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/****************************************************************************
*
* 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;
}
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