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incubator-nuttx/drivers/sensors/lis331dl.c

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/****************************************************************************
* drivers/sensors/lis331dl.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 <assert.h>
#include <stdlib.h>
#include <string.h>
#include <errno.h>
#include <stdio.h>
#include <nuttx/kmalloc.h>
#include <nuttx/i2c/i2c_master.h>
#include <nuttx/sensors/lis331dl.h>
#include <nuttx/random.h>
#if defined(CONFIG_I2C) && defined(CONFIG_LIS331DL)
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#ifndef CONFIG_LIS331DL_I2C_FREQUENCY
# define CONFIG_LIS331DL_I2C_FREQUENCY 100000
#endif
/* LIS331DL Internal Registers **********************************************/
#define ST_LIS331DL_WHOAMI 0x0F /* who am I register */
#define ST_LIS331DL_WHOAMI_VALUE 0x3B /* Valid result is 0x3B */
#define ST_LIS331DL_CTRL_REG1 0x20
#define ST_LIS331DL_CR1_DR 0x80 /* Data-rate selection 0: 100 Hz, 1: 400 Hz */
#define ST_LIS331DL_CR1_PD 0x40 /* Active Mode (1) / Power-down (0) */
#define ST_LIS331DL_CR1_FS 0x20 /* Full Scale (1) +-9g or Normal Scale (0) +-2g */
#define ST_LIS331DL_CR1_ST 0x18 /* Self test enable */
#define ST_LIS331DL_CR1_ZEN 0x04 /* Z-Axis Enable */
#define ST_LIS331DL_CR1_YEN 0x02 /* Y-Axis Enable */
#define ST_LIS331DL_CR1_XEN 0x01 /* X-Axis Enable */
#define ST_LIS331DL_CTRL_REG2 0x21
#define ST_LIS331DL_CTRL_REG3 0x22
#define ST_LIS331DL_HP_FILTER_RESET 0x23
#define ST_LIS331DL_STATUS_REG 0x27 /* Status Register */
#define ST_LIS331DL_SR_ZYXOR 0x80 /* OR'ed X,Y and Z data over-run */
#define ST_LIS331DL_SR_ZOR 0x40 /* individual data over-run ... */
#define ST_LIS331DL_SR_YOR 0x20
#define ST_LIS331DL_SR_XOR 0x10
#define ST_LIS331DL_SR_ZYXDA 0x08 /* OR'ed X,Y and Z data available */
#define ST_LIS331DL_SR_ZDA 0x04 /* individual data available ... */
#define ST_LIS331DL_SR_YDA 0x02
#define ST_LIS331DL_SR_XDA 0x01
#define ST_LIS331DL_OUT_X 0x29
#define ST_LIS331DL_OUT_Y 0x2B
#define ST_LIS331DL_OUT_Z 0x2D
/****************************************************************************
* Private Data Types
****************************************************************************/
struct lis331dl_dev_s
{
struct i2c_master_s *i2c;
uint8_t address;
struct lis331dl_vector_s a;
uint8_t cr1;
uint8_t cr2;
uint8_t cr3;
};
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: lis331dl_access
*
* Description:
* LIS331DL Access with range check
*
* Input Parameters:
* dev LIS331 DL Private Structure
* subaddr LIS331 Sub Address
* buf Pointer to buffer, either for read or write access
* length When >0 it denotes read access, when <0 it denotes write access
* of -length
*
* Returned Value:
* Returns actual length of data on success or negative value on error.
