aboutsummaryrefslogtreecommitdiffstats
path: root/os/ex/ST/lis3dsh.c
diff options
context:
space:
mode:
Diffstat (limited to 'os/ex/ST/lis3dsh.c')
-rw-r--r--os/ex/ST/lis3dsh.c1228
1 files changed, 614 insertions, 614 deletions
diff --git a/os/ex/ST/lis3dsh.c b/os/ex/ST/lis3dsh.c
index c28f60304..cdf4d9754 100644
--- a/os/ex/ST/lis3dsh.c
+++ b/os/ex/ST/lis3dsh.c
@@ -1,614 +1,614 @@
-/*
- 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 lis3dsh.c
- * @brief LIS3DSH MEMS interface module code.
- *
- * @addtogroup lis3dsh
- * @{
- */
-
-#include "hal.h"
-#include "lis3dsh.h"
-
-/*===========================================================================*/
-/* Driver local definitions. */
-/*===========================================================================*/
-
-#define LIS3DSH_SENS_2G ((float)0.06f)
-#define LIS3DSH_SENS_4G ((float)0.12f)
-#define LIS3DSH_SENS_6G ((float)0.18f)
-#define LIS3DSH_SENS_8G ((float)0.24f)
-#define LIS3DSH_SENS_16G ((float)0.73f)
-
-#define LIS3DSH_DI ((uint8_t)0xFF)
-#define LIS3DSH_DI_0 ((uint8_t)0x01)
-#define LIS3DSH_DI_1 ((uint8_t)0x02)
-#define LIS3DSH_DI_2 ((uint8_t)0x04)
-#define LIS3DSH_DI_3 ((uint8_t)0x08)
-#define LIS3DSH_DI_4 ((uint8_t)0x10)
-#define LIS3DSH_DI_5 ((uint8_t)0x20)
-#define LIS3DSH_DI_6 ((uint8_t)0x40)
-#define LIS3DSH_DI_7 ((uint8_t)0x80)
-
-#define LIS3DSH_AD ((uint8_t)0x3F)
-#define LIS3DSH_AD_0 ((uint8_t)0x01)
-#define LIS3DSH_AD_1 ((uint8_t)0x02)
-#define LIS3DSH_AD_2 ((uint8_t)0x04)
-#define LIS3DSH_AD_3 ((uint8_t)0x08)
-#define LIS3DSH_AD_4 ((uint8_t)0x10)
-#define LIS3DSH_AD_5 ((uint8_t)0x20)
-
-#define LIS3DSH_MS ((uint8_t)0x40)
-#define LIS3DSH_RW ((uint8_t)0x80)
-
-#define LIS3DSH_AD_INFO1 ((uint8_t)0x0D)
-#define LIS3DSH_AD_INFO2 ((uint8_t)0x0E)
-#define LIS3DSH_AD_WHO_AM_I ((uint8_t)0x0F)
-#define LIS3DSH_AD_CTRL_REG3 ((uint8_t)0x23)
-#define LIS3DSH_AD_CTRL_REG4 ((uint8_t)0x20)
-#define LIS3DSH_AD_CTRL_REG5 ((uint8_t)0x24)
-#define LIS3DSH_AD_CTRL_REG6 ((uint8_t)0x25)
-#define LIS3DSH_AD_STATUS ((uint8_t)0x27)
-#define LIS3DSH_AD_OUT_T ((uint8_t)0x0C)
-#define LIS3DSH_AD_OFF_X ((uint8_t)0x10)
-#define LIS3DSH_AD_OFF_Y ((uint8_t)0x11)
-#define LIS3DSH_AD_OFF_Z ((uint8_t)0x12)
-#define LIS3DSH_AD_CS_X ((uint8_t)0x13)
-#define LIS3DSH_AD_CS_Y ((uint8_t)0x14)
-#define LIS3DSH_AD_CS_Z ((uint8_t)0x15)
-#define LIS3DSH_AD_LC_L ((uint8_t)0x16)
-#define LIS3DSH_AD_LC_H ((uint8_t)0x17)
-#define LIS3DSH_AD_STAT ((uint8_t)0x18)
-#define LIS3DSH_AD_VFC_1 ((uint8_t)0x1B)
-#define LIS3DSH_AD_VFC_2 ((uint8_t)0x1C)
-#define LIS3DSH_AD_VFC_3 ((uint8_t)0x1D)
-#define LIS3DSH_AD_VFC_4 ((uint8_t)0x1E)
-#define LIS3DSH_AD_THRS3 ((uint8_t)0x1F)
-#define LIS3DSH_AD_OUT_X_L ((uint8_t)0x28)
-#define LIS3DSH_AD_OUT_X_H ((uint8_t)0x29)
-#define LIS3DSH_AD_OUT_Y_L ((uint8_t)0x2A)
-#define LIS3DSH_AD_OUT_Y_H ((uint8_t)0x2B)
-#define LIS3DSH_AD_OUT_Z_L ((uint8_t)0x2C)
-#define LIS3DSH_AD_OUT_Z_H ((uint8_t)0x2D)
-#define LIS3DSH_AD_FIFO_CTRL ((uint8_t)0x2E)
-#define LIS3DSH_AD_FIFO_SRC ((uint8_t)0x2F)
-#define LIS3DSH_AD_CTRL_REG1 ((uint8_t)0x21)
-#define LIS3DSH_AD_ST1_0 ((uint8_t)0x40)
-#define LIS3DSH_AD_ST1_1 ((uint8_t)0x41)
-#define LIS3DSH_AD_ST1_2 ((uint8_t)0x42)
-#define LIS3DSH_AD_ST1_3 ((uint8_t)0x43)
-#define LIS3DSH_AD_ST1_4 ((uint8_t)0x44)
-#define LIS3DSH_AD_ST1_5 ((uint8_t)0x45)
-#define LIS3DSH_AD_ST1_6 ((uint8_t)0x46)
-#define LIS3DSH_AD_ST1_7 ((uint8_t)0x47)
-#define LIS3DSH_AD_ST1_8 ((uint8_t)0x48)
-#define LIS3DSH_AD_ST1_9 ((uint8_t)0x49)
-#define LIS3DSH_AD_ST1_A ((uint8_t)0x4A)
-#define LIS3DSH_AD_ST1_B ((uint8_t)0x4B)
-#define LIS3DSH_AD_ST1_C ((uint8_t)0x4C)
-#define LIS3DSH_AD_ST1_D ((uint8_t)0x4D)
-#define LIS3DSH_AD_ST1_E ((uint8_t)0x4E)
-#define LIS3DSH_AD_ST1_F ((uint8_t)0x4F)
-#define LIS3DSH_AD_TIM4_1 ((uint8_t)0x50)
-#define LIS3DSH_AD_TIM3_1 ((uint8_t)0x51)
-#define LIS3DSH_AD_TIM2_1_L ((uint8_t)0x52)
-#define LIS3DSH_AD_TIM2_1_H ((uint8_t)0x53)
-#define LIS3DSH_AD_TIM1_1_L ((uint8_t)0x54)
-#define LIS3DSH_AD_TIM1_1_H ((uint8_t)0x55)
-#define LIS3DSH_AD_THRS2_1 ((uint8_t)0x56)
-#define LIS3DSH_AD_THRS1_1 ((uint8_t)0x57)
-#define LIS3DSH_AD_MASK1_B ((uint8_t)0x59)
-#define LIS3DSH_AD_MASK1_A ((uint8_t)0x5A)
-#define LIS3DSH_AD_SETT1 ((uint8_t)0x5B)
-#define LIS3DSH_AD_PR1 ((uint8_t)0x5C)
-#define LIS3DSH_AD_TC1_L ((uint8_t)0x5D)
-#define LIS3DSH_AD_TC1_H ((uint8_t)0x5E)
-#define LIS3DSH_AD_OUTS1 ((uint8_t)0x5F)
-#define LIS3DSH_AD_PEAK1 ((uint8_t)0x19)
-#define LIS3DSH_AD_CTRL_REG2 ((uint8_t)0x22)
-#define LIS3DSH_AD_ST2_0 ((uint8_t)0x60)
-#define LIS3DSH_AD_ST2_1 ((uint8_t)0x61)
-#define LIS3DSH_AD_ST2_2 ((uint8_t)0x62)
-#define LIS3DSH_AD_ST2_3 ((uint8_t)0x63)
