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-rw-r--r--gyro.c61
-rw-r--r--gyro.h6
-rw-r--r--main.c19
3 files changed, 59 insertions, 27 deletions
diff --git a/gyro.c b/gyro.c
index f4d7529..a373d29 100644
--- a/gyro.c
+++ b/gyro.c
@@ -1,4 +1,5 @@
#include <stdio.h>
+#include <string.h>
#include <avr/io.h>
#include <avr/interrupt.h>
#include <avr/sleep.h>
@@ -6,6 +7,18 @@
#include "i2c.h"
#include "gyro.h"
+/* max degree +/- per second */
+#define GYRO_DPS 500
+/* output data rate, hertz */
+#define GYRO_FREQ 95
+/* millidegree per second and digit, (2*GYRO_DPS+1)/(2^16) ~= 15.274, manual
+ * says 17.5, so choose something in between */
+#define GYRO_MDPS_PER_DIGIT 16
+/* milliangle (in degree) per 32 units, 32 is a relatively small number (not
+ * much information lost) and the angle is very to a full integer number,
+ * GYRO_MDPS_PER_DIGIT/GYRO_FREQ*32 */
+#define GYRO_MANGLE_PER_32 5
+
/* device address */
#define L3GD20 0b11010100
/* registers */
@@ -22,6 +35,10 @@
/* the first interrupt is lost */
volatile bool drdy = true;
volatile int16_t val[3] = {0, 0, 0};
+/* current (relative) angle, in millidegree */
+int16_t angle[3] = {0, 0, 0};
+/* currently reading from i2c */
+bool reading = false;
/* data ready interrupt
*/
@@ -57,21 +74,45 @@ void gyroStart () {
printf ("final twi status was %i\n", twr.status);
}
-bool gyroRead () {
- if (drdy) {
- drdy = false;
-
- if (!twRequest (TWM_READ, L3GD20, 0x28, (uint8_t *) val, 6)) {
- printf ("cannot start read\n");
+/* process gyro sensor data, returns true if new data is available
+ */
+bool gyroProcess () {
+ if (reading) {
+ if (twr.status == TWST_OK) {
+ /* new data transfered, process it */
+ for (uint8_t i = 0; i < sizeof (angle)/sizeof (*angle); i++) {
+ angle[i] += (val[i] >> 5) * GYRO_MANGLE_PER_32;
+ }
+ reading = false;
+ return true;
+ } else if (twr.status == TWST_ERR) {
+ printf ("gyro i2c error\n");
+ reading = false;
}
-
- return true;
} else {
- return false;
+ if (drdy && twr.status != TWST_WAIT) {
+ /* new data available in device buffer and bus is free */
+ if (!twRequest (TWM_READ, L3GD20, 0x28, (uint8_t *) val, 6)) {
+ printf ("cannot start read\n");
+ } else {
+ drdy = false;
+ reading = true;
+ }
+ }
}
+
+ return false;
+}
+
+const int16_t *gyroGetAngle () {
+ return angle;
+}
+
+void gyroResetAngle () {
+ memset (angle, 0, sizeof (angle));
}
-volatile const int16_t *gyroGet () {
+volatile const int16_t *gyroGetRaw () {
return val;
}
diff --git a/gyro.h b/gyro.h
index ac3550e..3a8ad10 100644
--- a/gyro.h
+++ b/gyro.h
@@ -6,8 +6,10 @@
void gyroInit ();
void gyroStart ();
-bool gyroRead ();
-volatile const int16_t *gyroGet ();
+bool gyroProcess ();
+void gyroResetAngle ();
+const int16_t *gyroGetAngle ();
+volatile const int16_t *gyroGetRaw ();
#endif /* GYROSCOPE_H */
diff --git a/main.c b/main.c
index f04c725..2e894d3 100644
--- a/main.c
+++ b/main.c
@@ -57,23 +57,12 @@ int main () {
//sleepwhile (!timerHit ());
//printf ("running for %u seconds\n", seconds);
- sleepwhile (!gyroRead ());
- sleepwhile (twr.status == TWST_WAIT);
- switch (twr.status) {
- case TWST_OK: {
- volatile const int16_t *val = gyroGet ();
- printf ("%i/%i/%i\n", val[0], val[1], val[2]);
- break;
- }
-
- case TWST_ERR:
- goto fail;
- break;
- }
+ sleepwhile (!gyroProcess());
+ volatile const int16_t *val = gyroGetAngle ();
+ printf ("%i/%i/%i\n", val[0], val[1], val[2]);
+ gyroResetAngle ();
}
//timerStop ();
-fail:
- printf ("fail\n");
/* global interrupt disable */
cli ();