diff options
Diffstat (limited to 'os/ex/ST/lis302dl.c')
| -rw-r--r-- | os/ex/ST/lis302dl.c | 252 |
1 files changed, 101 insertions, 151 deletions
diff --git a/os/ex/ST/lis302dl.c b/os/ex/ST/lis302dl.c index 32b347929..abce0f546 100644 --- a/os/ex/ST/lis302dl.c +++ b/os/ex/ST/lis302dl.c @@ -33,58 +33,6 @@ /* Driver local definitions. */
/*===========================================================================*/
-#define LIS302DL_SENS_2G ((float)18.0f)
-#define LIS302DL_SENS_8G ((float)72.0f)
-
-#define LIS302DL_DI ((uint8_t)0xFF)
-#define LIS302DL_DI_0 ((uint8_t)0x01)
-#define LIS302DL_DI_1 ((uint8_t)0x02)
-#define LIS302DL_DI_2 ((uint8_t)0x04)
-#define LIS302DL_DI_3 ((uint8_t)0x08)
-#define LIS302DL_DI_4 ((uint8_t)0x10)
-#define LIS302DL_DI_5 ((uint8_t)0x20)
-#define LIS302DL_DI_6 ((uint8_t)0x40)
-#define LIS302DL_DI_7 ((uint8_t)0x80)
-
-#define LIS302DL_AD ((uint8_t)0x3F)
-#define LIS302DL_AD_0 ((uint8_t)0x01)
-#define LIS302DL_AD_1 ((uint8_t)0x02)
-#define LIS302DL_AD_2 ((uint8_t)0x04)
-#define LIS302DL_AD_3 ((uint8_t)0x08)
-#define LIS302DL_AD_4 ((uint8_t)0x10)
-#define LIS302DL_AD_5 ((uint8_t)0x20)
-
-#define LIS302DL_MS ((uint8_t)0x40)
-#define LIS302DL_RW ((uint8_t)0x80)
-
-#define LIS302DL_AD_WHO_AM_I ((uint8_t)0x0F)
-#define LIS302DL_AD_CTRL_REG1 ((uint8_t)0x20)
-#define LIS302DL_AD_CTRL_REG2 ((uint8_t)0x21)
-#define LIS302DL_AD_CTRL_REG3 ((uint8_t)0x22)
-#define LIS302DL_AD_HP_FILER_RESET ((uint8_t)0x23)
-#define LIS302DL_AD_STATUS_REG ((uint8_t)0x27)
-#define LIS302DL_AD_OUT_X ((uint8_t)0x29)
-#define LIS302DL_AD_OUT_Y ((uint8_t)0x2B)
-#define LIS302DL_AD_OUT_Z ((uint8_t)0x2D)
-#define LIS302DL_AD_FF_WU_CFG_1 ((uint8_t)0x30)
-#define LIS302DL_AD_FF_WU_SRC_1 ((uint8_t)0x31)
-#define LIS302DL_AD_FF_WU_THS_1 ((uint8_t)0x32)
-#define LIS302DL_AD_FF_WU_DURATION_1 ((uint8_t)0x33)
-#define LIS302DL_AD_FF_WU_CFG_2 ((uint8_t)0x34)
-#define LIS302DL_AD_FF_WU_SRC_2 ((uint8_t)0x35)
-#define LIS302DL_AD_FF_WU_THS_2 ((uint8_t)0x36)
-#define LIS302DL_AD_FF_WU_DURATION_2 ((uint8_t)0x37)
-#define LIS302DL_AD_CLICK_CFG ((uint8_t)0x38)
-#define LIS302DL_AD_CLICK_SRC ((uint8_t)0x39)
-#define LIS302DL_AD_CLICK_THSY_X ((uint8_t)0x3B)
-#define LIS302DL_AD_CLICK_THSZ ((uint8_t)0x3C)
-#define LIS302DL_AD_CLICK_TIME_LIMIT ((uint8_t)0x3D)
-#define LIS302DL_AD_CLICK_LATENCY ((uint8_t)0x3E)
-#define LIS302DL_AD_CLICK_WINDOW ((uint8_t)0x3F)
-
-#define LIS302DL_CTRL_REG1_FS_MASK ((uint8_t)0x20)
-#define TO_G ((float)0.001f)
-#define TO_SI ((float)0.00981f)
/*===========================================================================*/
/* Driver exported variables. */
/*===========================================================================*/
@@ -93,14 +41,6 @@ /* Driver local variables and types. */
/*===========================================================================*/
-/**
- * @brief LIS302DL Power Mode
- */
-typedef enum {
- LIS302DL_PM_POWER_DOWN = 0x00, /**< Power down enabled. */
- LIS302DL_PM_SLEEP_NORMAL = 0x40 /**< Normal operation mode. */
-}lis302dl_pm_t;
-
/*===========================================================================*/
/* Driver local functions. */
/*===========================================================================*/
@@ -111,16 +51,18 @@ typedef enum { * @pre The SPI interface must be initialized and the driver started.