-#define LIS3DSH_AD_ST2_4 ((uint8_t)0x64)
-#define LIS3DSH_AD_ST2_5 ((uint8_t)0x65)
-#define LIS3DSH_AD_ST2_6 ((uint8_t)0x66)
-#define LIS3DSH_AD_ST2_7 ((uint8_t)0x67)
-#define LIS3DSH_AD_ST2_8 ((uint8_t)0x68)
-#define LIS3DSH_AD_ST2_9 ((uint8_t)0x69)
-#define LIS3DSH_AD_ST2_A ((uint8_t)0x6A)
-#define LIS3DSH_AD_ST2_B ((uint8_t)0x6B)
-#define LIS3DSH_AD_ST2_C ((uint8_t)0x6C)
-#define LIS3DSH_AD_ST2_D ((uint8_t)0x6D)
-#define LIS3DSH_AD_ST2_E ((uint8_t)0x6E)
-#define LIS3DSH_AD_ST2_F ((uint8_t)0x6F)
-#define LIS3DSH_AD_TIM4_2 ((uint8_t)0x70)
-#define LIS3DSH_AD_TIM3_2 ((uint8_t)0x71)
-#define LIS3DSH_AD_TIM2_2_L ((uint8_t)0x72)
-#define LIS3DSH_AD_TIM2_2_H ((uint8_t)0x73)
-#define LIS3DSH_AD_TIM1_2_L ((uint8_t)0x74)
-#define LIS3DSH_AD_TIM1_2_H ((uint8_t)0x75)
-#define LIS3DSH_AD_THRS2_2 ((uint8_t)0x76)
-#define LIS3DSH_AD_THRS1_2 ((uint8_t)0x77)
-#define LIS3DSH_AD_MASK2_B ((uint8_t)0x79)
-#define LIS3DSH_AD_MASK2_A ((uint8_t)0x7A)
-#define LIS3DSH_AD_SETT2 ((uint8_t)0x7B)
-#define LIS3DSH_AD_PR2 ((uint8_t)0x7C)
-#define LIS3DSH_AD_TC2_L ((uint8_t)0x7D)
-#define LIS3DSH_AD_TC2_H ((uint8_t)0x7E)
-#define LIS3DSH_AD_OUTS2 ((uint8_t)0x7F)
-#define LIS3DSH_AD_PEAK2 ((uint8_t)0x1A)
-#define LIS3DSH_AD_DES2 ((uint8_t)0x78)
-
-#define LIS3DSH_CTRL_REG5_FS_MASK ((uint8_t)0x38)
-#define TO_G ((float)0.001f)
-#define TO_SI ((float)0.00981f)
-/*===========================================================================*/
-/* Driver exported variables. */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Driver local variables and types. */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Driver local functions. */
-/*===========================================================================*/
-
-#if (LIS3DSH_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 lis3dshSPIReadRegister(SPIDriver *spip, uint8_t reg) {
- uint8_t txbuf[2] = {LIS3DSH_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 lis3dshSPIWriteRegister(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, "lis3dshSPIWriteRegister(), reserved register");
- case LIS3DSH_AD_INFO1:
- case LIS3DSH_AD_INFO2:
- case LIS3DSH_AD_WHO_AM_I:
- case LIS3DSH_AD_STATUS:
- case LIS3DSH_AD_OUT_T:
- case LIS3DSH_AD_STAT:
- case LIS3DSH_AD_OUT_X_L:
- case LIS3DSH_AD_OUT_X_H:
- case LIS3DSH_AD_OUT_Y_L:
- case LIS3DSH_AD_OUT_Y_H:
- case LIS3DSH_AD_OUT_Z_L:
- case LIS3DSH_AD_OUT_Z_H:
- case LIS3DSH_AD_FIFO_SRC:
- case LIS3DSH_AD_FIFO_CTRL:
- case LIS3DSH_AD_PR1:
- case LIS3DSH_AD_TC1_L:
- case LIS3DSH_AD_TC1_H:
- case LIS3DSH_AD_OUTS1:
- case LIS3DSH_AD_PEAK1:
- case LIS3DSH_AD_PR2:
- case LIS3DSH_AD_TC2_L:
- case LIS3DSH_AD_TC2_H:
- case LIS3DSH_AD_OUTS2:
- case LIS3DSH_AD_PEAK2:
- /* Read only registers cannot be written, the command is ignored.*/
- return;
- case LIS3DSH_AD_CTRL_REG3:
- case LIS3DSH_AD_CTRL_REG4:
- case LIS3DSH_AD_CTRL_REG5:
- case LIS3DSH_AD_CTRL_REG6:
- case LIS3DSH_AD_OFF_X:
- case LIS3DSH_AD_OFF_Y:
- case LIS3DSH_AD_OFF_Z:
- case LIS3DSH_AD_CS_X:
- case LIS3DSH_AD_CS_Y:
- case LIS3DSH_AD_CS_Z:
- case LIS3DSH_AD_LC_L:
- case LIS3DSH_AD_LC_H:
- case LIS3DSH_AD_VFC_1:
- case LIS3DSH_AD_VFC_2:
- case LIS3DSH_AD_VFC_3:
- case LIS3DSH_AD_VFC_4:
- case LIS3DSH_AD_THRS3:
- case LIS3DSH_AD_CTRL_REG1:
- case LIS3DSH_AD_ST1_0:
- case LIS3DSH_AD_ST1_1:
- case LIS3DSH_AD_ST1_2:
- case LIS3DSH_AD_ST1_3:
- case LIS3DSH_AD_ST1_4:
- case LIS3DSH_AD_ST1_5:
- case LIS3DSH_AD_ST1_6:
- case LIS3DSH_AD_ST1_7:
- case LIS3DSH_AD_ST1_8:
- case LIS3DSH_AD_ST1_9:
- case LIS3DSH_AD_ST1_A:
- case LIS3DSH_AD_ST1_B:
- case LIS3DSH_AD_ST1_C:
- case LIS3DSH_AD_ST1_D:
- case LIS3DSH_AD_ST1_E:
- case LIS3DSH_AD_ST1_F:
- case LIS3DSH_AD_TIM4_1:
- case LIS3DSH_AD_TIM3_1:
- case LIS3DSH_AD_TIM2_1_L:
- case LIS3DSH_AD_TIM2_1_H:
- case LIS3DSH_AD_TIM1_1_L:
- case LIS3DSH_AD_TIM1_1_H:
- case LIS3DSH_AD_THRS2_1:
- case LIS3DSH_AD_THRS1_1:
- case LIS3DSH_AD_MASK1_B:
- case LIS3DSH_AD_MASK1_A:
- case LIS3DSH_AD_SETT1:
- case LIS3DSH_AD_CTRL_REG2:
- case LIS3DSH_AD_ST2_0:
- case LIS3DSH_AD_ST2_1:
- case LIS3DSH_AD_ST2_2:
- case LIS3DSH_AD_ST2_3:
- case LIS3DSH_AD_ST2_4:
- case LIS3DSH_AD_ST2_5:
- case LIS3DSH_AD_ST2_6:
- case LIS3DSH_AD_ST2_7:
- case LIS3DSH_AD_ST2_8:
- case LIS3DSH_AD_ST2_9:
- case LIS3DSH_AD_ST2_A:
- case LIS3DSH_AD_ST2_B:
- case LIS3DSH_AD_ST2_C:
- case LIS3DSH_AD_ST2_D:
- case LIS3DSH_AD_ST2_E:
- case LIS3DSH_AD_ST2_F:
- case LIS3DSH_AD_TIM4_2:
- case LIS3DSH_AD_TIM3_2:
- case LIS3DSH_AD_TIM2_2_L:
- case LIS3DSH_AD_TIM2_2_H:
- case LIS3DSH_AD_TIM1_2_L:
- case LIS3DSH_AD_TIM1_2_H:
- case LIS3DSH_AD_THRS2_2:
- case LIS3DSH_AD_THRS1_2:
- case LIS3DSH_AD_MASK2_B:
- case LIS3DSH_AD_MASK2_A:
- case LIS3DSH_AD_SETT2:
- case LIS3DSH_AD_DES2:
