89 lines
2.2 KiB
C
89 lines
2.2 KiB
C
/*
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* Driver for STM L3G4200D three axis gyroscope
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*
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* Code based on BMP085 driver.
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*/
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#include "module.h"
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#include "lauxlib.h"
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#include "platform.h"
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#include <stdlib.h>
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#include <string.h>
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static const uint32_t i2c_id = 0;
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static const uint8_t i2c_addr = 0x69;
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static uint8_t r8u(uint32_t id, uint8_t reg) {
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uint8_t ret;
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platform_i2c_send_start(id);
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platform_i2c_send_address(id, i2c_addr, PLATFORM_I2C_DIRECTION_TRANSMITTER);
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platform_i2c_send_byte(id, reg);
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platform_i2c_send_stop(id);
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platform_i2c_send_start(id);
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platform_i2c_send_address(id, i2c_addr, PLATFORM_I2C_DIRECTION_RECEIVER);
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ret = platform_i2c_recv_byte(id, 0);
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platform_i2c_send_stop(id);
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return ret;
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}
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static void w8u(uint32_t id, uint8_t reg, uint8_t val) {
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platform_i2c_send_start(i2c_id);
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platform_i2c_send_address(i2c_id, i2c_addr, PLATFORM_I2C_DIRECTION_TRANSMITTER);
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platform_i2c_send_byte(i2c_id, reg);
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platform_i2c_send_byte(i2c_id, val);
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platform_i2c_send_stop(i2c_id);
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}
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static int l3g4200d_setup(lua_State* L) {
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uint8_t devid;
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devid = r8u(i2c_id, 0xF);
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if (devid != 0xD3) {
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return luaL_error(L, "device not found");
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}
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w8u(i2c_id, 0x20, 0xF);
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return 0;
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}
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static int l3g4200d_read(lua_State* L) {
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uint8_t data[6];
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int x,y,z;
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int i;
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platform_i2c_send_start(i2c_id);
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platform_i2c_send_address(i2c_id, i2c_addr, PLATFORM_I2C_DIRECTION_TRANSMITTER);
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platform_i2c_send_byte(i2c_id, 0xA8);
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platform_i2c_send_start(i2c_id);
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platform_i2c_send_address(i2c_id, i2c_addr, PLATFORM_I2C_DIRECTION_RECEIVER);
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for (i=0; i<5; i++) {
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data[i] = platform_i2c_recv_byte(i2c_id, 1);
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}
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data[5] = platform_i2c_recv_byte(i2c_id, 0);
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platform_i2c_send_stop(i2c_id);
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x = (int16_t) ((data[1] << 8) | data[0]);
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y = (int16_t) ((data[3] << 8) | data[2]);
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z = (int16_t) ((data[5] << 8) | data[4]);
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lua_pushinteger(L, x);
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lua_pushinteger(L, y);
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lua_pushinteger(L, z);
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return 3;
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}
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LROT_BEGIN(l3g4200d, NULL, 0)
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LROT_FUNCENTRY( read, l3g4200d_read )
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LROT_FUNCENTRY( setup, l3g4200d_setup )
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LROT_END(l3g4200d, NULL, 0)
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NODEMCU_MODULE(L3G4200D, "l3g4200d", l3g4200d, NULL);
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