89 lines
2.2 KiB
C
89 lines
2.2 KiB
C
/*
|
|
* Driver for STM L3G4200D three axis gyroscope
|
|
*
|
|
* Code based on BMP085 driver.
|
|
*/
|
|
#include "module.h"
|
|
#include "lauxlib.h"
|
|
#include "platform.h"
|
|
#include "c_stdlib.h"
|
|
#include "c_string.h"
|
|
|
|
static const uint32_t i2c_id = 0;
|
|
static const uint8_t i2c_addr = 0x69;
|
|
|
|
static uint8_t r8u(uint32_t id, uint8_t reg) {
|
|
uint8_t ret;
|
|
|
|
platform_i2c_send_start(id);
|
|
platform_i2c_send_address(id, i2c_addr, PLATFORM_I2C_DIRECTION_TRANSMITTER);
|
|
platform_i2c_send_byte(id, reg);
|
|
platform_i2c_send_stop(id);
|
|
platform_i2c_send_start(id);
|
|
platform_i2c_send_address(id, i2c_addr, PLATFORM_I2C_DIRECTION_RECEIVER);
|
|
ret = platform_i2c_recv_byte(id, 0);
|
|
platform_i2c_send_stop(id);
|
|
return ret;
|
|
}
|
|
|
|
static void w8u(uint32_t id, uint8_t reg, uint8_t val) {
|
|
platform_i2c_send_start(i2c_id);
|
|
platform_i2c_send_address(i2c_id, i2c_addr, PLATFORM_I2C_DIRECTION_TRANSMITTER);
|
|
platform_i2c_send_byte(i2c_id, reg);
|
|
platform_i2c_send_byte(i2c_id, val);
|
|
platform_i2c_send_stop(i2c_id);
|
|
}
|
|
|
|
static int l3g4200d_setup(lua_State* L) {
|
|
uint8_t devid;
|
|
|
|
devid = r8u(i2c_id, 0xF);
|
|
|
|
if (devid != 0xD3) {
|
|
return luaL_error(L, "device not found");
|
|
}
|
|
|
|
w8u(i2c_id, 0x20, 0xF);
|
|
|
|
return 0;
|
|
}
|
|
|
|
static int l3g4200d_read(lua_State* L) {
|
|
|
|
uint8_t data[6];
|
|
int x,y,z;
|
|
int i;
|
|
|
|
platform_i2c_send_start(i2c_id);
|
|
platform_i2c_send_address(i2c_id, i2c_addr, PLATFORM_I2C_DIRECTION_TRANSMITTER);
|
|
platform_i2c_send_byte(i2c_id, 0xA8);
|
|
platform_i2c_send_start(i2c_id);
|
|
platform_i2c_send_address(i2c_id, i2c_addr, PLATFORM_I2C_DIRECTION_RECEIVER);
|
|
|
|
for (i=0; i<5; i++) {
|
|
data[i] = platform_i2c_recv_byte(i2c_id, 1);
|
|
}
|
|
|
|
data[5] = platform_i2c_recv_byte(i2c_id, 0);
|
|
|
|
platform_i2c_send_stop(i2c_id);
|
|
|
|
x = (int16_t) ((data[1] << 8) | data[0]);
|
|
y = (int16_t) ((data[3] << 8) | data[2]);
|
|
z = (int16_t) ((data[5] << 8) | data[4]);
|
|
|
|
lua_pushinteger(L, x);
|
|
lua_pushinteger(L, y);
|
|
lua_pushinteger(L, z);
|
|
|
|
return 3;
|
|
}
|
|
|
|
static const LUA_REG_TYPE l3g4200d_map[] = {
|
|
{ LSTRKEY( "read" ), LFUNCVAL( l3g4200d_read )},
|
|
{ LSTRKEY( "setup" ), LFUNCVAL( l3g4200d_setup )},
|
|
{ LNILKEY, LNILVAL}
|
|
};
|
|
|
|
NODEMCU_MODULE(L3G4200D, "l3g4200d", l3g4200d_map, NULL);
|