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ChibiOS/os/ex/ST/lis3dsh.c

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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 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;
}
/** @} */
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