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642 lines
21 KiB
C
642 lines
21 KiB
C
4 years ago
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/*
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ChibiOS - Copyright (C) 2016..2019 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 lis3dsh.c
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* @brief LIS3DSH MEMS interface module code.
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*
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* @addtogroup LIS3DSH
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* @ingroup EX_ST
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* @{
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*/
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#include "hal.h"
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#include "lis3dsh.h"
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/*===========================================================================*/
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/* Driver local definitions. */
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/*===========================================================================*/
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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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/* Driver local functions. */
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/*===========================================================================*/
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#if (LIS3DSH_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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* @note Multiple write/read requires proper settings in CTRL_REG6.
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*
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* @param[in] spip pointer to the SPI interface
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* @param[in] reg starting register address
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* @param[in] n number of adjacent registers to write
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* @param[in] b pointer to a buffer.
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*/
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static void lis3dshSPIReadRegister(SPIDriver *spip, uint8_t reg, size_t n,
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uint8_t* b) {
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uint8_t cmd;
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cmd = reg | LIS3DSH_RW;
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spiSelect(spip);
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spiSend(spip, 1, &cmd);
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spiReceive(spip, n, b);
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spiUnselect(spip);
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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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* @note Multiple write/read requires proper settings in CTRL_REG6.
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*
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* @param[in] spip pointer to the SPI interface
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* @param[in] reg starting register address
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* @param[in] n number of adjacent registers to write
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* @param[in] b pointer to a buffer of values.
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*/
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static void lis3dshSPIWriteRegister(SPIDriver *spip, uint8_t reg, size_t n,
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uint8_t* b) {
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uint8_t cmd;
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cmd = reg;
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spiSelect(spip);
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spiSend(spip, 1, &cmd);
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spiSend(spip, n, b);
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spiUnselect(spip);
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}
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#endif /* LIS3DSH_USE_SPI */
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/**
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* @brief Return the number of axes of the BaseAccelerometer.
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*
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* @param[in] ip pointer to @p BaseAccelerometer interface.
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*
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* @return the number of axes.
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*/
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static size_t acc_get_axes_number(void *ip) {
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(void)ip;
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return LIS3DSH_ACC_NUMBER_OF_AXES;
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}
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/**
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* @brief Retrieves raw data from the BaseAccelerometer.
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* @note This data is retrieved from MEMS register without any algebraical
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* manipulation.
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* @note The axes array must be at least the same size of the
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* BaseAccelerometer axes number.
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*
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* @param[in] ip pointer to @p BaseAccelerometer interface.
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* @param[out] axes a buffer which would be filled with raw data.
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*
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* @return The operation status.
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* @retval MSG_OK if the function succeeded.
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* @retval MSG_RESET if one or more I2C errors occurred, the errors can
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* be retrieved using @p i2cGetErrors().
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* @retval MSG_TIMEOUT if a timeout occurred before operation end.
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*/
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static msg_t acc_read_raw(void *ip, int32_t axes[]) {
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LIS3DSHDriver* devp;
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uint8_t buff [LIS3DSH_ACC_NUMBER_OF_AXES * 2], i;
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int16_t tmp;
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msg_t msg = MSG_OK;
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osalDbgCheck((ip != NULL) && (axes != NULL));
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/* Getting parent instance pointer.*/
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devp = objGetInstance(LIS3DSHDriver*, (BaseAccelerometer*)ip);
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osalDbgAssert((devp->state == LIS3DSH_READY),
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"acc_read_raw(), invalid state");
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#if LIS3DSH_USE_SPI
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#if LIS3DSH_SHARED_SPI
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osalDbgAssert((devp->config->spip->state == SPI_READY),
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"acc_read_raw(), channel not ready");
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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 /* LIS3DSH_SHARED_SPI */
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lis3dshSPIReadRegister(devp->config->spip, LIS3DSH_AD_OUT_X_L,
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LIS3DSH_ACC_NUMBER_OF_AXES * 2, buff);
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#if LIS3DSH_SHARED_SPI
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spiReleaseBus(devp->config->spip);
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#endif /* LIS3DSH_SHARED_SPI */
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#endif /* LIS3DSH_USE_SPI */
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for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++) {
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tmp = buff[2 * i] + (buff[2 * i + 1] << 8);
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axes[i] = (int32_t)tmp;
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}
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return msg;
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}
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/**
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* @brief Retrieves cooked data from the BaseAccelerometer.