*
* @param[in] spip pointer to the SPI interface
- * @param[in] reg register number
- * @return register value.
+ * @param[in] reg starting register address
+ * @param[in] n number of adjacent registers to write
+ * @param[in] b pointer to a buffer.
*/
-static uint8_t lis302dlSPIReadRegister(SPIDriver *spip, uint8_t reg) {
- uint8_t txbuf[2] = {LIS302DL_RW | reg, 0xFF};
- uint8_t rxbuf[2] = {0x00, 0x00};
+static void lis302dlSPIReadRegister(SPIDriver *spip, uint8_t reg, size_t n,
+ uint8_t* b) {
+ uint8_t cmd;
+ (n == 1) ? (cmd = reg | LIS302DL_RW) : (cmd = reg | LIS302DL_RW | LIS302DL_MS);
spiSelect(spip);
- spiExchange(spip, 2, txbuf, rxbuf);
+ spiSend(spip, 1, &cmd);
+ spiReceive(spip, n, b);
spiUnselect(spip);
- return rxbuf[1];
}
/**
@@ -128,50 +70,18 @@ static uint8_t lis302dlSPIReadRegister(SPIDriver *spip, uint8_t reg) { * @pre The SPI interface must be initialized and the driver started.
*
* @param[in] spip pointer to the SPI interface
- * @param[in] reg register number
- * @param[in] value register value.
+ * @param[in] reg starting register address
+ * @param[in] n number of adjacent registers to write
+ * @param[in] value pointer to a buffer of values.
*/
-static void lis302dlSPIWriteRegister(SPIDriver *spip, uint8_t reg,
- uint8_t value) {
-
- switch (reg) {
- default:
- /* Reserved register must not be written, according to the datasheet
- * this could permanently damage the device.
- */
- osalDbgAssert(FALSE, "lis302dlSPIWriteRegister(), reserved register");
- case LIS302DL_AD_WHO_AM_I:
-
- case LIS302DL_AD_HP_FILER_RESET:
- case LIS302DL_AD_STATUS_REG:
- case LIS302DL_AD_OUT_X:
- case LIS302DL_AD_OUT_Y:
- case LIS302DL_AD_OUT_Z:
- case LIS302DL_AD_FF_WU_SRC_1:
- case LIS302DL_AD_FF_WU_SRC_2:
- case LIS302DL_AD_CLICK_SRC:
- /* Read only registers cannot be written, the command is ignored.*/
- return;
- case LIS302DL_AD_CTRL_REG1:
- case LIS302DL_AD_CTRL_REG2:
- case LIS302DL_AD_CTRL_REG3:
- case LIS302DL_AD_FF_WU_CFG_1:
- case LIS302DL_AD_FF_WU_THS_1:
- case LIS302DL_AD_FF_WU_DURATION_1:
- case LIS302DL_AD_FF_WU_CFG_2:
- case LIS302DL_AD_FF_WU_THS_2:
- case LIS302DL_AD_FF_WU_DURATION_2:
- case LIS302DL_AD_CLICK_CFG:
- case LIS302DL_AD_CLICK_THSY_X:
- case LIS302DL_AD_CLICK_THSZ:
- case LIS302DL_AD_CLICK_TIME_LIMIT:
- case LIS302DL_AD_CLICK_LATENCY:
- case LIS302DL_AD_CLICK_WINDOW:
- spiSelect(spip);
- uint8_t txbuf[2] = {reg, value};
- spiSend(spip, 2, txbuf);
- spiUnselect(spip);
- }
+static void lis302dlSPIWriteRegister(SPIDriver *spip, uint8_t reg, size_t n,
+ uint8_t* b) {
+ uint8_t cmd;
+ (n == 1) ? (cmd = reg) : (cmd = reg | LIS302DL_MS);
+ spiSelect(spip);
+ spiSend(spip, 1, &cmd);
+ spiSend(spip, n, b);
+ spiUnselect(spip);
}
#endif /* LIS302DL_USE_SPI */
@@ -185,9 +95,10 @@ static size_t get_axes_number(void *ip) { }
static msg_t read_raw(void *ip, int32_t axes[LIS302DL_NUMBER_OF_AXES]) {
- int8_t tmp;
+ uint8_t i, tmp;
+
osalDbgCheck((ip != NULL) && (axes != NULL));
-
+
osalDbgAssert((((LIS302DLDriver *)ip)->state == LIS302DL_READY),
"read_raw(), invalid state");
@@ -199,21 +110,11 @@ static msg_t read_raw(void *ip, int32_t axes[LIS302DL_NUMBER_OF_AXES]) { spiStart(((LIS302DLDriver *)ip)->config->spip,
