Driver for the NXP FXAS21002C 3-Axis Digital Angular Rate Gyroscope connected via SPI. More...

#include <px4_config.h>
#include <px4_defines.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <stdint.h>
#include <stdbool.h>
#include <stddef.h>
#include <stdlib.h>
#include <semaphore.h>
#include <string.h>
#include <fcntl.h>
#include <poll.h>
#include <errno.h>
#include <stdio.h>
#include <math.h>
#include <unistd.h>
#include <px4_log.h>
#include <perf/perf_counter.h>
#include <nuttx/arch.h>
#include <nuttx/clock.h>
#include <drivers/drv_hrt.h>
#include <drivers/device/spi.h>
#include <drivers/drv_gyro.h>
#include <drivers/device/ringbuffer.h>
#include <drivers/device/integrator.h>
#include <board_config.h>
#include <mathlib/math/filter/LowPassFilter2p.hpp>
#include <lib/conversion/rotation.h>
#include <px4_getopt.h>
#include <systemlib/err.h>

Classes
class	FXAS21002C

Namespaces
	fxas21002c
	Local functions in support of the shell command.

Macros
#define	DIR_READ(a) ((a) \| (1 << 7))

#define	DIR_WRITE(a) ((a) & 0x7f)

#define	swap16(w) __builtin_bswap16((w))

#define	FXAS21002C_DEVICE_PATH_GYRO "/dev/fxas21002c_gyro"

#define	FXAS21002C_DEVICE_PATH_GYRO_EXT "/dev/fxas21002c_gyro_ext"

#define	FXAS21002C_STATUS 0x00

#define	FXAS21002C_OUT_X_MSB 0x01

#define	FXAS21002C_OUT_X_LSB 0x02

#define	FXAS21002C_OUT_Y_MSB 0x03

#define	FXAS21002C_OUT_Y_LSB 0x04

#define	FXAS21002C_OUT_Z_MSB 0x05

#define	FXAS21002C_OUT_Z_LSB 0x06

#define	FXAS21002C_DR_STATUS 0x07

#define	DR_STATUS_ZYXOW (1 << 7)

#define	DR_STATUS_ZOW (1 << 6)

#define	DR_STATUS_YOW (1 << 5)

#define	DR_STATUS_XOW (1 << 4)

#define	DR_STATUS_ZYXDR (1 << 3)

#define	DR_STATUS_ZDR (1 << 2)

#define	DR_STATUS_YDR (1 << 1)

#define	DR_STATUS_XDR (1 << 0)

#define	FXAS21002C_F_STATUS 0x08

#define	F_STATUS_F_OVF (1 << 7)

#define	F_STATUS_F_WMKF (1 << 6)

#define	F_STATUS_F_CNT_SHIFTS 0

#define	F_STATUS_F_CNT_MASK (0x3f << F_STATUS_F_CNT_SHIFTS)

#define	FXAS21002C_F_SETUP 0x09

#define	F_SETUP_F_MODE_SHIFTS 6

#define	F_SETUP_F_MODE_MASK (0x3 << F_SETUP_F_MODE_SHIFTS)

#define	F_SETUP_F_WMRK_SHIFTS 0

#define	F_SETUP_F_WMRK_MASK (0x3f << F_SETUP_F_WMRK_SHIFTS)

#define	FXAS21002C_F_EVENT 0x0a

#define	F_EVENT_F_EVENT (1 << 5)

#define	F_EVENT_FE_TIME_SHIFTS 0

#define	F_EVENT_FE_TIME_MASK (0x1f << F_EVENT_FE_TIME_SHIFTS)

#define	FXAS21002C_INT_SRC_FLAG 0x0b

#define	INT_SRC_FLAG_BOOTEND (1 << 3)

#define	INT_SRC_FLAG_SRC_FIFO (1 << 2)

#define	INT_SRC_FLAG_SRC_RT (1 << 1)

#define	INT_SRC_FLAG_SRC_DRDY (1 << 0)

#define	FXAS21002C_WHO_AM_I 0x0c

#define	WHO_AM_I 0xd7

#define	FXAS21002C_CTRL_REG0 0x0d

#define	CTRL_REG0_BW_SHIFTS 6

#define	CTRL_REG0_BW_MASK (0x3 << CTRL_REG0_BW_SHIFTS)

#define	CTRL_REG0_BW(n) (((n) & 0x3) << CTRL_REG0_BW_SHIFTS)

#define	CTRL_REG0_BW_HIGH CTRL_REG0_BW(0)

#define	CTRL_REG0_BW_MED CTRL_REG0_BW(1)

#define	CTRL_REG0_BW_LOW CTRL_REG0_BW(2)

#define	CTRL_REG0_SPIW (1 << 6)

#define	CTRL_REG0_SEL_SHIFTS 3

#define	CTRL_REG0_SEL_MASK (0x2 << CTRL_REG0_SEL_SHIFTS)

#define	CTRL_REG0_HPF_EN (1 << 2)

#define	CTRL_REG0_FS_SHIFTS 0

#define	CTRL_REG0_FS_MASK (0x3 << CTRL_REG0_FS_SHIFTS)

#define	CTRL_REG0_FS_2000_DPS (0 << CTRL_REG0_FS_SHIFTS)

#define	CTRL_REG0_FS_1000_DPS (1 << CTRL_REG0_FS_SHIFTS)

