1 files changed, 0 insertions, 272 deletions
diff --git a/nuttx/configs/px4fmu/src/drv_lis331.c b/nuttx/configs/px4fmu/src/drv_lis331.c
deleted file mode 100644
index fd477b46f..000000000
--- a/nuttx/configs/px4fmu/src/drv_lis331.c
+++ /dev/null
@@ -1,272 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/*
- * Driver for the ST LIS331 MEMS accelerometer
- */
-
-#include <nuttx/config.h>
-
-#include <stdint.h>
-#include <stdbool.h>
-#include <debug.h>
-#include <errno.h>
-
-#include <nuttx/spi.h>
-#include <arch/board/board.h>
-
-#include "up_arch.h"
-#include "chip.h"
-#include "stm32_internal.h"
-#include "px4fmu-internal.h"
-
-#include <arch/board/drv_lis331.h>
-
-/*
- * LIS331 registers
- */
-
-#define DIR_READ		(1<<7)
-#define DIR_WRITE		(0<<7)
-#define ADDR_INCREMENT		(1<<6)
-
-#define ADDR_WHO_AM_I		0x0f
-#define WHO_I_AM		0x32
-
-#define ADDR_CTRL_REG1		0x20		/* sample rate constants are in the public header */
-#define REG1_POWER_NORMAL		(1<<5)
-#define REG1_RATE_MASK			(3<<3)
-#define REG1_Z_ENABLE			(1<<2)
-#define REG1_Y_ENABLE			(1<<1)
-#define REG1_X_ENABLE			(1<<0)
-
-#define ADDR_CTRL_REG2		0x21
-
-#define ADDR_CTRL_REG3		0x22
-
-#define ADDR_CTRL_REG4		0x23
-#define REG4_BDU			(1<<7)
-#define REG4_BIG_ENDIAN			(1<<6)
-#define REG4_RANGE_MASK			(3<<4)
-#define REG4_SPI_3WIRE			(1<<0)
-
-#define ADDR_CTRL_REG5		0x24
-
-#define ADDR_HP_FILTER_RESET	0x25
-#define ADDR_REFERENCE		0x26
-#define ADDR_STATUS_REG		0x27
-#define STATUS_ZYXOR			(1<<7)
-#define STATUS_ZOR				(1<<6)
-#define STATUS_YOR				(1<<5)
-#define STATUS_XOR				(1<<4)
-#define STATUS_ZYXDA			(1<<3)
-#define STATUS_ZDA				(1<<2)
-#define STATUS_YDA				(1<<1)
-#define STATUS_XDA				(1<<0)
-
-#define ADDR_OUT_X		0x28	/* 16 bits */
-#define ADDR_OUT_Y		0x2A	/* 16 bits */
-#define ADDR_OUT_Z		0x2C	/* 16 bits */
-
-
-static ssize_t	lis331_read(struct file *filp, FAR char *buffer, size_t buflen);
-static int	lis331_ioctl(struct file *filp, int cmd, unsigned long arg);
-
-static const struct file_operations lis331_fops = {
-	.read  = lis331_read,
-	.ioctl = lis331_ioctl,
-};
-
-struct lis331_dev_s
-{
-	struct spi_dev_s	*spi;
-	int			spi_id;
-
-	uint8_t			rate;
-	struct lis331_buffer	*buffer;
-};
-
-static struct lis331_dev_s	lis331_dev;
-
-static void	write_reg(uint8_t address, uint8_t data);
-static uint8_t	read_reg(uint8_t address);
-static bool	read_fifo(uint16_t *data);
-static void	set_range(uint8_t range);
-static void	set_rate(uint8_t rate);
-
-static void
-write_reg(uint8_t address, uint8_t data)
-{
-	uint8_t cmd[2] = { address | DIR_WRITE, data };
-
-	SPI_SELECT(lis331_dev.spi, lis331_dev.spi_id, true);
-      	SPI_SNDBLOCK(lis331_dev.spi, &cmd, sizeof(cmd));
-	SPI_SELECT(lis331_dev.spi, lis331_dev.spi_id, false);
-}
-
-static uint8_t
-read_reg(uint8_t address)
-{
-	uint8_t	cmd[2] = {address | DIR_READ, 0};
-	uint8_t data[2];
-
