diff options
Diffstat (limited to 'os/ex/ST/lis302dl.c')
| -rw-r--r-- | os/ex/ST/lis302dl.c | 858 |
1 files changed, 429 insertions, 429 deletions
diff --git a/os/ex/ST/lis302dl.c b/os/ex/ST/lis302dl.c index 0a76a39db..32b347929 100644 --- a/os/ex/ST/lis302dl.c +++ b/os/ex/ST/lis302dl.c @@ -1,429 +1,429 @@ -/* - ChibiOS - Copyright (C) 2016 Rocco Marco Guglielmi - - This file is part of ChibiOS. - - ChibiOS 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. - - ChibiOS 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/>. - -*/ - -/** - * @file lis302dl.c - * @brief LIS302DL MEMS interface module code. - * - * @addtogroup lis302dl - * @{ - */ - -#include "hal.h" -#include "lis302dl.h" - -/*===========================================================================*/ -/* 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. */ -/*===========================================================================*/ - -/*===========================================================================*/ -/* 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. */ -/*===========================================================================*/ - -#if (LIS302DL_USE_SPI) || defined(__DOXYGEN__) -/** - * @brief Reads a generic register value using SPI. - * @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. - */ -static uint8_t lis302dlSPIReadRegister(SPIDriver *spip, uint8_t reg) { - uint8_t txbuf[2] = {LIS302DL_RW | reg, 0xFF}; - uint8_t rxbuf[2] = {0x00, 0x00}; - spiSelect(spip); - spiExchange(spip, 2, txbuf, rxbuf); - spiUnselect(spip); - return rxbuf[1]; -} - -/** - * @brief Writes a value into a generic register using SPI. - * @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. - */ -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); - } -} -#endif /* LIS302DL_USE_SPI */ - -/* - * Interface implementation. - */ -static size_t get_axes_number(void *ip) { - - osalDbgCheck(ip != NULL); - return LIS302DL_NUMBER_OF_AXES; -} - -static msg_t read_raw(void *ip, int32_t axes[LIS302DL_NUMBER_OF_AXES]) { - int8_t tmp; - osalDbgCheck((ip != NULL) && (axes != NULL)); - - osalDbgAssert((((LIS302DLDriver *)ip)->state == LIS302DL_READY), - "read_raw(), invalid state"); - -#if LIS302DL_USE_SPI - osalDbgAssert((((LIS302DLDriver *)ip)->config->spip->state == SPI_READY), - "read_raw(), channel not ready"); -#if LIS302DL_SHARED_SPI - spiAcquireBus(((LIS302DLDriver *)ip)->config->spip); - 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]; - } -#if LIS302DL_SHARED_SPI - spiReleaseBus(((LIS302DLDriver *)ip)->config->spip); -#endif /* LIS302DL_SHARED_SPI */ -#endif /* LIS302DL_USE_SPI */ - return MSG_OK; -} - -static msg_t read_cooked(void *ip, float axes[]) { - uint32_t i; - int32_t raw[LIS302DL_NUMBER_OF_AXES]; - msg_t msg; - - osalDbgCheck((ip != NULL) && (axes != NULL)); - - osalDbgAssert((((LIS302DLDriver *)ip)->state == LIS302DL_READY), - "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; - } - } - return msg; -} - -static msg_t set_bias(void *ip, int32_t *bp) { - uint32_t i; - - osalDbgCheck((ip != NULL) && (bp !=NULL)); - - osalDbgAssert((((LIS302DLDriver *)ip)->state == LIS302DL_READY) || - (((LIS302DLDriver *)ip)->state == LIS302DL_STOP), - "set_bias(), invalid state"); - - for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++) { - ((LIS302DLDriver *)ip)->bias[i] = bp[i]; - } - return MSG_OK; -} - -static msg_t reset_bias(void *ip) { - uint32_t i; - - osalDbgCheck(ip != NULL); - - osalDbgAssert((((LIS302DLDriver *)ip)->state == LIS302DL_READY) || - (((LIS302DLDriver *)ip)->state == LIS302DL_STOP), - "reset_bias(), invalid state"); - - for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++) - ((LIS302DLDriver *)ip)->bias[i] = 0; - return MSG_OK; -} - -static msg_t set_sensivity(void *ip, float *sp) { - uint32_t i; - - osalDbgCheck((ip != NULL) && (sp !