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555 lines
18 KiB
C
555 lines
18 KiB
C
/*
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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 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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* @ingroup EX_ST
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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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/*===========================================================================*/
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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 (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 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 lis302dlSPIReadRegister(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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(n == 1) ? (cmd = reg | LIS302DL_RW) : (cmd = reg | LIS302DL_RW | LIS302DL_MS);
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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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*
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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 lis302dlSPIWriteRegister(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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(n == 1) ? (cmd = reg) : (cmd = reg | LIS302DL_MS);
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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 /* LIS302DL_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 LIS302DL_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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LIS302DLDriver* devp;
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uint8_t i, 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(LIS302DLDriver*, (BaseAccelerometer*)ip);
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osalDbgAssert((devp->state == LIS302DL_READY),
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"acc_read_raw(), invalid state");
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#if LIS302DL_USE_SPI
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#if LIS302DL_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 /* LIS302DL_SHARED_SPI */
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for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++) {
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lis302dlSPIReadRegister(devp->config->spip,
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LIS302DL_AD_OUT_X + (i * 2), 1, &tmp);
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axes[i] = (int32_t)((int8_t)tmp);
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}
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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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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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LIS302DLDriver* devp;
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uint32_t i;
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int32_t raw[LIS302DL_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(LIS302DLDriver*, (BaseAccelerometer*)ip);
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osalDbgAssert((devp->state == LIS302DL_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 < LIS302DL_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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LIS302DLDriver* 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(LIS302DLDriver*, (BaseAccelerometer*)ip);
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osalDbgAssert((devp->state == LIS302DL_READY),
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"acc_set_bias(), invalid state");
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for(i = 0; i < LIS302DL_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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LIS302DLDriver* 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(LIS302DLDriver*, (BaseAccelerometer*)ip);
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osalDbgAssert((devp->state == LIS302DL_READY),
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"acc_reset_bias(), invalid state");
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for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++)
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devp->accbias[i] = LIS302DL_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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LIS302DLDriver* 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(LIS302DLDriver*, (BaseAccelerometer*)ip);
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osalDbgCheck((ip != NULL) && (sp != NULL));
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osalDbgAssert((devp->state == LIS302DL_READY),
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"acc_set_sensivity(), invalid state");
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for(i = 0; i < LIS302DL_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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LIS302DLDriver* 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(LIS302DLDriver*, (BaseAccelerometer*)ip);
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osalDbgAssert((devp->state == LIS302DL_READY),
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"acc_reset_sensivity(), invalid state");
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if(devp->config->accfullscale == LIS302DL_ACC_FS_2G)
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for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++)
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devp->accsensitivity[i] = LIS302DL_ACC_SENS_2G;
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else if(devp->config->accfullscale == LIS302DL_ACC_FS_8G)
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for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++)
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devp->accsensitivity[i] = LIS302DL_ACC_SENS_8G;
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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 LIS302DLDriver 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 LIS302DLDriver 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(LIS302DLDriver *devp, lis302dl_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 == LIS302DL_READY),
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"acc_set_full_scale(), invalid state");
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osalDbgAssert((devp->config->spip->state == SPI_READY),
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"acc_set_full_scale(), channel not ready");
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/* Computing new fullscale value.*/
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if(fs == LIS302DL_ACC_FS_2G) {
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newfs = LIS302DL_ACC_2G;
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}
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else if(fs == LIS302DL_ACC_FS_8G) {
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newfs = LIS302DL_ACC_8G;
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}
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else {
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msg = MSG_RESET;
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return msg;
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}
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if(newfs != devp->accfullscale) {
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/* Computing scale value.*/
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scale = newfs / devp->accfullscale;
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devp->accfullscale = newfs;
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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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spiStart(devp->config->spip,
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devp->config->spicfg);
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#endif /* LIS302DL_SHARED_SPI */
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/* Getting data from register.*/
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lis302dlSPIReadRegister(devp->config->spip, LIS302DL_AD_CTRL_REG1, 1, &cr);
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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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cr &= ~(LIS302DL_CTRL_REG1_FS_MASK);
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cr |= fs;
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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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spiStart(devp->config->spip,
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devp->config->spicfg);
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#endif /* LIS302DL_SHARED_SPI */
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/* Getting data from register.*/
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lis302dlSPIWriteRegister(devp->config->spip, LIS302DL_AD_CTRL_REG1, 1, &cr);
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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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/* Scaling sensitivity and bias. Re-calibration is suggested anyway. */
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for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++) {
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devp->accsensitivity[i] *= scale;
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devp->accbias[i] *= scale;
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}
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}
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return msg;
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}
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static const struct LIS302DLVMT vmt_device = {
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(size_t)0,
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acc_set_full_scale
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};
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static const struct BaseAccelerometerVMT vmt_accelerometer = {
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sizeof(struct LIS302DLVMT*),
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acc_get_axes_number, acc_read_raw, acc_read_cooked,
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acc_set_bias, acc_reset_bias, acc_set_sensivity, acc_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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devp->vmt = &vmt_device;
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devp->acc_if.vmt = &vmt_accelerometer;
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devp->config = NULL;
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devp->accaxes = LIS302DL_ACC_NUMBER_OF_AXES;
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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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uint8_t cr[2] = {0, 0};
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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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/* Control register 1 configuration block.*/
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{
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cr[0] = LIS302DL_CTRL_REG1_XEN | LIS302DL_CTRL_REG1_YEN |
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LIS302DL_CTRL_REG1_ZEN | LIS302DL_CTRL_REG1_PD |
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devp->config->accoutputdatarate |
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devp->config->accfullscale;
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}
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/* Control register 2 configuration block.*/
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{
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#if LIS302DL_USE_ADVANCED || defined(__DOXYGEN__)
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if(devp->config->hpmode != LIS302DL_HPM_BYPASSED)
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cr[1] = devp->config->acchighpass;
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#endif
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}
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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, (devp)->config->spicfg);
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lis302dlSPIWriteRegister(devp->config->spip, LIS302DL_AD_CTRL_REG1,
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2, cr);
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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->accfullscale == LIS302DL_ACC_FS_2G) {
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devp->accfullscale = LIS302DL_ACC_2G;
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if(devp->config->accsensitivity == NULL)
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for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++)
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devp->accsensitivity[i] = LIS302DL_ACC_SENS_2G;
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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;
|
|
}
|
|
/** @} */
|