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incubator-nuttx/drivers/sensors/fxos8700cq.c

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/****************************************************************************
* drivers/sensors/fxos8700cq.c
* Driver for Motion Sensor FXOS8700CQ (NXP)
*
* 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 <stdlib.h>
#include <debug.h>
#include <errno.h>
#include <nuttx/kmalloc.h>
#include <nuttx/i2c/i2c_master.h>
#include <nuttx/sensors/fxos8700cq.h>
#if defined(CONFIG_SENSORS_FXOS8700CQ)
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#define FXOS8700CQ_I2C_ADDR 0x1d
#define FXOS8700CQ_I2C_FREQ 400000
/* I2C Regs */
#define FXOS8700CQ_STATUS 0x00
#define FXOS8700CQ_WHOAMI 0x0D
#define FXOS8700CQ_XYZ_DATA_CFG 0x0E
#define FXOS8700CQ_CTRL_REG1 0x2A
#define FXOS8700CQ_CTRL_REG2 0x2B
#define FXOS8700CQ_CTRL_REG3 0x2C
#define FXOS8700CQ_CTRL_REG4 0x2D
#define FXOS8700CQ_CTRL_REG5 0x2E
#define FXOS8700CQ_M_CTRL_REG1 0x5B
#define FXOS8700CQ_M_CTRL_REG2 0x5C
#define FXOS8700CQ_PULSE_CFG (0x21)
#define FXOS8700CQ_PULSE_SRC (0x22)
#define FXOS8700CQ_PULSE_THSX (0x23)
/* Values */
#define FXOS8700CQ_WHOAMI_VAL 0xC7
/* status byte + x,y,z for accelerometer and magnetometer */
#define FXOS8700CQ_READ_LEN ((8 + (16 * 3 + 16 * 3)) / 8)
/****************************************************************************
* Private Types
****************************************************************************/
struct fxos8700cq_dev_s
{
FAR struct i2c_master_s *i2c;
uint8_t addr;
int freq;
};
/****************************************************************************
* Private Functions
****************************************************************************/
static uint8_t fxos8700cq_getreg8(FAR struct fxos8700cq_dev_s *priv,
uint8_t regaddr);
static int fxos8700cq_putreg8(FAR struct fxos8700cq_dev_s *priv,
uint8_t regaddr, uint8_t regval);
static int fxos8700cq_getregs(FAR struct fxos8700cq_dev_s *priv,
uint8_t regaddr, uint8_t *regval, int len);
/* Character driver methods */
static int fxos8700cq_open(FAR struct file *filep);
static int fxos8700cq_close(FAR struct file *filep);
static ssize_t fxos8700cq_read(FAR struct file *filep,
FAR char *buffer, size_t len);
static int fxos8700cq_checkid(FAR struct fxos8700cq_dev_s *priv);
/****************************************************************************
* Private Data
****************************************************************************/
/* vtable that supports the character driver interface */
static const struct file_operations g_fxos8700cqfops =
{
fxos8700cq_open, /* open */
fxos8700cq_close, /* close */
fxos8700cq_read, /* read */
};
/****************************************************************************
* Name: fxos8700cq_getreg8
*
* Description:
* Read from an 8-bit FXOS8700CQ register
*
****************************************************************************/
static uint8_t fxos8700cq_getreg8(FAR struct fxos8700cq_dev_s *priv,
uint8_t regaddr)
{
uint8_t regval = 0;
struct i2c_msg_s msg[2];
int ret;
msg[0].frequency = priv->freq;
msg[0].addr = priv->addr;
msg[0].flags = 0;
msg[0].buffer = &regaddr;
msg[0].length = 1;
msg[1].frequency = priv->freq;
msg[1].addr = priv->addr;
msg[1].flags = I2C_M_READ;
msg[1].buffer = &regval;
msg[1].length = 1;
ret = I2C_TRANSFER(priv->i2c, msg, 2);
