You cannot select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
555 lines
18 KiB
C
555 lines
18 KiB
C
4 years ago
|
/*
|
||
|
|
ChibiOS - Copyright (C) 2016..2019 Rocco Marco Guglielmi
|
||
|
|
|
||
|
|
This file is part of ChibiOS.
|
||
|
|
|
||
|
|
ChibiOS is free software; you can redistribute it and/or modify
|
||
|
|
it under the terms of the GNU General Public License as published by
|
||
|
|
the Free Software Foundation; either version 3 of the License, or
|
||
|
|
(at your option) any later version.
|
||
|
|
|
||
|
|
ChibiOS is distributed in the hope that it will be useful,
|
||
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||
|
|
GNU General Public License for more details.
|
||
|
|
|
||
|
|
You should have received a copy of the GNU General Public License
|
||
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||
|
|
|
||
|
|
*/
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @file lis302dl.c
|
||
|
|
* @brief LIS302DL MEMS interface module code.
|
||
|
|
*
|
||
|
|
* @addtogroup LIS302DL
|
||
|
|
* @ingroup EX_ST
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
|
||
|
|
#include "hal.h"
|
||
|
|
#include "lis302dl.h"
|
||
|
|
|
||
|
|
/*===========================================================================*/
|
||
|
|
/* Driver local definitions. */
|
||
|
|
/*===========================================================================*/
|
||
|
|
|
||
|
|
/*===========================================================================*/
|
||
|
|
/* Driver exported variables. */
|
||
|
|
/*===========================================================================*/
|
||
|
|
|
||
|
|
/*===========================================================================*/
|
||
|
|
/* Driver local variables and types. */
|
||
|
|
/*===========================================================================*/
|
||
|
|
|
||
|
|
/*===========================================================================*/
|
||
|
|
/* Driver local functions. */
|
||
|
|
/*===========================================================================*/
|
||
|
|
|
||
|
|
#if (LIS302DL_USE_SPI) || defined(__DOXYGEN__)
|
||
|
|
/**
|
||
|
|
* @brief Reads a generic register value using SPI.
|
||
|
|
* @pre The SPI interface must be initialized and the driver started.
|
||
|
|
*
|
||
|
|
* @param[in] spip pointer to the SPI interface
|
||
|
|
* @param[in] reg starting register address
|
||
|
|
* @param[in] n number of adjacent registers to write
|
||
|
|
* @param[in] b pointer to a buffer.
|
||
|
|
*/
|
||
|
|
static void lis302dlSPIReadRegister(SPIDriver *spip, uint8_t reg, size_t n,
|
||
|
|
uint8_t* b) {
|
||
|
|
uint8_t cmd;
|
||
|
|
(n == 1) ? (cmd = reg | LIS302DL_RW) : (cmd = reg | LIS302DL_RW | LIS302DL_MS);
|
||
|
|
spiSelect(spip);
|
||
|
|
spiSend(spip, 1, &cmd);
|
||
|
|
spiReceive(spip, n, b);
|
||
|
|
spiUnselect(spip);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @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 starting register address
|
||
|
|
* @param[in] n number of adjacent registers to write
|
||
|
|
* @param[in] b pointer to a buffer of values.
|
||
|
|
*/
|
||
|
|
static void lis302dlSPIWriteRegister(SPIDriver *spip, uint8_t reg, size_t n,
|
||
|
|
uint8_t* b) {
|
||
|
|
uint8_t cmd;
|
||
|
|
(n == 1) ? (cmd = reg) : (cmd = reg | LIS302DL_MS);
|
||
|
|
spiSelect(spip);
|
||
|
|
spiSend(spip, 1, &cmd);
|
||
|
|
spiSend(spip, n, b);
|
||
|
|
spiUnselect(spip);
|
||
|
|
}
|
||
|
|
#endif /* LIS302DL_USE_SPI */
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Return the number of axes of the BaseAccelerometer.
|
||
|
|
*
|
||
|
|
* @param[in] ip pointer to @p BaseAccelerometer interface.
|
||
|
|
*
|
||
|
|
* @return the number of axes.
|
||
|
|
*/
|
||
|
|
static size_t acc_get_axes_number(void *ip) {
|
||
|
|
(void)ip;
|
||
|
|
|
||
|
|
return LIS302DL_ACC_NUMBER_OF_AXES;
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Retrieves raw data from the BaseAccelerometer.
|
||
|
|
* @note This data is retrieved from MEMS register without any algebraical
|
||
|
|
* manipulation.
