Gyro: Data interrupt configured\n");
615 return GROVE_GYRO_SUCCESS;
617 case GROVE_GYRO_SAMPLE_RATE:
618 if((value < GROVE_GYRO_DLPF_FS_CGF_8KHZ_LP256HZ) ||
619 (value > GROVE_GYRO_DLPF_FS_CGF_1KHZ_LP5HZ)) {
620 PRINTF(
"Gyro: invalid sample rate/filter configuration\n");
621 return GROVE_GYRO_ERROR;
623 return grove_gyro_dlpf(value);
625 case GROVE_GYRO_SAMPLE_RATE_DIVIDER:
626 if((value < 0) && (value > 0xFF)) {
627 PRINTF(
"Gyro: invalid sampling rate div, it must be an 8-bit value\n");
628 return GROVE_GYRO_ERROR;
630 return grove_gyro_sampdiv((uint8_t)value);
632 case GROVE_GYRO_POWER_ON:
633 case GROVE_GYRO_POWER_OFF:
635 if((value < GROVE_GYRO_Z) || (value > GROVE_GYRO_ALL)) {
636 PRINTF(
"Gyro: invalid power management setting\n");
637 return GROVE_GYRO_ERROR;
639 return grove_gyro_power_mgmt(value, type);
641 case GROVE_GYRO_CALIBRATE_ZERO:
642 return grove_gyro_calibrate();
645 return GROVE_GYRO_ERROR;
648 return GROVE_GYRO_ERROR;
651 SENSORS_SENSOR(grove_gyro, GROVE_GYRO_STRING, value, configure, NULL);
Datatype for GPIO event handlers.
#define GPIO_ENABLE_INTERRUPT(PORT_BASE, PIN_MASK)
Enable interrupt triggering for pins with PIN_MASK of port with PORT_BASE.
#define PROCESS(name, strname)
Declare a process.
uint8_t i2c_burst_send(uint8_t slave_addr, uint8_t *data, uint8_t len)
Perform all operations to send multiple bytes to a slave.
#define PROCESS_YIELD_UNTIL(c)
Yield the currently running process until a condition occurs.
#define PROCESS_BEGIN()
Define the beginning of a process.
#define GPIO_DETECT_EDGE(PORT_BASE, PIN_MASK)
Set pins with PIN_MASK of port with PORT_BASE to detect edge.
#define PROCESS_END()
Define the end of a process.
void clock_delay_usec(uint16_t dt)
Delay a given number of microseconds.
#define GPIO_DETECT_FALLING(PORT_BASE, PIN_MASK)
Set pins with PIN_MASK of port with PORT_BASE to trigger an interrupt on falling edge.
void gpio_hal_register_handler(gpio_hal_event_handler_t *handler)
Register a function to be called whenever a pin triggers an event.
__STATIC_INLINE void NVIC_EnableIRQ(IRQn_Type IRQn)
Enable External Interrupt.
#define GPIO_DISABLE_INTERRUPT(PORT_BASE, PIN_MASK)
Disable interrupt triggering for pins with PIN_MASK of port with PORT_BASE.
#define GPIO_SOFTWARE_CONTROL(PORT_BASE, PIN_MASK)
Configure the pin to be software controlled with PIN_MASK of port with PORT_BASE. ...
#define PROCESS_EXITHANDLER(handler)
Specify an action when a process exits.
void i2c_init(uint8_t port_sda, uint8_t pin_sda, uint8_t port_scl, uint8_t pin_scl, uint32_t bus_speed)
Initialize the I2C peripheral and pins.
void process_poll(struct process *p)
Request a process to be polled.
void ioc_set_over(uint8_t port, uint8_t pin, uint8_t over)
Set Port:Pin override function.
#define GPIO_SET_INPUT(PORT_BASE, PIN_MASK)
Set pins with PIN_MASK of port with PORT_BASE to input.
uint8_t i2c_burst_receive(uint8_t slave_addr, uint8_t *data, uint8_t len)
Perform all operations to receive multiple bytes from a slave.
uint32_t gpio_hal_pin_mask_t
GPIO pin mask representation.
#define IOC_OVERRIDE_PUE
Pull Up Enable.
#define GPIO_TRIGGER_SINGLE_EDGE(PORT_BASE, PIN_MASK)
Set pins with PIN_MASK of port with PORT_BASE to trigger an interrupt on single edge (controlled by G...
void watchdog_periodic(void)
Writes the WDT clear sequence.
PROCESS_THREAD(cc2538_rf_process, ev, data)
Implementation of the cc2538 RF driver process.
#define gpio_hal_pin_to_mask(pin)
Convert a pin to a pin mask.
Header file for the GPIO HAL.
Grove 3-axis gyroscope header file.
uint8_t i2c_single_send(uint8_t slave_addr, uint8_t data)
Perform all operations to send a byte to a slave.
void process_start(struct process *p, process_data_t data)
Start a process.
void i2c_master_enable(void)
Enable master I2C module.