=NULL)); - - osalDbgAssert((((LIS302DLDriver *)ip)->state == LIS302DL_READY), - "set_sensivity(), invalid state"); - - for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++) { - ((LIS302DLDriver *)ip)->sensitivity[i] = sp[i]; - } - return MSG_OK; -} - -static msg_t reset_sensivity(void *ip) { - uint32_t i; - - osalDbgCheck(ip != NULL); - - osalDbgAssert((((LIS302DLDriver *)ip)->state == LIS302DL_READY), - "reset_sensivity(), invalid state"); - - if(((LIS302DLDriver *)ip)->config->fullscale == LIS302DL_FS_2G) - for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++) - ((LIS302DLDriver *)ip)->sensitivity[i] = LIS302DL_SENS_2G; - else if(((LIS302DLDriver *)ip)->config->fullscale == LIS302DL_FS_8G) - 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"); - return MSG_RESET; - } - return MSG_OK; -} - -static const struct BaseSensorVMT vmt_basesensor = { - get_axes_number, read_raw, read_cooked -}; - -static const struct BaseAccelerometerVMT vmt_baseaccelerometer = { - get_axes_number, read_raw, read_cooked, - set_bias, reset_bias, set_sensivity, reset_sensivity -}; - -static const struct LIS302DLVMT vmt_lis302dl = { - get_axes_number, read_raw, read_cooked, - set_bias, reset_bias, set_sensivity, reset_sensivity -}; - -/*===========================================================================*/ -/* Driver exported functions. */ -/*===========================================================================*/ - -/** - * @brief Initializes an instance. - * - * @param[out] devp pointer to the @p LIS302DLDriver object - * - * @init - */ -void lis302dlObjectInit(LIS302DLDriver *devp) { - uint32_t i; - devp->vmt_basesensor = &vmt_basesensor; - devp->vmt_baseaccelerometer = &vmt_baseaccelerometer; - devp->vmt_lis302dl = &vmt_lis302dl; - devp->config = NULL; - for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++) - devp->bias[i] = 0; - devp->state = LIS302DL_STOP; -} - -/** - * @brief Configures and activates LIS302DL Complex Driver peripheral. - * - * @param[in] devp pointer to the @p LIS302DLDriver object - * @param[in] config pointer to the @p LIS302DLConfig object - * - * @api - */ -void lis302dlStart(LIS302DLDriver *devp, const LIS302DLConfig *config) { - uint32_t i; - osalDbgCheck((devp != NULL) && (config != NULL)); - - osalDbgAssert((devp->state == LIS302DL_STOP) || (devp->state == LIS302DL_READY), - "lis302dlStart(), invalid state"); - - devp->config = config; - -#if LIS302DL_USE_SPI -#if LIS302DL_SHARED_SPI - spiAcquireBus((devp)->config->spip); -#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); -#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) - 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 { - osalDbgAssert(FALSE, "lis302dlStart(), accelerometer full scale issue"); - } - /* This is the Accelerometer transient recovery time */ - osalThreadSleepMilliseconds(10); - - devp->state = LIS302DL_READY; -} - -/** - * @brief Deactivates the LIS302DL Complex Driver peripheral. - * - * @param[in] devp pointer to the @p LIS302DLDriver object - * - * @api - */ -void lis302dlStop(LIS302DLDriver *devp) { - - osalDbgCheck(devp != NULL); - - osalDbgAssert((devp->state == LIS302DL_STOP) || (devp->state == LIS302DL_READY), - "lis302dlStop(), invalid state"); - -#if (LIS302DL_USE_SPI) - if (devp->state == LIS302DL_STOP) { -#if LIS302DL_SHARED_SPI - spiAcquireBus((devp)->config->spip); - 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); - spiStop((devp)->config->spip); -#if LIS302DL_SHARED_SPI - spiReleaseBus((devp)->config->spip); -#endif /* LIS302DL_SHARED_SPI */ - } -#endif /* LIS302DL_USE_SPI */ - devp->state = LIS302DL_STOP; -} -/** @} */ +/*
+ ChibiOS - Copyright (C) 2016 Rocco Marco Guglielmi
+
+ This file is part of ChibiOS.