- spiSelect(spip);
- uint8_t txbuf[2] = {reg, value};
- spiSend(spip, 2, txbuf);
- spiUnselect(spip);
- }
-}
-#endif /* LIS3DSH_USE_SPI */
-
-/*
- * Interface implementation.
- */
-static size_t get_axes_number(void *ip) {
-
- osalDbgCheck(ip != NULL);
- return LIS3DSH_NUMBER_OF_AXES;
-}
-
-static msg_t read_raw(void *ip, int32_t axes[LIS3DSH_NUMBER_OF_AXES]) {
- int16_t tmp;
- osalDbgCheck((ip != NULL) && (axes != NULL));
-
- osalDbgAssert((((LIS3DSHDriver *)ip)->state == LIS3DSH_READY),
- "read_raw(), invalid state");
-
-#if LIS3DSH_USE_SPI
- osalDbgAssert((((LIS3DSHDriver *)ip)->config->spip->state == SPI_READY),
- "read_raw(), channel not ready");
-#if LIS3DSH_SHARED_SPI
- spiAcquireBus(((LIS3DSHDriver *)ip)->config->spip);
- spiStart(((LIS3DSHDriver *)ip)->config->spip,
- ((LIS3DSHDriver *)ip)->config->spicfg);
-#endif /* LIS3DSH_SHARED_SPI */
- if(((LIS3DSHDriver *)ip)->config->axesenabling & LIS3DSH_AE_X){
- tmp = lis3dshSPIReadRegister(((LIS3DSHDriver *)ip)->config->spip,
- LIS3DSH_AD_OUT_X_L);
- tmp += lis3dshSPIReadRegister(((LIS3DSHDriver *)ip)->config->spip,
- LIS3DSH_AD_OUT_X_H) << 8;
- axes[0] = (int32_t)tmp + ((LIS3DSHDriver *)ip)->bias[0];
- }
- if(((LIS3DSHDriver *)ip)->config->axesenabling & LIS3DSH_AE_Y){
- tmp = lis3dshSPIReadRegister(((LIS3DSHDriver *)ip)->config->spip,
- LIS3DSH_AD_OUT_Y_L);
- tmp += lis3dshSPIReadRegister(((LIS3DSHDriver *)ip)->config->spip,
- LIS3DSH_AD_OUT_Y_H) << 8;
- axes[1] = (int32_t)tmp + ((LIS3DSHDriver *)ip)->bias[1];
- }
- if(((LIS3DSHDriver *)ip)->config->axesenabling & LIS3DSH_AE_Z){
- tmp = lis3dshSPIReadRegister(((LIS3DSHDriver *)ip)->config->spip,
- LIS3DSH_AD_OUT_Z_L);
- tmp += lis3dshSPIReadRegister(((LIS3DSHDriver *)ip)->config->spip,
- LIS3DSH_AD_OUT_Z_H) << 8;
- axes[2] = (int32_t)tmp + ((LIS3DSHDriver *)ip)->bias[2];
- }
-#if LIS3DSH_SHARED_SPI
- spiReleaseBus(((LIS3DSHDriver *)ip)->config->spip);
-#endif /* LIS3DSH_SHARED_SPI */
-#endif /* LIS3DSH_USE_SPI */
- return MSG_OK;
-}
-
-static msg_t read_cooked(void *ip, float axes[]) {
- uint32_t i;
- int32_t raw[LIS3DSH_NUMBER_OF_AXES];
- msg_t msg;
-
- osalDbgCheck((ip != NULL) && (axes != NULL));
-
- osalDbgAssert((((LIS3DSHDriver *)ip)->state == LIS3DSH_READY),
- "read_cooked(), invalid state");
-
- msg = read_raw(ip, raw);
- for(i = 0; i < LIS3DSH_NUMBER_OF_AXES ; i++){
- axes[i] = raw[i] * ((LIS3DSHDriver *)ip)->sensitivity[i];
- if(((LIS3DSHDriver *)ip)->config->unit == LIS3DSH_ACC_UNIT_G){
- axes[i] *= TO_G;
- }
- else if(((LIS3DSHDriver *)ip)->config->unit == LIS3DSH_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((((LIS3DSHDriver *)ip)->state == LIS3DSH_READY) ||
- (((LIS3DSHDriver *)ip)->state == LIS3DSH_STOP),
- "set_bias(), invalid state");
-
- for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) {
- ((LIS3DSHDriver *)ip)->bias[i] = bp[i];
- }
- return MSG_OK;
-}
-
-static msg_t reset_bias(void *ip) {
- uint32_t i;
-
- osalDbgCheck(ip != NULL);
-
- osalDbgAssert((((LIS3DSHDriver *)ip)->state == LIS3DSH_READY) ||
- (((LIS3DSHDriver *)ip)->state == LIS3DSH_STOP),
- "reset_bias(), invalid state");
-
- for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
- ((LIS3DSHDriver *)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((((LIS3DSHDriver *)ip)->state == LIS3DSH_READY),
- "set_sensivity(), invalid state");
-
- for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) {
- ((LIS3DSHDriver *)ip)->sensitivity[i] = sp[i];
- }
- return MSG_OK;
-}
-
-static msg_t reset_sensivity(void *ip) {
- uint32_t i;
-
- osalDbgCheck(ip != NULL);
-
- osalDbgAssert((((LIS3DSHDriver *)ip)->state == LIS3DSH_READY),
- "reset_sensivity(), invalid state");
-
- if(((LIS3DSHDriver *)ip)->config->fullscale == LIS3DSH_FS_2G)
- for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
- ((LIS3DSHDriver *)ip)->sensitivity[i] = LIS3DSH_SENS_2G;
- else if(((LIS3DSHDriver *)ip)->config->fullscale == LIS3DSH_FS_4G)
- for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
- ((LIS3DSHDriver *)ip)->sensitivity[i] = LIS3DSH_SENS_4G;
- else if(((LIS3DSHDriver *)ip)->config->fullscale == LIS3DSH_FS_6G)
- for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
- ((LIS3DSHDriver *)ip)->sensitivity[i] = LIS3DSH_SENS_6G;
- else if(((LIS3DSHDriver *)ip)->config->fullscale == LIS3DSH_FS_8G)
- for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
- ((LIS3DSHDriver *)ip)->sensitivity[i] = LIS3DSH_SENS_8G;
- else if(((LIS3DSHDriver *)ip)->config->fullscale == LIS3DSH_FS_16G)
- for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
- ((LIS3DSHDriver *)ip)->sensitivity[i] = LIS3DSH_SENS_16G;
- else {
- osalDbgAssert(FALSE, "reset_sensivity(), accelerometer full scale issue");
