l3g4200d.c 2.2 KB

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  1. /*
  2. * Driver for STM L3G4200D three axis gyroscope
  3. *
  4. * Code based on BMP085 driver.
  5. */
  6. #include "module.h"
  7. #include "lauxlib.h"
  8. #include "platform.h"
  9. #include <stdlib.h>
  10. #include <string.h>
  11. static const uint32_t i2c_id = 0;
  12. static const uint8_t i2c_addr = 0x69;
  13. static uint8_t r8u(uint32_t id, uint8_t reg) {
  14. uint8_t ret;
  15. platform_i2c_send_start(id);
  16. platform_i2c_send_address(id, i2c_addr, PLATFORM_I2C_DIRECTION_TRANSMITTER);
  17. platform_i2c_send_byte(id, reg);
  18. platform_i2c_send_stop(id);
  19. platform_i2c_send_start(id);
  20. platform_i2c_send_address(id, i2c_addr, PLATFORM_I2C_DIRECTION_RECEIVER);
  21. ret = platform_i2c_recv_byte(id, 0);
  22. platform_i2c_send_stop(id);
  23. return ret;
  24. }
  25. static void w8u(uint32_t id, uint8_t reg, uint8_t val) {
  26. platform_i2c_send_start(i2c_id);
  27. platform_i2c_send_address(i2c_id, i2c_addr, PLATFORM_I2C_DIRECTION_TRANSMITTER);
  28. platform_i2c_send_byte(i2c_id, reg);
  29. platform_i2c_send_byte(i2c_id, val);
  30. platform_i2c_send_stop(i2c_id);
  31. }
  32. static int l3g4200d_setup(lua_State* L) {
  33. uint8_t devid;
  34. devid = r8u(i2c_id, 0xF);
  35. if (devid != 0xD3) {
  36. return luaL_error(L, "device not found");
  37. }
  38. w8u(i2c_id, 0x20, 0xF);
  39. return 0;
  40. }
  41. static int l3g4200d_read(lua_State* L) {
  42. uint8_t data[6];
  43. int x,y,z;
  44. int i;
  45. platform_i2c_send_start(i2c_id);
  46. platform_i2c_send_address(i2c_id, i2c_addr, PLATFORM_I2C_DIRECTION_TRANSMITTER);
  47. platform_i2c_send_byte(i2c_id, 0xA8);
  48. platform_i2c_send_start(i2c_id);
  49. platform_i2c_send_address(i2c_id, i2c_addr, PLATFORM_I2C_DIRECTION_RECEIVER);
  50. for (i=0; i<5; i++) {
  51. data[i] = platform_i2c_recv_byte(i2c_id, 1);
  52. }
  53. data[5] = platform_i2c_recv_byte(i2c_id, 0);
  54. platform_i2c_send_stop(i2c_id);
  55. x = (int16_t) ((data[1] << 8) | data[0]);
  56. y = (int16_t) ((data[3] << 8) | data[2]);
  57. z = (int16_t) ((data[5] << 8) | data[4]);
  58. lua_pushinteger(L, x);
  59. lua_pushinteger(L, y);
  60. lua_pushinteger(L, z);
  61. return 3;
  62. }
  63. LROT_BEGIN(l3g4200d, NULL, 0)
  64. LROT_FUNCENTRY( read, l3g4200d_read )
  65. LROT_FUNCENTRY( setup, l3g4200d_setup )
  66. LROT_END(l3g4200d, NULL, 0)
  67. NODEMCU_MODULE(L3G4200D, "l3g4200d", l3g4200d, NULL);