mirror of https://github.com/rusefi/ChibiOS.git
430 lines
15 KiB
C
430 lines
15 KiB
C
/*
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ChibiOS - Copyright (C) 2016 Rocco Marco Guglielmi
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This file is part of ChibiOS.
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ChibiOS is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 3 of the License, or
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(at your option) any later version.
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ChibiOS is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file lis302dl.c
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* @brief LIS302DL MEMS interface module code.
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*
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* @addtogroup lis302dl
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* @{
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*/
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#include "hal.h"
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#include "lis302dl.h"
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/*===========================================================================*/
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/* Driver local definitions. */
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/*===========================================================================*/
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#define LIS302DL_SENS_2G ((float)18.0f)
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#define LIS302DL_SENS_8G ((float)72.0f)
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#define LIS302DL_DI ((uint8_t)0xFF)
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#define LIS302DL_DI_0 ((uint8_t)0x01)
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#define LIS302DL_DI_1 ((uint8_t)0x02)
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#define LIS302DL_DI_2 ((uint8_t)0x04)
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#define LIS302DL_DI_3 ((uint8_t)0x08)
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#define LIS302DL_DI_4 ((uint8_t)0x10)
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#define LIS302DL_DI_5 ((uint8_t)0x20)
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#define LIS302DL_DI_6 ((uint8_t)0x40)
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#define LIS302DL_DI_7 ((uint8_t)0x80)
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#define LIS302DL_AD ((uint8_t)0x3F)
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#define LIS302DL_AD_0 ((uint8_t)0x01)
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#define LIS302DL_AD_1 ((uint8_t)0x02)
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#define LIS302DL_AD_2 ((uint8_t)0x04)
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#define LIS302DL_AD_3 ((uint8_t)0x08)
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#define LIS302DL_AD_4 ((uint8_t)0x10)
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#define LIS302DL_AD_5 ((uint8_t)0x20)
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#define LIS302DL_MS ((uint8_t)0x40)
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#define LIS302DL_RW ((uint8_t)0x80)
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#define LIS302DL_AD_WHO_AM_I ((uint8_t)0x0F)
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#define LIS302DL_AD_CTRL_REG1 ((uint8_t)0x20)
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#define LIS302DL_AD_CTRL_REG2 ((uint8_t)0x21)
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#define LIS302DL_AD_CTRL_REG3 ((uint8_t)0x22)
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#define LIS302DL_AD_HP_FILER_RESET ((uint8_t)0x23)
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#define LIS302DL_AD_STATUS_REG ((uint8_t)0x27)
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#define LIS302DL_AD_OUT_X ((uint8_t)0x29)
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#define LIS302DL_AD_OUT_Y ((uint8_t)0x2B)
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#define LIS302DL_AD_OUT_Z ((uint8_t)0x2D)
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#define LIS302DL_AD_FF_WU_CFG_1 ((uint8_t)0x30)
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#define LIS302DL_AD_FF_WU_SRC_1 ((uint8_t)0x31)
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#define LIS302DL_AD_FF_WU_THS_1 ((uint8_t)0x32)
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#define LIS302DL_AD_FF_WU_DURATION_1 ((uint8_t)0x33)
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#define LIS302DL_AD_FF_WU_CFG_2 ((uint8_t)0x34)
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#define LIS302DL_AD_FF_WU_SRC_2 ((uint8_t)0x35)
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#define LIS302DL_AD_FF_WU_THS_2 ((uint8_t)0x36)
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#define LIS302DL_AD_FF_WU_DURATION_2 ((uint8_t)0x37)
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#define LIS302DL_AD_CLICK_CFG ((uint8_t)0x38)
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#define LIS302DL_AD_CLICK_SRC ((uint8_t)0x39)
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#define LIS302DL_AD_CLICK_THSY_X ((uint8_t)0x3B)
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#define LIS302DL_AD_CLICK_THSZ ((uint8_t)0x3C)
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#define LIS302DL_AD_CLICK_TIME_LIMIT ((uint8_t)0x3D)
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#define LIS302DL_AD_CLICK_LATENCY ((uint8_t)0x3E)
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#define LIS302DL_AD_CLICK_WINDOW ((uint8_t)0x3F)
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#define LIS302DL_CTRL_REG1_FS_MASK ((uint8_t)0x20)
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#define TO_G ((float)0.001f)
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#define TO_SI ((float)0.00981f)
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/*===========================================================================*/
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/* Driver exported variables. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver local variables and types. */
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/*===========================================================================*/
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/**
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* @brief LIS302DL Power Mode
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*/
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typedef enum {
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LIS302DL_PM_POWER_DOWN = 0x00, /**< Power down enabled. */
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LIS302DL_PM_SLEEP_NORMAL = 0x40 /**< Normal operation mode. */
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}lis302dl_pm_t;
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/*===========================================================================*/
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/* Driver local functions. */
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/*===========================================================================*/
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#if (LIS302DL_USE_SPI) || defined(__DOXYGEN__)
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/**
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* @brief Reads a generic register value using SPI.
