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incubator-nuttx/drivers/sensors/lsm9ds1.c

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/****************************************************************************
* drivers/sensors/lsm9ds1.c
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you under the Apache License, Version 2.0 (the
* "License"); you may not use this file except in compliance with the
* License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations
* under the License.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include "lsm9ds1_base.h"
#if defined(CONFIG_I2C) && defined(CONFIG_SENSORS_LSM9DS1)
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
/* Character Driver Methods */
static ssize_t lsm9ds1_read(FAR struct file *filep, FAR char *buffer,
size_t buflen);
static ssize_t lsm9ds1_write(FAR struct file *filep, FAR const char *buffer,
size_t buflen);
static int lsm9ds1_ioctl(FAR struct file *filep, int cmd,
unsigned long arg);
/* Common Register Function */
static int lsm9ds1_register(FAR const char *devpath,
FAR struct i2c_master_s *i2c, uint8_t addr,
FAR const struct lsm9ds1_ops_s *ops,
uint8_t datareg);
/****************************************************************************
* Private Data
****************************************************************************/
static const struct file_operations g_fops =
{
NULL, /* open */
NULL, /* close */
lsm9ds1_read, /* read */
lsm9ds1_write, /* write */
NULL, /* seek */
lsm9ds1_ioctl, /* ioctl */
};
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: lsm9ds1_read
*
* Description:
* The standard read method.
*
****************************************************************************/
static ssize_t lsm9ds1_read(FAR struct file *filep, FAR char *buffer,
size_t buflen)
{
FAR struct inode *inode;
FAR struct lsm9ds1_dev_s *priv;
int ret;
size_t i;
size_t j;
size_t samplesize;
size_t nsamples;
uint16_t data;
FAR int16_t *ptr;
uint8_t regaddr;
uint8_t lo;
uint8_t hi;
uint32_t merge = 0;
/* Sanity check */
inode = filep->f_inode;
priv = inode->i_private;
DEBUGASSERT(priv != NULL);
DEBUGASSERT(priv->datareg == LSM9DS1_OUT_X_L_G ||
priv->datareg == LSM9DS1_OUT_X_L_XL ||
priv->datareg == LSM9DS1_OUT_X_L_M);
DEBUGASSERT(buffer != NULL);
samplesize = 3 * sizeof(*ptr);
nsamples = buflen / samplesize;
ptr = (FAR int16_t *)buffer;
/* Get the requested number of samples */
for (i = 0; i < nsamples; i++)
{
/* Reset the register address to the X low byte register */
regaddr = priv->datareg;
/* Read the X, Y and Z data */
for (j = 0; j < 3; j++)
{
/* Read the low byte */
ret = lsm9ds1_readreg8(priv, regaddr, &lo);
if (ret < 0)
{
snerr("ERROR: lsm9ds1_readreg8 failed: %d\n", ret);
return (ssize_t)ret;
}
regaddr++;
/* Read the high byte */
ret = lsm9ds1_readreg8(priv, regaddr, &hi);
if (ret < 0)
{
snerr("ERROR: lsm9ds1_readreg8 failed: %d\n", ret);
return (ssize_t)ret;
}
regaddr++;
/* The data is 16 bits in two's complement representation */
data = ((uint16_t)hi << 8) | (uint16_t)lo;
/* Collect entropy */
merge += data ^ (merge >> 16);
/* The value is positive */
if (data < 0x8000)
{
ptr[j] = (int16_t)data;
}
/* The value is negative, so find its absolute value by taking the
* two's complement
*/
else if (data > 0x8000)
{
data = ~data + 1;
ptr[j] = -(int16_t)data;
}
/* The value is negative and can't be represented as a positive
* int16_t value
*/
else
{
ptr[j] = (int16_t)(-32768);
}
}
}
/* Feed sensor data to entropy pool */
add_sensor_randomness(merge);
return nsamples * samplesize;
}
/****************************************************************************
* Name: lsm9ds1_write
*
* Description:
* A dummy write method.
*
****************************************************************************/
static ssize_t lsm9ds1_write(FAR struct file *filep, FAR const char *buffer,
size_t buflen)
{
return -ENOSYS;
}
/****************************************************************************
* Name: lsm9ds1_ioctl
*
* Description:
* The standard ioctl method.
*
****************************************************************************/
static int lsm9ds1_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
{
FAR struct inode *inode;
FAR struct lsm9ds1_dev_s *priv;
int ret;
/* Sanity check */
inode = filep->f_inode;
priv = inode->i_private;
DEBUGASSERT(priv != NULL);
/* Handle ioctl commands */
switch (cmd)
{
/* Start converting. Arg: None. */
case SNIOC_START:
ret = priv->ops->start(priv);
break;
/* Stop converting. Arg: None. */
case SNIOC_STOP:
ret = priv->ops->stop(priv);
break;
/* Set the sample rate. Arg: uint32_t value. */
case SNIOC_SETSAMPLERATE:
ret = priv->ops->setsamplerate(priv, (uint32_t)arg);
sninfo("sample rate: %08" PRId32 " ret: %d\n",
(uint32_t)arg, ret);
break;
/* Set the full-scale range. Arg: uint32_t value. */
case SNIOC_SETFULLSCALE:
ret = priv->ops->setfullscale(priv, (uint32_t)arg);
sninfo("full-scale range: %08" PRId32 " ret: %d\n",
(uint32_t)arg, ret);
break;
/* Unrecognized commands */
default:
snerr("ERROR: Unrecognized cmd: %d arg: %lu\n", cmd, arg);
ret = -ENOTTY;
break;
}
return ret;
}
/****************************************************************************
* Name: lsm9ds1_register
*
* Description:
* Register the LSM9DS1 accelerometer, gyroscope or magnetometer character
* device as 'devpath'.
