/* 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 . */ /** * @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; } /** @} */