aboutsummaryrefslogtreecommitdiff
path: root/nuttx/drivers/sensors/lis331dl.c
diff options
context:
space:
mode:
Diffstat (limited to 'nuttx/drivers/sensors/lis331dl.c')
-rw-r--r--nuttx/drivers/sensors/lis331dl.c320
1 files changed, 320 insertions, 0 deletions
diff --git a/nuttx/drivers/sensors/lis331dl.c b/nuttx/drivers/sensors/lis331dl.c
new file mode 100644
index 000000000..2117a7ebd
--- /dev/null
+++ b/nuttx/drivers/sensors/lis331dl.c
@@ -0,0 +1,320 @@
+/****************************************************************************
+ * drivers/sensors/lis331dl.c
+ *
+ * Copyright (C) 2011 Uros Platise. All rights reserved.
+ *
+ * Authors: Uros Platise <uros.platise@isotel.eu>
+ *
+ * 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 NuttX 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.
+ *
+ ****************************************************************************/
+
+/** \file
+ * \author Uros Platise
+ * \brief ST LIS331DL I2C Device Driver
+ **/
+
+#include <nuttx/config.h>
+#include <assert.h>
+#include <stdlib.h>
+#include <string.h>
+#include <errno.h>
+#include <stdio.h>
+
+#include <nuttx/kmalloc.h>
+#include <nuttx/sensors/lis331dl.h>
+
+/************************************************************************************
+ * LIS331DL Internal Registers
+ ************************************************************************************/
+
+#define ST_LIS331DL_WHOAMI 0x0F /* who am I register */
+#define ST_LIS331DL_WHOAMI_VALUE 0x3B /* Valid result is 0x3B */
+
+#define ST_LIS331DL_CTRL_REG1 0x20
+#define ST_LIS331DL_CR1_DR 0x80 /* Data-rate selection 0: 100 Hz, 1: 400 Hz */
+#define ST_LIS331DL_CR1_PD 0x40 /* Active Mode (1) / Power-down (0) */
+#define ST_LIS331DL_CR1_FS 0x20 /* Full Scale (1) +-9g or Normal Scale (0) +-2g */
+#define ST_LIS331DL_CR1_ST 0x18 /* Self test enable */
+#define ST_LIS331DL_CR1_ZEN 0x04 /* Z-Axis Enable */
+#define ST_LIS331DL_CR1_YEN 0x02 /* Y-Axis Enable */
+#define ST_LIS331DL_CR1_XEN 0x01 /* X-Axis Enable */
+
+#define ST_LIS331DL_CTRL_REG2 0x21
+#define ST_LIS331DL_CTRL_REG3 0x22
+
+#define ST_LIS331DL_HP_FILTER_RESET 0x23
+
+#define ST_LIS331DL_STATUS_REG 0x27 /* Status Register */
+#define ST_LIS331DL_SR_ZYXOR 0x80 /* OR'ed X,Y and Z data over-run */
+#define ST_LIS331DL_SR_ZOR 0x40 /* individual data over-run ... */
+#define ST_LIS331DL_SR_YOR 0x20
+#define ST_LIS331DL_SR_XOR 0x10
+#define ST_LIS331DL_SR_ZYXDA 0x08 /* OR'ed X,Y and Z data available */
+#define ST_LIS331DL_SR_ZDA 0x04 /* individual data available ... */
+#define ST_LIS331DL_SR_YDA 0x02
+#define ST_LIS331DL_SR_XDA 0x01
+
+#define ST_LIS331DL_OUT_X 0x29
+#define ST_LIS331DL_OUT_Y 0x2B
+#define ST_LIS331DL_OUT_Z 0x2D
+
+
+/************************************************************************************
+ * Private Data Types
+ ************************************************************************************/
+
+struct lis331dl_dev_s {
+ struct i2c_dev_s * i2c;
+
+ uint8_t address;
+ struct lis331dl_vector_s a;
+ uint8_t cr1;
+ uint8_t cr2;
+ uint8_t cr3;
+};
+
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/** LIS331DL Access with range check
+ *
+ * \param dev LIS331 DL Private Structure
+ * \param subaddr LIS331 Sub Address
+ * \param buf Pointer to buffer, either for read or write access
+ * \param length when >0 it denotes read access, when <0 it denotes write access of -length
+ * \return OK on success or errno is set.