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* @pre The SPI interface must be initialized and the driver started.
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*
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* @param[in] spip pointer to the SPI interface
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* @param[in] reg register number
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* @return register value.
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*/
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static uint8_t lis302dlSPIReadRegister(SPIDriver *spip, uint8_t reg) {
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uint8_t txbuf[2] = {LIS302DL_RW | reg, 0xFF};
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uint8_t rxbuf[2] = {0x00, 0x00};
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spiSelect(spip);
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spiExchange(spip, 2, txbuf, rxbuf);
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spiUnselect(spip);
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return rxbuf[1];
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}
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/**
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* @brief Writes a value into a generic register using SPI.
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* @pre The SPI interface must be initialized and the driver started.
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*
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* @param[in] spip pointer to the SPI interface
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* @param[in] reg register number
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* @param[in] value register value.
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*/
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static void lis302dlSPIWriteRegister(SPIDriver *spip, uint8_t reg,
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uint8_t value) {
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switch (reg) {
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default:
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/* Reserved register must not be written, according to the datasheet
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* this could permanently damage the device.
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*/
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osalDbgAssert(FALSE, "lis302dlSPIWriteRegister(), reserved register");
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case LIS302DL_AD_WHO_AM_I:
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case LIS302DL_AD_HP_FILER_RESET:
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case LIS302DL_AD_STATUS_REG:
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case LIS302DL_AD_OUT_X:
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case LIS302DL_AD_OUT_Y:
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case LIS302DL_AD_OUT_Z:
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case LIS302DL_AD_FF_WU_SRC_1:
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case LIS302DL_AD_FF_WU_SRC_2:
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case LIS302DL_AD_CLICK_SRC:
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/* Read only registers cannot be written, the command is ignored.*/
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return;
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case LIS302DL_AD_CTRL_REG1:
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case LIS302DL_AD_CTRL_REG2:
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case LIS302DL_AD_CTRL_REG3:
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case LIS302DL_AD_FF_WU_CFG_1:
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case LIS302DL_AD_FF_WU_THS_1:
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case LIS302DL_AD_FF_WU_DURATION_1:
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case LIS302DL_AD_FF_WU_CFG_2:
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case LIS302DL_AD_FF_WU_THS_2:
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case LIS302DL_AD_FF_WU_DURATION_2:
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case LIS302DL_AD_CLICK_CFG:
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case LIS302DL_AD_CLICK_THSY_X:
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case LIS302DL_AD_CLICK_THSZ:
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case LIS302DL_AD_CLICK_TIME_LIMIT:
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case LIS302DL_AD_CLICK_LATENCY:
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case LIS302DL_AD_CLICK_WINDOW:
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spiSelect(spip);
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uint8_t txbuf[2] = {reg, value};
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spiSend(spip, 2, txbuf);
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spiUnselect(spip);
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}
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}
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#endif /* LIS302DL_USE_SPI */
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/*
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* Interface implementation.
