From be45af2a10460c65ef86ebec459a3d517a8af7d6 Mon Sep 17 00:00:00 2001 From: Rocco Marco Guglielmi Date: Thu, 28 Jul 2016 14:53:12 +0000 Subject: UpdatedEX: LIS3DSH driver updated to v1.0.0 git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9728 35acf78f-673a-0410-8e92-d51de3d6d3f4 --- os/ex/ST/lis3dsh.c | 436 +++++++++++++++-------------------------------------- 1 file changed, 125 insertions(+), 311 deletions(-) (limited to 'os/ex/ST/lis3dsh.c') diff --git a/os/ex/ST/lis3dsh.c b/os/ex/ST/lis3dsh.c index cdf4d9754..3e30ef7d0 100644 --- a/os/ex/ST/lis3dsh.c +++ b/os/ex/ST/lis3dsh.c @@ -33,135 +33,6 @@ /* 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. */ /*===========================================================================*/ @@ -178,142 +49,41 @@ /** * @brief Reads a generic register value using SPI. * @pre The SPI interface must be initialized and the driver started. + * @note Multiple write/read requires proper settings in CTRL_REG6. * * @param[in] spip pointer to the SPI interface - * @param[in] reg register number - * @return register value. + * @param[in] reg starting register address + * @param[in] n number of adjacent registers to write + * @param[in] b pointer to a buffer. */ -static uint8_t lis3dshSPIReadRegister(SPIDriver *spip, uint8_t reg) { - uint8_t txbuf[2] = {LIS3DSH_RW | reg, 0xFF}; - uint8_t rxbuf[2] = {0x00, 0x00}; +static void lis3dshSPIReadRegister(SPIDriver *spip, uint8_t reg, size_t n, + uint8_t* b) { + uint8_t cmd; + cmd = reg | LIS3DSH_RW; spiSelect(spip); - spiExchange(spip, 2, txbuf, rxbuf); + spiSend(spip, 1, &cmd); + spiReceive(spip, n, b); 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. + * @note Multiple write/read requires proper settings in CTRL_REG6. * * @param[in] spip pointer to the SPI interface - * @param[in] reg register number - * @param[in] value register value. + * @param[in] reg starting register address + * @param[in] n number of adjacent registers to write + * @param[in] value pointer to a buffer of values. */ -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); - } +static void lis3dshSPIWriteRegister(SPIDriver *spip, uint8_t reg, size_t n, + uint8_t* b) { + uint8_t cmd; + cmd = reg; + spiSelect(spip); + spiSend(spip, 1, &cmd); + spiSend(spip, n, b); + spiUnselect(spip); } #endif /* LIS3DSH_USE_SPI */ @@ -327,6 +97,7 @@ static size_t get_axes_number(void *ip) { } static msg_t read_raw(void *ip, int32_t axes[LIS3DSH_NUMBER_OF_AXES]) { + uint8_t buff [LIS3DSH_NUMBER_OF_AXES * 2], i; int16_t tmp; osalDbgCheck((ip != NULL) && (axes != NULL)); @@ -341,27 +112,12 @@ static msg_t read_raw(void *ip, int32_t axes[LIS3DSH_NUMBER_OF_AXES]) { 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]; - } + lis3dshSPIReadRegister(((LIS3DSHDriver *)ip)->config->spip, LIS3DSH_AD_OUT_X_L, + LIS3DSH_NUMBER_OF_AXES * 2, buff); + for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) { + tmp = buff[2*i] + (buff[2*i+1] << 8); + axes[i] = (int32_t)tmp; + } #if LIS3DSH_SHARED_SPI spiReleaseBus(((LIS3DSHDriver *)ip)->config->spip); #endif /* LIS3DSH_SHARED_SPI */ @@ -369,6 +125,7 @@ static msg_t read_raw(void *ip, int32_t axes[LIS3DSH_NUMBER_OF_AXES]) { return MSG_OK; } + static msg_t read_cooked(void *ip, float axes[]) { uint32_t i; int32_t raw[LIS3DSH_NUMBER_OF_AXES]; @@ -377,17 +134,12 @@ static msg_t read_cooked(void *ip, float axes[]) { osalDbgCheck((ip != NULL) && (axes != NULL)); osalDbgAssert((((LIS3DSHDriver *)ip)->state == LIS3DSH_READY), - "read_cooked(), invalid state"); + "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; - } + axes[i] = (raw[i] * ((LIS3DSHDriver *)ip)->sensitivity[i]); + axes[i] -= ((LIS3DSHDriver *)ip)->bias[i]; } return msg; } @@ -465,21 +217,47 @@ static msg_t reset_sensivity(void *ip) { 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 */ +static msg_t set_full_scale(void *ip, lis3dsh_fs_t fs) { + float newfs, scale; + uint8_t i, cr; + + if(fs == LIS3DSH_FS_2G) { + newfs = LIS3DSH_2G; + } + else if(fs == LIS3DSH_FS_4G) { + newfs = LIS3DSH_4G; + } + else if(fs == LIS3DSH_FS_6G) { + newfs = LIS3DSH_6G; + } + else if(fs == LIS3DSH_FS_8G) { + newfs = LIS3DSH_8G; + } + else if(fs == LIS3DSH_FS_16G) { + newfs = LIS3DSH_16G; + } + else { + return MSG_RESET; + } + + if(newfs != ((LIS3DSHDriver *)ip)->fullscale) { + scale = newfs / ((LIS3DSHDriver *)ip)->fullscale; + ((LIS3DSHDriver *)ip)->fullscale = newfs; + + /* Updating register.