diff options
Diffstat (limited to 'nuttx/drivers/sensors/lis331dl.c')
-rw-r--r-- | nuttx/drivers/sensors/lis331dl.c | 320 |
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; +} |