- return MSG_RESET;
- }
- return MSG_OK;
-}
-
-static msg_t get_temperature(void *ip, int8_t* tempp) {
-#if LIS3DSH_USE_SPI
- osalDbgAssert((((LIS3DSHDriver *)ip)->config->spip->state == SPI_READY),
- "read_raw(), channel not ready");
-#if LIS3DSH_SHARED_SPI
- spiAcquireBus(((LIS3DSHDriver *)ip)->config->spip);
- spiStart(((LIS3DSHDriver *)ip)->config->spip,
- ((LIS3DSHDriver *)ip)->config->spicfg);
-#endif /* LIS3DSH_SHARED_SPI */
- *tempp = lis3dshSPIReadRegister(((LIS3DSHDriver *)ip)->config->spip,
- LIS3DSH_AD_OUT_T);
-#if LIS3DSH_SHARED_SPI
- spiReleaseBus(((LIS3DSHDriver *)ip)->config->spip);
-#endif /* LIS3DSH_SHARED_SPI */
-#endif /* LIS3DSH_USE_SPI */
- 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 LIS3DSHVMT vmt_lis3dsh = {
- get_axes_number, read_raw, read_cooked,
- set_bias, reset_bias, set_sensivity, reset_sensivity,
- get_temperature
-};
-
-/*===========================================================================*/
-/* Driver exported functions. */
-/*===========================================================================*/
-
-/**
- * @brief Initializes an instance.
- *
- * @param[out] devp pointer to the @p LIS3DSHDriver object
- *
- * @init
- */
-void lis3dshObjectInit(LIS3DSHDriver *devp) {
- uint32_t i;
- devp->vmt_basesensor = &vmt_basesensor;
- devp->vmt_baseaccelerometer = &vmt_baseaccelerometer;
- devp->vmt_lis3dsh = &vmt_lis3dsh;
- devp->config = NULL;
- for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
- devp->bias[i] = 0;
- devp->state = LIS3DSH_STOP;
-}
-
-/**
- * @brief Configures and activates LIS3DSH Complex Driver peripheral.
- *
- * @param[in] devp pointer to the @p LIS3DSHDriver object
- * @param[in] config pointer to the @p LIS3DSHConfig object
- *
- * @api
- */
-void lis3dshStart(LIS3DSHDriver *devp, const LIS3DSHConfig *config) {
- uint32_t i;
- osalDbgCheck((devp != NULL) && (config != NULL));
-
- osalDbgAssert((devp->state == LIS3DSH_STOP) || (devp->state == LIS3DSH_READY),
- "lis3dshStart(), invalid state");
-
- devp->config = config;
-
-#if LIS3DSH_USE_SPI
-#if LIS3DSH_SHARED_SPI
- spiAcquireBus((devp)->config->spip);
-#endif /* LIS3DSH_SHARED_SPI */
- spiStart((devp)->config->spip,
- (devp)->config->spicfg);
- lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG4,
- devp->config->axesenabling |
- devp->config->blockdataupdate |
- devp->config->outputdatarate);
- lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG5,
- devp->config->fullscale |
- devp->config->antialiasing );
-#if LIS3DSH_SHARED_SPI
- spiReleaseBus((devp)->config->spip);
-#endif /* LIS3DSH_SHARED_SPI */
-#endif /* LIS3DSH_USE_SPI */
-
- /* Storing sensitivity information according to full scale value */
- if(devp->config->fullscale == LIS3DSH_FS_2G)
- for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
- devp->sensitivity[i] = LIS3DSH_SENS_2G;
- else if(devp->config->fullscale == LIS3DSH_FS_4G)
- for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
- devp->sensitivity[i] = LIS3DSH_SENS_4G;
- else if(devp->config->fullscale == LIS3DSH_FS_6G)
- for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
- devp->sensitivity[i] = LIS3DSH_SENS_6G;
- else if(devp->config->fullscale == LIS3DSH_FS_8G)
- for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
- devp->sensitivity[i] = LIS3DSH_SENS_8G;
- else if(devp->config->fullscale == LIS3DSH_FS_16G)
- for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
- devp->sensitivity[i] = LIS3DSH_SENS_16G;
- else {
- osalDbgAssert(FALSE, "lis3dshStart(), accelerometer full scale issue");
- }
- /* This is the Accelerometer transient recovery time */
- osalThreadSleepMilliseconds(10);
-
- devp->state = LIS3DSH_READY;
-}
-
-/**
- * @brief Deactivates the LIS3DSH Complex Driver peripheral.
- *
- * @param[in] devp pointer to the @p LIS3DSHDriver object
- *
- * @api
- */
-void lis3dshStop(LIS3DSHDriver *devp) {
-
- osalDbgCheck(devp != NULL);
-
- osalDbgAssert((devp->state == LIS3DSH_STOP) || (devp->state == LIS3DSH_READY),
- "lis3dshStop(), invalid state");
-
-#if (LIS3DSH_USE_SPI)
- if (devp->state == LIS3DSH_STOP) {
-#if LIS3DSH_SHARED_SPI
- spiAcquireBus((devp)->config->spip);
- spiStart((devp)->config->spip,
- (devp)->config->spicfg);
-#endif /* LIS3DSH_SHARED_SPI */
- lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG4,
- LIS3DSH_ODR_PD | LIS3DSH_AE_DISABLED);
- spiStop((devp)->config->spip);
-#if LIS3DSH_SHARED_SPI
- spiReleaseBus((devp)->config->spip);
-#endif /* LIS3DSH_SHARED_SPI */
- }
-#endif /* LIS3DSH_USE_SPI */
- devp->state = LIS3DSH_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 lis3dsh.c
+ * @brief LIS3DSH MEMS interface module code.