|
||
|
|
* @note The axes array must be at least the same size of the
|
||
|
|
* BaseAccelerometer axes number.
|
||
|
|
*
|
||
|
|
* @param[in] ip pointer to @p BaseAccelerometer interface.
|
||
|
|
* @param[out] axes a buffer which would be filled with raw data.
|
||
|
|
*
|
||
|
|
* @return The operation status.
|
||
|
|
* @retval MSG_OK if the function succeeded.
|
||
|
|
* @retval MSG_RESET if one or more I2C errors occurred, the errors can
|
||
|
|
* be retrieved using @p i2cGetErrors().
|
||
|
|
* @retval MSG_TIMEOUT if a timeout occurred before operation end.
|
||
|
|
*/
|
||
|
|
static msg_t acc_read_raw(void *ip, int32_t axes[]) {
|
||
|
|
LIS302DLDriver* devp;
|
||
|
|
uint8_t i, tmp;
|
||
|
|
msg_t msg = MSG_OK;
|
||
|
|
|
||
|
|
osalDbgCheck((ip != NULL) && (axes != NULL));
|
||
|
|
|
||
|
|
/* Getting parent instance pointer.*/
|
||
|
|
devp = objGetInstance(LIS302DLDriver*, (BaseAccelerometer*)ip);
|
||
|
|
|
||
|
|
osalDbgAssert((devp->state == LIS302DL_READY),
|
||
|
|
"acc_read_raw(), invalid state");
|
||
|
|
|
||
|
|
#if LIS302DL_USE_SPI
|
||
|
|
#if LIS302DL_SHARED_SPI
|
||
|
|
osalDbgAssert((devp->config->spip->state == SPI_READY),
|
||
|
|
"acc_read_raw(), channel not ready");
|
||
|
|
|
||
|
|
spiAcquireBus(devp->config->spip);
|
||
|
|
spiStart(devp->config->spip,
|
||
|
|
devp->config->spicfg);
|
||
|
|
#endif /* LIS302DL_SHARED_SPI */
|
||
|
|
|
||
|
|
for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++) {
|
||
|
|
lis302dlSPIReadRegister(devp->config->spip,
|
||
|
|
LIS302DL_AD_OUT_X + (i * 2), 1, &tmp);
|
||
|
|
axes[i] = (int32_t)((int8_t)tmp);
|
||
|
|
}
|
||
|
|
|
||
|
|
#if LIS302DL_SHARED_SPI
|
||
|
|
spiReleaseBus(devp->config->spip);
|
||
|
|
#endif /* LIS302DL_SHARED_SPI */
|
||
|
|
#endif /* LIS302DL_USE_SPI */
|
||
|
|
return msg;
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Retrieves cooked data from the BaseAccelerometer.
|
||
|
|
* @note This data is manipulated according to the formula
|
||
|
|
* cooked = (raw * sensitivity) - bias.
|
||
|
|
* @note Final data is expressed as milli-G.
|
||
|
|
* @note The axes array must be at least the same size of the
|
||
|
|
* BaseAccelerometer axes number.
|
||
|
|
*
|
||
|
|
* @param[in] ip pointer to @p BaseAccelerometer interface.
|
||
|
|
* @param[out] axes a buffer which would be filled with cooked data.
|
||
|
|
*
|
||
|
|
* @return The operation status.
|
||
|
|
* @retval MSG_OK if the function succeeded.
|
||
|
|
* @retval MSG_RESET if one or more I2C errors occurred, the errors can
|
||
|
|
* be retrieved using @p i2cGetErrors().
|
||
|
|
* @retval MSG_TIMEOUT if a timeout occurred before operation end.
|
||
|
|
*/
|
||
|
|
static msg_t acc_read_cooked(void *ip, float axes[]) {
|
||
|
|
LIS302DLDriver* devp;
|
||
|
|
uint32_t i;
|
||
|
|
int32_t raw[LIS302DL_ACC_NUMBER_OF_AXES];
|
||
|
|
msg_t msg;
|
||
|
|
|
||
|
|
osalDbgCheck((ip != NULL) && (axes != NULL));
|
||
|
|
|
||
|
|
/* Getting parent instance pointer.*/
|
||
|
|
devp = objGetInstance(LIS302DLDriver*, (BaseAccelerometer*)ip);
|
||
|
|
|
||
|
|
osalDbgAssert((devp->state == LIS302DL_READY),
|
||
|
|
"acc_read_cooked(), invalid state");
|
||
|
|
|
||
|
|
msg = acc_read_raw(ip, raw);
|
||
|
|
for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++) {
|
||
|
|
axes[i] = (raw[i] * devp->accsensitivity[i]) - devp->accbias[i];
|
||
|
|
}
|
||
|
|
return msg;
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Set bias values for the BaseAccelerometer.
