diff options
author | Gregory Nutt <gnutt@nuttx.org> | 2014-12-16 08:16:53 -0600 |
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committer | Gregory Nutt <gnutt@nuttx.org> | 2014-12-16 08:16:53 -0600 |
commit | 08be24e16d857b79c0e3ac7e3f6beb6c114d0662 (patch) | |
tree | c150c40575cf68ac8795019a9cf04dd7bbed2d45 /nuttx/drivers | |
parent | 8db1b5542eade3ec3f0e20fd8ab1fd748cb2886c (diff) | |
download | px4-nuttx-08be24e16d857b79c0e3ac7e3f6beb6c114d0662.tar.gz px4-nuttx-08be24e16d857b79c0e3ac7e3f6beb6c114d0662.tar.bz2 px4-nuttx-08be24e16d857b79c0e3ac7e3f6beb6c114d0662.zip |
Add ADXL345 accelerometer driver. From Alan Carvalho de Assis
Diffstat (limited to 'nuttx/drivers')
-rw-r--r-- | nuttx/drivers/sensors/Kconfig | 44 | ||||
-rw-r--r-- | nuttx/drivers/sensors/Make.defs | 17 | ||||
-rw-r--r-- | nuttx/drivers/sensors/README.txt | 10 | ||||
-rw-r--r-- | nuttx/drivers/sensors/adxl345.h | 198 | ||||
-rw-r--r-- | nuttx/drivers/sensors/adxl345_base.c | 484 | ||||
-rw-r--r-- | nuttx/drivers/sensors/adxl345_i2c.c | 212 | ||||
-rw-r--r-- | nuttx/drivers/sensors/adxl345_spi.c | 213 |
7 files changed, 1178 insertions, 0 deletions
diff --git a/nuttx/drivers/sensors/Kconfig b/nuttx/drivers/sensors/Kconfig index 20b3ea028..fa50e9c8e 100644 --- a/nuttx/drivers/sensors/Kconfig +++ b/nuttx/drivers/sensors/Kconfig @@ -8,6 +8,49 @@ config LIS331DL default n select I2C +config SENSORS_ADXL345 + bool "AnalogDevices ADXL345 Driver" + default n + ---help--- + Enables support for the ADXL345 driver + +if SENSORS_ADXL345 + +choice + prompt "ADXL345 Interface" + default ADXL345_SPI + +config ADXL345_SPI + bool "ADXL345 SPI Interface" + select SPI + ---help--- + Enables support for the SPI interface. + +config ADXL345_I2C + bool "ADXL345 I2C Interface" + select I2C + ---help--- + Enables support for the I2C interface + +endchoice + +config ADXL345_ACTIVELOW + bool "Active Low Interrupt" + default n + ---help--- + The ADXL345 interrupt will be inverted. Instead starting low and going + high, it will start high and will go low when an interrupt is fired. + Default: Active high/rising edge. + +config ADXL345_REGDEBUG + bool "Enable Register-Level ADXL345 Debug" + default n + depends on DEBUG + ---help--- + Enable very low register-level debug output. + +endif # SENSORS_ADXL345 + config I2C_LM75 bool default y if LM75 @@ -31,3 +74,4 @@ config DEBUG_QENCODER bool "Enable Qencoder Debug" default n depends on QENCODER + diff --git a/nuttx/drivers/sensors/Make.defs b/nuttx/drivers/sensors/Make.defs index f6e2f94b6..a7069ef4e 100644 --- a/nuttx/drivers/sensors/Make.defs +++ b/nuttx/drivers/sensors/Make.defs @@ -34,6 +34,11 @@ ############################################################################ # Include sensor drivers + +ifeq ($(CONFIG_SENSORS_ADXL345),y) + CSRCS += adxl345_base.c +endif + # These drivers depend on I2C support ifeq ($(CONFIG_I2C),y) @@ -42,10 +47,22 @@ ifeq ($(CONFIG_LIS331DL),y) CSRCS += lis331dl.c endif +ifeq ($(CONFIG_ADXL345_I2C),y) + CSRCS += adxl345_i2c.c +endif + ifeq ($(CONFIG_I2C_LM75),y) CSRCS += lm75.c endif +endif # CONFIG_I2C + +# These drivers depend on SPI support + +ifeq ($(CONFIG_SPI),y) +ifeq ($(CONFIG_ADXL345_SPI),y) + CSRCS += adxl345_spi.c endif +endif # CONFIG_SPI # Quadrature encoder upper half diff --git a/nuttx/drivers/sensors/README.txt b/nuttx/drivers/sensors/README.txt new file mode 100644 index 000000000..4f6c0072c --- /dev/null +++ b/nuttx/drivers/sensors/README.txt @@ -0,0 +1,10 @@ +ADXL345 +======= + +The ADXL345 accelerometer can operate in I2C or SPI mode. To operate in I2C +mode just connect the CS pin to Vddi/o. + +In order to operate in SPI mode CS need to use connected to microcontroller, +it cannot leave unconnected. + +In SPI mode it works with clock polarity (CPOL) = 1 and clock phase (CPHA) = 1. diff --git a/nuttx/drivers/sensors/adxl345.h b/nuttx/drivers/sensors/adxl345.h new file mode 100644 index 000000000..e2a06cea9 --- /dev/null +++ b/nuttx/drivers/sensors/adxl345.h @@ -0,0 +1,198 @@ +/******************************************************************************************** + * drivers/sensors/adxl345.h + * + * Copyright (C) 2014 Alan Carvalho de Assis + * Author: Alan Carvalho de Assis <acassis@gmail.com> + * using ADXL345 driver as template reference + * Author: Gregory Nutt <gnutt@nuttx.org> + * + * 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. + * + ********************************************************************************************/ + +#ifndef __DRIVERS_SENSORS_ADXL345_H +#define __DRIVERS_SENSORS_ADXL345_H + +/******************************************************************************************** + * Included Files + ********************************************************************************************/ + +#include <nuttx/config.h> + +#include <semaphore.h> + +#include <nuttx/wdog.h> +#include <nuttx/clock.h> +#include <nuttx/wqueue.h> +#include <nuttx/sensors/adxl345.h> + +#if defined(CONFIG_SENSORS_ADXL345) + +/******************************************************************************************** + * Pre-Processor Definitions + ********************************************************************************************/ + +#ifdef CONFIG_ADXL345_I2C +# error "Only the ADXL345 SPI interface is supported by this driver" +#endif + +/* Driver support ***************************************************************************/ +/* This format is used to construct the /dev/accel[n] device driver path. It defined here + * so that it will be used consistently in all places. + */ + +#define DEV_FORMAT "/dev/accel%d" +#define DEV_NAMELEN 16 + +/* Driver flags */ + +#define ADXL345_STAT_INITIALIZED 1 /* Device has been initialized */ + +/******************************************************************************************** + * Public Types + ********************************************************************************************/ +/* This defines type of events */ + +enum adxl345_event +{ + DATA_READY = 0, /* New data available */ + SINGLE_TAP, /* A tap event detected */ + DOUBLE_TAP, /* A double tap event detected */ + ACTIVITY, /* Activity detected */ + INACTIVITY, /* Inactivity detected */ + FREE_FAL, /* Free fall event */ + WATERMARK, /* Number samples in FIFO is equal to sample bits */ + OVERRUN, /* New data replaced unread data */ +}; + +/* This defines operating mode */ + +enum adxl345_mode +{ + BYPASS_MODE = 0, /* Bypass FIFO, then it remain empty */ + FIFO_MODE, /* Sampled data are put in FIFO, up to 32 samples */ + STREAM_MODE, /* Sampled data are put in FIFO, when full remove old samples */ + TRIGGER_MODE /* Similar to Stream Mode, but when Trigger event happen FIFO freeze */ +}; + +/* This structure describes the results of one ADXL345 sample */ + +struct adxl345_sample_s +{ + uint16_t data_x; /* Measured X-axis acceleration */ + uint16_t data_y; /* Measured Y-axis acceleration */ + uint8_t data_z; /* Measured Z-axis acceleration */ +}; + +/* This structure represents the state of the ADXL345 driver */ + +struct adxl345_dev_s +{ + /* Common fields */ + + FAR struct adxl345_config_s *config; /* Board configuration data */ + sem_t exclsem; /* Manages exclusive access to this structure */ +#ifdef CONFIG_ADXL345_SPI + FAR struct spi_dev_s *spi; /* Saved SPI driver instance */ +#else + FAR struct i2c_dev_s *i2c; /* Saved I2C driver instance */ +#endif + + uint8_t status; /* See ADXL345_STAT_* definitions */ + struct work_s work; /* Supports the interrupt handling "bottom half" */ + +#ifdef CONFIG_ADXL345_REFCNT + uint8_t crefs; /* Number of times the device has been opened */ +#endif + uint8_t nwaiters; /* Number of threads waiting for ADXL345 data */ + + uint16_t ofsx; /* Offset X value */ + uint16_t ofsy; /* Offset Y value */ + uint16_t ofsz; /* Offset Z value */ + sem_t waitsem; /* Used to wait for the availability of data */ + + struct work_s timeout; /* Supports timeout work */ + struct adxl345_sample_s sample; /* Last