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* @note This data is manipulated according to the formula
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* cooked = (raw * sensitivity) - bias.
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* @note Final data is expressed as milli-G.
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* @note The axes array must be at least the same size of the
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* BaseAccelerometer axes number.
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*
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* @param[in] ip pointer to @p BaseAccelerometer interface.
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* @param[out] axes a buffer which would be filled with cooked data.
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*
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* @return The operation status.
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* @retval MSG_OK if the function succeeded.
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* @retval MSG_RESET if one or more I2C errors occurred, the errors can
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* be retrieved using @p i2cGetErrors().
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* @retval MSG_TIMEOUT if a timeout occurred before operation end.
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*/
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static msg_t acc_read_cooked(void *ip, float axes[]) {
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LIS3DSHDriver* devp;
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uint32_t i;
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int32_t raw[LIS3DSH_ACC_NUMBER_OF_AXES];
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msg_t msg;
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osalDbgCheck((ip != NULL) && (axes != NULL));
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/* Getting parent instance pointer.*/
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devp = objGetInstance(LIS3DSHDriver*, (BaseAccelerometer*)ip);
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osalDbgAssert((devp->state == LIS3DSH_READY),
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"acc_read_cooked(), invalid state");
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msg = acc_read_raw(ip, raw);
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for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++) {
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axes[i] = (raw[i] * devp->accsensitivity[i]) - devp->accbias[i];
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}
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return msg;
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}
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/**
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* @brief Set bias values for the BaseAccelerometer.
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* @note Bias must be expressed as milli-G.
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* @note The bias buffer must be at least the same size of the
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* BaseAccelerometer axes number.
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*
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* @param[in] ip pointer to @p BaseAccelerometer interface.
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* @param[in] bp a buffer which contains biases.
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*
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* @return The operation status.
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* @retval MSG_OK if the function succeeded.
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*/
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static msg_t acc_set_bias(void *ip, float *bp) {
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LIS3DSHDriver* devp;
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uint32_t i;
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msg_t msg = MSG_OK;
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osalDbgCheck((ip != NULL) && (bp != NULL));
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/* Getting parent instance pointer.*/
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devp = objGetInstance(LIS3DSHDriver*, (BaseAccelerometer*)ip);
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osalDbgAssert((devp->state == LIS3DSH_READY),
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"acc_set_bias(), invalid state");
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for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++) {
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devp->accbias[i] = bp[i];
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}
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return msg;
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}
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/**
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* @brief Reset bias values for the BaseAccelerometer.
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* @note Default biases value are obtained from device datasheet when
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* available otherwise they are considered zero.
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*
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* @param[in] ip pointer to @p BaseAccelerometer interface.
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*
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* @return The operation status.
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* @retval MSG_OK if the function succeeded.
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*/
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static msg_t acc_reset_bias(void *ip) {
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LIS3DSHDriver* devp;
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uint32_t i;
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msg_t msg = MSG_OK;
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osalDbgCheck(ip != NULL);
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/* Getting parent instance pointer.*/
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devp = objGetInstance(LIS3DSHDriver*, (BaseAccelerometer*)ip);
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osalDbgAssert((devp->state == LIS3DSH_READY),
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"acc_reset_bias(), invalid state");
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for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
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devp->accbias[i] = LIS3DSH_ACC_BIAS;
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return msg;
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}
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/**
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* @brief Set sensitivity values for the BaseAccelerometer.
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* @note Sensitivity must be expressed as milli-G/LSB.
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* @note The sensitivity buffer must be at least the same size of the
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* BaseAccelerometer axes number.
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*
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* @param[in] ip pointer to @p BaseAccelerometer interface.
