osd-contiki/platform/stm32nucleo-spirit1/dev/gyroscope-sensor.c

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/**
******************************************************************************
* @file gyroscope-sensor.c
* @author System LAB
* @version V1.0.0
* @date 17-June-2015
* @brief Enable aceleration sensor functionality
******************************************************************************
* @attention
*
* <h2><center>&copy; COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/**
* \addtogroup stm32nucleo-spirit1-gyroscope-sensor
* @{
*
* \file
* Driver for the stm32nucleo-spirit1 Gyroscope sensor (on expansion board)
*/
/*---------------------------------------------------------------------------*/
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#if COMPILE_SENSORS
/*---------------------------------------------------------------------------*/
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#include "lib/sensors.h"
#include "gyroscope-sensor.h"
#include "st-lib.h"
/*---------------------------------------------------------------------------*/
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static int _active = 1;
/*---------------------------------------------------------------------------*/
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static void init(void)
{
/*Acceleration and Gyroscope sensors share the same hw*/
if (!st_lib_bsp_imu_6axes_is_initialized()) {
if (IMU_6AXES_OK == st_lib_bsp_imu_6axes_init()) {
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_active = 1;
}
}
}
/*---------------------------------------------------------------------------*/
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static void activate(void)
{
_active = 1;
}
/*---------------------------------------------------------------------------*/
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static void deactivate(void)
{
_active = 0;
}
/*---------------------------------------------------------------------------*/
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static int active(void)
{
return _active;
}
/*---------------------------------------------------------------------------*/
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static int value(int type)
{
int32_t ret_val = 0;
volatile st_lib_axes_raw_typedef axes_raw_data;
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/* NOTE: this is a demo of mapping ST Nucleo sensors on Contiki sensor API.
* For a real use case of sensors like acceleration, magneto and gyroscope,
* it is better to directly call the ST lib to get the three value (X/Y/Z)
* at once.
*/
st_lib_bsp_imu_6axes_g_get_axes_raw(&axes_raw_data);
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switch (type) {
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case X_AXIS:
ret_val = axes_raw_data.AXIS_X ;
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break;
case Y_AXIS:
ret_val = axes_raw_data.AXIS_Y ;
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break;
case Z_AXIS:
ret_val = axes_raw_data.AXIS_Z ;
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break;
default:
break;
}
return ret_val;
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}
/*---------------------------------------------------------------------------*/
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static int configure(int type, int value)
{
switch(type) {
case SENSORS_HW_INIT:
init();
return 1;
case SENSORS_ACTIVE:
if(value) {
activate();
} else {
deactivate();
}
return 1;
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}
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return 0;
}
/*---------------------------------------------------------------------------*/
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static int status(int type)
{
switch(type) {
case SENSORS_READY:
return active();
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}
return 0;
}
/*---------------------------------------------------------------------------*/
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SENSORS_SENSOR(gyroscope_sensor, GYROSCOPE_SENSOR, value, configure, status);
/*---------------------------------------------------------------------------*/
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#endif /*COMPILE_SENSORS*/
/*---------------------------------------------------------------------------*/
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/** @} */