*
* Input Parameters:
* devpath - The full path to the driver to register, e.g., "/dev/accel0",
* "/dev/gyro0" or "/dev/mag0".
* i2c - An I2C driver instance.
* addr - The I2C address of the LSM9DS1 accelerometer, gyroscope or
* magnetometer.
* ops - The device operations structure.
* datareg - The register address of the low byte of the X-coordinate data.
*
* Returned Value:
* Zero (OK) on success; a negated errno value on failure.
*
****************************************************************************/
static int lsm9ds1_register(FAR const char *devpath,
FAR struct i2c_master_s *i2c, uint8_t addr,
FAR const struct lsm9ds1_ops_s *ops,
uint8_t datareg)
{
FAR struct lsm9ds1_dev_s *priv;
int ret;
/* Sanity check */
DEBUGASSERT(devpath != NULL);
DEBUGASSERT(i2c != NULL);
DEBUGASSERT(datareg == LSM9DS1_OUT_X_L_XL ||
datareg == LSM9DS1_OUT_X_L_G ||
datareg == LSM9DS1_OUT_X_L_M);
/* Initialize the device's structure */
priv = kmm_malloc(sizeof(*priv));
if (priv == NULL)
{
snerr("ERROR: Failed to allocate instance\n");
return -ENOMEM;
}
priv->i2c = i2c;
priv->addr = addr;
priv->ops = ops;
priv->samplerate = 0;
priv->datareg = datareg;
/* Configure the device */
ret = priv->ops->config(priv);
if (ret < 0)
{
snerr("ERROR: Failed to configure device: %d\n", ret);
kmm_free(priv);
return ret;
}
/* Register the character driver */
ret = register_driver(devpath, &g_fops, 0666, priv);
if (ret < 0)
{
snerr("ERROR: Failed to register driver: %d\n", ret);
kmm_free(priv);
return ret;
}
return OK;
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: lsm9ds1accel_register
*
* Description:
* Register the LSM9DS1 accelerometer character device as 'devpath'.
*
* Input Parameters:
* devpath - The full path to the driver to register, e.g., "/dev/accel0".
* i2c - An I2C driver instance.
* addr - The I2C address of the LSM9DS1 accelerometer.
*
* Returned Value:
* Zero (OK) on success; a negated errno value on failure.
*
****************************************************************************/
int lsm9ds1accel_register(FAR const char *devpath,
FAR struct i2c_master_s *i2c,
uint8_t addr)
{
/* Sanity check */
DEBUGASSERT(addr == LSM9DS1ACCEL_ADDR0 || addr == LSM9DS1ACCEL_ADDR1);
return lsm9ds1_register(devpath, i2c, addr, &g_lsm9ds1accel_ops,
LSM9DS1_OUT_X_L_XL);
}
/****************************************************************************
* Name: lsm9ds1gyro_register
*
* Description:
* Register the LSM9DS1 gyroscope character device as 'devpath'.
*
* Input Parameters:
* devpath - The full path to the driver to register, e.g., "/dev/gyro0".
* i2c - An I2C driver instance.
* addr - The I2C address of the LSM9DS1 gyroscope.
*
* Returned Value:
* Zero (OK) on success; a negated errno value on failure.
*
****************************************************************************/
int lsm9ds1gyro_register(FAR const char *devpath,
FAR struct i2c_master_s *i2c,
uint8_t addr)
{
/* Sanity check */
DEBUGASSERT(addr == LSM9DS1GYRO_ADDR0 || addr == LSM9DS1GYRO_ADDR1);
return lsm9ds1_register(devpath, i2c, addr, &g_lsm9ds1gyro_ops,
LSM9DS1_OUT_X_L_G);
}
/****************************************************************************
* Name: lsm9ds1mag_register
*
* Description:
* Register the LSM9DS1 magnetometer character device as 'devpath'.
*
* Input Parameters:
* devpath - The full path to the driver to register, e.g., "/dev/mag0".
* i2c - An I2C driver instance.
* addr - The I2C address of the LSM9DS1 magnetometer.
*
* Returned Value:
* Zero (OK) on success; a negated errno value on failure.
*
****************************************************************************/
int lsm9ds1mag_register(FAR const char *devpath,
FAR struct i2c_master_s *i2c,
uint8_t addr)
{
/* Sanity check */
DEBUGASSERT(addr == LSM9DS1MAG_ADDR0 || addr == LSM9DS1MAG_ADDR1);
return lsm9ds1_register(devpath, i2c, addr, &g_lsm9ds1mag_ops,
LSM9DS1_OUT_X_L_M);
}
#endif /* CONFIG_I2C && CONFIG_SENSORS_LSM9DS1 */
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