sampled accelerometer data */ + + /* The following is a list if poll structures of threads waiting for + * driver events. The 'struct pollfd' reference for each open is also + * retained in the f_priv field of the 'struct file'. + */ + +#ifndef CONFIG_DISABLE_POLL + struct pollfd *fds[CONFIG_ADXL345_NPOLLWAITERS]; +#endif +}; + +/******************************************************************************************** + * Public Function Prototypes + ********************************************************************************************/ + +/******************************************************************************************** + * Name: adxl345_getreg8 + * + * Description: + * Read from an 8-bit ADXL345 register + * + ********************************************************************************************/ + +uint8_t adxl345_getreg8(FAR struct adxl345_dev_s *priv, uint8_t regaddr); + +/******************************************************************************************** + * Name: adxl345_putreg8 + * + * Description: + * Write a value to an 8-bit ADXL345 register + * + ********************************************************************************************/ + +void adxl345_putreg8(FAR struct adxl345_dev_s *priv, uint8_t regaddr, uint8_t regval); + +/******************************************************************************************** + * Name: adxl345_getreg16 + * + * Description: + * Read 16-bits of data from an ADXL345 register + * + ********************************************************************************************/ + +uint16_t adxl345_getreg16(FAR struct adxl345_dev_s *priv, uint8_t regaddr); + +/******************************************************************************************** + * Name: adxl345_accworker + * + * Description: + * Handle accelerometer interrupt events (this function actually executes in the context of + * the worker thread). + * + ********************************************************************************************/ + +void adxl345_accworker(FAR struct adxl345_dev_s *priv, uint8_t intsta) weak_function; + +#endif /* CONFIG_SENSORS_ADXL345 */ +#endif /* __DRIVERS_SENSORS_ADXL345_H */ diff --git a/nuttx/drivers/sensors/adxl345_base.c b/nuttx/drivers/sensors/adxl345_base.c new file mode 100644 index 000000000..7455d7089 --- /dev/null +++ b/nuttx/drivers/sensors/adxl345_base.c @@ -0,0 +1,484 @@ +/**************************************************************************** + * drivers/sensors/adxl345.c + * + * Copyright (C) 2014 Alan Carvalho de Assis. All rights reserved. + * Author: Alan Carvalho de Assis <acassis@gmail.com> + * Based on STME811 driver + * Author: Gregory Nutt <gnutt@nuttx.org> + * + * 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. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> + +#include <unistd.h> +#include <errno.h> +#include <debug.h> +#include <stdio.h> + +#include <nuttx/kmalloc.h> +#include <nuttx/sensors/adxl345.h> + +#include "adxl345.h" + +#if defined(CONFIG_SENSORS_ADXL345) + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +/* Character driver methods */ + +static int adxl345_open(FAR struct file *filep); +static int adxl345_close(FAR struct file *filep); +static ssize_t adxl345_read(FAR struct file *filep, FAR char *buffer, + size_t len); + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +static struct adxl345_dev_s g_adxl345; + +/* This the vtable that supports the character driver interface */ + +static const struct file_operations g_adxl345fops = +{ + adxl345_open, /* open */ + adxl345_close, /* close */ + adxl345_read, /* read */ + 0, /* write */ + 0, /* seek */ + 0, /* ioctl */ +}; + +/**************************************************************************** + * Name: adxl345_open + * + * Description: + * Standard character driver open method. + * + ****************************************************************************/ + +static int adxl345_open(FAR struct