+ *
+ * @addtogroup lis3dsh
+ * @{
+ */
+
+#include "hal.h"
+#include "lis3dsh.h"
+
+/*===========================================================================*/
+/* Driver local definitions. */
+/*===========================================================================*/
+
+#define LIS3DSH_SENS_2G ((float)0.06f)
+#define LIS3DSH_SENS_4G ((float)0.12f)
+#define LIS3DSH_SENS_6G ((float)0.18f)
+#define LIS3DSH_SENS_8G ((float)0.24f)
+#define LIS3DSH_SENS_16G ((float)0.73f)
+
+#define LIS3DSH_DI ((uint8_t)0xFF)
+#define LIS3DSH_DI_0 ((uint8_t)0x01)
+#define LIS3DSH_DI_1 ((uint8_t)0x02)
+#define LIS3DSH_DI_2 ((uint8_t)0x04)
+#define LIS3DSH_DI_3 ((uint8_t)0x08)
+#define LIS3DSH_DI_4 ((uint8_t)0x10)
+#define LIS3DSH_DI_5 ((uint8_t)0x20)
+#define LIS3DSH_DI_6 ((uint8_t)0x40)
+#define LIS3DSH_DI_7 ((uint8_t)0x80)
+
+#define LIS3DSH_AD ((uint8_t)0x3F)
+#define LIS3DSH_AD_0 ((uint8_t)0x01)
+#define LIS3DSH_AD_1 ((uint8_t)0x02)
+#define LIS3DSH_AD_2 ((uint8_t)0x04)
+#define LIS3DSH_AD_3 ((uint8_t)0x08)
+#define LIS3DSH_AD_4 ((uint8_t)0x10)
+#define LIS3DSH_AD_5 ((uint8_t)0x20)
+
+#define LIS3DSH_MS ((uint8_t)0x40)
+#define LIS3DSH_RW ((uint8_t)0x80)
+
+#define LIS3DSH_AD_INFO1 ((uint8_t)0x0D)
+#define LIS3DSH_AD_INFO2 ((uint8_t)0x0E)
+#define LIS3DSH_AD_WHO_AM_I ((uint8_t)0x0F)
+#define LIS3DSH_AD_CTRL_REG3 ((uint8_t)0x23)
+#define LIS3DSH_AD_CTRL_REG4 ((uint8_t)0x20)
+#define LIS3DSH_AD_CTRL_REG5 ((uint8_t)0x24)
+#define LIS3DSH_AD_CTRL_REG6 ((uint8_t)0x25)
+#define LIS3DSH_AD_STATUS ((uint8_t)0x27)
+#define LIS3DSH_AD_OUT_T ((uint8_t)0x0C)
+#define LIS3DSH_AD_OFF_X ((uint8_t)0x10)
+#define LIS3DSH_AD_OFF_Y ((uint8_t)0x11)
+#define LIS3DSH_AD_OFF_Z ((uint8_t)0x12)
+#define LIS3DSH_AD_CS_X ((uint8_t)0x13)
+#define LIS3DSH_AD_CS_Y ((uint8_t)0x14)
+#define LIS3DSH_AD_CS_Z ((uint8_t)0x15)
+#define LIS3DSH_AD_LC_L ((uint8_t)0x16)
+#define LIS3DSH_AD_LC_H ((uint8_t)0x17)
+#define LIS3DSH_AD_STAT ((uint8_t)0x18)
+#define LIS3DSH_AD_VFC_1 ((uint8_t)0x1B)
+#define LIS3DSH_AD_VFC_2 ((uint8_t)0x1C)
+#define LIS3DSH_AD_VFC_3 ((uint8_t)0x1D)
+#define LIS3DSH_AD_VFC_4 ((uint8_t)0x1E)
+#define LIS3DSH_AD_THRS3 ((uint8_t)0x1F)
+#define LIS3DSH_AD_OUT_X_L ((uint8_t)0x28)
+#define LIS3DSH_AD_OUT_X_H ((uint8_t)0x29)
+#define LIS3DSH_AD_OUT_Y_L ((uint8_t)0x2A)
+#define LIS3DSH_AD_OUT_Y_H ((uint8_t)0x2B)
+#define LIS3DSH_AD_OUT_Z_L ((uint8_t)0x2C)
+#define LIS3DSH_AD_OUT_Z_H ((uint8_t)0x2D)
+#define LIS3DSH_AD_FIFO_CTRL ((uint8_t)0x2E)
+#define LIS3DSH_AD_FIFO_SRC ((uint8_t)0x2F)
+#define LIS3DSH_AD_CTRL_REG1 ((uint8_t)0x21)
+#define LIS3DSH_AD_ST1_0 ((uint8_t)0x40)
+#define LIS3DSH_AD_ST1_1 ((uint8_t)0x41)
+#define LIS3DSH_AD_ST1_2 ((uint8_t)0x42)
+#define LIS3DSH_AD_ST1_3 ((uint8_t)0x43)
+#define LIS3DSH_AD_ST1_4 ((uint8_t)0x44)
+#define LIS3DSH_AD_ST1_5 ((uint8_t)0x45)
+#define LIS3DSH_AD_ST1_6 ((uint8_t)0x46)
+#define LIS3DSH_AD_ST1_7 ((uint8_t)0x47)
+#define LIS3DSH_AD_ST1_8 ((uint8_t)0x48)
+#define LIS3DSH_AD_ST1_9 ((uint8_t)0x49)
+#define LIS3DSH_AD_ST1_A ((uint8_t)0x4A)
+#define LIS3DSH_AD_ST1_B ((uint8_t)0x4B)
+#define LIS3DSH_AD_ST1_C ((uint8_t)0x4C)
+#define LIS3DSH_AD_ST1_D ((uint8_t)0x4D)
+#define LIS3DSH_AD_ST1_E ((uint8_t)0x4E)
+#define LIS3DSH_AD_ST1_F ((uint8_t)0x4F)
+#define LIS3DSH_AD_TIM4_1 ((uint8_t)0x50)
+#define LIS3DSH_AD_TIM3_1 ((uint8_t)0x51)
+#define LIS3DSH_AD_TIM2_1_L ((uint8_t)0x52)
+#define LIS3DSH_AD_TIM2_1_H ((uint8_t)0x53)
+#define LIS3DSH_AD_TIM1_1_L ((uint8_t)0x54)
+#define LIS3DSH_AD_TIM1_1_H ((uint8_t)0x55)
+#define LIS3DSH_AD_THRS2_1 ((uint8_t)0x56)
+#define LIS3DSH_AD_THRS1_1 ((uint8_t)0x57)
+#define LIS3DSH_AD_MASK1_B ((uint8_t)0x59)
+#define LIS3DSH_AD_MASK1_A ((uint8_t)0x5A)
+#define LIS3DSH_AD_SETT1 ((uint8_t)0x5B)
+#define LIS3DSH_AD_PR1 ((uint8_t)0x5C)
+#define LIS3DSH_AD_TC1_L ((uint8_t)0x5D)
+#define LIS3DSH_AD_TC1_H ((uint8_t)0x5E)
+#define LIS3DSH_AD_OUTS1 ((uint8_t)0x5F)
+#define LIS3DSH_AD_PEAK1 ((uint8_t)0x19)
+#define LIS3DSH_AD_CTRL_REG2 ((uint8_t)0x22)
+#define LIS3DSH_AD_ST2_0 ((uint8_t)0x60)
+#define LIS3DSH_AD_ST2_1 ((uint8_t)0x61)
+#define LIS3DSH_AD_ST2_2 ((uint8_t)0x62)
+#define LIS3DSH_AD_ST2_3 ((uint8_t)0x63)
+#define LIS3DSH_AD_ST2_4 ((uint8_t)0x64)
+#define LIS3DSH_AD_ST2_5 ((uint8_t)0x65)
+#define LIS3DSH_AD_ST2_6 ((uint8_t)0x66)
+#define LIS3DSH_AD_ST2_7 ((uint8_t)0x67)
+#define LIS3DSH_AD_ST2_8 ((uint8_t)0x68)
+#define LIS3DSH_AD_ST2_9 ((uint8_t)0x69)
+#define LIS3DSH_AD_ST2_A ((uint8_t)0x6A)
+#define LIS3DSH_AD_ST2_B ((uint8_t)0x6B)