|
||
|
|
* @note Bias must be expressed as milli-G.
|
||
|
|
* @note The bias buffer must be at least the same size of the
|
||
|
|
* BaseAccelerometer axes number.
|
||
|
|
*
|
||
|
|
* @param[in] ip pointer to @p BaseAccelerometer interface.
|
||
|
|
* @param[in] bp a buffer which contains biases.
|
||
|
|
*
|
||
|
|
* @return The operation status.
|
||
|
|
* @retval MSG_OK if the function succeeded.
|
||
|
|
*/
|
||
|
|
static msg_t acc_set_bias(void *ip, float *bp) {
|
||
|
|
LIS302DLDriver* devp;
|
||
|
|
uint32_t i;
|
||
|
|
msg_t msg = MSG_OK;
|
||
|
|
|
||
|
|
osalDbgCheck((ip != NULL) && (bp != NULL));
|
||
|
|
|
||
|
|
/* Getting parent instance pointer.*/
|
||
|
|
devp = objGetInstance(LIS302DLDriver*, (BaseAccelerometer*)ip);
|
||
|
|
|
||
|
|
osalDbgAssert((devp->state == LIS302DL_READY),
|
||
|
|
"acc_set_bias(), invalid state");
|
||
|
|
|
||
|
|
for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++) {
|
||
|
|
devp->accbias[i] = bp[i];
|
||
|
|
}
|
||
|
|
return msg;
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Reset bias values for the BaseAccelerometer.
|
||
|
|
* @note Default biases value are obtained from device datasheet when
|
||
|
|
* available otherwise they are considered zero.
|
||
|
|
*
|
||
|
|
* @param[in] ip pointer to @p BaseAccelerometer interface.
|
||
|
|
*
|
||
|
|
* @return The operation status.
|
||
|
|
* @retval MSG_OK if the function succeeded.
|
||
|
|
*/
|
||
|
|
static msg_t acc_reset_bias(void *ip) {
|
||
|
|
LIS302DLDriver* devp;
|
||
|
|
uint32_t i;
|
||
|
|
msg_t msg = MSG_OK;
|
||
|
|
|
||
|
|
osalDbgCheck(ip != NULL);
|
||
|
|
|
||
|
|
/* Getting parent instance pointer.*/
|
||
|
|
devp = objGetInstance(LIS302DLDriver*, (BaseAccelerometer*)ip);
|
||
|
|
|
||
|
|
osalDbgAssert((devp->state == LIS302DL_READY),
|
||
|
|
"acc_reset_bias(), invalid state");
|
||
|
|
|
||
|
|
for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++)
|
||
|
|
devp->accbias[i] = LIS302DL_ACC_BIAS;
|
||
|
|
return msg;
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Set sensitivity values for the BaseAccelerometer.
|
||
|
|
* @note Sensitivity must be expressed as milli-G/LSB.
|
||
|
|
* @note The sensitivity buffer must be at least the same size of the
|
||
|
|
* BaseAccelerometer axes number.
|
||
|
|
*
|
||
|
|
* @param[in] ip pointer to @p BaseAccelerometer interface.
|
||
|
|
* @param[in] sp a buffer which contains sensitivities.
|
||
|
|
*
|
||
|
|
* @return The operation status.
|
||
|
|
* @retval MSG_OK if the function succeeded.
|
||
|
|
*/
|
||
|
|
static msg_t acc_set_sensivity(void *ip, float *sp) {
|
||
|
|
LIS302DLDriver* devp;
|
||
|
|
uint32_t i;
|
||
|
|
msg_t msg = MSG_OK;
|
||
|
|
|
||
|
|
/* Getting parent instance pointer.*/
|
||
|
|
devp = objGetInstance(LIS302DLDriver*, (BaseAccelerometer*)ip);
|
||
|
|
|
||
|
|
osalDbgCheck((ip != NULL) && (sp != NULL));
|
||
|
|
|
||
|
|
osalDbgAssert((devp->state == LIS302DL_READY),
|
||
|
|
"acc_set_sensivity(), invalid state");
|
||
|
|
|
||
|
|
for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++) {
|
||
|
|
devp->accsensitivity[i] = sp[i];
|
||
|
|
}
|
||
|
|
return msg;
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Reset sensitivity values for the BaseAccelerometer.