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* @param[in] sp a buffer which contains sensitivities.
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*
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* @return The operation status.
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* @retval MSG_OK if the function succeeded.
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*/
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static msg_t acc_set_sensivity(void *ip, float *sp) {
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LIS3DSHDriver* devp;
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uint32_t i;
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msg_t msg = MSG_OK;
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/* Getting parent instance pointer.*/
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devp = objGetInstance(LIS3DSHDriver*, (BaseAccelerometer*)ip);
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osalDbgCheck((ip != NULL) && (sp != NULL));
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osalDbgAssert((devp->state == LIS3DSH_READY),
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"acc_set_sensivity(), invalid state");
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for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++) {
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devp->accsensitivity[i] = sp[i];
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}
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return msg;
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}
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/**
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* @brief Reset sensitivity values for the BaseAccelerometer.
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* @note Default sensitivities value are obtained from device datasheet.
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*
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* @param[in] ip pointer to @p BaseAccelerometer interface.
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*
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* @return The operation status.
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* @retval MSG_OK if the function succeeded.
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* @retval MSG_RESET otherwise.
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*/
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static msg_t acc_reset_sensivity(void *ip) {
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LIS3DSHDriver* devp;
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uint32_t i;
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msg_t msg = MSG_OK;
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osalDbgCheck(ip != NULL);
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/* Getting parent instance pointer.*/
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devp = objGetInstance(LIS3DSHDriver*, (BaseAccelerometer*)ip);
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osalDbgAssert((devp->state == LIS3DSH_READY),
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"acc_reset_sensivity(), invalid state");
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if(devp->config->accfullscale == LIS3DSH_ACC_FS_2G)
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for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
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devp->accsensitivity[i] = LIS3DSH_ACC_SENS_2G;
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else if(devp->config->accfullscale == LIS3DSH_ACC_FS_4G)
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for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
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devp->accsensitivity[i] = LIS3DSH_ACC_SENS_4G;
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else if(devp->config->accfullscale == LIS3DSH_ACC_FS_6G)
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for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
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devp->accsensitivity[i] = LIS3DSH_ACC_SENS_6G;
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else if(devp->config->accfullscale == LIS3DSH_ACC_FS_8G)
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for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
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devp->accsensitivity[i] = LIS3DSH_ACC_SENS_8G;
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else if(devp->config->accfullscale == LIS3DSH_ACC_FS_16G)
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for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
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devp->accsensitivity[i] = LIS3DSH_ACC_SENS_16G;
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else {
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osalDbgAssert(FALSE,
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"acc_reset_sensivity(), accelerometer full scale issue");
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return MSG_RESET;
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}
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return msg;
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}
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/**
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* @brief Changes the LIS3DSHDriver accelerometer fullscale value.
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* @note This function also rescale sensitivities and biases based on
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* previous and next fullscale value.
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* @note A recalibration is highly suggested after calling this function.
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*
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* @param[in] devp pointer to @p LIS3DSHDriver interface.
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* @param[in] fs new fullscale value.
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*
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* @return The operation status.
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* @retval MSG_OK if the function succeeded.
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* @retval MSG_RESET otherwise.