+#define LIS3DSH_AD_ST2_C ((uint8_t)0x6C)
+#define LIS3DSH_AD_ST2_D ((uint8_t)0x6D)
+#define LIS3DSH_AD_ST2_E ((uint8_t)0x6E)
+#define LIS3DSH_AD_ST2_F ((uint8_t)0x6F)
+#define LIS3DSH_AD_TIM4_2 ((uint8_t)0x70)
+#define LIS3DSH_AD_TIM3_2 ((uint8_t)0x71)
+#define LIS3DSH_AD_TIM2_2_L ((uint8_t)0x72)
+#define LIS3DSH_AD_TIM2_2_H ((uint8_t)0x73)
+#define LIS3DSH_AD_TIM1_2_L ((uint8_t)0x74)
+#define LIS3DSH_AD_TIM1_2_H ((uint8_t)0x75)
+#define LIS3DSH_AD_THRS2_2 ((uint8_t)0x76)
+#define LIS3DSH_AD_THRS1_2 ((uint8_t)0x77)
+#define LIS3DSH_AD_MASK2_B ((uint8_t)0x79)
+#define LIS3DSH_AD_MASK2_A ((uint8_t)0x7A)
+#define LIS3DSH_AD_SETT2 ((uint8_t)0x7B)
+#define LIS3DSH_AD_PR2 ((uint8_t)0x7C)
+#define LIS3DSH_AD_TC2_L ((uint8_t)0x7D)
+#define LIS3DSH_AD_TC2_H ((uint8_t)0x7E)
+#define LIS3DSH_AD_OUTS2 ((uint8_t)0x7F)
+#define LIS3DSH_AD_PEAK2 ((uint8_t)0x1A)
+#define LIS3DSH_AD_DES2 ((uint8_t)0x78)
+
+#define LIS3DSH_CTRL_REG5_FS_MASK ((uint8_t)0x38)
+#define TO_G ((float)0.001f)
+#define TO_SI ((float)0.00981f)
+/*===========================================================================*/
+/* Driver exported variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local variables and types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local functions. */
+/*===========================================================================*/
+
+#if (LIS3DSH_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 lis3dshSPIReadRegister(SPIDriver *spip, uint8_t reg) {
+ uint8_t txbuf[2] = {LIS3DSH_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 lis3dshSPIWriteRegister(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, "lis3dshSPIWriteRegister(), reserved register");
+ case LIS3DSH_AD_INFO1:
+ case LIS3DSH_AD_INFO2:
+ case LIS3DSH_AD_WHO_AM_I:
+ case LIS3DSH_AD_STATUS:
+ case LIS3DSH_AD_OUT_T:
+ case LIS3DSH_AD_STAT:
+ case LIS3DSH_AD_OUT_X_L:
+ case LIS3DSH_AD_OUT_X_H:
+ case LIS3DSH_AD_OUT_Y_L:
+ case LIS3DSH_AD_OUT_Y_H:
+ case LIS3DSH_AD_OUT_Z_L:
+ case LIS3DSH_AD_OUT_Z_H:
+ case LIS3DSH_AD_FIFO_SRC:
+ case LIS3DSH_AD_FIFO_CTRL:
+ case LIS3DSH_AD_PR1:
+ case LIS3DSH_AD_TC1_L:
+ case LIS3DSH_AD_TC1_H:
+ case LIS3DSH_AD_OUTS1:
+ case LIS3DSH_AD_PEAK1:
+ case LIS3DSH_AD_PR2:
+ case LIS3DSH_AD_TC2_L:
+ case LIS3DSH_AD_TC2_H:
+ case LIS3DSH_AD_OUTS2:
+ case LIS3DSH_AD_PEAK2:
+ /* Read only registers cannot be written, the command is ignored.*/
+ return;
+ case LIS3DSH_AD_CTRL_REG3:
+ case LIS3DSH_AD_CTRL_REG4:
+ case LIS3DSH_AD_CTRL_REG5:
+ case LIS3DSH_AD_CTRL_REG6:
+ case LIS3DSH_AD_OFF_X:
+ case LIS3DSH_AD_OFF_Y:
+ case LIS3DSH_AD_OFF_Z:
+ case LIS3DSH_AD_CS_X:
+ case LIS3DSH_AD_CS_Y:
+ case LIS3DSH_AD_CS_Z:
+ case LIS3DSH_AD_LC_L:
+ case LIS3DSH_AD_LC_H:
+ case LIS3DSH_AD_VFC_1:
+ case LIS3DSH_AD_VFC_2:
+ case LIS3DSH_AD_VFC_3:
+ case LIS3DSH_AD_VFC_4:
+ case LIS3DSH_AD_THRS3:
+ case LIS3DSH_AD_CTRL_REG1:
+ case LIS3DSH_AD_ST1_0:
+ case LIS3DSH_AD_ST1_1:
+ case LIS3DSH_AD_ST1_2:
+ case LIS3DSH_AD_ST1_3:
+ case LIS3DSH_AD_ST1_4:
+ case LIS3DSH_AD_ST1_5:
+ case LIS3DSH_AD_ST1_6:
+ case LIS3DSH_AD_ST1_7:
+ case LIS3DSH_AD_ST1_8:
+ case LIS3DSH_AD_ST1_9:
+ case LIS3DSH_AD_ST1_A:
+ case LIS3DSH_AD_ST1_B:
+ case LIS3DSH_AD_ST1_C:
+ case LIS3DSH_AD_ST1_D:
+ case LIS3DSH_AD_ST1_E:
+ case LIS3DSH_AD_ST1_F:
+ case LIS3DSH_AD_TIM4_1:
+ case LIS3DSH_AD_TIM3_1:
+ case LIS3DSH_AD_TIM2_1_L:
+ case LIS3DSH_AD_TIM2_1_H:
+ case LIS3DSH_AD_TIM1_1_L:
+ case LIS3DSH_AD_TIM1_1_H:
+ case LIS3DSH_AD_THRS2_1:
+ case LIS3DSH_AD_THRS1_1:
+ case LIS3DSH_AD_MASK1_B:
+ case LIS3DSH_AD_MASK1_A:
+ case LIS3DSH_AD_SETT1:
+ case LIS3DSH_AD_CTRL_REG2:
+ case LIS3DSH_AD_ST2_0:
+ case LIS3DSH_AD_ST2_1:
+ case LIS3DSH_AD_ST2_2:
+ case LIS3DSH_AD_ST2_3:
+ case LIS3DSH_AD_ST2_4:
+ case LIS3DSH_AD_ST2_5:
+ case LIS3DSH_AD_ST2_6:
+ case LIS3DSH_AD_ST2_7:
+ case LIS3DSH_AD_ST2_8:
+ case LIS3DSH_AD_ST2_9:
+ case LIS3DSH_AD_ST2_A:
+ case LIS3DSH_AD_ST2_B:
+ case LIS3DSH_AD_ST2_C:
+ case LIS3DSH_AD_ST2_D:
+ case LIS3DSH_AD_ST2_E:
+ case LIS3DSH_AD_ST2_F:
+ case LIS3DSH_AD_TIM4_2:
+ case LIS3DSH_AD_TIM3_2:
+ case LIS3DSH_AD_TIM2_2_L:
+ case LIS3DSH_AD_TIM2_2_H:
+ case LIS3DSH_AD_TIM1_2_L:
+ case LIS3DSH_AD_TIM1_2_H:
+ case LIS3DSH_AD_THRS2_2:
+ case LIS3DSH_AD_THRS1_2:
+ case LIS3DSH_AD_MASK2_B:
+ case LIS3DSH_AD_MASK2_A:
+ case LIS3DSH_AD_SETT2:
+ case LIS3DSH_AD_DES2:
+ spiSelect(spip);
+ uint8_t txbuf[2] = {reg, value};
+ spiSend(spip, 2, txbuf);
+ spiUnselect(spip);
+ }
+}
+#endif /* LIS3DSH_USE_SPI */
+
+/*
+ * Interface implementation.
