/* * 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 ICACHE_FLASH_ATTR 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 ICACHE_FLASH_ATTR 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 ICACHE_FLASH_ATTR l3g4200d_init(lua_State* L) { uint32_t sda; uint32_t scl; uint8_t devid; sda = luaL_checkinteger(L, 1); scl = luaL_checkinteger(L, 2); luaL_argcheck(L, sda > 0 && scl > 0, 1, "no i2c for D0"); platform_i2c_setup(i2c_id, sda, scl, PLATFORM_I2C_SPEED_SLOW); devid = r8u(i2c_id, 0xF); if (devid != 0xD3) { return luaL_error(L, "device not found"); } w8u(i2c_id, 0x20, 0xF); return 0; } static int ICACHE_FLASH_ATTR 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( "init" ), LFUNCVAL( l3g4200d_init )}, { LNILKEY, LNILVAL} }; NODEMCU_MODULE(L3G4200D, "l3g4200d", l3g4200d_map, NULL);