*
****************************************************************************/
static int lis331dl_access(FAR struct lis331dl_dev_s *dev, uint8_t subaddr,
FAR uint8_t *buf, int length)
{
uint16_t flags;
int retval;
if (length > 0)
{
flags = I2C_M_READ;
}
else
{
flags = I2C_M_NOSTART;
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
{
return -EFAULT;
}
if (length > 1)
{
subaddr |= 0x80;
}
/* Create message and send */
struct i2c_msg_s msgv[2] =
{
{
.frequency = CONFIG_LIS331DL_I2C_FREQUENCY,
.addr = dev->address,
.flags = 0,
.buffer = &subaddr,
.length = 1
},
{
.frequency = CONFIG_LIS331DL_I2C_FREQUENCY,
.addr = dev->address,
.flags = flags,
.buffer = buf,
.length = length
}
};
retval = I2C_TRANSFER(dev->i2c, msgv, 2);
if (retval >= 0)
{
return length;
}
return retval;
}
/****************************************************************************
* Name: lis331dl_readregs
****************************************************************************/
static int lis331dl_readregs(FAR struct lis331dl_dev_s *dev)
{
if (lis331dl_access(dev, ST_LIS331DL_CTRL_REG1, &dev->cr1, 3) != 3)
{
return ERROR;
}
return OK;
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: lis331dl_init
****************************************************************************/
FAR struct lis331dl_dev_s *lis331dl_init(FAR struct i2c_master_s *i2c,
uint16_t address)
{
FAR struct lis331dl_dev_s *dev;
uint8_t retval;
DEBUGASSERT(i2c);
DEBUGASSERT(address);
dev = kmm_malloc(sizeof(struct lis331dl_dev_s));
if (dev == NULL)
{
return NULL;
}
memset(dev, 0, sizeof(struct lis331dl_dev_s));
dev->i2c = i2c;
dev->address = address;
/* Probe device */
if (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 (lis331dl_readregs(dev) == OK && lis331dl_powerup(dev) == OK)
{
/* Normal exit point */
return dev;
}
}
}
/* Error exit */
kmm_free(dev);
return NULL;
}
/****************************************************************************
* Name: lis331dl_deinit
****************************************************************************/
int lis331dl_deinit(FAR struct lis331dl_dev_s * dev)
{
DEBUGASSERT(dev);
lis331dl_powerdown(dev);
kmm_free(dev);
return OK;
}
/****************************************************************************
* Name: lis331dl_powerup
****************************************************************************/
int lis331dl_powerup(FAR struct lis331dl_dev_s * dev)
{
dev->cr1 = ST_LIS331DL_CR1_PD |
ST_LIS331DL_CR1_ZEN | ST_LIS331DL_CR1_YEN | ST_LIS331DL_CR1_XEN;
dev->cr2 = 0;
dev->cr3 = 0;
if (lis331dl_access(dev, ST_LIS331DL_CTRL_REG1, &dev->cr1, -3) == 3)
{
return OK;
}
return ERROR;
}
/****************************************************************************
* Name: lis331dl_powerdown
****************************************************************************/
int lis331dl_powerdown(FAR struct lis331dl_dev_s * dev)
{
dev->cr1 = ST_LIS331DL_CR1_ZEN | ST_LIS331DL_CR1_YEN | ST_LIS331DL_CR1_XEN;
dev->cr2 = 0;
dev->cr3 = 0;
if (lis331dl_access(dev, ST_LIS331DL_CTRL_REG1, &dev->cr1, -3) == 3)
{
return OK;
}
return ERROR;
}
/****************************************************************************
* Name: lis331dl_setconversion
****************************************************************************/
int lis331dl_setconversion(FAR struct 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;
if (lis331dl_access(dev, ST_LIS331DL_CTRL_REG1, &dev->cr1, -1) == 1)
{
return OK;
}
return ERROR;
}
/****************************************************************************
* Name: lis331dl_getprecision
****************************************************************************/
int lis331dl_getprecision(FAR struct lis331dl_dev_s * dev)
{
if (dev->cr1 & ST_LIS331DL_CR1_FS)
{
return 9200 / 127; /* typ. 9.2g full scale */
}
return 2300 / 127; /* typ. 2.3g full scale */
}
/****************************************************************************
* Name: lis331dl_getsamplerate
****************************************************************************/
int lis331dl_getsamplerate(FAR struct lis331dl_dev_s * dev)
{
if (dev->cr1 & ST_LIS331DL_CR1_DR)
{
return 400;
}
return 100;
}
/****************************************************************************
* Name: lis331dl_getreadings
****************************************************************************/
FAR const struct lis331dl_vector_s *
lis331dl_getreadings(FAR struct lis331dl_dev_s * dev)
{
uint8_t retval[7];
DEBUGASSERT(dev);
if (lis331dl_access(dev, ST_LIS331DL_STATUS_REG, retval, 7) == 7)
{
/* If result is not yet ready, return NULL */
if (!(retval[0] & ST_LIS331DL_SR_ZYXDA))
{
return NULL;
}
/* Feed sensor data to entropy pool */
add_sensor_randomness((retval[2] << 16) ^ (retval[4] << 8) ^
(retval[6] << 0));
dev->a.x = retval[2];
dev->a.y = retval[4];
dev->a.z = retval[6];
return &dev->a;
}
return NULL;
}
#endif /* CONFIG_I2C && CONFIG_LIS331DL */
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