+ */
+static size_t get_axes_number(void *ip) {
+
+ osalDbgCheck(ip != NULL);
+ return LIS3DSH_NUMBER_OF_AXES;
+}
+
+static msg_t read_raw(void *ip, int32_t axes[LIS3DSH_NUMBER_OF_AXES]) {
+ int16_t tmp;
+ osalDbgCheck((ip != NULL) && (axes != NULL));
+
+ osalDbgAssert((((LIS3DSHDriver *)ip)->state == LIS3DSH_READY),
+ "read_raw(), invalid state");
+
+#if LIS3DSH_USE_SPI
+ osalDbgAssert((((LIS3DSHDriver *)ip)->config->spip->state == SPI_READY),
+ "read_raw(), channel not ready");
+#if LIS3DSH_SHARED_SPI
+ spiAcquireBus(((LIS3DSHDriver *)ip)->config->spip);
+ spiStart(((LIS3DSHDriver *)ip)->config->spip,
+ ((LIS3DSHDriver *)ip)->config->spicfg);
+#endif /* LIS3DSH_SHARED_SPI */
+ if(((LIS3DSHDriver *)ip)->config->axesenabling & LIS3DSH_AE_X){
+ tmp = lis3dshSPIReadRegister(((LIS3DSHDriver *)ip)->config->spip,
+ LIS3DSH_AD_OUT_X_L);
+ tmp += lis3dshSPIReadRegister(((LIS3DSHDriver *)ip)->config->spip,
+ LIS3DSH_AD_OUT_X_H) << 8;
+ axes[0] = (int32_t)tmp + ((LIS3DSHDriver *)ip)->bias[0];
+ }
+ if(((LIS3DSHDriver *)ip)->config->axesenabling & LIS3DSH_AE_Y){
+ tmp = lis3dshSPIReadRegister(((LIS3DSHDriver *)ip)->config->spip,
+ LIS3DSH_AD_OUT_Y_L);
+ tmp += lis3dshSPIReadRegister(((LIS3DSHDriver *)ip)->config->spip,
+ LIS3DSH_AD_OUT_Y_H) << 8;
+ axes[1] = (int32_t)tmp + ((LIS3DSHDriver *)ip)->bias[1];
+ }
+ if(((LIS3DSHDriver *)ip)->config->axesenabling & LIS3DSH_AE_Z){
+ tmp = lis3dshSPIReadRegister(((LIS3DSHDriver *)ip)->config->spip,
+ LIS3DSH_AD_OUT_Z_L);
+ tmp += lis3dshSPIReadRegister(((LIS3DSHDriver *)ip)->config->spip,
+ LIS3DSH_AD_OUT_Z_H) << 8;
+ axes[2] = (int32_t)tmp + ((LIS3DSHDriver *)ip)->bias[2];
+ }
+#if LIS3DSH_SHARED_SPI
+ spiReleaseBus(((LIS3DSHDriver *)ip)->config->spip);
+#endif /* LIS3DSH_SHARED_SPI */
+#endif /* LIS3DSH_USE_SPI */
+ return MSG_OK;
+}
+
+static msg_t read_cooked(void *ip, float axes[]) {
+ uint32_t i;
+ int32_t raw[LIS3DSH_NUMBER_OF_AXES];
+ msg_t msg;
+
+ osalDbgCheck((ip != NULL) && (axes != NULL));
+
+ osalDbgAssert((((LIS3DSHDriver *)ip)->state == LIS3DSH_READY),
+ "read_cooked(), invalid state");
+
+ msg = read_raw(ip, raw);
+ for(i = 0; i < LIS3DSH_NUMBER_OF_AXES ; i++){
+ axes[i] = raw[i] * ((LIS3DSHDriver *)ip)->sensitivity[i];
+ if(((LIS3DSHDriver *)ip)->config->unit == LIS3DSH_ACC_UNIT_G){
+ axes[i] *= TO_G;
+ }
+ else if(((LIS3DSHDriver *)ip)->config->unit == LIS3DSH_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((((LIS3DSHDriver *)ip)->state == LIS3DSH_READY) ||
+ (((LIS3DSHDriver *)ip)->state == LIS3DSH_STOP),
+ "set_bias(), invalid state");
+
+ for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) {
+ ((LIS3DSHDriver *)ip)->bias[i] = bp[i];
+ }
+ return MSG_OK;
+}
+
+static msg_t reset_bias(void *ip) {
+ uint32_t i;
+
+ osalDbgCheck(ip != NULL);
+
+ osalDbgAssert((((LIS3DSHDriver *)ip)->state == LIS3DSH_READY) ||
+ (((LIS3DSHDriver *)ip)->state == LIS3DSH_STOP),
+ "reset_bias(), invalid state");
+
+ for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
+ ((LIS3DSHDriver *)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((((LIS3DSHDriver *)ip)->state == LIS3DSH_READY),
+ "set_sensivity(), invalid state");
+
+ for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) {
+ ((LIS3DSHDriver *)ip)->sensitivity[i] = sp[i];
+ }
+ return MSG_OK;
+}
+
+static msg_t reset_sensivity(void *ip) {
+ uint32_t i;
+
+ osalDbgCheck(ip != NULL);
+
+ osalDbgAssert((((LIS3DSHDriver *)ip)->state == LIS3DSH_READY),
+ "reset_sensivity(), invalid state");
+
+ if(((LIS3DSHDriver *)ip)->config->fullscale == LIS3DSH_FS_2G)
+ for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
+ ((LIS3DSHDriver *)ip)->sensitivity[i] = LIS3DSH_SENS_2G;
+ else if(((LIS3DSHDriver *)ip)->config->fullscale == LIS3DSH_FS_4G)
+ for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
+ ((LIS3DSHDriver *)ip)->sensitivity[i] = LIS3DSH_SENS_4G;
+ else if(((LIS3DSHDriver *)ip)->config->fullscale == LIS3DSH_FS_6G)
+ for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
+ ((LIS3DSHDriver *)ip)->sensitivity[i] = LIS3DSH_SENS_6G;
+ else if(((LIS3DSHDriver *)ip)->config->fullscale == LIS3DSH_FS_8G)
+ for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
+ ((LIS3DSHDriver *)ip)->sensitivity[i] = LIS3DSH_SENS_8G;
+ else if(((LIS3DSHDriver *)ip)->config->fullscale == LIS3DSH_FS_16G)
+ for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
+ ((LIS3DSHDriver *)ip)->sensitivity[i] = LIS3DSH_SENS_16G;
+ else {
+ osalDbgAssert(FALSE, "reset_sensivity(), accelerometer full scale issue");
+ return MSG_RESET;
+ }