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*/
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static msg_t acc_set_full_scale(LIS3DSHDriver *devp, lis3dsh_acc_fs_t fs) {
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float newfs, scale;
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uint8_t i, cr;
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msg_t msg;
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osalDbgCheck(devp != NULL);
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osalDbgAssert((devp->state == LIS3DSH_READY),
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|
|
"acc_set_full_scale(), invalid state");
|
||
|
|
osalDbgAssert((devp->config->spip->state == SPI_READY),
|
||
|
|
"acc_set_full_scale(), channel not ready");
|
||
|
|
|
||
|
|
/* Computing new fullscale value.*/
|
||
|
|
if(fs == LIS3DSH_ACC_FS_2G) {
|
||
|
|
newfs = LIS3DSH_ACC_2G;
|
||
|
|
}
|
||
|
|
else if(fs == LIS3DSH_ACC_FS_4G) {
|
||
|
|
newfs = LIS3DSH_ACC_4G;
|
||
|
|
}
|
||
|
|
else if(fs == LIS3DSH_ACC_FS_6G) {
|
||
|
|
newfs = LIS3DSH_ACC_6G;
|
||
|
|
}
|
||
|
|
else if(fs == LIS3DSH_ACC_FS_8G) {
|
||
|
|
newfs = LIS3DSH_ACC_8G;
|
||
|
|
}
|
||
|
|
else if(fs == LIS3DSH_ACC_FS_16G) {
|
||
|
|
newfs = LIS3DSH_ACC_16G;
|
||
|
|
}
|
||
|
|
else {
|
||
|
|
msg = MSG_RESET;
|
||
|
|
return msg;
|
||
|
|
}
|
||
|
|
|
||
|
|
if(newfs != devp->accfullscale) {
|
||
|
|
/* Computing scale value.*/
|
||
|
|
scale = newfs / devp->accfullscale;
|
||
|
|
devp->accfullscale = newfs;
|
||
|
|
|
||
|
|
#if LIS3DSH_USE_SPI
|
||
|
|
#if LIS3DSH_SHARED_SPI
|
||
|
|
spiAcquireBus(devp->config->spip);
|
||
|
|
spiStart(devp->config->spip,
|
||
|
|
devp->config->spicfg);
|
||
|
|
#endif /* LIS3DSH_SHARED_SPI */
|
||
|
|
|
||
|
|
/* Getting data from register.*/
|
||
|
|
lis3dshSPIReadRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG5, 1, &cr);
|
||
|
|
|
||
|
|
#if LIS3DSH_SHARED_SPI
|
||
|
|
spiReleaseBus(devp->config->spip);
|
||
|
|
#endif /* LIS3DSH_SHARED_SPI */
|
||
|
|
#endif /* LIS3DSH_USE_SPI */
|
||
|
|
|
||
|
|
cr &= ~(LIS3DSH_CTRL_REG5_FS_MASK);
|
||
|
|
cr |= fs;
|
||
|
|
|
||
|
|
#if LIS3DSH_USE_SPI
|
||
|
|
#if LIS3DSH_SHARED_SPI
|
||
|
|
spiAcquireBus(devp->config->spip);
|
||
|
|
spiStart(devp->config->spip,
|
||
|
|
devp->config->spicfg);
|
||
|
|
#endif /* LIS3DSH_SHARED_SPI */
|
||
|
|
|
||
|
|
/* Getting data from register.*/
|
||
|
|
lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG5, 1, &cr);
|
||
|
|
|
||
|
|
#if LIS3DSH_SHARED_SPI
|
||
|
|
spiReleaseBus(devp->config->spip);
|
||
|
|
#endif /* LIS3DSH_SHARED_SPI */
|
||
|
|
#endif /* LIS3DSH_USE_SPI */
|
||
|
|
|
||
|
|
/* Scaling sensitivity and bias. Re-calibration is suggested anyway. */
|
||
|
|
for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++) {
|
||
|
|
devp->accsensitivity[i] *= scale;
|
||
|
|
devp->accbias[i] *= scale;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
return msg;
|
||
|
|
}
|
||
|
|
|
||
|
|
static const struct LIS3DSHVMT vmt_device = {
|
||
|
|
(size_t)0,
|
||
|
|
acc_set_full_scale
|
||
|
|
};
|
||
|
|
|
||
|
|
static const struct BaseAccelerometerVMT vmt_accelerometer = {
|
||
|
|
sizeof(struct LIS3DSHVMT*),
|
||
|
|
acc_get_axes_number, acc_read_raw, acc_read_cooked,
|
||
|
|
acc_set_bias, acc_reset_bias, acc_set_sensivity, acc_reset_sensivity
|
||
|
|
};
|
||
|
|
|
||
|
|
/*===========================================================================*/
|
||
|
|
/* Driver exported functions. */
|
||
|
|
/*===========================================================================*/
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Initializes an instance.
