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author | patacongo <patacongo@42af7a65-404d-4744-a932-0658087f49c3> | 2011-04-03 14:26:05 +0000 |
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committer | patacongo <patacongo@42af7a65-404d-4744-a932-0658087f49c3> | 2011-04-03 14:26:05 +0000 |
commit | 139456d3cb1a8c7be9e48d765eda23b15d8c8bad (patch) | |
tree | beda77a9181d9e274d066c6c466423325b8d8f8a /nuttx/drivers | |
parent | f5d629b65b9588ddae1333f06aa392083c284949 (diff) | |
download | px4-nuttx-139456d3cb1a8c7be9e48d765eda23b15d8c8bad.tar.gz px4-nuttx-139456d3cb1a8c7be9e48d765eda23b15d8c8bad.tar.bz2 px4-nuttx-139456d3cb1a8c7be9e48d765eda23b15d8c8bad.zip |
New LIS331DL driver and VSN updates from Uros
git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@3457 42af7a65-404d-4744-a932-0658087f49c3
Diffstat (limited to 'nuttx/drivers')
-rw-r--r-- | nuttx/drivers/Makefile | 7 | ||||
-rw-r--r-- | nuttx/drivers/i2c/Make.defs | 42 | ||||
-rw-r--r-- | nuttx/drivers/i2c/st_lis331dl.c | 270 |
3 files changed, 319 insertions, 0 deletions
diff --git a/nuttx/drivers/Makefile b/nuttx/drivers/Makefile index 7c46280c5..01143a071 100644 --- a/nuttx/drivers/Makefile +++ b/nuttx/drivers/Makefile @@ -94,6 +94,13 @@ include mtd/Make.defs ROOTDEPPATH = --dep-path . MTDDEPPATH = --dep-path mtd +ifeq ($(CONFIG_I2C),y) +include i2c/Make.defs +ROOTDEPPATH = --dep-path . +I2CDEPPATH = --dep-path i2c +CFLAGS += ${shell $(TOPDIR)/tools/incdir.sh $(INCDIROPT) "$(CC)" $(TOPDIR)/drivers/i2c} +endif + ASRCS = $(SERIAL_ASRCS) $(NET_ASRCS) $(PIPE_ASRCS) $(USBDEV_ASRCS) \ $(USBHOST_ASRCS) $(MMCSD_ASRCS) $(LCD_ASRCS) $(BCH_ASRCS) \ $(MTD_ASRCS) diff --git a/nuttx/drivers/i2c/Make.defs b/nuttx/drivers/i2c/Make.defs new file mode 100644 index 000000000..2358d533b --- /dev/null +++ b/nuttx/drivers/i2c/Make.defs @@ -0,0 +1,42 @@ +############################################################################ +# drivers/i2c/Make.defs +# +# Copyright (C) 2011 Gregory Nutt. All rights reserved. +# Author: Gregory Nutt <spudmonkey@racsa.co.cr> +# +# 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. +# +############################################################################ + +I2C_ASRCS = +I2C_CSRCS = + +ifeq ($(CONFIG_I2C),y) +I2C_CSRCS += st_lis331dl.c +endif + diff --git a/nuttx/drivers/i2c/st_lis331dl.c b/nuttx/drivers/i2c/st_lis331dl.c new file mode 100644 index 000000000..cb1d7f47d --- /dev/null +++ b/nuttx/drivers/i2c/st_lis331dl.c @@ -0,0 +1,270 @@ +/**************************************************************************** + * drivers/i2c/st_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/i2c/st_lis331dl.h> + +/************************************************************************************ + * Private Data Types + ************************************************************************************/ + +struct st_lis331dl_dev_s { + struct i2c_dev_s * i2c; + + uint8_t address; + struct st_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 st_lis331dl_access(struct st_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; + } + + 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 st_lis331dl_readregs(struct st_lis331dl_dev_s * dev) +{ + if (st_lis331dl_access(dev, ST_LIS331DL_CTRL_REG1, &dev->cr1, 3) == ERROR) return ERROR; + + printf("CR1=%2x, CR2=%2x, CR3=%2x\n", dev->cr1, dev->cr2, dev->cr3 ); + return OK; +} + + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +struct st_lis331dl_dev_s * st_lis331dl_init(struct i2c_dev_s * i2c, uint16_t address) +{ + struct st_lis331dl_dev_s * dev; + uint8_t retval; + + ASSERT(i2c); + ASSERT(address); + + if ( (dev = malloc( sizeof(struct st_lis331dl_dev_s) )) == NULL ) + return NULL; + + memset(dev, 0, sizeof(struct st_lis331dl_dev_s)); + dev->i2c = i2c; + dev->address = address; + + /* Probe device */ + + if (st_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 ( st_lis331dl_readregs(dev)==OK && st_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 */ + free(dev); + errno = retval; + return NULL; +} + + +int st_lis331dl_deinit(struct st_lis331dl_dev_s * dev) +{ + ASSERT(dev); + +// st_lis331dl_powerdown(dev); + free(dev); + + return OK; +} + + +int st_lis331dl_powerup(struct st_lis331dl_dev_s * dev) +{ + dev->cr1 = ST_LIS331DL_CR1_PD | + ST_LIS331DL_CR1_ZEN | ST_LIS331DL_CR1_YEN | ST_LIS331DL_CR1_XEN; + + st_lis331dl_access(dev, ST_LIS331DL_CTRL_REG1, &dev->cr1, -1); + return OK; +} + + +int st_lis331dl_powerdown(struct st_lis331dl_dev_s * dev) +{ + dev->cr1 = ST_LIS331DL_CR1_ZEN | ST_LIS331DL_CR1_YEN | ST_LIS331DL_CR1_XEN; + + return st_lis331dl_access(dev, ST_LIS331DL_CTRL_REG1, &dev->cr1, -1); +} + + +int st_lis331dl_setconversion(struct st_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; + + st_lis331dl_access(dev, ST_LIS331DL_CTRL_REG1, &dev->cr1, -1); + return OK; +} + + +float st_lis331dl_getprecision(struct st_lis331dl_dev_s * dev) +{ + if (dev->cr1 & ST_LIS331DL_CR1_FS) + return 9.0/127.0; /* ~9g full scale */ + return 2.0/127.0; /* ~2g full scale */ +} + + +int st_lis331dl_getsamplerate(struct st_lis331dl_dev_s * dev) +{ + if (dev->cr1 & ST_LIS331DL_CR1_DR) + return 400; + return 100; +} + + +const struct st_lis331dl_vector_s * st_lis331dl_getreadings(struct st_lis331dl_dev_s * dev) +{ + uint8_t retval[5]; + + ASSERT(dev); + + if (st_lis331dl_access(dev, ST_LIS331DL_OUT_X, retval, 5) == 5) { + dev->a.x = retval[0]; + dev->a.y = retval[2]; + dev->a.z = retval[4]; + return &dev->a; + } + + return NULL; +} |