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author | RoccoMarco <roccomarco.guglielmi@gmail.com> | 2015-01-12 12:45:03 +0100 |
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committer | RoccoMarco <roccomarco.guglielmi@gmail.com> | 2015-01-12 12:45:03 +0100 |
commit | 0c8c329686065ea6ec68dba851bc1d21f3e3b17b (patch) | |
tree | 8f0081519926752bcd17589c6c0a1a2450b56884 /os/various/devices_lib/lsm303dlhc.c | |
parent | 0c93d4077931fc46c0f468e712cc7110a3d3456e (diff) | |
download | ChibiOS-Contrib-0c8c329686065ea6ec68dba851bc1d21f3e3b17b.tar.gz ChibiOS-Contrib-0c8c329686065ea6ec68dba851bc1d21f3e3b17b.tar.bz2 ChibiOS-Contrib-0c8c329686065ea6ec68dba851bc1d21f3e3b17b.zip |
Added devices_lib
Diffstat (limited to 'os/various/devices_lib/lsm303dlhc.c')
-rw-r--r-- | os/various/devices_lib/lsm303dlhc.c | 207 |
1 files changed, 207 insertions, 0 deletions
diff --git a/os/various/devices_lib/lsm303dlhc.c b/os/various/devices_lib/lsm303dlhc.c new file mode 100644 index 0000000..7861255 --- /dev/null +++ b/os/various/devices_lib/lsm303dlhc.c @@ -0,0 +1,207 @@ +/* + Pretty LAYer for ChibiOS/RT - Copyright (C) 2014 Rocco Marco Guglielmi + + This file is part of PLAY for ChibiOS/RT. + + PLAY is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 3 of the License, or + (at your option) any later version. + + PLAY is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see <http://www.gnu.org/licenses/>. +*/ + +/* + Special thanks to Giovanni Di Sirio for teachings, his moral support and + friendship. Note that some or every piece of this file could be part of + the ChibiOS project that is intellectual property of Giovanni Di Sirio. + Please refer to ChibiOS/RT license before use this file. + */ + +/** + * @file lsm303dlhc.c + * @brief LSM303DLHC MEMS interface module through I2C code. + * + * @addtogroup lsm303dlhc + * @{ + */ + +#include "ch.h" +#include "hal.h" + +#include "play.h" +#include "lsm303dlhc.h" + +#if (ACCEL_USE_LSM303DLHC) || (COMP_USE_LSM303DLHC) || defined(__DOXYGEN__) + +/*===========================================================================*/ +/* Driver local definitions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver exported variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local variables and types. */ +/*===========================================================================*/ + + +/*===========================================================================*/ +/* Driver local functions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver exported functions. */ +/*===========================================================================*/ + +/** + * @brief Reads a generic sub-register value. + * @pre The I2C interface must be initialized and the driver started. + * + * @param[in] i2cp pointer to the I2C interface + * @param[in] sad slave address without R bit + * @param[in] sub sub-register address + * @param[in] message pointer to message + * @return register value. + */ +uint8_t lsm303dlhcReadRegister(I2CDriver *i2cp, uint8_t sad, uint8_t sub, + msg_t* message) { + + uint8_t txbuf, rxbuf[2]; +#if defined(STM32F103_MCUCONF) + txbuf = LSM303DLHC_SUB_MSB | sub; + if(message != NULL){ + *message = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 2, + TIME_INFINITE); + } + else{ + i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 2, TIME_INFINITE); + } + return rxbuf[0]; +#else + txbuf = sub; + if(message != NULL){ + *message = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 1, + TIME_INFINITE); + } + else{ + i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 1, TIME_INFINITE); + } + return rxbuf[0]; +#endif + + +} + +/** + * @brief Writes a value into a register. + * @pre The I2C interface must be initialized and the driver started. + * + * @param[in] i2cp pointer to the I2C interface + * @param[in] sad slave address without R bit + * @param[in] sub sub-register address + * @param[in] value the value to be written + * @param[out] message pointer to message + */ +void lsm303dlhcWriteRegister(I2CDriver *i2cp,uint8_t sad, uint8_t sub, + uint8_t value, msg_t* message) { + + uint8_t txbuf[2]; + uint8_t rxbuf; + if(sad == LSM303DLHC_SAD_ACCEL){ + switch (sub) { + default: + /* Reserved register must not be written, according to the datasheet + * this could permanently damage the device. + */ + chDbgAssert(FALSE, "lsm303dlhcWriteRegister(), #1", "reserved register"); + case LSM303DLHC_SUB_ACC_STATUS_REG: + case LSM303DLHC_SUB_ACC_OUT_X_L: + case LSM303DLHC_SUB_ACC_OUT_X_H: + case LSM303DLHC_SUB_ACC_OUT_Y_L: + case LSM303DLHC_SUB_ACC_OUT_Y_H: + case LSM303DLHC_SUB_ACC_OUT_Z_L: + case LSM303DLHC_SUB_ACC_OUT_Z_H: + case LSM303DLHC_SUB_ACC_FIFO_SRC_REG: + case LSM303DLHC_SUB_ACC_INT1_SOURCE: + case LSM303DLHC_SUB_ACC_INT2_SOURCE: + case LSM303DLHC_SUB_ACC_CLICK_SRC: + /* Read only registers cannot be written, the command is ignored.*/ + return; + case LSM303DLHC_SUB_ACC_CTRL_REG1: + case LSM303DLHC_SUB_ACC_CTRL_REG2: + case LSM303DLHC_SUB_ACC_CTRL_REG3: + case LSM303DLHC_SUB_ACC_CTRL_REG4: + case LSM303DLHC_SUB_ACC_CTRL_REG5: + case LSM303DLHC_SUB_ACC_CTRL_REG6: + case LSM303DLHC_SUB_ACC_REFERENCE: + case LSM303DLHC_SUB_ACC_FIFO_CTRL_REG: + case LSM303DLHC_SUB_ACC_INT1_CFG: + case LSM303DLHC_SUB_ACC_INT1_THS: + case LSM303DLHC_SUB_ACC_INT1_DURATION: + case LSM303DLHC_SUB_ACC_INT2_CFG: + case LSM303DLHC_SUB_ACC_INT2_THS: + case LSM303DLHC_SUB_ACC_INT2_DURATION: + case LSM303DLHC_SUB_ACC_CLICK_CFG: + case LSM303DLHC_SUB_ACC_CLICK_THS: + case LSM303DLHC_SUB_ACC_TIME_LIMIT: + case LSM303DLHC_SUB_ACC_TIME_LATENCY: + case LSM303DLHC_SUB_ACC_TIME_WINDOW: + txbuf[0] = sub; + txbuf[1] = value; + if(message != NULL){ + *message = i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0, + TIME_INFINITE); + } + else{ + i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0, TIME_INFINITE); + } + break; + } + } + else if(sad == LSM303DLHC_SAD_COMPASS){ + switch (sub) { + default: + /* Reserved register must not be written, according to the datasheet + * this could permanently damage the device. + */ + chDbgAssert(FALSE, "lsm303dlhcWriteRegister(), #1", "reserved register"); + case LSM303DLHC_SUB_COMP_OUT_X_H: + case LSM303DLHC_SUB_COMP_OUT_X_L: + case LSM303DLHC_SUB_COMP_OUT_Z_H: + case LSM303DLHC_SUB_COMP_OUT_Z_L: + case LSM303DLHC_SUB_COMP_OUT_Y_H: + case LSM303DLHC_SUB_COMP_OUT_Y_L: + case LSM303DLHC_SUB_COMP_SR_REG: + case LSM303DLHC_SUB_COMP_IRA_REG: + case LSM303DLHC_SUB_COMP_IRB_REG: + case LSM303DLHC_SUB_COMP_IRC_REG: + case LSM303DLHC_SUB_COMP_TEMP_OUT_H: + case LSM303DLHC_SUB_COMP_TEMP_OUT_L: + /* Read only registers cannot be written, the command is ignored.*/ + return; + case LSM303DLHC_SUB_COMP_CRA_REG: + case LSM303DLHC_SUB_COMP_CRB_REG: + case LSM303DLHC_SUB_COMP_MR_REG: + txbuf[0] = sub; + txbuf[1] = value; + if(message != NULL){ + *message = i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0, + TIME_INFINITE); + } + else{ + i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0, TIME_INFINITE); + } + break; + } + } +} +#endif /* (ACCEL_USE_LSM303DLHC) || (COMP_USE_LSM303DLHC) */ +/** @} */ |