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*/
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static size_t get_axes_number(void *ip) {
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osalDbgCheck(ip != NULL);
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return LIS302DL_NUMBER_OF_AXES;
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}
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static msg_t read_raw(void *ip, int32_t axes[LIS302DL_NUMBER_OF_AXES]) {
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int8_t tmp;
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osalDbgCheck((ip != NULL) && (axes != NULL));
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osalDbgAssert((((LIS302DLDriver *)ip)->state == LIS302DL_READY),
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"read_raw(), invalid state");
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#if LIS302DL_USE_SPI
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osalDbgAssert((((LIS302DLDriver *)ip)->config->spip->state == SPI_READY),
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"read_raw(), channel not ready");
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#if LIS302DL_SHARED_SPI
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spiAcquireBus(((LIS302DLDriver *)ip)->config->spip);
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spiStart(((LIS302DLDriver *)ip)->config->spip,
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((LIS302DLDriver *)ip)->config->spicfg);
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#endif /* LIS302DL_SHARED_SPI */
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if(((LIS302DLDriver *)ip)->config->axesenabling & LIS302DL_AE_X){
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tmp = lis302dlSPIReadRegister(((LIS302DLDriver *)ip)->config->spip,
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LIS302DL_AD_OUT_X);
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axes[0] = tmp + ((LIS302DLDriver *)ip)->bias[0];
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}
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if(((LIS302DLDriver *)ip)->config->axesenabling & LIS302DL_AE_Y){
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tmp = lis302dlSPIReadRegister(((LIS302DLDriver *)ip)->config->spip,
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LIS302DL_AD_OUT_Y);
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axes[1] = tmp + ((LIS302DLDriver *)ip)->bias[1];
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}
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if(((LIS302DLDriver *)ip)->config->axesenabling & LIS302DL_AE_Z){
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tmp = lis302dlSPIReadRegister(((LIS302DLDriver *)ip)->config->spip,
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LIS302DL_AD_OUT_Z);
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axes[2] = tmp + ((LIS302DLDriver *)ip)->bias[2];
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}
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#if LIS302DL_SHARED_SPI
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spiReleaseBus(((LIS302DLDriver *)ip)->config->spip);
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#endif /* LIS302DL_SHARED_SPI */
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#endif /* LIS302DL_USE_SPI */
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return MSG_OK;
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}
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static msg_t read_cooked(void *ip, float axes[]) {
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uint32_t i;
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int32_t raw[LIS302DL_NUMBER_OF_AXES];
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msg_t msg;
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osalDbgCheck((ip != NULL) && (axes != NULL));
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osalDbgAssert((((LIS302DLDriver *)ip)->state == LIS302DL_READY),
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"read_cooked(), invalid state");
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msg = read_raw(ip, raw);
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for(i = 0; i < LIS302DL_NUMBER_OF_AXES ; i++){
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axes[i] = raw[i] * ((LIS302DLDriver *)ip)->sensitivity[i];
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if(((LIS302DLDriver *)ip)->config->unit == LIS302DL_ACC_UNIT_G){
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axes[i] *= TO_G;
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}
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else if(((LIS302DLDriver *)ip)->config->unit == LIS302DL_ACC_UNIT_SI){
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axes[i] *= TO_SI;
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}
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}
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return msg;
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}
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static msg_t set_bias(void *ip, int32_t *bp) {
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uint32_t i;
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osalDbgCheck((ip != NULL) && (bp !=NULL));
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osalDbgAssert((((LIS302DLDriver *)ip)->state == LIS302DL_READY) ||
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(((LIS302DLDriver *)ip)->state == LIS302DL_STOP),
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"set_bias(), invalid state");
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for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++) {
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((LIS302DLDriver *)ip)->bias[i] = bp[i];
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}
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return MSG_OK;
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}
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static msg_t reset_bias(void *ip) {
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uint32_t i;
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osalDbgCheck(ip != NULL);
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osalDbgAssert((((LIS302DLDriver *)ip)->state == LIS302DL_READY) ||
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(((LIS302DLDriver *)ip)->state == LIS302DL_STOP),
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"reset_bias(), invalid state");
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for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)
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((LIS302DLDriver *)ip)->bias[i] = 0;
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return MSG_OK;
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}
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static msg_t set_sensivity(void *ip, float *sp) {
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uint32_t i;
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osalDbgCheck((ip != NULL) && (sp !=NULL));
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osalDbgAssert((((LIS302DLDriver *)ip)->state == LIS302DL_READY),
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"set_sensivity(), invalid state");
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for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++) {
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((LIS302DLDriver *)ip)->sensitivity[i] = sp[i];
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}
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return MSG_OK;
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}
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static msg_t reset_sensivity(void *ip) {
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uint32_t i;
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osalDbgCheck(ip != NULL);
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osalDbgAssert((((LIS302DLDriver *)ip)->state == LIS302DL_READY),
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"reset_sensivity(), invalid state");
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if(((LIS302DLDriver *)ip)->config->fullscale == LIS302DL_FS_2G)
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for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)
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((LIS302DLDriver *)ip)->sensitivity[i] = LIS302DL_SENS_2G;
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else if(((LIS302DLDriver *)ip)->config->fullscale == LIS302DL_FS_8G)
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for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)
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((LIS302DLDriver *)ip)->sensitivity[i] = LIS302DL_SENS_8G;
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else {
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osalDbgAssert(FALSE, "reset_sensivity(), accelerometer full scale issue");
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return MSG_RESET;
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}
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return MSG_OK;
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}
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static const struct BaseSensorVMT vmt_basesensor = {
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get_axes_number, read_raw, read_cooked
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};
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static const struct BaseAccelerometerVMT vmt_baseaccelerometer = {
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get_axes_number, read_raw, read_cooked,
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set_bias, reset_bias, set_sensivity, reset_sensivity
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};
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static const struct LIS302DLVMT vmt_lis302dl = {
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get_axes_number, read_raw, read_cooked,
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set_bias, reset_bias, set_sensivity, reset_sensivity
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};
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/*===========================================================================*/
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/* Driver exported functions. */
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/*===========================================================================*/
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/**
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* @brief Initializes an instance.