-	SPI_SELECT(lis331_dev.spi, lis331_dev.spi_id, true);
-	SPI_EXCHANGE(lis331_dev.spi, cmd, data, sizeof(cmd));
-	SPI_SELECT(lis331_dev.spi, lis331_dev.spi_id, false);
-
-	return data[1];	
-}
-
-static bool
-read_fifo(uint16_t *data)
-{
-	struct {					/* status register and data as read back from the device */
-		uint8_t		cmd;
-		uint8_t		status;
-		int16_t		x;
-		int16_t		y;
-		int16_t		z;
-	} __attribute__((packed))	report;
-
-	report.cmd = ADDR_STATUS_REG | DIR_READ | ADDR_INCREMENT;
-
-	/* exchange the report structure with the device */
-	SPI_LOCK(lis331_dev.spi, true);
-	SPI_SELECT(lis331_dev.spi, lis331_dev.spi_id, true);
-	SPI_EXCHANGE(lis331_dev.spi, &report, &report, sizeof(report));
-	SPI_SELECT(lis331_dev.spi, lis331_dev.spi_id, false);
-	SPI_LOCK(lis331_dev.spi, false);
-
-	data[0] = report.x;
-	data[1] = report.y;
-	data[2] = report.z;
-
-	return report.status & STATUS_ZYXDA;
-}
-
-static void
-set_range(uint8_t range)
-{
-	range &= REG4_RANGE_MASK;
-	write_reg(ADDR_CTRL_REG4, range | REG4_BDU);
-}
-
-static void
-set_rate(uint8_t rate)
-{
-	rate &= REG1_RATE_MASK;
-	write_reg(ADDR_CTRL_REG1, rate | REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE);
-}
-
-static ssize_t
-lis331_read(struct file *filp, char *buffer, size_t buflen)
-{
-	/* if the buffer is large enough, and data are available, return success */
-	if (buflen >= 12) {
-		if (read_fifo((uint16_t *)buffer))
-			return 12;
-
-		/* no data */
-		return 0;
-	}
-
-	/* buffer too small */
-	errno = ENOSPC;
-	return ERROR;
-}
-
-static int
-lis331_ioctl(struct file *filp, int cmd, unsigned long arg)
-{
-	int	result = ERROR;
-
-	switch (cmd) {
-	case LIS331_SETRATE:
-		if ((arg & REG1_RATE_MASK) == arg) {
-			set_rate(arg);
-			result = 0;
-			lis331_dev.rate = arg;
-		}
-		break;
-
-	case LIS331_SETRANGE:
-		if ((arg & REG4_RANGE_MASK) == arg) {
-			set_range(arg);
-			result = 0;
-		}
-		break;
-
-	case LIS331_SETBUFFER:
-		lis331_dev.buffer = (struct lis331_buffer *)arg;
-		result = 0;
-		break;
-	}
-
-	if (result)
-		errno = EINVAL;
-	return result;
-}
-
-int
-lis331_attach(struct spi_dev_s *spi, int spi_id)
-{
-	int	result = ERROR;
-	
-	lis331_dev.spi = spi;
-
-	SPI_LOCK(lis331_dev.spi, true);
-
-	/* verify that the device is attached and functioning */
-	if (read_reg(ADDR_WHO_AM_I) == WHO_I_AM) {
-
-		/* set default configuration */
-		write_reg(ADDR_CTRL_REG2, 0);	/* disable interrupt-generating high-pass filters */
-		write_reg(ADDR_CTRL_REG3, 0);	/* no interrupts - we don't use them */
-		write_reg(ADDR_CTRL_REG5, 0);	/* disable wake-on-interrupt */
-
-		set_range(LIS331_RANGE_4G);
-		set_rate(LIS331_RATE_400Hz);	/* takes device out of low-power mode */
-
-		/* make ourselves available */
-		register_driver("/dev/lis331", &lis331_fops, 0666, NULL);
-
-		result = 0;
-	} else {
-		errno = EIO;
-	}
-
-	SPI_LOCK(lis331_dev.spi, false);
-
-	return result;
-}
-