+
+ ChibiOS 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.
+
+ ChibiOS 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/>.
+
+*/
+
+/**
+ * @file lis302dl.c
+ * @brief LIS302DL MEMS interface module code.
+ *
+ * @addtogroup lis302dl
+ * @{
+ */
+
+#include "hal.h"
+#include "lis302dl.h"
+
+/*===========================================================================*/
+/* 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. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* 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. */
+/*===========================================================================*/
+
+#if (LIS302DL_USE_SPI) || defined(__DOXYGEN__)
+/**
+ * @brief Reads a generic register value using SPI.
+ * @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.
+ */
+static uint8_t lis302dlSPIReadRegister(SPIDriver *spip, uint8_t reg) {
+ uint8_t txbuf[2] = {LIS302DL_RW | reg, 0xFF};
+ uint8_t rxbuf[2] = {0x00, 0x00};
+ spiSelect(spip);
+ spiExchange(spip, 2, txbuf, rxbuf);
+ spiUnselect(spip);
+ return rxbuf[1];
+}
+
+/**
+ * @brief Writes a value into a generic register using SPI.
+ * @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.
+ */
+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);
+ }
+}
+#endif /* LIS302DL_USE_SPI */
+
+/*
+ * Interface implementation.
+ */
+static size_t get_axes_number(void *ip) {
+
+ osalDbgCheck(ip != NULL);
+ return LIS302DL_NUMBER_OF_AXES;
+}
+
+static msg_t read_raw(void *ip, int32_t axes[LIS302DL_NUMBER_OF_AXES]) {
+ int8_t tmp;
+ osalDbgCheck((ip != NULL) && (axes != NULL));
+
+ osalDbgAssert((((LIS302DLDriver *)ip)->state == LIS302DL_READY),
+ "read_raw(), invalid state");
+
+#if LIS302DL_USE_SPI
+ osalDbgAssert((((LIS302DLDriver *)ip)->config->spip->state == SPI_READY),
+ "read_raw(), channel not ready");
+#if LIS302DL_SHARED_SPI
+ spiAcquireBus(((LIS302DLDriver *)ip)->config->spip);
+ 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];
+ }
+#if LIS302DL_SHARED_SPI
+ spiReleaseBus(((LIS302DLDriver *)ip)->config->spip);
+#endif /* LIS302DL_SHARED_SPI */
+#endif /* LIS302DL_USE_SPI */
+ return MSG_OK;
+}
+
+static msg_t read_cooked(void *ip, float axes[]) {
+ uint32_t i;
+ int32_t raw[LIS302DL_NUMBER_OF_AXES];
+ msg_t msg;
+
+ osalDbgCheck((ip != NULL) && (axes != NULL));
+
+ osalDbgAssert((((LIS302DLDriver *)ip)->state == LIS302DL_READY),
+ "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;
+ }
+ }
+ return msg;
+}
+
+static msg_t set_bias(void *ip, int32_t *bp) {
+ uint32_t i;
+
+ osalDbgCheck((ip != NULL) && (bp !=NULL));
+
+ osalDbgAssert((((LIS302DLDriver *)ip)->state == LIS302DL_READY) ||
+ (((LIS302DLDriver *)ip)->state == LIS302DL_STOP),
+ "set_bias(), invalid state");
+
+ for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++) {
+ ((LIS302DLDriver *)ip)->bias[i] = bp[i];
+ }
+ return MSG_OK;
+}
+
+static msg_t reset_bias(void *ip) {
+ uint32_t i;
+
+ osalDbgCheck(ip != NULL);
+
+ osalDbgAssert((((LIS302DLDriver *)ip)->state == LIS302DL_READY) ||
+ (((LIS302DLDriver *)ip)->state == LIS302DL_STOP),
+ "reset_bias(), invalid state");
+
+ for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)
+ ((LIS302DLDriver *)ip)->bias[i] = 0;
+ return MSG_OK;
+}
+
+static msg_t set_sensivity(void *ip, float *sp) {
+ uint32_t i;
+
+ osalDbgCheck((ip != NULL) && (sp !=NULL));
+
+ osalDbgAssert((((LIS302DLDriver *)ip)->state == LIS302DL_READY),
+ "set_sensivity(), invalid state");
+