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*
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* @param[out] devp pointer to the @p LIS302DLDriver object
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*
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* @init
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*/
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void lis302dlObjectInit(LIS302DLDriver *devp) {
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uint32_t i;
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devp->vmt_basesensor = &vmt_basesensor;
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devp->vmt_baseaccelerometer = &vmt_baseaccelerometer;
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devp->vmt_lis302dl = &vmt_lis302dl;
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devp->config = NULL;
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for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)
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devp->bias[i] = 0;
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devp->state = LIS302DL_STOP;
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}
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/**
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* @brief Configures and activates LIS302DL Complex Driver peripheral.
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*
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* @param[in] devp pointer to the @p LIS302DLDriver object
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* @param[in] config pointer to the @p LIS302DLConfig object
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*
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* @api
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*/
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void lis302dlStart(LIS302DLDriver *devp, const LIS302DLConfig *config) {
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uint32_t i;
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osalDbgCheck((devp != NULL) && (config != NULL));
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osalDbgAssert((devp->state == LIS302DL_STOP) || (devp->state == LIS302DL_READY),
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"lis302dlStart(), invalid state");
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devp->config = config;
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#if LIS302DL_USE_SPI
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#if LIS302DL_SHARED_SPI
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spiAcquireBus((devp)->config->spip);
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#endif /* LIS302DL_SHARED_SPI */
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spiStart((devp)->config->spip,
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(devp)->config->spicfg);
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lis302dlSPIWriteRegister(devp->config->spip, LIS302DL_AD_CTRL_REG1,
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LIS302DL_PM_SLEEP_NORMAL |
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devp->config->axesenabling |
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devp->config->fullscale |
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devp->config->outputdatarate);
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lis302dlSPIWriteRegister(devp->config->spip, LIS302DL_AD_CTRL_REG2,
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devp->config->highpass);
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#if LIS302DL_SHARED_SPI
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spiReleaseBus((devp)->config->spip);
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#endif /* LIS302DL_SHARED_SPI */
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#endif /* LIS302DL_USE_SPI */
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/* Storing sensitivity information according to full scale value */
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if(devp->config->fullscale == LIS302DL_FS_2G)
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for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)
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devp->sensitivity[i] = LIS302DL_SENS_2G;
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else if(devp->config->fullscale == LIS302DL_FS_8G)
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for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)
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devp->sensitivity[i] = LIS302DL_SENS_8G;
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else {
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osalDbgAssert(FALSE, "lis302dlStart(), accelerometer full scale issue");
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}
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/* This is the Accelerometer transient recovery time */
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osalThreadSleepMilliseconds(10);
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devp->state = LIS302DL_READY;
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}
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/**
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* @brief Deactivates the LIS302DL Complex Driver peripheral.
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*
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* @param[in] devp pointer to the @p LIS302DLDriver object
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*
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* @api
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*/
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void lis302dlStop(LIS302DLDriver *devp) {
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osalDbgCheck(devp != NULL);
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osalDbgAssert((devp->state == LIS302DL_STOP) || (devp->state == LIS302DL_READY),
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"lis302dlStop(), invalid state");
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#if (LIS302DL_USE_SPI)
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if (devp->state == LIS302DL_STOP) {
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#if LIS302DL_SHARED_SPI
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spiAcquireBus((devp)->config->spip);
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spiStart((devp)->config->spip,
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(devp)->config->spicfg);
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#endif /* LIS302DL_SHARED_SPI */
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lis302dlSPIWriteRegister(devp->config->spip, LIS302DL_AD_CTRL_REG1,
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LIS302DL_PM_POWER_DOWN | LIS302DL_AE_DISABLED);
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spiStop((devp)->config->spip);
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#if LIS302DL_SHARED_SPI
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spiReleaseBus((devp)->config->spip);
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#endif /* LIS302DL_SHARED_SPI */
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}
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#endif /* LIS302DL_USE_SPI */
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devp->state = LIS302DL_STOP;
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}
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/** @} */
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