if (ret < 0)
{
snerr("I2C_TRANSFER failed: %d\n", ret);
}
return regval;
}
/****************************************************************************
* Name: fxos8700cq_putreg8
*
* Description:
* Write a value to an 8-bit FXOS8700CQ register
*
****************************************************************************/
static int fxos8700cq_putreg8(FAR struct fxos8700cq_dev_s *priv,
uint8_t regaddr, uint8_t regval)
{
struct i2c_msg_s msg[2];
int ret;
uint8_t txbuffer[2];
txbuffer[0] = regaddr;
txbuffer[1] = regval;
msg[0].frequency = priv->freq;
msg[0].addr = priv->addr;
msg[0].flags = 0;
msg[0].buffer = txbuffer;
msg[0].length = 2;
ret = I2C_TRANSFER(priv->i2c, msg, 1);
if (ret < 0)
{
snerr("I2C_TRANSFER failed: %d\n", ret);
}
return ret;
}
/****************************************************************************
* Name: fxos8700cq_getregs
*
* Description:
* Read cnt bytes from specified dev_addr and reg_addr
*
****************************************************************************/
static int fxos8700cq_getregs(FAR struct fxos8700cq_dev_s *priv,
uint8_t regaddr, uint8_t *regval, int len)
{
struct i2c_msg_s msg[2];
int ret;
msg[0].frequency = priv->freq;
msg[0].addr = priv->addr;
msg[0].flags = 0;
msg[0].buffer = &regaddr;
msg[0].length = 1;
msg[1].frequency = priv->freq;
msg[1].addr = priv->addr;
msg[1].flags = I2C_M_READ;
msg[1].buffer = regval;
msg[1].length = len;
ret = I2C_TRANSFER(priv->i2c, msg, 2);
if (ret < 0)
{
snerr("I2C_TRANSFER failed: %d\n", ret);
}
return ret;
}
/****************************************************************************
* Name: fxos8700cq_open
*
* Description:
* Standard character driver open method.
*
****************************************************************************/
static int fxos8700cq_open(FAR struct file *filep)
{
FAR struct inode *inode = filep->f_inode;
FAR struct fxos8700cq_dev_s *priv = inode->i_private;
uint8_t regval;
int ret = 0;
ret = fxos8700cq_getreg8(priv, FXOS8700CQ_WHOAMI);
if (ret != FXOS8700CQ_WHOAMI_VAL)
{
snerr("ERROR: Invalid device identification %02x\n", regval);
return -ENODEV;
}
regval = 0x00; /* active: standbye */
ret = fxos8700cq_putreg8(priv, FXOS8700CQ_CTRL_REG1, regval);
if (ret < 0)
{
snerr("ERROR: %02x\n", regval);
return ret;
}
/* m_hms[1:0]: Hybrid mode, both accelerometer and magnetometer
* m_os[2:0]: Oversample ratio (OSR) for magnetometer data
* m_ost: One-shot triggered magnetic measurement mode
* m_rst: One-shot magnetic reset degauss control bit
* m_acal: Magnetic hard-iron offset auto-calibration enable
*/
regval = 0
| (0b11 << 0)
| (0b11 << 3)
| (0b1 << 5)
| (0b0 << 6)
| (0b0 << 7)
;
ret = fxos8700cq_putreg8(priv, FXOS8700CQ_M_CTRL_REG1, regval);
if (ret < 0)
{
return ret;
}
/* hyb_autoinc_mode */
regval = 0b1 << 5;
ret = fxos8700cq_putreg8(priv, FXOS8700CQ_M_CTRL_REG2, regval);
if (ret < 0)
{
return ret;
}
/* fs[1:0]: Accelerometer full-scale range : 4G */
regval = 0b01;
ret = fxos8700cq_putreg8(priv, FXOS8700CQ_XYZ_DATA_CFG, regval);
if (ret < 0)
{
return ret;
}
/* active , lnoise , dr[2:0] */
regval = 0b1
| (0b1 < 2)
| (0b001 < 5)
;
ret = fxos8700cq_putreg8(priv, FXOS8700CQ_CTRL_REG1, regval);
if (ret < 0)
{
return ret;
}
return OK;
}
/****************************************************************************
* Name: fxos8700cq_close
*
* Description:
* Standard character driver close method.
