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/*
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;
}
/** @} */
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