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incubator-nuttx/drivers/sensors/lis331dl.c

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/****************************************************************************
* drivers/sensors/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/kmalloc.h>
#include <nuttx/sensors/lis331dl.h>
/************************************************************************************
* 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_dev_s * i2c;
uint8_t address;
struct 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 lis331dl_access(struct 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;
}
if (length > 1) 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 lis331dl_readregs(struct lis331dl_dev_s * dev)
{
if (lis331dl_access(dev, ST_LIS331DL_CTRL_REG1, &dev->cr1, 3) != 3) return ERROR;
return OK;
}
/****************************************************************************
* Public Functions
****************************************************************************/
struct lis331dl_dev_s * lis331dl_init(struct i2c_dev_s * i2c, uint16_t address)
{
struct lis331dl_dev_s * dev;
uint8_t retval;
ASSERT(i2c);
ASSERT(address);
if ( (dev = kmalloc( sizeof(struct lis331dl_dev_s) )) == NULL ) {
errno = ENOMEM;
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 */
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 */
kfree(dev);
errno = retval;
return NULL;
}
int lis331dl_deinit(struct lis331dl_dev_s * dev)
{
ASSERT(dev);
lis331dl_powerdown(dev);
kfree(dev);
return OK;
}
int lis331dl_powerup(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;
}
int lis331dl_powerdown(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;
}
int lis331dl_setconversion(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;
}
int lis331dl_getprecision(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 */
}
int lis331dl_getsamplerate(struct lis331dl_dev_s * dev)
{
if (dev->cr1 & ST_LIS331DL_CR1_DR)
return 400;
return 100;
}
const struct lis331dl_vector_s * lis331dl_getreadings(struct lis331dl_dev_s * dev)
{
uint8_t retval[7];
ASSERT(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) ) {
errno = EAGAIN;
return NULL;
}
dev->a.x = retval[2];
dev->a.y = retval[4];
dev->a.z = retval[6];
return &dev->a;
}
return NULL;
}
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