((LIS302DLDriver *)ip)->config->spicfg);
#endif /* LIS302DL_SHARED_SPI */
- if(((LIS302DLDriver *)ip)->config->axesenabling & LIS302DL_AE_X){
- tmp = lis302dlSPIReadRegister(((LIS302DLDriver *)ip)->config->spip,
- LIS302DL_AD_OUT_X);
- axes[0] = tmp + ((LIS302DLDriver *)ip)->bias[0];
- }
- if(((LIS302DLDriver *)ip)->config->axesenabling & LIS302DL_AE_Y){
- tmp = lis302dlSPIReadRegister(((LIS302DLDriver *)ip)->config->spip,
- LIS302DL_AD_OUT_Y);
- axes[1] = tmp + ((LIS302DLDriver *)ip)->bias[1];
- }
- if(((LIS302DLDriver *)ip)->config->axesenabling & LIS302DL_AE_Z){
- tmp = lis302dlSPIReadRegister(((LIS302DLDriver *)ip)->config->spip,
- LIS302DL_AD_OUT_Z);
- axes[2] = tmp + ((LIS302DLDriver *)ip)->bias[2];
- }
+ for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++) {
+ lis302dlSPIReadRegister(((LIS302DLDriver *)ip)->config->spip,
+ LIS302DL_AD_OUT_X + (i * 2), 1, &tmp);
+ axes[i] = (int32_t)((int8_t)tmp);
+ }
#if LIS302DL_SHARED_SPI
spiReleaseBus(((LIS302DLDriver *)ip)->config->spip);
#endif /* LIS302DL_SHARED_SPI */
@@ -229,17 +130,12 @@ static msg_t read_cooked(void *ip, float axes[]) { osalDbgCheck((ip != NULL) && (axes != NULL));
osalDbgAssert((((LIS302DLDriver *)ip)->state == LIS302DL_READY),
- "read_cooked(), invalid state");
+ "read_cooked(), invalid state");
msg = read_raw(ip, raw);
for(i = 0; i < LIS302DL_NUMBER_OF_AXES ; i++){
- axes[i] = raw[i] * ((LIS302DLDriver *)ip)->sensitivity[i];
- if(((LIS302DLDriver *)ip)->config->unit == LIS302DL_ACC_UNIT_G){
- axes[i] *= TO_G;
- }
- else if(((LIS302DLDriver *)ip)->config->unit == LIS302DL_ACC_UNIT_SI){
- axes[i] *= TO_SI;
- }
+ axes[i] = (raw[i] * ((LIS302DLDriver *)ip)->sensitivity[i]);
+ axes[i] -= ((LIS302DLDriver *)ip)->bias[i];
}
return msg;
}
@@ -302,12 +198,47 @@ static msg_t reset_sensivity(void *ip) { for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)
((LIS302DLDriver *)ip)->sensitivity[i] = LIS302DL_SENS_8G;
else {
- osalDbgAssert(FALSE, "reset_sensivity(), accelerometer full scale issue");
+ osalDbgAssert(FALSE, "reset_sensivity(), full scale issue");
return MSG_RESET;
}
return MSG_OK;
}
+static msg_t set_full_scale(void *ip, lis302dl_fs_t fs) {
+ float newfs, scale;
+ uint8_t i, cr;
+
+ if(fs == LIS302DL_FS_2G) {
+ newfs = LIS302DL_2G;
+ }
+ else if(fs == LIS302DL_FS_8G) {
+ newfs = LIS302DL_8G;
+ }
+ else {
+ return MSG_RESET;
+ }
+
+ if(newfs != ((LIS302DLDriver *)ip)->fullscale) {
+ scale = newfs / ((LIS302DLDriver *)ip)->fullscale;
+ ((LIS302DLDriver *)ip)->fullscale = newfs;
+
+ /* Updating register.*/
+ lis302dlSPIReadRegister(((LIS302DLDriver *)ip)->config->spip,
+ LIS302DL_AD_CTRL_REG1, 1, &cr);
+ cr &= ~(LIS302DL_CTRL_REG1_FS_MASK);
+ cr |= fs;
+ lis302dlSPIWriteRegister(((LIS302DLDriver *)ip)->config->spip,
+ LIS302DL_AD_CTRL_REG1, 1, &cr);
+
+ /* Scaling sensitivity and bias. Re-calibration is suggested anyway. */
+ for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++) {
+ ((LIS302DLDriver *)ip)->sensitivity[i] *= scale;
+ ((LIS302DLDriver *)ip)->bias[i] *= scale;
+ }
+ }
+ return MSG_OK;
+}
+
static const struct BaseSensorVMT vmt_basesensor = {
get_axes_number, read_raw, read_cooked
};
