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

142 lines
4.3 KiB
C

/*
* Copyright (c) 2012, STMicroelectronics.
* All rights reserved.
*
* 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 the Institute 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 INSTITUTE 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 INSTITUTE 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)
*/
/*---------------------------------------------------------------------------*/
#ifdef X_NUCLEO_IKS01A1
/*---------------------------------------------------------------------------*/
#include "lib/sensors.h"
#include "gyroscope-sensor.h"
#include "st-lib.h"
/*---------------------------------------------------------------------------*/
static int _active = 1;
/*---------------------------------------------------------------------------*/
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()) {
_active = 1;
}
}
}
/*---------------------------------------------------------------------------*/
static void
activate(void)
{
_active = 1;
}
/*---------------------------------------------------------------------------*/
static void
deactivate(void)
{
_active = 0;
}
/*---------------------------------------------------------------------------*/
static int
active(void)
{
return _active;
}
/*---------------------------------------------------------------------------*/
static int
value(int type)
{
int32_t ret_val = 0;
volatile st_lib_axes_raw_typedef axes_raw_data;
/* 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);
switch(type) {
case X_AXIS:
ret_val = axes_raw_data.AXIS_X;
break;
case Y_AXIS:
ret_val = axes_raw_data.AXIS_Y;
break;
case Z_AXIS:
ret_val = axes_raw_data.AXIS_Z;
break;
default:
break;
}
return ret_val;
}
/*---------------------------------------------------------------------------*/
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;
}
return 0;
}
/*---------------------------------------------------------------------------*/
static int
status(int type)
{
switch(type) {
case SENSORS_READY:
return active();
}
return 0;
}
/*---------------------------------------------------------------------------*/
SENSORS_SENSOR(gyroscope_sensor, GYROSCOPE_SENSOR, value, configure, status);
/*---------------------------------------------------------------------------*/
#endif /*X_NUCLEO_IKS01A1*/
/*---------------------------------------------------------------------------*/
/** @} */