271 lines
7.6 KiB
C
271 lines
7.6 KiB
C
/****************************************************************************
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* drivers/i2c/st_lis331dl.c
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*
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* Copyright (C) 2011 Uros Platise. All rights reserved.
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*
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* Authors: Uros Platise <uros.platise@isotel.eu>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name NuttX nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/** \file
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* \author Uros Platise
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* \brief ST LIS331DL I2C Device Driver
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**/
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#include <nuttx/config.h>
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#include <assert.h>
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#include <stdlib.h>
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#include <string.h>
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#include <errno.h>
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#include <stdio.h>
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#include <nuttx/i2c/st_lis331dl.h>
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/************************************************************************************
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* Private Data Types
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************************************************************************************/
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struct st_lis331dl_dev_s {
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struct i2c_dev_s * i2c;
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uint8_t address;
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struct st_lis331dl_vector_s a;
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uint8_t cr1;
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uint8_t cr2;
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uint8_t cr3;
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};
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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/** LIS331DL Access with range check
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*
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* \param dev LIS331 DL Private Structure
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* \param subaddr LIS331 Sub Address
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* \param buf Pointer to buffer, either for read or write access
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* \param length when >0 it denotes read access, when <0 it denotes write access of -length
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* \return OK on success or errno is set.
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**/
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int st_lis331dl_access(struct st_lis331dl_dev_s * dev, uint8_t subaddr, uint8_t *buf, int length)
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{
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uint16_t flags = 0;
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int retval;
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if (length > 0) {
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flags = I2C_M_READ;
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}
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else {
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flags = I2C_M_NORESTART;
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length = -length;
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}
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/* Check valid address ranges and set auto address increment flag */
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if (subaddr == 0x0F) {
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if (length > 1) length = 1;
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}
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else if (subaddr >= 0x20 && subaddr < 0x24) {
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if (length > (0x24 - subaddr) ) length = 0x24 - subaddr;
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}
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else if (subaddr >= 0x27 && subaddr < 0x2E) {
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if (length > (0x2E - subaddr) ) length = 0x2E - subaddr;
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}
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else if (subaddr >= 0x30 && subaddr < 0x40) {
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if (length > (0x40 - subaddr) ) length = 0x40 - subaddr;
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}
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else {
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errno = EFAULT;
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return ERROR;
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}
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subaddr |= 0x80;
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/* Create message and send */
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struct i2c_msg_s msgv[2] = {
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{
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.addr = dev->address,
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.flags = 0,
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.buffer = &subaddr,
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.length = 1
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},
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{
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.addr = dev->address,
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.flags = flags,
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.buffer = buf,
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.length = length
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}
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};
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if ( (retval = I2C_TRANSFER(dev->i2c, msgv, 2)) == OK )
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return length;
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return retval;
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}
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int st_lis331dl_readregs(struct st_lis331dl_dev_s * dev)
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{
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if (st_lis331dl_access(dev, ST_LIS331DL_CTRL_REG1, &dev->cr1, 3) == ERROR) return ERROR;
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printf("CR1=%2x, CR2=%2x, CR3=%2x\n", dev->cr1, dev->cr2, dev->cr3 );
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return OK;
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}
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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struct st_lis331dl_dev_s * st_lis331dl_init(struct i2c_dev_s * i2c, uint16_t address)
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{
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struct st_lis331dl_dev_s * dev;
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uint8_t retval;
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ASSERT(i2c);
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ASSERT(address);
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if ( (dev = malloc( sizeof(struct st_lis331dl_dev_s) )) == NULL )
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return NULL;
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memset(dev, 0, sizeof(struct st_lis331dl_dev_s));
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dev->i2c = i2c;
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dev->address = address;
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/* Probe device */
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if (st_lis331dl_access(dev, ST_LIS331DL_WHOAMI, &retval, 1) > 0) {
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/* Check chip identification, in the future several more compatible parts
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* may be added here.
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*/
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if (retval == ST_LIS331DL_WHOAMI_VALUE) {
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/* Copy LIS331DL registers to our private structure and power-up device */
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if ( st_lis331dl_readregs(dev)==OK && st_lis331dl_powerup(dev)==OK) {
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/* Normal exit point */
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errno = 0;
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return dev;
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}
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retval = errno;
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}
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/* Otherwise, we mark an invalid device found at given address */
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retval = ENODEV;
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}
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else {
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/* No response at given address is marked as */
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retval = EFAULT;
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}
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/* Error exit */
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free(dev);
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errno = retval;
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return NULL;
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}
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int st_lis331dl_deinit(struct st_lis331dl_dev_s * dev)
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{
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ASSERT(dev);
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// st_lis331dl_powerdown(dev);
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free(dev);
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return OK;
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}
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int st_lis331dl_powerup(struct st_lis331dl_dev_s * dev)
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{
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dev->cr1 = ST_LIS331DL_CR1_PD |
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ST_LIS331DL_CR1_ZEN | ST_LIS331DL_CR1_YEN | ST_LIS331DL_CR1_XEN;
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st_lis331dl_access(dev, ST_LIS331DL_CTRL_REG1, &dev->cr1, -1);
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return OK;
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}
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int st_lis331dl_powerdown(struct st_lis331dl_dev_s * dev)
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{
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dev->cr1 = ST_LIS331DL_CR1_ZEN | ST_LIS331DL_CR1_YEN | ST_LIS331DL_CR1_XEN;
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return st_lis331dl_access(dev, ST_LIS331DL_CTRL_REG1, &dev->cr1, -1);
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}
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int st_lis331dl_setconversion(struct st_lis331dl_dev_s * dev, bool full, bool fast)
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{
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dev->cr1 = ST_LIS331DL_CR1_PD |
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(full ? ST_LIS331DL_CR1_FS : 0) | (fast ? ST_LIS331DL_CR1_DR : 0) |
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ST_LIS331DL_CR1_ZEN | ST_LIS331DL_CR1_YEN | ST_LIS331DL_CR1_XEN;
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st_lis331dl_access(dev, ST_LIS331DL_CTRL_REG1, &dev->cr1, -1);
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return OK;
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}
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float st_lis331dl_getprecision(struct st_lis331dl_dev_s * dev)
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{
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if (dev->cr1 & ST_LIS331DL_CR1_FS)
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return 9.0/127.0; /* ~9g full scale */
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return 2.0/127.0; /* ~2g full scale */
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}
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int st_lis331dl_getsamplerate(struct st_lis331dl_dev_s * dev)
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{
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if (dev->cr1 & ST_LIS331DL_CR1_DR)
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return 400;
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return 100;
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}
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const struct st_lis331dl_vector_s * st_lis331dl_getreadings(struct st_lis331dl_dev_s * dev)
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{
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uint8_t retval[5];
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ASSERT(dev);
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if (st_lis331dl_access(dev, ST_LIS331DL_OUT_X, retval, 5) == 5) {
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dev->a.x = retval[0];
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dev->a.y = retval[2];
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dev->a.z = retval[4];
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return &dev->a;
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}
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return NULL;
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}
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