Example #1
0
/**
 * @brief Writes one byte to the L3GD20
 * \param[in] reg Register address
 * \param[in] data Byte to write
 * \return 0 if operation was successful
 * \return -1 if unable to claim SPI bus
 * \return -2 if unable to claim i2c device
 */
static int32_t PIOS_L3GD20_SetReg(uint8_t reg, uint8_t data)
{
	if (PIOS_L3GD20_ClaimBus() != 0)
		return -1;

	PIOS_SPI_TransferByte(pios_l3gd20_dev->spi_id, 0x7f & reg);
	PIOS_SPI_TransferByte(pios_l3gd20_dev->spi_id, data);

	PIOS_L3GD20_ReleaseBus();

	return 0;
}
Example #2
0
/**
 * @brief Read a register from L3GD20
 * @returns The register value or -1 if failure to get bus
 * @param reg[in] Register address to be read
 */
static int32_t PIOS_L3GD20_GetReg(uint8_t reg)
{
	uint8_t data;

	if(PIOS_L3GD20_ClaimBus() != 0)
		return -1;
	
	PIOS_SPI_TransferByte(dev->spi_id,(0x80 | reg) ); // request byte
	data = PIOS_SPI_TransferByte(dev->spi_id,0 );     // receive response
	
	PIOS_L3GD20_ReleaseBus();
	return data;
}
Example #3
0
/**
 * @brief Read current X, Z, Y values (in that order)
 * \param[out] int16_t array of size 3 to store X, Z, and Y magnetometer readings
 * \returns The number of samples remaining in the fifo
 */
static int32_t PIOS_L3GD20_ReadGyros(struct pios_l3gd20_data *data)
{
	uint8_t buf[7] = { PIOS_L3GD20_GYRO_X_OUT_LSB | 0x80 | 0x40, 0, 0, 0, 0, 0, 0 };
	uint8_t rec[7];

	if (PIOS_L3GD20_ClaimBus() != 0)
		return -1;

	if (PIOS_SPI_TransferBlock(pios_l3gd20_dev->spi_id, &buf[0], &rec[0], sizeof(buf), NULL) < 0) {
		PIOS_L3GD20_ReleaseBus();
		data->gyro_x = 0;
		data->gyro_y = 0;
		data->gyro_z = 0;
		data->temperature = 0;
		return -2;
	}

	PIOS_L3GD20_ReleaseBus();

	memcpy((uint8_t *)&data->gyro_x, &rec[1], 6);
	data->temperature = PIOS_L3GD20_GetReg(PIOS_L3GD20_OUT_TEMP);

	return 0;
}