Driver for Microinfinity CruizCore XG1300L #3
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| Original file line number | Diff line number | Diff line change |
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@@ -2,6 +2,7 @@ | |
| * NXT I2C sensor device driver for LEGO MINDSTORMS EV3 | ||
| * | ||
| * Copyright (C) 2013-2014 David Lechner <[email protected]> | ||
| * Copyright (C) 2014 Bartosz Meglicki <[email protected]> | ||
| * | ||
| * This program is free software; you can redistribute it and/or modify | ||
| * it under the terms of the GNU General Public License version 2 as | ||
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@@ -301,6 +302,68 @@ static void ms_imu_poll_cb(struct nxt_i2c_sensor_data *sensor) | |
| } | ||
| } | ||
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| /* | ||
| * Microinfinity CruizCore XG1300L gyroscope and accelerometer related functions | ||
| */ | ||
| static void mi_cruizcore_xg1300l_poll_cb(struct nxt_i2c_sensor_data *sensor) | ||
| { | ||
| u8 *scaling_factor = sensor->info.callback_data; | ||
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| struct nxt_i2c_sensor_mode_info *i2c_mode_info = | ||
| &sensor->info.i2c_mode_info[sensor->mode]; | ||
| struct msensor_mode_info *ms_mode_info = | ||
| &sensor->info.ms_mode_info[sensor->mode]; | ||
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| s16 *raw_as_s16 = (s16*) ms_mode_info->raw_data; | ||
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| /* | ||
| * Perform normal i2c read (just like nxt_i2c_sensor_poll_work). | ||
| */ | ||
| i2c_smbus_read_i2c_block_data(sensor->client, | ||
| i2c_mode_info->read_data_reg, ms_mode_info->data_sets | ||
| * msensor_data_size[ms_mode_info->data_type], | ||
| ms_mode_info->raw_data); | ||
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| /* scale values for acceleration */ | ||
|
Member
There was a problem hiding this comment. I am considering adding a callback function to the msensor class so that we can supply a custom callback function. This would also fix the problem of having to have RESET as a mode. However, this works for now. |
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| if(sensor->mode < 2) /* "ANG-ACC", "ANG-SPEED" - no acceleration info */ | ||
| return; | ||
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| if(sensor->mode == 3) /* "ALL", accelerometer data starting from fourth byte */ | ||
| raw_as_s16 += 2; | ||
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| raw_as_s16[0] *= *scaling_factor; | ||
| raw_as_s16[1] *= *scaling_factor; | ||
| raw_as_s16[2] *= *scaling_factor; | ||
| } | ||
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| static void mi_cruizcore_xg1300l_send_command_post_cb(struct nxt_i2c_sensor_data *data, u8 command) | ||
| { | ||
| u8 *scaling_factor = data->info.callback_data; | ||
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| if (command==0 || command==1) *scaling_factor=1; /* "RESET", "ACCEL-2G" */ | ||
| else if (command==2) *scaling_factor=2; /* "ACCEL-4G" */ | ||
| else if (command==3) *scaling_factor=4; /* "ACCEL-8G" */ | ||
| } | ||
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| static void mi_cruizcore_xg1300l_probe_cb(struct nxt_i2c_sensor_data *data) | ||
| { | ||
| u8 *scaling_factor = kzalloc(sizeof(u8), GFP_KERNEL); | ||
| *scaling_factor = 1; | ||
| data->info.callback_data = scaling_factor; | ||
| } | ||
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| static void mi_cruizcore_xg1300l_remove_cb(struct nxt_i2c_sensor_data *data) | ||
| { | ||
| u8 *scaling_factor = data->info.callback_data; | ||
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| if(scaling_factor) | ||
| { | ||
| data->info.callback_data = NULL; | ||
| kfree(scaling_factor); | ||
| } | ||
| } | ||
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| /** | ||
| * nxt_i2c_sensor_defs - Sensor definitions | ||
| * | ||
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@@ -316,6 +379,7 @@ static void ms_imu_poll_cb(struct nxt_i2c_sensor_data *sensor) | |
| * - num_read_only_modes (default num_modes) | ||
| * - ops.set_mode_pre_cb | ||
| * - ops.set_mode_post_cb | ||
| * - ops.send_command_post_cb | ||
| * - ops.poll_cb | ||
| * - ops.probe_cb | ||
| * - ops.remove_cb | ||
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@@ -2130,6 +2194,161 @@ const struct nxt_i2c_sensor_info nxt_i2c_sensor_defs[] = { | |
| }, | ||
| }, | ||
| }, | ||
| [MI_CRUIZCORE_XG1300L] = { | ||
| /** | ||
| * [^usage]: Sample usage: | ||
|
Member
There was a problem hiding this comment. The comments here are used to automatically generate documentation. |
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| * | ||
| * CruizCore XG1300L doesn't follow LEGO guidelines and it can't be autodected. | ||