+ return MSG_OK;
+}
+
+static msg_t get_temperature(void *ip, int8_t* tempp) {
+#if LIS3DSH_USE_SPI
+ osalDbgAssert((((LIS3DSHDriver *)ip)->config->spip->state == SPI_READY),
+ "read_raw(), channel not ready");
+#if LIS3DSH_SHARED_SPI
+ spiAcquireBus(((LIS3DSHDriver *)ip)->config->spip);
+ spiStart(((LIS3DSHDriver *)ip)->config->spip,
+ ((LIS3DSHDriver *)ip)->config->spicfg);
+#endif /* LIS3DSH_SHARED_SPI */
+ *tempp = lis3dshSPIReadRegister(((LIS3DSHDriver *)ip)->config->spip,
+ LIS3DSH_AD_OUT_T);
+#if LIS3DSH_SHARED_SPI
+ spiReleaseBus(((LIS3DSHDriver *)ip)->config->spip);
+#endif /* LIS3DSH_SHARED_SPI */
+#endif /* LIS3DSH_USE_SPI */
+ 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 LIS3DSHVMT vmt_lis3dsh = {
+ get_axes_number, read_raw, read_cooked,
+ set_bias, reset_bias, set_sensivity, reset_sensivity,
+ get_temperature
+};
+
+/*===========================================================================*/
+/* Driver exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Initializes an instance.
+ *
+ * @param[out] devp pointer to the @p LIS3DSHDriver object
+ *
+ * @init
+ */
+void lis3dshObjectInit(LIS3DSHDriver *devp) {
+ uint32_t i;
+ devp->vmt_basesensor = &vmt_basesensor;
+ devp->vmt_baseaccelerometer = &vmt_baseaccelerometer;
+ devp->vmt_lis3dsh = &vmt_lis3dsh;
+ devp->config = NULL;
+ for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
+ devp->bias[i] = 0;
+ devp->state = LIS3DSH_STOP;
+}
+
+/**
+ * @brief Configures and activates LIS3DSH Complex Driver peripheral.
+ *
+ * @param[in] devp pointer to the @p LIS3DSHDriver object
+ * @param[in] config pointer to the @p LIS3DSHConfig object
+ *
+ * @api
+ */
+void lis3dshStart(LIS3DSHDriver *devp, const LIS3DSHConfig *config) {
+ uint32_t i;
+ osalDbgCheck((devp != NULL) && (config != NULL));
+
+ osalDbgAssert((devp->state == LIS3DSH_STOP) || (devp->state == LIS3DSH_READY),
+ "lis3dshStart(), invalid state");
+
+ devp->config = config;
+
+#if LIS3DSH_USE_SPI
+#if LIS3DSH_SHARED_SPI
+ spiAcquireBus((devp)->config->spip);
+#endif /* LIS3DSH_SHARED_SPI */
+ spiStart((devp)->config->spip,
+ (devp)->config->spicfg);
+ lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG4,
+ devp->config->axesenabling |
+ devp->config->blockdataupdate |
+ devp->config->outputdatarate);
+ lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG5,
+ devp->config->fullscale |
+ devp->config->antialiasing );
+#if LIS3DSH_SHARED_SPI
+ spiReleaseBus((devp)->config->spip);
+#endif /* LIS3DSH_SHARED_SPI */
+#endif /* LIS3DSH_USE_SPI */
+
+ /* Storing sensitivity information according to full scale value */
+ if(devp->config->fullscale == LIS3DSH_FS_2G)
+ for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
+ devp->sensitivity[i] = LIS3DSH_SENS_2G;
+ else if(devp->config->fullscale == LIS3DSH_FS_4G)
+ for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
+ devp->sensitivity[i] = LIS3DSH_SENS_4G;
+ else if(devp->config->fullscale == LIS3DSH_FS_6G)
+ for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
+ devp->sensitivity[i] = LIS3DSH_SENS_6G;
+ else if(devp->config->fullscale == LIS3DSH_FS_8G)
+ for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
+ devp->sensitivity[i] = LIS3DSH_SENS_8G;
+ else if(devp->config->fullscale == LIS3DSH_FS_16G)
+ for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
+ devp->sensitivity[i] = LIS3DSH_SENS_16G;
+ else {
+ osalDbgAssert(FALSE, "lis3dshStart(), accelerometer full scale issue");
+ }
+ /* This is the Accelerometer transient recovery time */
+ osalThreadSleepMilliseconds(10);
+
+ devp->state = LIS3DSH_READY;
+}
+
+/**
+ * @brief Deactivates the LIS3DSH Complex Driver peripheral.
+ *
+ * @param[in] devp pointer to the @p LIS3DSHDriver object
+ *
+ * @api
+ */
+void lis3dshStop(LIS3DSHDriver *devp) {
+
+ osalDbgCheck(devp != NULL);
+
+ osalDbgAssert((devp->state == LIS3DSH_STOP) || (devp->state == LIS3DSH_READY),
+ "lis3dshStop(), invalid state");
+
+#if (LIS3DSH_USE_SPI)
+ if (devp->state == LIS3DSH_STOP) {
+#if LIS3DSH_SHARED_SPI
+ spiAcquireBus((devp)->config->spip);
+ spiStart((devp)->config->spip,
+ (devp)->config->spicfg);
+#endif /* LIS3DSH_SHARED_SPI */
+ lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG4,
+ LIS3DSH_ODR_PD | LIS3DSH_AE_DISABLED);
+ spiStop((devp)->config->spip);
+#if LIS3DSH_SHARED_SPI
+ spiReleaseBus((devp)->config->spip);
+#endif /* LIS3DSH_SHARED_SPI */
+ }
+#endif /* LIS3DSH_USE_SPI */
+ devp->state = LIS3DSH_STOP;
+}
+/** @} */
generated by cgit v1.2.3 (git 2.25.1) at 2024-07-02 19:57:48 +0000