|
||
|
|
*
|
||
|
|
* @param[out] devp pointer to the @p LIS3DSHDriver object
|
||
|
|
*
|
||
|
|
* @init
|
||
|
|
*/
|
||
|
|
void lis3dshObjectInit(LIS3DSHDriver *devp) {
|
||
|
|
devp->vmt = &vmt_device;
|
||
|
|
devp->acc_if.vmt = &vmt_accelerometer;
|
||
|
|
|
||
|
|
devp->config = NULL;
|
||
|
|
|
||
|
|
devp->accaxes = LIS3DSH_ACC_NUMBER_OF_AXES;
|
||
|
|
|
||
|
|
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;
|
||
|
|
uint8_t cr;
|
||
|
|
osalDbgCheck((devp != NULL) && (config != NULL));
|
||
|
|
|
||
|
|
osalDbgAssert((devp->state == LIS3DSH_STOP) ||
|
||
|
|
(devp->state == LIS3DSH_READY),
|
||
|
|
"lis3dshStart(), invalid state");
|
||
|
|
|
||
|
|
devp->config = config;
|
||
|
|
|
||
|
|
/* Control register 4 configuration block.*/
|
||
|
|
{
|
||
|
|
cr = LIS3DSH_CTRL_REG4_XEN | LIS3DSH_CTRL_REG4_YEN | LIS3DSH_CTRL_REG4_ZEN |
|
||
|
|
devp->config->accoutputdatarate;
|
||
|
|
#if LIS3DSH_USE_ADVANCED || defined(__DOXYGEN__)
|
||
|
|
cr |= devp->config->accblockdataupdate;
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
|
||
|
|
#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, 1, &cr);
|
||
|
|
|
||
|
|
#if LIS3DSH_SHARED_SPI
|
||
|
|
spiReleaseBus(devp->config->spip);
|
||
|
|
#endif /* LIS3DSH_SHARED_SPI */
|
||
|
|
#endif /* LIS3DSH_USE_SPI */
|
||
|
|
|
||
|
|
/* Control register 5 configuration block.*/
|
||
|
|
{
|
||
|
|
cr = devp->config->accfullscale;
|
||
|
|
#if LIS3DSH_USE_ADVANCED || defined(__DOXYGEN__)
|
||
|
|
cr |= devp->config->accantialiasing;
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
|
||
|
|
#if LIS3DSH_USE_SPI
|
||
|
|
#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_REG5, 1, &cr);
|
||
|
|
|
||
|
|
#if LIS3DSH_SHARED_SPI
|
||
|
|
spiReleaseBus(devp->config->spip);
|
||
|
|
#endif /* LIS3DSH_SHARED_SPI */
|
||
|
|
#endif /* LIS3DSH_USE_SPI */
|
||
|
|
|
||
|
|
/* Control register 6 configuration block.*/
|
||
|
|
{
|
||
|
|
cr = LIS3DSH_CTRL_REG6_ADD_INC;
|
||
|
|
#if LIS3DSH_USE_ADVANCED || defined(__DOXYGEN__)
|
||
|
|
cr |= devp->config->accblockdataupdate;
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
|
||
|
|
#if LIS3DSH_USE_SPI
|
||
|
|
#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_REG6, 1, &cr);
|
||
|
|
|
||
|
|
#if LIS3DSH_SHARED_SPI
|
||
|
|
spiReleaseBus(devp->config->spip);
|
||
|
|
#endif /* LIS3DSH_SHARED_SPI */
|
||
|
|
#endif /* LIS3DSH_USE_SPI */
|
||
|
|
|
||
|
|
/* Storing sensitivity information according to user setting */
|
||
|
|
if(devp->config->accfullscale == LIS3DSH_ACC_FS_2G) {
|
||
|
|
devp->accfullscale = LIS3DSH_ACC_2G;
|
||
|
|
if(devp->config->accsensitivity == NULL)
|
||
|
|
for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
|
||
|
|
devp->accsensitivity[i] = LIS3DSH_ACC_SENS_2G;
|
||
|
|
else
|
||
|
|
for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
|
||
|
|
devp->accsensitivity[i] = devp->config->accsensitivity[i];
|
||
|
|
}
|
||
|
|
else if(devp->config->accfullscale == LIS3DSH_ACC_FS_4G) {