*/ + lis3dshSPIReadRegister(((LIS3DSHDriver *)ip)->config->spip, + LIS3DSH_AD_CTRL_REG5, 1, &cr); + cr &= ~(LIS3DSH_CTRL_REG5_FS_MASK); + cr |= fs; + lis3dshSPIWriteRegister(((LIS3DSHDriver *)ip)->config->spip, + LIS3DSH_AD_CTRL_REG5, 1, &cr); + + /* Scaling sensitivity and bias. Re-calibration is suggested anyway. */ + for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) { + ((LIS3DSHDriver *)ip)->sensitivity[i] *= scale; + ((LIS3DSHDriver *)ip)->bias[i] *= scale; + } + } return MSG_OK; } @@ -495,7 +273,7 @@ static const struct BaseAccelerometerVMT vmt_baseaccelerometer = { static const struct LIS3DSHVMT vmt_lis3dsh = { get_axes_number, read_raw, read_cooked, set_bias, reset_bias, set_sensivity, reset_sensivity, - get_temperature + set_full_scale }; /*===========================================================================*/ @@ -531,7 +309,7 @@ void lis3dshObjectInit(LIS3DSHDriver *devp) { void lis3dshStart(LIS3DSHDriver *devp, const LIS3DSHConfig *config) { uint32_t i; osalDbgCheck((devp != NULL) && (config != NULL)); - + uint8_t cr; osalDbgAssert((devp->state == LIS3DSH_STOP) || (devp->state == LIS3DSH_READY), "lis3dshStart(), invalid state"); @@ -543,34 +321,68 @@ void lis3dshStart(LIS3DSHDriver *devp, const LIS3DSHConfig *config) { #endif /* LIS3DSH_SHARED_SPI */ spiStart((devp)->config->spip, (devp)->config->spicfg); + + /* Control register 4 configuration block.*/ + { + cr = LIS3DSH_CTRL_REG4_XEN | LIS3DSH_CTRL_REG4_YEN | LIS3DSH_CTRL_REG4_ZEN | + devp->config->outputdatarate; +#if LIS3DSH_USE_ADVANCED || defined(__DOXYGEN__) + cr |= devp->config->blockdataupdate; +#endif + } lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG4, - devp->config->axesenabling | - devp->config->blockdataupdate | - devp->config->outputdatarate); + 1, &cr); + + /* Control register 5 configuration block.*/ + { + cr = devp->config->fullscale; +#if LIS3DSH_USE_ADVANCED || defined(__DOXYGEN__) + cr |= devp->config->antialiasing; +#endif + } lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG5, - devp->config->fullscale | - devp->config->antialiasing ); + 1, &cr); + + /* Control register 6 configuration block.*/ + { + cr = LIS3DSH_CTRL_REG6_ADD_INC; +#if LIS3DSH_USE_ADVANCED || defined(__DOXYGEN__) + cr |= devp->config->blockdataupdate; +#endif + } + lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG6, + 1, &cr); #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) + if(devp->config->fullscale == LIS3DSH_FS_2G) { + devp->fullscale = LIS3DSH_2G; for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) devp->sensitivity[i] = LIS3DSH_SENS_2G; - else if(devp->config->fullscale == LIS3DSH_FS_4G) + } + else if(devp->config->fullscale == LIS3DSH_FS_4G) { + devp->fullscale = LIS3DSH_4G; for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) devp->sensitivity[i] = LIS3DSH_SENS_4G; - else if(devp->config->fullscale == LIS3DSH_FS_6G) + } + else if(devp->config->fullscale == LIS3DSH_FS_6G) { + devp->fullscale = LIS3DSH_6G; for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) devp->sensitivity[i] = LIS3DSH_SENS_6G; - else if(devp->config->fullscale == LIS3DSH_FS_8G) + } + else if(devp->config->fullscale == LIS3DSH_FS_8G) { + devp->fullscale = LIS3DSH_8G; for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) devp->sensitivity[i] = LIS3DSH_SENS_8G; - else if(devp->config->fullscale == LIS3DSH_FS_16G) + } + else if(devp->config->fullscale == LIS3DSH_FS_16G) { + devp->fullscale = LIS3DSH_16G; for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) devp->sensitivity[i] = LIS3DSH_SENS_16G; + } else { osalDbgAssert(FALSE, "lis3dshStart(), accelerometer full scale issue"); } @@ -588,7 +400,7 @@ void lis3dshStart(LIS3DSHDriver *devp, const LIS3DSHConfig *config) { * @api */ void lis3dshStop(LIS3DSHDriver *devp) { - + uint8_t cr4; osalDbgCheck(devp != NULL); osalDbgAssert((devp->state == LIS3DSH_STOP) || (devp->state == LIS3DSH_READY), @@ -601,8 +413,10 @@ void lis3dshStop(LIS3DSHDriver *devp) { 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); + /* Disabling all axes and enabling power down mode.*/ + cr4 = 0; + lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG4, + 1, &cr4); spiStop((devp)->config->spip); #if LIS3DSH_SHARED_SPI spiReleaseBus((devp)->config->spip); -- cgit v1.2.3