+ for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++) {
+ ((LIS302DLDriver *)ip)->sensitivity[i] = sp[i];
+ }
+ return MSG_OK;
+}
+
+static msg_t reset_sensivity(void *ip) {
+ uint32_t i;
+
+ osalDbgCheck(ip != NULL);
+
+ osalDbgAssert((((LIS302DLDriver *)ip)->state == LIS302DL_READY),
+ "reset_sensivity(), invalid state");
+
+ if(((LIS302DLDriver *)ip)->config->fullscale == LIS302DL_FS_2G)
+ for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)
+ ((LIS302DLDriver *)ip)->sensitivity[i] = LIS302DL_SENS_2G;
+ else if(((LIS302DLDriver *)ip)->config->fullscale == LIS302DL_FS_8G)
+ 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");
+ return MSG_RESET;
+ }
+ return MSG_OK;
+}
+
+static const struct BaseSensorVMT vmt_basesensor = {
+ get_axes_number, read_raw, read_cooked
+};
+
+static const struct BaseAccelerometerVMT vmt_baseaccelerometer = {
+ get_axes_number, read_raw, read_cooked,
+ set_bias, reset_bias, set_sensivity, reset_sensivity
+};
+
+static const struct LIS302DLVMT vmt_lis302dl = {
+ get_axes_number, read_raw, read_cooked,
+ set_bias, reset_bias, set_sensivity, reset_sensivity
+};
+
+/*===========================================================================*/
+/* Driver exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Initializes an instance.
+ *
+ * @param[out] devp pointer to the @p LIS302DLDriver object
+ *
+ * @init
+ */
+void lis302dlObjectInit(LIS302DLDriver *devp) {
+ uint32_t i;
+ devp->vmt_basesensor = &vmt_basesensor;
+ devp->vmt_baseaccelerometer = &vmt_baseaccelerometer;
+ devp->vmt_lis302dl = &vmt_lis302dl;
+ devp->config = NULL;
+ for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)
+ devp->bias[i] = 0;
+ devp->state = LIS302DL_STOP;
+}
+
+/**
+ * @brief Configures and activates LIS302DL Complex Driver peripheral.
+ *
+ * @param[in] devp pointer to the @p LIS302DLDriver object
+ * @param[in] config pointer to the @p LIS302DLConfig object
+ *
+ * @api
+ */
+void lis302dlStart(LIS302DLDriver *devp, const LIS302DLConfig *config) {
+ uint32_t i;
+ osalDbgCheck((devp != NULL) && (config != NULL));
+
+ osalDbgAssert((devp->state == LIS302DL_STOP) || (devp->state == LIS302DL_READY),
+ "lis302dlStart(), invalid state");
+
+ devp->config = config;
+
+#if LIS302DL_USE_SPI
+#if LIS302DL_SHARED_SPI
+ spiAcquireBus((devp)->config->spip);
+#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);
+#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)
+ 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 {
+ osalDbgAssert(FALSE, "lis302dlStart(), accelerometer full scale issue");
+ }
+ /* This is the Accelerometer transient recovery time */
+ osalThreadSleepMilliseconds(10);
+
+ devp->state = LIS302DL_READY;
+}
+
+/**
+ * @brief Deactivates the LIS302DL Complex Driver peripheral.
+ *
+ * @param[in] devp pointer to the @p LIS302DLDriver object
+ *
+ * @api
+ */
+void lis302dlStop(LIS302DLDriver *devp) {
+
+ osalDbgCheck(devp != NULL);
+
+ osalDbgAssert((devp->state == LIS302DL_STOP) || (devp->state == LIS302DL_READY),
+ "lis302dlStop(), invalid state");
+
+#if (LIS302DL_USE_SPI)
+ if (devp->state == LIS302DL_STOP) {
+#if LIS302DL_SHARED_SPI
+ spiAcquireBus((devp)->config->spip);
+ 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);
+ spiStop((devp)->config->spip);
+#if LIS302DL_SHARED_SPI
+ spiReleaseBus((devp)->config->spip);
+#endif /* LIS302DL_SHARED_SPI */
+ }
+#endif /* LIS302DL_USE_SPI */
+ devp->state = LIS302DL_STOP;
+}
+/** @} */
|