|
||
|
|
devp->accfullscale = LIS3DSH_ACC_4G;
|
||
|
|
if(devp->config->accsensitivity == NULL)
|
||
|
|
for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
|
||
|
|
devp->accsensitivity[i] = LIS3DSH_ACC_SENS_4G;
|
||
|
|
else
|
||
|
|
for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
|
||
|
|
devp->accsensitivity[i] = devp->config->accsensitivity[i];
|
||
|
|
}
|
||
|
|
else if(devp->config->accfullscale == LIS3DSH_ACC_FS_6G) {
|
||
|
|
devp->accfullscale = LIS3DSH_ACC_6G;
|
||
|
|
if(devp->config->accsensitivity == NULL)
|
||
|
|
for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
|
||
|
|
devp->accsensitivity[i] = LIS3DSH_ACC_SENS_6G;
|
||
|
|
else
|
||
|
|
for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
|
||
|
|
devp->accsensitivity[i] = devp->config->accsensitivity[i];
|
||
|
|
}
|
||
|
|
else if(devp->config->accfullscale == LIS3DSH_ACC_FS_8G) {
|
||
|
|
devp->accfullscale = LIS3DSH_ACC_8G;
|
||
|
|
if(devp->config->accsensitivity == NULL)
|
||
|
|
for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
|
||
|
|
devp->accsensitivity[i] = LIS3DSH_ACC_SENS_8G;
|
||
|
|
else
|
||
|
|
for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
|
||
|
|
devp->accsensitivity[i] = devp->config->accsensitivity[i];
|
||
|
|
}
|
||
|
|
else if(devp->config->accfullscale == LIS3DSH_ACC_FS_16G) {
|
||
|
|
devp->accfullscale = LIS3DSH_ACC_16G;
|
||
|
|
if(devp->config->accsensitivity == NULL)
|
||
|
|
for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
|
||
|
|
devp->accsensitivity[i] = LIS3DSH_ACC_SENS_16G;
|
||
|
|
else
|
||
|
|
for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
|
||
|
|
devp->accsensitivity[i] = devp->config->accsensitivity[i];
|
||
|
|
}
|
||
|
|
else {
|
||
|
|
osalDbgAssert(FALSE, "lis3dshStart(), accelerometer full scale issue");
|
||
|
|
}
|
||
|
|
|
||
|
|
/* Storing bias information according to user setting */
|
||
|
|
if(devp->config->accbias != NULL)
|
||
|
|
for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
|
||
|
|
devp->accbias[i] = devp->config->accbias[i];
|
||
|
|
else
|
||
|
|
for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
|
||
|
|
devp->accbias[i] = LIS3DSH_ACC_BIAS;
|
||
|
|
|
||
|
|
/* 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) {
|
||
|
|
uint8_t cr4;
|
||
|
|
osalDbgCheck(devp != NULL);
|
||
|
|
|
||
|
|
osalDbgAssert((devp->state == LIS3DSH_STOP) ||
|
||
|
|
(devp->state == LIS3DSH_READY),
|
||
|
|
"lis3dshStop(), invalid state");
|
||
|
|
|
||
|
|
if (devp->state == LIS3DSH_READY) {
|
||
|
|
#if (LIS3DSH_USE_SPI)
|
||
|
|
#if LIS3DSH_SHARED_SPI
|
||
|
|
spiAcquireBus(devp->config->spip);
|
||
|
|
spiStart(devp->config->spip,
|
||
|
|
devp->config->spicfg);
|
||
|
|
#endif /* LIS3DSH_SHARED_SPI */
|
||
|
|
/* 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);
|
||
|
|
#endif /* LIS3DSH_SHARED_SPI */
|
||
|
|
#endif /* LIS3DSH_USE_SPI */
|
||
|
|
}
|
||
|
|
devp->state = LIS3DSH_STOP;
|
||
|
|
}
|
||
|
|
/** @} */
|