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- /*
- * Driver for STM L3G4200D three axis gyroscope
- *
- * Code based on BMP085 driver.
- */
- #include "module.h"
- #include "lauxlib.h"
- #include "platform.h"
- #include <stdlib.h>
- #include <string.h>
- static const uint32_t i2c_id = 0;
- static const uint8_t i2c_addr = 0x69;
- static uint8_t 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 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 l3g4200d_setup(lua_State* L) {
- uint8_t devid;
- devid = r8u(i2c_id, 0xF);
- if (devid != 0xD3) {
- return luaL_error(L, "device not found");
- }
- w8u(i2c_id, 0x20, 0xF);
- return 0;
- }
- static int 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;
- }
- LROT_BEGIN(l3g4200d, NULL, 0)
- LROT_FUNCENTRY( read, l3g4200d_read )
- LROT_FUNCENTRY( setup, l3g4200d_setup )
- LROT_END(l3g4200d, NULL, 0)
- NODEMCU_MODULE(L3G4200D, "l3g4200d", l3g4200d, NULL);
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