|
||
|
|
* @note Default sensitivities value are obtained from device datasheet.
|
||
|
|
*
|
||
|
|
* @param[in] ip pointer to @p BaseAccelerometer interface.
|
||
|
|
*
|
||
|
|
* @return The operation status.
|
||
|
|
* @retval MSG_OK if the function succeeded.
|
||
|
|
* @retval MSG_RESET otherwise.
|
||
|
|
*/
|
||
|
|
static msg_t acc_reset_sensivity(void *ip) {
|
||
|
|
LIS302DLDriver* devp;
|
||
|
|
uint32_t i;
|
||
|
|
msg_t msg = MSG_OK;
|
||
|
|
|
||
|
|
osalDbgCheck(ip != NULL);
|
||
|
|
|
||
|
|
/* Getting parent instance pointer.*/
|
||
|
|
devp = objGetInstance(LIS302DLDriver*, (BaseAccelerometer*)ip);
|
||
|
|
|
||
|
|
osalDbgAssert((devp->state == LIS302DL_READY),
|
||
|
|
"acc_reset_sensivity(), invalid state");
|
||
|
|
|
||
|
|
if(devp->config->accfullscale == LIS302DL_ACC_FS_2G)
|
||
|
|
for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++)
|
||
|
|
devp->accsensitivity[i] = LIS302DL_ACC_SENS_2G;
|
||
|
|
else if(devp->config->accfullscale == LIS302DL_ACC_FS_8G)
|
||
|
|
for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++)
|
||
|
|
devp->accsensitivity[i] = LIS302DL_ACC_SENS_8G;
|
||
|
|
else {
|
||
|
|
osalDbgAssert(FALSE,
|
||
|
|
"acc_reset_sensivity(), accelerometer full scale issue");
|
||
|
|
return MSG_RESET;
|
||
|
|
}
|
||
|
|
return msg;
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Changes the LIS302DLDriver accelerometer fullscale value.
|
||
|
|
* @note This function also rescale sensitivities and biases based on
|
||
|
|
* previous and next fullscale value.
|
||
|
|
* @note A recalibration is highly suggested after calling this function.
|
||
|
|
*
|
||
|
|
* @param[in] devp pointer to @p LIS302DLDriver interface.
|
||
|
|
* @param[in] fs new fullscale value.
|
||
|
|
*
|
||
|
|
* @return The operation status.
|
||
|
|
* @retval MSG_OK if the function succeeded.
|
||
|
|
* @retval MSG_RESET otherwise.
|
||
|
|
*/
|
||
|
|
static msg_t acc_set_full_scale(LIS302DLDriver *devp, lis302dl_acc_fs_t fs) {
|
||
|
|
float newfs, scale;
|
||
|
|
uint8_t i, cr;
|
||
|
|
msg_t msg;
|
||
|
|
|
||
|
|
osalDbgCheck(devp != NULL);
|
||
|
|
|
||
|
|
osalDbgAssert((devp->state == LIS302DL_READY),
|
||
|
|
"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 == LIS302DL_ACC_FS_2G) {
|
||
|
|
newfs = LIS302DL_ACC_2G;
|
||
|
|
}
|
||
|
|
else if(fs == LIS302DL_ACC_FS_8G) {
|
||
|
|
newfs = LIS302DL_ACC_8G;
|
||
|
|
}
|
||
|
|
else {
|
||
|
|
msg = MSG_RESET;
|
||
|
|
return msg;
|
||
|
|
}
|
||
|
|
|
||
|
|
if(newfs != devp->accfullscale) {
|
||
|
|
/* Computing scale value.*/
|
||
|
|
scale = newfs / devp->accfullscale;
|
||
|
|
devp->accfullscale = newfs;
|
||
|
|
|
||
|
|
#if LIS302DL_USE_SPI
|
||
|
|
#if LIS302DL_SHARED_SPI
|
||
|
|
spiAcquireBus(devp->config->spip);
|
||
|
|
spiStart(devp->config->spip,
|
||
|
|
devp->config->spicfg);
|
||
|
|
#endif /* LIS302DL_SHARED_SPI */
|
||
|
|
|
||
|
|
/* Getting data from register.*/
|
||
|
|
lis302dlSPIReadRegister(devp->config->spip, LIS302DL_AD_CTRL_REG1, 1, &cr);
|
||
|
|
|
||
|
|
#if LIS302DL_SHARED_SPI
|
||
|
|
spiReleaseBus(devp->config->spip);
|
||
|
|
#endif /* LIS302DL_SHARED_SPI */