*
****************************************************************************/
static int fxos8700cq_close(FAR struct file *filep)
{
FAR struct inode *inode = filep->f_inode;
FAR struct fxos8700cq_dev_s *priv = inode->i_private;
uint8_t regval = 0b0; /* active */
int ret = fxos8700cq_putreg8(priv, FXOS8700CQ_CTRL_REG1, regval);
if (ret < 0)
{
return ret;
}
return OK;
}
/****************************************************************************
* Name: fxos8700cq_read
*
* Description:
* Standard character driver read method.
*
****************************************************************************/
static ssize_t fxos8700cq_read(FAR struct file *filep, FAR char *buffer,
size_t len)
{
FAR struct inode *inode = filep->f_inode;
FAR struct fxos8700cq_dev_s *priv = inode->i_private;
FAR fxos8700cq_data * p = (FAR fxos8700cq_data *) buffer;
if (len < sizeof(fxos8700cq_data))
{
snerr("Expected buffer size is %d\n", sizeof(fxos8700cq_data));
return 0;
}
uint8_t data[FXOS8700CQ_READ_LEN];
int status = fxos8700cq_getregs(priv, FXOS8700CQ_STATUS,
(FAR uint8_t *)data, FXOS8700CQ_READ_LEN);
if (status < 0)
{
snerr("Error: read status=%d", status);
return 0;
}
/* Copy the 14 bit accelerometer byte data into 16 bit words */
p->accel.x = (int16_t)(((data[1] << 8) | data[2])) >> 2;
p->accel.y = (int16_t)(((data[3] << 8) | data[4])) >> 2;
p->accel.z = (int16_t)(((data[5] << 8) | data[6])) >> 2;
/* Copy the magnetometer byte data into 16 bit words */
p->magn.x = (int16_t)(((data[7] << 8) | data[8]));
p->magn.y = (int16_t)(((data[9] << 8) | data[10]));
p->magn.z = (int16_t)(((data[11] << 8) | data[12]));
return len;
}
/****************************************************************************
* Name: fxos8700cq_checkid
*
* Description:
* Read and verify the FXOS8700CQ chip ID
*
****************************************************************************/
static int fxos8700cq_checkid(FAR struct fxos8700cq_dev_s *priv)
{
uint8_t devid = 0;
devid = fxos8700cq_getreg8(priv, FXOS8700CQ_WHOAMI);
sninfo("devid: %04x\n", devid);
if (devid != (uint16_t) FXOS8700CQ_WHOAMI_VAL)
{
return -ENODEV;
}
return OK;
}
/****************************************************************************
* Name: fxos8700cq_register
*
* Description:
* Register the FXOS8700CQ character device as 'devpath'
*
* Input Parameters:
* devpath - The full path to the driver to register. E.g., "/dev/accel0"
* dev - An instance of the I2C interface to communicate with device
*
*
* Returned Value:
* Zero (OK) on success; a negated errno value on failure.
*
****************************************************************************/
int fxos8700cq_register(FAR const char *devpath,
FAR struct i2c_master_s *dev)
{
FAR struct fxos8700cq_dev_s *priv;
int ret;
priv = (FAR struct fxos8700cq_dev_s *)
kmm_malloc(sizeof(struct fxos8700cq_dev_s));
if (!priv)
{
snerr("Failed to allocate instance\n");
return -ENOMEM;
}
priv->i2c = dev;
priv->addr = FXOS8700CQ_I2C_ADDR;
priv->freq = FXOS8700CQ_I2C_FREQ;
ret = fxos8700cq_checkid(priv);
if (ret < 0)
{
snerr("Wrong Device ID!\n");
kmm_free(priv);
return ret;
}
ret = register_driver(devpath, &g_fxos8700cqfops, 0444, priv);
if (ret < 0)
{
snerr("Failed to register driver: %d\n", ret);
kmm_free(priv);
}
sninfo("FXOS8700CQ driver loaded successfully!\n");
return OK;
}
#endif /* CONFIG_SENSORS_FXOS8700CQ */
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