file *filep) +{ + return OK; +} + +/**************************************************************************** + * Name: adxl345_close + * + * Description: + * Standard character driver close method. + * + ****************************************************************************/ + +static int adxl345_close(FAR struct file *filep) +{ + return OK; +} + +/**************************************************************************** + * Name: adxl345_read + * + * Description: + * Standard character driver read method. + * + ****************************************************************************/ + +static ssize_t adxl345_read(FAR struct file *filep, FAR char *buffer, size_t len) +{ + FAR struct inode *inode; + FAR struct adxl345_dev_s *priv; + struct adxl345_sample_s sample; + int ret; + + ivdbg("len=%d\n", len); + DEBUGASSERT(filep); + inode = filep->f_inode; + + DEBUGASSERT(inode && inode->i_private); + priv = (FAR struct adxl345_dev_s *)inode->i_private; + + /* Verify that the caller has provided a buffer large enough to receive + * the accelerometer data. + */ + + if (len < sizeof(struct adxl345_sample_s)) + { + /* We could provide logic to break up a touch report into segments and + * handle smaller reads... but why? + */ + + return -ENOSYS; + } + + /* Get exclusive access to the driver data structure */ + + ret = sem_wait(&priv->exclsem); + if (ret < 0) + { + /* This should only happen if the wait was canceled by an signal */ + + DEBUGASSERT(errno == EINTR); + return -EINTR; + } + + /* Read accelerometer X Y Z axes */ + + sample.data_x = adxl345_getreg8(priv, ADXL345_DATAX1); + sample.data_x = (sample.data_x << 8) | adxl345_getreg8(priv, ADXL345_DATAX0); + sample.data_y = adxl345_getreg8(priv, ADXL345_DATAY1); + sample.data_y = (sample.data_y << 8) | adxl345_getreg8(priv, ADXL345_DATAY0); + sample.data_z = adxl345_getreg8(priv, ADXL345_DATAZ1); + sample.data_z = (sample.data_z << 8) | adxl345_getreg8(priv, ADXL345_DATAZ0); + + /* Return read sample */ + + buffer = (FAR char *) &sample; + + sem_post(&priv->exclsem); + return sizeof(struct adxl345_sample_s); +} + +/**************************************************************************** + * Name: adxl345_register + * + * Description: + * This function will register the touchscreen driver as /dev/accelN where N + * is the minor device number + * + * Input Parameters: + * handle - The handle previously returned by adxl345_register + * minor - The input device minor number + * + * Returned Value: + * Zero is returned on success. Otherwise, a negated errno value is + * returned to indicate the nature of the failure. + * + ****************************************************************************/ + +int adxl345_register(ADXL345_HANDLE handle, int minor) +{ + FAR struct adxl345_dev_s *priv = (FAR struct adxl345_dev_s *)handle; + char devname[DEV_NAMELEN]; + int ret; + + ivdbg("handle=%p minor=%d\n", handle, minor); + DEBUGASSERT(priv); + + /* Get exclusive access to the device structure */ + + ret = sem_wait(&priv->exclsem); + if (ret < 0) + { + int errval = errno; + idbg("ERROR: sem_wait failed: %d\n", errval); + return -errval; + } + + /* Initialize the structure fields to their default values */ + + priv->ofsx = 0; + priv->ofsy = 0; + priv->ofsz = 0; + + /* Register the character driver */ + + snprintf(devname, DEV_NAMELEN, DEV_FORMAT, minor); + ret = register_driver(devname, &g_adxl345fops, 0666, priv); + if (ret < 0) + { + idbg("ERROR: Failed to register driver %s: %d\n", devname, ret); + sem_post(&priv->exclsem); + return ret; + } + + /* Indicate that the accelerometer was successfully initialized */ + + priv->status |= ADXL345_STAT_INITIALIZED; /* Accelerometer is initialized */ + sem_post(&priv->exclsem); + return ret; +} + +/**************************************************************************** + * Name: adxl345_worker + * + * Description: + * This is the "bottom half" of the ADXL345 interrupt handler + * + ****************************************************************************/ + +static void adxl345_worker(FAR void *arg) +{ + FAR struct adxl345_dev_s *priv = (FAR struct adxl345_dev_s *)arg; + uint8_t regval; + + DEBUGASSERT(priv && priv->config); + + /* Get the global interrupt status */ + + regval = adxl345_getreg8(priv, ADXL345_INT_SOURCE); + + /* Check for a data ready interrupt */ + + if ((regval & INT_DATA_READY) != 0) + { + /* Read accelerometer data to sample */ + + priv->sample.data_x = adxl345_getreg8(priv, ADXL345_DATAX1); + priv->sample.data_x = (priv->sample.data_x << 8) | adxl345_getreg8(priv, ADXL345_DATAX0); + priv->sample.data_y = adxl345_getreg8(priv, ADXL345_DATAY1); + priv->sample.data_y = (priv->sample.data_y << 8) | adxl345_getreg8(priv, ADXL345_DATAY0); + priv->sample.data_z = adxl345_getreg8(priv, ADXL345_DATAZ1); + priv->sample.data_z = (priv->sample.data_z << 8) | adxl345_getreg8(priv, ADXL345_DATAZ0); + } + + /* Re-enable the ADXL345 GPIO interrupt */ + + priv->config->enable(priv->config, true); +} + +/**************************************************************************** + * Name: adxl345_interrupt + * + * Description: + * The ADXL345 interrupt handler + * + ****************************************************************************/ + +static int adxl345_interrupt(int irq, FAR void *context) +{ + FAR struct adxl345_dev_s *priv; + FAR struct adxl345_config_s *config; + int ret; + + /* Get a pointer the callbacks for convenience (and so the code is not so + * ugly). + */ + + config = priv->config; + DEBUGASSERT(config != NULL); + + /* Disable further interrupts */ + + config->enable(config, false); + + /* Check if interrupt work is already queue. If it is already busy, then + * we already have interrupt processing in the pipeline and we need to do + * nothing more. + */ + + if (work_available(&priv->work)) + { + /* Yes.. Transfer processing to the worker thread. Since ADXL345 + * interrupts are disabled while the work is pending, no special + * action should be required to protect the work queue. + */ + + ret = work_queue(HPWORK, &priv->work, adxl345_worker, priv, 0); + if (ret != 0) + { + illdbg("Failed to queue work: %d\n", ret); + } + } + + /* Clear any pending interrupts and return success */ + + config->clear(config); + return OK; +} + +/**************************************************************************** + * Name: adxl345_checkid + * + * Description: + * Read and verify the ADXL345 chip ID + * + ****************************************************************************/ + +static int adxl345_checkid(FAR struct adxl345_dev_s *priv) +{ + uint8_t devid = 0; + + /* Read device ID */ + + devid = adxl345_getreg8(priv, ADXL345_DEVID); + ivdbg("devid: %04x\n", devid); + + if (devid != (uint16_t) DEVID) + { + /* ID is not Correct */ + + return -ENODEV; + } + + return OK; +} + +/**************************************************************************** + * Name: adxl345_reset + * + * Description: + * Reset the ADXL345 + * + ****************************************************************************/ + +static void adxl345_reset(FAR struct adxl345_dev_s *priv) +{ + /* ADXL345 doesn't have software reset */ + + /* Wait a bit to make the GOD of TIME happy */ + + usleep(20*1000); +} + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: adxl345_instantiate + * + * Description: + * Instantiate and configure the ADXL345 device driver to use the provided + * I2C or SPIdevice instance. + * + * Input Parameters: + * dev - An I2C or SPI driver instance + * config - Persistent board configuration data + * + * Returned Value: + * A non-zero handle is returned on success. This handle may then be used + * to configure the ADXL345 driver as necessary. A NULL handle value is + * returned on failure. + * + ****************************************************************************/ + +#ifdef CONFIG_ADXL345_SPI +ADXL345_HANDLE adxl345_instantiate(FAR struct spi_dev_s *dev, + FAR struct adxl345_config_s *config) +#else +ADXL345_HANDLE adxl345_instantiate(FAR struct i2c_dev_s *dev, + FAR struct adxl345_config_s *config) +#endif +{ + FAR struct adxl345_dev_s *priv; + uint8_t regval; + int ret; + + /* Use the one-and-only ADXL345 driver instance */ + + priv = &g_adxl345; + + /* Initialize the device state structure */ + + sem_init(&priv->exclsem, 0, 1); + priv->config = config; + +#ifdef CONFIG_ADXL345_SPI + priv->spi = dev; + + /* If this SPI bus is not shared, then we can config it now. + * If it is shared, then other device could change our config, + * then just configure before sending data. + */ + + #ifdef CONFIG_SPI_OWNBUS + /* Configure SPI for the ADXL345 */ + + SPI_SELECT(priv->spi, SPIDEV_GSENSOR, true); + SPI_SETMODE(priv->spi, SPIDEV_MODE3); + SPI_SETBITS(priv->spi, 8); + SPI_SETFREQUENCY(priv->spi, ADXL345_SPI_MAXFREQUENCY); + SPI_SELECT(priv->spi, SPIDEV_GSENSOR, false); + #endif +#else + priv->i2c = dev; + + /* Set the I2C address and frequency. REVISIT: This logic would be + * insufficient if we share the I2C bus with any other devices that also + * modify the address and frequency. + */ + + I2C_SETADDRESS(dev, config->address, 7); + I2C_SETFREQUENCY(dev, config->frequency); +#endif + + /* Read and verify the ADXL345 device ID */ + + ret = adxl345_checkid(priv); + if (ret < 0) + { + illdbg("Wrong Device ID!\n"); + return NULL; + } + + /* Generate ADXL345 Software reset */ + + adxl345_reset(priv); + + /* Configure the interrupt output pin to generate interrupts on high or low level. */ + + regval = adxl345_getreg8(priv, ADXL345_DATA_FORMAT); +#ifdef CONFIG_ADXL345_ACTIVELOW + regval |= DATA_FMT_INT_INVERT; /* Pin polarity: Active low / falling edge */ +#else + regval &= ~DATA_FMT_INT_INVERT; /* Pin polarity: Active high / rising edge */ +#endif + adxl345_putreg8(priv, ADXL345_DATA_FORMAT, regval); + + /* Attach the ADXL345 interrupt handler. */ + + config->attach(config, adxl345_interrupt); + + /* Leave standby mode */ + + adxl345_putreg8(priv, ADXL345_POWER_CTL, POWER_CTL_MEASURE); + + config->clear(config); + config->enable(config, true); + + /* Enable interrupts */ + + adxl345_putreg8(priv, ADXL345_INT_ENABLE, INT_DATA_READY); + + /* Return our private data structure as an opaque handle */ + return (ADXL345_HANDLE)priv; +} + +#endif /* CONFIG_SENSORS_ADXL345 */ diff --git a/nuttx/drivers/sensors/adxl345_i2c.c b/nuttx/drivers/sensors/adxl345_i2c.c new file mode 100644 index 000000000..8db213a3c --- /dev/null +++ b/nuttx/drivers/sensors/adxl345_i2c.c @@ -0,0 +1,212 @@ +/**************************************************************************** + * drivers/sensors/adxl345_i2c.c + * + * Copyright (C) 2014 Alan Carvalho de Assis. All rights reserved. + * Author: Alan Carvalho de Assis <acassis@gmail.com> + * Based on STME811 driver + * Author: Gregory Nutt <gnutt@nuttx.org> + * + * 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. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> + +#include <unistd.h> +#include <errno.h> +#include <debug.h> + +#include <nuttx/kmalloc.h> +#include <nuttx/sensors/adxl345.h> + +#include "adxl345.h" + +#if defined(CONFIG_SENSORS_ADXL345) + +/**************************************************************************** + * Name: adxl345_getreg8 + * + * Description: + * Read from an 8-bit ADXL345 register + * + ****************************************************************************/ + +#ifdef CONFIG_ADXL345_I2C +uint8_t adxl345_getreg8(FAR struct adxl345_dev_s *priv, uint8_t regaddr) +{ + /* 8-bit data read sequence: + * + * Start - I2C_Write_Address - ADXL345_Reg_Address - + * Repeated_Start - I2C_Read_Address - ADXL345_Read_Data - STOP + */ + + struct i2c_msg_s msg[2]; + uint8_t regval; + int ret; + + /* Setup 8-bit ADXL345 address write message */ + + msg[0].addr = priv->config->address; /* 7-bit address */ + msg[0].flags = 0; /* Write transaction, beginning with START */ + msg[0].buffer = ®addr; /* Transfer from this address */ + msg[0].length = 1; /* Send one byte following the address + * (no STOP) */ + + /* Set up the 8-bit ADXL345 data read message */ + + msg[1].addr = priv->config->address; /* 7-bit address */ + msg[1].flags = I2C_M_READ; /* Read transaction, beginning with Re-START */ + msg[1].buffer = ®val; /* Transfer to this address */ + msg[1].length = 1; /* Receive one byte following the address + * (then STOP) */ + + /* Perform the transfer */ + + ret = I2C_TRANSFER(priv->i2c, msg, 2); + if (ret < 0) + { + idbg("I2C_TRANSFER failed: %d\n", ret); + return 0; + } + +#ifdef CONFIG_ADXL345_REGDEBUG + dbg("%02x->%02x\n", regaddr, regval); +#endif + return regval; +} +#endif + +/**************************************************************************** + * Name: adxl345_putreg8 + * + * Description: + * Write a value to an 8-bit ADXL345 register + * + ****************************************************************************/ + +#ifdef CONFIG_ADXL345_I2C +void adxl345_putreg8(FAR struct adxl345_dev_s *priv, + uint8_t regaddr, uint8_t regval) +{ + /* 8-bit data read sequence: + * + * Start - I2C_Write_Address - ADXL345_Reg_Address - ADXL345_Write_Data - STOP + */ + + struct i2c_msg_s msg; + uint8_t txbuffer[2]; + int ret; + +#ifdef CONFIG_ADXL345_REGDEBUG + dbg("%02x<-%02x\n", regaddr, regval); +#endif + + /* Setup to the data to be transferred. Two bytes: The ADXL345 register + * address followed by one byte of data. + */ + + txbuffer[0] = regaddr; + txbuffer[1] = regval; + + /* Setup 8-bit ADXL345 address write message */ + + msg.addr = priv->config->address; /* 7-bit address */ + msg.flags = 0; /* Write transaction, beginning with START */ + msg.buffer = txbuffer; /* Transfer from this address */ + msg.length = 2; /* Send two byte following the address + * (then STOP) */ + + /* Perform the transfer */ + + ret = I2C_TRANSFER(priv->i2c, &msg, 1); + if (ret < 0) + { + idbg("I2C_TRANSFER failed: %d\n", ret); + } +} +#endif + +/**************************************************************************** + * Name: adxl345_getreg16 + * + * Description: + * Read 16-bits of data from an STMPE-11 register + * + ****************************************************************************/ + +#ifdef CONFIG_ADXL345_I2C +uint16_t adxl345_getreg16(FAR struct adxl345_dev_s *priv, uint8_t regaddr) +{ + /* 16-bit data read sequence: + * + * Start - I2C_Write_Address - ADXL345_Reg_Address - + * Repeated_Start - I2C_Read_Address - ADXL345_Read_Data_1 - + * ADXL345_Read_Data_2 - STOP + */ + + struct i2c_msg_s msg[2]; + uint8_t rxbuffer[2]; + int ret; + + /* Setup 8-bit ADXL345 address write message */ + + msg[0].addr = priv->config->address; /* 7-bit address */ + msg[0].flags = 0; /* Write transaction, beginning with START */ + msg[0].buffer = ®addr; /* Transfer from this address */ + msg[0].length = 1; /* Send one byte following the address + * (no STOP) */ + + /* Set up the 8-bit ADXL345 data read message */ + + msg[1].addr = priv->config->address; /* 7-bit address */ + msg[1].flags = I2C_M_READ; /* Read transaction, beginning with Re-START */ + msg[1].buffer = rxbuffer; /* Transfer to this address */ + msg[1].length = 2; /* Receive two bytes following the address + * (then STOP) */ + + /* Perform the transfer */ + + ret = I2C_TRANSFER(priv->i2c, msg, 2); + if (ret < 0) + { + idbg("I2C_TRANSFER failed: %d\n", ret); + return 0; + } + +#ifdef CONFIG_ADXL345_REGDEBUG + dbg("%02x->%02x%02x\n", regaddr, rxbuffer[0], rxbuffer[1]); +#endif + return (uint16_t)rxbuffer[0] << 8 | (uint16_t)rxbuffer[1]; +} +#endif + +#endif /* CONFIG_SENSORS_ADXL345 */ diff --git a/nuttx/drivers/sensors/adxl345_spi.c b/nuttx/drivers/sensors/adxl345_spi.c new file mode 100644 index 000000000..1e42273c5 --- /dev/null +++ b/nuttx/drivers/sensors/adxl345_spi.c @@ -0,0 +1,213 @@ +/**************************************************************************** + * drivers/sensors/adxl345_spi.c + * + * Copyright (C) 2014 Alan Carvalho de Assis. All rights reserved. + * Author: Alan Carvalho de Assis <acassis@gmail.com> + * Based on STME811 driver + * Author: Gregory Nutt <gnutt@nuttx.org> + * + * 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. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> + +#include <unistd.h> +#include <errno.h> +#include <debug.h> + +#include <nuttx/kmalloc.h> +#include <nuttx/sensors/adxl345.h> + +#include "adxl345.h" + +#if defined(CONFIG_SENSORS_ADXL345) && defined(CONFIG_ADXL345_SPI) + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: adxl345_configspi + * + * Description: + * + ****************************************************************************/ + +#ifndef CONFIG_SPI_OWNBUS +static inline void adxl345_configspi(FAR struct spi_dev_s *spi) +{ + /* Configure SPI for the ADXL345 */ + + SPI_SELECT(spi, SPIDEV_GSENSOR, true); + SPI_SETMODE(spi, SPIDEV_MODE3); + SPI_SETBITS(spi, 8); + SPI_SETFREQUENCY(spi, ADXL345_SPI_MAXFREQUENCY); + SPI_SELECT(spi, SPIDEV_GSENSOR, false); +} +#endif + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: adxl345_getreg8 + * + * Description: + * Read from an 8-bit ADXL345 register + * + ****************************************************************************/ + +uint8_t adxl345_getreg8(FAR struct adxl345_dev_s *priv, uint8_t regaddr) +{ + uint8_t regval; + + /* If SPI bus is shared then lock and configure it */ + +#ifndef CONFIG_SPI_OWNBUS + (void)SPI_LOCK(priv->spi, true); + adxl345_configspi(priv->spi); +#endif + + /* Select the ADXL345 */ + + SPI_SELECT(priv->spi, SPIDEV_GSENSOR, true); + + /* Send register to read and get the next byte */ + + (void)SPI_SEND(priv->spi, regaddr); + SPI_RECVBLOCK(priv->spi, ®val, 1); + + /* Deselect the ADXL345 */ + + SPI_SELECT(priv->spi, SPIDEV_GSENSOR, false); + + /* Unlock bus */ + +#ifndef CONFIG_SPI_OWNBUS + (void)SPI_LOCK(priv->spi, false); +#endif + +#ifdef CONFIG_ADXL345_REGDEBUG + dbg("%02x->%02x\n", regaddr, regval); +#endif + return regval; +} + +/**************************************************************************** + * Name: adxl345_putreg8 + * + * Description: + * Write a value to an 8-bit ADXL345 register + * + ****************************************************************************/ + +void adxl345_putreg8(FAR struct adxl345_dev_s *priv, uint8_t regaddr, + uint8_t regval) +{ +#ifdef CONFIG_ADXL345_REGDEBUG + dbg("%02x<-%02x\n", regaddr, regval); +#endif + + /* If SPI bus is shared then lock and configure it */ + +#ifndef CONFIG_SPI_OWNBUS + (void)SPI_LOCK(priv->spi, true); + adxl345_configspi(priv->spi); +#endif + + /* Select the ADXL345 */ + + SPI_SELECT(priv->spi, SPIDEV_GSENSOR, true); + + /* Send register address and set the value */ + + (void)SPI_SEND(priv->spi, regaddr); + (void)SPI_SEND(priv->spi, regval); + + /* Deselect the ADXL345 */ + + SPI_SELECT(priv->spi, SPIDEV_GSENSOR, false); + + /* Unlock bus */ +#ifndef CONFIG_SPI_OWNBUS + (void)SPI_LOCK(priv->spi, false); +#endif +} + +/**************************************************************************** + * Name: adxl345_getreg16 + * + * Description: + * Read 16-bits of data from an ADXL345 register + * + ****************************************************************************/ + +uint16_t adxl345_getreg16(FAR struct adxl345_dev_s *priv, uint8_t regaddr) +{ + uint16_t regval; + + /* If SPI bus is shared then lock and configure it */ + +#ifndef CONFIG_SPI_OWNBUS + (void)SPI_LOCK(priv->spi, true); + adxl345_configspi(priv->spi); +#endif + + /* Select the ADXL345 */ + + SPI_SELECT(priv->spi, SPIDEV_GSENSOR, true); + + /* Send register to read and get the next 2 bytes */ + + (void)SPI_SEND(priv->spi, regaddr); + SPI_RECVBLOCK(priv->spi, ®val, 2); + + /* Deselect the ADXL345 */ + + SPI_SELECT(priv->spi, SPIDEV_GSENSOR, false); + + /* Unlock bus */ + +#ifndef CONFIG_SPI_OWNBUS + (void)SPI_LOCK(priv->spi, false); +#endif + +#ifdef CONFIG_ADXL345_REGDEBUG + dbg("%02x->%04x\n", regaddr, regval); +#endif + + return regval; +} + +#endif /* CONFIG_SENSORS_ADXL345 && CONFIG_ADXL345_SPI*/ |