| * Until we find other way to identify the sensor the driver has to be loaded manually. | ||
| * | ||
| * Register I2C device: | ||
| * | ||
| * <pre><code>echo mi-cruizcore-xg1300 0x01 > /sys/bus/i2c/devices/i2c-<port+2>/new_device | ||
| * </code></pre> | ||
| * | ||
| * @vendor_name: Microinfinity | ||
| * @vendor_part_number: CruizCore XG 1300L | ||
| * @vendor_part_name: Digital Gyroscope And Accelerometer | ||
| * @vendor_website: http://www.minfinity.com/eng/page.php?Main=1&sub=1&tab=5 | ||
| * @default_address: 0x01 | ||
| * @default_address_footnote: [^usage] | ||
| */ | ||
|
Member
There was a problem hiding this comment. For lack of a better place for the usage info, for now, add this line here... |
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| .name = "mi-xg1300l", | ||
| .vendor_id = "mnfinity", /* The sensor doesn't return vendor_id, it can't be autodetected this way */ | ||
| .product_id = "XG1300L", /* The sensor doesn't return product_id, it can't be autodetected this way */ | ||
| .num_modes = 4, | ||
| .num_read_only_modes = 4, | ||
| .ops.poll_cb = mi_cruizcore_xg1300l_poll_cb, | ||
| .ops.send_command_post_cb = mi_cruizcore_xg1300l_send_command_post_cb, | ||
| .ops.probe_cb = mi_cruizcore_xg1300l_probe_cb, | ||
| .ops.remove_cb = mi_cruizcore_xg1300l_remove_cb, | ||
| .ms_mode_info = { | ||
| [0] = { | ||
| /** | ||
| * @description: Accumulated angle | ||
| * @value0: Z-axis accumulated angle (-180 to 180) | ||
| * @units_description: degrees | ||
| */ | ||
| .name = "ANG-ACC", | ||
| .data_sets = 1, | ||
| .data_type = MSENSOR_DATA_S16, | ||
| .units = "deg", | ||
| .decimals = 2, | ||
| }, | ||
| [1] = { | ||
| /** | ||
| * | ||
| * @description: Rotational speed | ||
| * @value0: Z-axis rotational speed | ||
| * @units_description: degrees per second | ||
| */ | ||
| .name = "ANG-SPEED", | ||
| .data_sets = 1, | ||
| .data_type = MSENSOR_DATA_S16, | ||
| .decimals = 2, | ||
| .units = "d/s", | ||
| }, | ||
| [2] = { | ||
| /** | ||
| * | ||
| * @description: Acceleration in X, Y, Z axis | ||
| * @value0: Acceleration in X axis | ||
| * @value1: Acceleration in Y axis | ||
| * @value2: Acceleration in Z axis | ||
| * @units_description: g (1g ~ 9.81 m/s2) | ||
| */ | ||
| .name = "ACCEL-XYZ", | ||
| .data_sets = 3, | ||
| .units = "g", | ||
| .data_type = MSENSOR_DATA_S16, | ||
| .decimals = 3, | ||
| }, | ||
| [3] = { | ||
| /** | ||
| * [^acceleration-description]: three decimal places, range as was set by last command | ||
| * [^accumulated-angle-description]: two decimal places, (-180 to 180) | ||
| * [^rotational-speed-description]: two decimal places | ||
| * | ||
| * @description: All values | ||
| * @value0: Z-axis accumulated angle | ||
| * @value0_footnote: [^accumulated-angle-description] | ||
| * @value1: Z-axis rotational speed | ||
| * @value1_footnote: [^rotational-speed-description] | ||
| * @value2: X-axis acceleration | ||
| * @value2_footnote: [^acceleration-description] | ||
| * @value3: Y-axis acceleration | ||
| * @value3_footnote: [^acceleration-description] | ||
| * @value4: Z-axis acceleration | ||
| * @value4_footnote: [^acceleration-description] | ||
| * | ||
| */ | ||
| .name = "ALL", | ||
| .data_sets = 5, | ||
| .data_type = MSENSOR_DATA_S16, | ||
| }, | ||
| }, | ||
| .i2c_mode_info = { | ||
| [0] = { | ||
| .read_data_reg = 0x42, | ||
| }, | ||
| [1] = { | ||
| .read_data_reg = 0x44, | ||
| }, | ||
| [2] = { | ||
| .read_data_reg = 0x46, | ||
| }, | ||
| [3] = { | ||
| .read_data_reg = 0x42, | ||
| }, | ||
| }, | ||
| .num_commands = 4, | ||
| .ms_cmd_info = { | ||
| [0] = { | ||
| /** | ||
| * [^reset-description]: recalculate bias drift, reset accumulated angle, | ||
| * set accelerometer scaling factor to 2G, | ||
| * this has to be done with sensor not moving | ||
| * and is strongly recommended to be called manually before work | ||
| * | ||
| * @description: Reset device | ||
| * @description_footnote: [^reset-description] | ||
| */ | ||
| .name = "RESET", | ||
| }, | ||
| [1] = { | ||
| /** | ||
| * @description: Acceleration scaling 2G | ||
| */ | ||
| .name = "ACCEL-2G", | ||
| }, | ||
| [2] = { | ||
| /** | ||
| * @description: Acceleration scaling 4G | ||
| */ | ||
| .name = "ACCEL-4G", | ||
| }, | ||
| [3] = { | ||
| /** | ||
| * @description: Acceleration scaling 8G | ||
| */ | ||
| .name = "ACCEL-8G", | ||
| }, | ||
| }, | ||
| .i2c_cmd_info = { | ||
| [0] = { | ||
| .cmd_reg = 0x60, | ||
| }, | ||
| [1] = { | ||
| .cmd_reg = 0x61, | ||
| }, | ||
| [2] = { | ||
| .cmd_reg = 0x62, | ||
| }, | ||
| [3] = { | ||
| .cmd_reg = 0x63, | ||
| }, | ||
| }, | ||
| }, | ||
| }; | ||
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| EXPORT_SYMBOL_GPL(nxt_i2c_sensor_defs); | ||
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