@@ -319,7 +250,8 @@ static const struct BaseAccelerometerVMT vmt_baseaccelerometer = { static const struct LIS302DLVMT vmt_lis302dl = {
get_axes_number, read_raw, read_cooked,
- set_bias, reset_bias, set_sensivity, reset_sensivity
+ set_bias, reset_bias, set_sensivity, reset_sensivity,
+ set_full_scale
};
/*===========================================================================*/
@@ -354,6 +286,7 @@ void lis302dlObjectInit(LIS302DLDriver *devp) { */
void lis302dlStart(LIS302DLDriver *devp, const LIS302DLConfig *config) {
uint32_t i;
+ uint8_t cr[2] = {0, 0};
osalDbgCheck((devp != NULL) && (config != NULL));
osalDbgAssert((devp->state == LIS302DL_STOP) || (devp->state == LIS302DL_READY),
@@ -367,25 +300,42 @@ void lis302dlStart(LIS302DLDriver *devp, const LIS302DLConfig *config) { #endif /* LIS302DL_SHARED_SPI */
spiStart((devp)->config->spip,
(devp)->config->spicfg);
- lis302dlSPIWriteRegister(devp->config->spip, LIS302DL_AD_CTRL_REG1,
- LIS302DL_PM_SLEEP_NORMAL |
- devp->config->axesenabling |
- devp->config->fullscale |
- devp->config->outputdatarate);
- lis302dlSPIWriteRegister(devp->config->spip, LIS302DL_AD_CTRL_REG2,
- devp->config->highpass);
+
+ /* Control register 1 configuration block.*/
+ {
+ cr[0] = LIS302DL_CTRL_REG1_XEN | LIS302DL_CTRL_REG1_YEN |
+ LIS302DL_CTRL_REG1_ZEN | LIS302DL_CTRL_REG1_PD |
+ devp->config->outputdatarate |
+ devp->config->fullscale;
+ }
+
+ /* Control register 2 configuration block.*/
+ {
+#if LIS302DL_USE_ADVANCED || defined(__DOXYGEN__)
+ if(devp->config->hpmode != LIS302DL_HPM_BYPASSED)
+ cr[1] = devp->config->highpass;
+#endif
+ }
+
+ lis302dlSPIWriteRegister(devp->config->spip, LIS302DL_AD_CTRL_REG1,
+ 2, cr);
+
#if LIS302DL_SHARED_SPI
spiReleaseBus((devp)->config->spip);
#endif /* LIS302DL_SHARED_SPI */
#endif /* LIS302DL_USE_SPI */
/* Storing sensitivity information according to full scale value */
- if(devp->config->fullscale == LIS302DL_FS_2G)
+ if(devp->config->fullscale == LIS302DL_FS_2G) {
+ devp->fullscale = LIS302DL_2G;
for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = LIS302DL_SENS_2G;
- else if(devp->config->fullscale == LIS302DL_FS_8G)
- for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)
- devp->sensitivity[i] = LIS302DL_SENS_8G;
+ }
+ else if(devp->config->fullscale == LIS302DL_FS_8G) {
+ devp->fullscale = LIS302DL_8G;
+ for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)
+ devp->sensitivity[i] = LIS302DL_SENS_8G;
+ }
else {
osalDbgAssert(FALSE, "lis302dlStart(), accelerometer full scale issue");
}
@@ -403,7 +353,7 @@ void lis302dlStart(LIS302DLDriver *devp, const LIS302DLConfig *config) { * @api
*/
void lis302dlStop(LIS302DLDriver *devp) {
-
+ uint8_t cr1;
osalDbgCheck(devp != NULL);
osalDbgAssert((devp->state == LIS302DL_STOP) || (devp->state == LIS302DL_READY),
@@ -416,8 +366,8 @@ void lis302dlStop(LIS302DLDriver *devp) { spiStart((devp)->config->spip,
(devp)->config->spicfg);
#endif /* LIS302DL_SHARED_SPI */
- lis302dlSPIWriteRegister(devp->config->spip, LIS302DL_AD_CTRL_REG1,
- LIS302DL_PM_POWER_DOWN | LIS302DL_AE_DISABLED);
+ cr1 = 0;
+ lis302dlSPIWriteRegister(devp->config->spip, LIS302DL_AD_CTRL_REG1, 1, &cr1);
spiStop((devp)->config->spip);
#if LIS302DL_SHARED_SPI
spiReleaseBus((devp)->config->spip);
|