+ **/
+int lis331dl_access(struct lis331dl_dev_s * dev, uint8_t subaddr, uint8_t *buf, int length)
+{
+ uint16_t flags = 0;
+ int retval;
+
+ if (length > 0) {
+ flags = I2C_M_READ;
+ }
+ else {
+ flags = I2C_M_NORESTART;
+ length = -length;
+ }
+
+ /* Check valid address ranges and set auto address increment flag */
+
+ if (subaddr == 0x0F) {
+ if (length > 1) length = 1;
+ }
+ else if (subaddr >= 0x20 && subaddr < 0x24) {
+ if (length > (0x24 - subaddr) ) length = 0x24 - subaddr;
+ }
+ else if (subaddr >= 0x27 && subaddr < 0x2E) {
+ if (length > (0x2E - subaddr) ) length = 0x2E - subaddr;
+ }
+ else if (subaddr >= 0x30 && subaddr < 0x40) {
+ if (length > (0x40 - subaddr) ) length = 0x40 - subaddr;
+ }
+ else {
+ errno = EFAULT;
+ return ERROR;
+ }
+
+ if (length > 1) subaddr |= 0x80;
+
+ /* Create message and send */
+
+ struct i2c_msg_s msgv[2] = {
+ {
+ .addr = dev->address,
+ .flags = 0,
+ .buffer = &subaddr,
+ .length = 1
+ },
+ {
+ .addr = dev->address,
+ .flags = flags,
+ .buffer = buf,
+ .length = length
+ }
+ };
+
+ if ( (retval = I2C_TRANSFER(dev->i2c, msgv, 2)) == OK )
+ return length;
+
+ return retval;
+}
+
+
+int lis331dl_readregs(struct lis331dl_dev_s * dev)
+{
+ if (lis331dl_access(dev, ST_LIS331DL_CTRL_REG1, &dev->cr1, 3) != 3) return ERROR;
+ return OK;
+}
+
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+struct lis331dl_dev_s * lis331dl_init(struct i2c_dev_s * i2c, uint16_t address)
+{
+ struct lis331dl_dev_s * dev;
+ uint8_t retval;
+
+ ASSERT(i2c);
+ ASSERT(address);
+
+ if ( (dev = kmalloc( sizeof(struct lis331dl_dev_s) )) == NULL ) {
+ errno = ENOMEM;
+ return NULL;
+ }
+
+ memset(dev, 0, sizeof(struct lis331dl_dev_s));
+ dev->i2c = i2c;
+ dev->address = address;
+
+ /* Probe device */
+
+ if (lis331dl_access(dev, ST_LIS331DL_WHOAMI, &retval, 1) > 0) {
+
+ /* Check chip identification, in the future several more compatible parts
+ * may be added here.
+ */
+
+ if (retval == ST_LIS331DL_WHOAMI_VALUE) {
+
+ /* Copy LIS331DL registers to our private structure and power-up device */
+
+ if (lis331dl_readregs(dev)==OK && lis331dl_powerup(dev)==OK) {
+
+ /* Normal exit point */
+ errno = 0;
+ return dev;
+ }
+ retval = errno;
+ }
+
+ /* Otherwise, we mark an invalid device found at given address */
+ retval = ENODEV;
+ }
+ else {
+ /* No response at given address is marked as */
+ retval = EFAULT;
+ }
+
+ /* Error exit */
+ kfree(dev);
+ errno = retval;
+ return NULL;
+}
+
+
+int lis331dl_deinit(struct lis331dl_dev_s * dev)
+{
+ ASSERT(dev);
+
+ lis331dl_powerdown(dev);
+ kfree(dev);
+
+ return OK;
+}
+
+
+int lis331dl_powerup(struct lis331dl_dev_s * dev)
+{
+ dev->cr1 = ST_LIS331DL_CR1_PD |
+ ST_LIS331DL_CR1_ZEN | ST_LIS331DL_CR1_YEN | ST_LIS331DL_CR1_XEN;
+ dev->cr2 = 0;
+ dev->cr3 = 0;
+
+ if (lis331dl_access(dev, ST_LIS331DL_CTRL_REG1, &dev->cr1, -3) == 3) return OK;
+ return ERROR;
+}
+
+
+int lis331dl_powerdown(struct lis331dl_dev_s * dev)
+{
+ dev->cr1 = ST_LIS331DL_CR1_ZEN | ST_LIS331DL_CR1_YEN | ST_LIS331DL_CR1_XEN;
+ dev->cr2 = 0;
+ dev->cr3 = 0;
+
+ if (lis331dl_access(dev, ST_LIS331DL_CTRL_REG1, &dev->cr1, -3) == 3) return OK;
+ return ERROR;
+}
+
+
+int lis331dl_setconversion(struct lis331dl_dev_s * dev, bool full, bool fast)
+{
+ dev->cr1 = ST_LIS331DL_CR1_PD |
+ (full ? ST_LIS331DL_CR1_FS : 0) | (fast ? ST_LIS331DL_CR1_DR : 0) |
+ ST_LIS331DL_CR1_ZEN | ST_LIS331DL_CR1_YEN | ST_LIS331DL_CR1_XEN;
+
+ if (lis331dl_access(dev, ST_LIS331DL_CTRL_REG1, &dev->cr1, -1) == 1) return OK;
+ return ERROR;
+}
+
+
+int lis331dl_getprecision(struct lis331dl_dev_s * dev)
+{
+ if (dev->cr1 & ST_LIS331DL_CR1_FS)
+ return 9200/127; /* typ. 9.2g full scale */
+ return 2300/127; /* typ. 2.3g full scale */
+}
+
+
+int lis331dl_getsamplerate(struct lis331dl_dev_s * dev)
+{
+ if (dev->cr1 & ST_LIS331DL_CR1_DR)
+ return 400;
+ return 100;
+}
+
+
+const struct lis331dl_vector_s * lis331dl_getreadings(struct lis331dl_dev_s * dev)
+{
+ uint8_t retval[7];
+
+ ASSERT(dev);
+
+ if (lis331dl_access(dev, ST_LIS331DL_STATUS_REG, retval, 7) == 7) {
+
+ /* If result is not yet ready, return NULL */
+
+ if ( !(retval[0] & ST_LIS331DL_SR_ZYXDA) ) {
+ errno = EAGAIN;
+ return NULL;
+ }
+
+ dev->a.x = retval[2];
+ dev->a.y = retval[4];
+ dev->a.z = retval[6];
+ return &dev->a;
+ }
+
+ return NULL;
+}
generated by cgit v1.2.3 (git 2.39.1) at 2024-08-31 06:58:57 +0000