|
||
|
|
#endif /* LIS302DL_USE_SPI */
|
||
|
|
|
||
|
|
cr &= ~(LIS302DL_CTRL_REG1_FS_MASK);
|
||
|
|
cr |= fs;
|
||
|
|
|
||
|
|
#if LIS302DL_USE_SPI
|
||
|
|
#if LIS302DL_SHARED_SPI
|
||
|
|
spiAcquireBus(devp->config->spip);
|
||
|
|
spiStart(devp->config->spip,
|
||
|
|
devp->config->spicfg);
|
||
|
|
#endif /* LIS302DL_SHARED_SPI */
|
||
|
|
|
||
|
|
/* Getting data from register.*/
|
||
|
|
lis302dlSPIWriteRegister(devp->config->spip, LIS302DL_AD_CTRL_REG1, 1, &cr);
|
||
|
|
|
||
|
|
#if LIS302DL_SHARED_SPI
|
||
|
|
spiReleaseBus(devp->config->spip);
|
||
|
|
#endif /* LIS302DL_SHARED_SPI */
|
||
|
|
#endif /* LIS302DL_USE_SPI */
|
||
|
|
|
||
|
|
/* Scaling sensitivity and bias. Re-calibration is suggested anyway. */
|
||
|
|
for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++) {
|
||
|
|
devp->accsensitivity[i] *= scale;
|
||
|
|
devp->accbias[i] *= scale;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
return msg;
|
||
|
|
}
|
||
|
|
|
||
|
|
static const struct LIS302DLVMT vmt_device = {
|
||
|
|
(size_t)0,
|
||
|
|
acc_set_full_scale
|
||
|
|
};
|
||
|
|
|
||
|
|
static const struct BaseAccelerometerVMT vmt_accelerometer = {
|
||
|
|
sizeof(struct LIS302DLVMT*),
|
||
|
|
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 LIS302DLDriver object
|
||
|
|
*
|
||
|
|
* @init
|
||
|
|
*/
|
||
|
|
void lis302dlObjectInit(LIS302DLDriver *devp) {
|
||
|
|
devp->vmt = &vmt_device;
|
||
|
|
devp->acc_if.vmt = &vmt_accelerometer;
|
||
|
|
|
||
|
|
devp->config = NULL;
|
||
|
|
|
||
|
|
devp->accaxes = LIS302DL_ACC_NUMBER_OF_AXES;
|
||
|
|
|
||
|
|
devp->state = LIS302DL_STOP;
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Configures and activates LIS302DL Complex Driver peripheral.
|
||
|
|
*
|
||
|
|
* @param[in] devp pointer to the @p LIS302DLDriver object
|
||
|
|
* @param[in] config pointer to the @p LIS302DLConfig object
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
void lis302dlStart(LIS302DLDriver *devp, const LIS302DLConfig *config) {
|
||
|
|
uint32_t i;
|
||
|
|
uint8_t cr[2] = {0, 0};
|
||
|
|
osalDbgCheck((devp != NULL) && (config != NULL));
|
||
|
|
|
||
|
|
osalDbgAssert((devp->state == LIS302DL_STOP) || (devp->state == LIS302DL_READY),
|
||
|
|
"lis302dlStart(), invalid state");
|
||
|
|
|
||
|
|
devp->config = config;
|
||
|
|
|
||
|
|
/* Control register 1 configuration block.*/
|
||
|
|
{
|
||
|
|
cr[0] = LIS302DL_CTRL_REG1_XEN | LIS302DL_CTRL_REG1_YEN |
|
||
|
|
LIS302DL_CTRL_REG1_ZEN | LIS302DL_CTRL_REG1_PD |
|
||
|
|
devp->config->accoutputdatarate |
|
||
|
|
devp->config->accfullscale;
|
||
|
|
}
|
||
|
|
|
||
|
|
/* Control register 2 configuration block.*/
|
||
|
|
{
|
||
|
|
#if LIS302DL_USE_ADVANCED || defined(__DOXYGEN__)
|
||
|
|
if(devp->config->hpmode != LIS302DL_HPM_BYPASSED)
|
||
|
|
cr[1] = devp->config->acchighpass;
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
|
||
|
|
#if LIS302DL_USE_SPI
|
||
|
|
#if LIS302DL_SHARED_SPI
|
||
|
|
spiAcquireBus((devp)->config->spip);
|
||
|
|
#endif /* LIS302DL_SHARED_SPI */
|
||
|
|
spiStart((devp)->config->spip, (devp)->config->spicfg);
|
||