#define	CTRL_REG0_FS_500_DPS (2 << CTRL_REG0_FS_SHIFTS)

#define	CTRL_REG0_FS_250_DPS (3 << CTRL_REG0_FS_SHIFTS)

#define	FXAS21002C_RT_CFG 0x0e

#define	RT_CFG_ELE (1 << 3)

#define	RT_CFG_ZTEFE (1 << 2)

#define	RT_CFG_YTEFE (1 << 1)

#define	RT_CFG_XTEFE (1 << 0)

#define	FXAS21002C_RT_SRC 0x0f

#define	RT_SRC_EA (1 << 6)

#define	RT_SRC_ZRT (1 << 5)

#define	RT_SRC_Z_RT_POL (1 << 4)

#define	RT_SRC_YRT (1 << 3)

#define	RT_SRC_Y_RT_POL (1 << 2)

#define	RT_SRC_XRT (1 << 1)

#define	RT_SRC_X_RT_POL (1 << 0)

#define	FXAS21002C_RT_THS 0x10

#define	RT_THS_DBCNTM (1 << 7)

#define	RT_THS_THS_SHIFTS 0

#define	RT_THS_THS_MASK (0x7f << RT_THS_THS_SHIFTS)

#define	FXAS21002C_RT_COUNT 0x11

#define	FXAS21002C_TEMP 0x12

#define	FXAS21002C_CTRL_REG1 0x13

#define	CTRL_REG1_RST (1 << 6)

#define	CTRL_REG1_ST (1 << 5)

#define	CTRL_REG1_DR_SHIFTS 2

#define	CTRL_REG1_DR_MASK (0x07 << CTRL_REG1_DR_SHIFTS)

#define	CTRL_REG1_DR_12_5 (7 << CTRL_REG1_DR_SHIFTS)

#define	CTRL_REG1_DR_12_5_1 (6 << CTRL_REG1_DR_SHIFTS)

#define	CTRL_REG1_DR_25HZ (5 << CTRL_REG1_DR_SHIFTS)

#define	CTRL_REG1_DR_50HZ (4 << CTRL_REG1_DR_SHIFTS)

#define	CTRL_REG1_DR_100HZ (3 << CTRL_REG1_DR_SHIFTS)

#define	CTRL_REG1_DR_200HZ (2 << CTRL_REG1_DR_SHIFTS)

#define	CTRL_REG1_DR_400HZ (1 << CTRL_REG1_DR_SHIFTS)

#define	CTRL_REG1_DR_800HZ (0 << CTRL_REG1_DR_SHIFTS)

#define	CTRL_REG1_ACTIVE (1 << 1)

#define	CTRL_REG1_READY (1 << 0)

#define	FXAS21002C_CTRL_REG2 0x14

#define	CTRL_REG2_INT_CFG_FIFO (1 << 7)

#define	CTRL_REG2_INT_EN_FIFO (1 << 6)

#define	CTRL_REG2_INT_CFG_RT (1 << 5)

#define	CTRL_REG2_INT_EN_RT (1 << 4)

#define	CTRL_REG2_INT_CFG_DRDY (1 << 3)

#define	CTRL_REG2_INT_EN_DRDY (1 << 2)

#define	CTRL_REG2_IPOL (1 << 1)

#define	CTRL_REG2_PP_OD (1 << 0)

#define	FXAS21002C_CTRL_REG3 0x15

#define	CTRL_REG3_WRAPTOONE (1 << 3)

#define	CTRL_REG3_EXTCTRLEN (1 << 2)

#define	CTRL_REG3_FS_DOUBLE (1 << 0)

#define	DEF_REG(r) {r, #r}

#define	FXAS21002C_MAX_RATE 800

#define	FXAS21002C_DEFAULT_RATE FXAS21002C_MAX_RATE

#define	FXAS21002C_MAX_OUTPUT_RATE 280

#define	FXAS21002C_DEFAULT_RANGE_DPS 2000

#define	FXAS21002C_DEFAULT_FILTER_FREQ 30

#define	FXAS21002C_TEMP_OFFSET_CELSIUS 40

#define	FXAS21002C_DEFAULT_ONCHIP_FILTER_FREQ 64

#define	FXAS21002C_MAX_OFFSET 0.45f
	max offset: 25 degrees/s

#define	FXAS21002C_TIMER_REDUCTION 250

#define	FXAS21002C_NUM_CHECKED_REGISTERS 6

Functions
__EXPORT int	fxas21002c_main (int argc, char *argv[])

void	fxas21002c::start (bool external_bus, enum Rotation rotation)
	Start the driver. More...

void	fxas21002c::test ()
	Perform some basic functional tests on the driver; make sure we can collect data from the sensor in polled and automatic modes.

void	fxas21002c::reset ()
	Reset the driver. More...

void	fxas21002c::info ()
	Print a little info about the driver. More...

void	fxas21002c::regdump ()
	dump registers from device

void	fxas21002c::usage ()
	Prints info about the driver argument usage. More...

void	fxas21002c::test_error ()
	trigger an error

Variables
FXAS21002C *	fxas21002c::g_dev

Detailed Description

Driver for the NXP FXAS21002C 3-Axis Digital Angular Rate Gyroscope connected via SPI.

Classes

Namespaces

Macros

Functions

Variables

Detailed Description