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