|
|
|
||
|
|
lis302dlSPIWriteRegister(devp->config->spip, LIS302DL_AD_CTRL_REG1,
|
||
|
|
2, cr);
|
||
|
|
|
||
|
|
#if LIS302DL_SHARED_SPI
|
||
|
|
spiReleaseBus((devp)->config->spip);
|
||
|
|
#endif /* LIS302DL_SHARED_SPI */
|
||
|
|
#endif /* LIS302DL_USE_SPI */
|
||
|
|
|
||
|
|
/* Storing sensitivity information according to full scale value */
|
||
|
|
if(devp->config->accfullscale == LIS302DL_ACC_FS_2G) {
|
||
|
|
devp->accfullscale = LIS302DL_ACC_2G;
|
||
|
|
if(devp->config->accsensitivity == NULL)
|
||
|
|
for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++)
|
||
|
|
devp->accsensitivity[i] = LIS302DL_ACC_SENS_2G;
|
||
|
|
else
|
||
|
|
for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++)
|
||
|
|
devp->accsensitivity[i] = devp->config->accsensitivity[i];
|
||
|
|
}
|
||
|
|
else if(devp->config->accfullscale == LIS302DL_ACC_FS_8G) {
|
||
|
|
devp->accfullscale = LIS302DL_ACC_8G;
|
||
|
|
if(devp->config->accsensitivity == NULL)
|
||
|
|
for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++)
|
||
|
|
devp->accsensitivity[i] = LIS302DL_ACC_SENS_8G;
|
||
|
|
else
|
||
|
|
for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++)
|
||
|
|
devp->accsensitivity[i] = devp->config->accsensitivity[i];
|
||
|
|
}
|
||
|
|
else {
|
||
|
|
osalDbgAssert(FALSE, "lis302dlStart(), accelerometer full scale issue");
|
||
|
|
}
|
||
|
|
|
||
|
|
/* Storing bias information according to user setting */
|
||
|
|
if(devp->config->accbias != NULL)
|
||
|
|
for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++)
|
||
|
|
devp->accbias[i] = devp->config->accbias[i];
|
||
|
|
else
|
||
|
|
for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++)
|
||
|
|
devp->accbias[i] = LIS302DL_ACC_BIAS;
|
||
|
|
|
||
|
|
/* This is the Accelerometer transient recovery time */
|
||
|
|
osalThreadSleepMilliseconds(10);
|
||
|
|
|
||
|
|
devp->state = LIS302DL_READY;
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Deactivates the LIS302DL Complex Driver peripheral.
|
||
|
|
*
|
||
|
|
* @param[in] devp pointer to the @p LIS302DLDriver object
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
void lis302dlStop(LIS302DLDriver *devp) {
|
||
|
|
uint8_t cr1;
|
||
|
|
osalDbgCheck(devp != NULL);
|
||
|
|
|
||
|
|
osalDbgAssert((devp->state == LIS302DL_STOP) ||
|
||
|
|
(devp->state == LIS302DL_READY),
|
||
|
|
"lis302dlStop(), invalid state");
|
||
|
|
|
||
|
|
if (devp->state == LIS302DL_READY) {
|
||
|
|
#if LIS302DL_USE_SPI
|
||
|
|
#if LIS302DL_SHARED_SPI
|
||
|
|
spiAcquireBus((devp)->config->spip);
|
||
|
|
spiStart((devp)->config->spip,
|
||
|
|
(devp)->config->spicfg);
|
||
|
|
#endif /* LIS302DL_SHARED_SPI */
|
||
|
|
/* Disabling all axes and enabling power down mode.*/
|
||
|
|
cr1 = 0;
|
||
|
|
lis302dlSPIWriteRegister(devp->config->spip, LIS302DL_AD_CTRL_REG1, 1, &cr1);
|
||
|
|
spiStop((devp)->config->spip);
|
||
|
|
#if LIS302DL_SHARED_SPI
|
||
|
|
spiReleaseBus((devp)->config->spip);
|
||
|
|
#endif /* LIS302DL_SHARED_SPI */
|
||
|
|
#endif /* LIS302DL_USE_SPI */
|
||
|
|
}
|
||
|
|
devp->state = LIS302DL_STOP;
|
||
|
|
}
|
||
|
|
/** @} */
|