Statistics
| Branch: | Tag: | Revision:

amiro-lld / source / alld_lis331dlh.c @ 21076167

History | View | Annotate | Download (10.9 KB)

1
/*
2
AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
3
Copyright (C) 2016..2019  Thomas Schöpping et al.
4

5
This program is free software: you can redistribute it and/or modify
6
it under the terms of the GNU Lesser General Public License as published by
7
the Free Software Foundation, either version 3 of the License, or
8
(at your option) any later version.
9

10
This program is distributed in the hope that it will be useful,
11
but WITHOUT ANY WARRANTY; without even the implied warranty of
12
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
13
GNU Lesser General Public License for more details.
14

15
You should have received a copy of the GNU Lesser General Public License
16
along with this program.  If not, see <http://www.gnu.org/licenses/>.
17
*/
18

    
19
/**
20
 * @file    alld_lis331dlh.c
21
 * @brief   Accelerometer function implementations.
22
 *
23
 * @addtogroup lld_accel
24
 * @{
25
 */
26

    
27
#include <alld_lis331dlh.h>
28

    
29
#if defined(AMIROLLD_CFG_USE_LIS331DLH) || defined(__DOXYGEN__)
30

    
31
#include <string.h>
32

    
33
/******************************************************************************/
34
/* LOCAL DEFINITIONS                                                          */
35
/******************************************************************************/
36

    
37
/******************************************************************************/
38
/* EXPORTED VARIABLES                                                         */
39
/******************************************************************************/
40

    
41
/******************************************************************************/
42
/* LOCAL TYPES                                                                */
43
/******************************************************************************/
44

    
45
/******************************************************************************/
46
/* LOCAL VARIABLES                                                            */
47
/******************************************************************************/
48

    
49
/******************************************************************************/
50
/* LOCAL FUNCTIONS                                                            */
51
/******************************************************************************/
52

    
53
/******************************************************************************/
54
/* EXPORTED FUNCTIONS                                                         */
55
/******************************************************************************/
56

    
57
/**
58
 * @brief Read the content of one or more registers.
59
 * @param[in]   lisd      The LIS331DLH driver to use.
60
 * @param[in]   regaddr   The address of the first register.
61
 * @param[out]  data      The data read from the registers.
62
 * @param[in]   length    Number of registers to read.
63
 *
64
 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
65
 */
66
apalExitStatus_t lis331dlh_lld_read_register(const LIS331DLHDriver* const lisd, const lis331dlh_lld_register_t regaddr, uint8_t *data, const uint8_t length)
67
{
68
  apalDbgAssert(lisd != NULL && lisd->spid != NULL);
69
  apalDbgAssert(data != NULL);
70

    
71
  uint8_t buffer[length+1];
72
  buffer[0] = regaddr | LIS331DLH_LLD_SPI_READ | ((length > 1) ? LIS331DLH_LLD_SPI_MULT : 0);
73
  apalExitStatus_t status = apalSPIExchange(lisd->spid, buffer, buffer, length+1);
74
  memcpy(data, buffer+1, length);
75
  return status;
76
}
77

    
78
/**
79
 * @brief Write to one or more registers.
80
 * @param[in]   lisd      The LIS331DLH driver to use.
81
 * @param[in]   regaddr   The address of the first register.
82
 * @param[in]   data      The data to be written to the registers.
83
 * @param[in]   length    Number of registers to write.
84
 *
85
 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
86
 */
87
apalExitStatus_t lis331dlh_lld_write_register(const LIS331DLHDriver* const lisd, const lis331dlh_lld_register_t regaddr, const uint8_t *data, const uint8_t length)
88
{
89
  apalDbgAssert(lisd != NULL && lisd->spid != NULL);
90
  apalDbgAssert(data != NULL);
91

    
92
  uint8_t buffer[length+1];
93
  buffer[0] = regaddr | LIS331DLH_LLD_SPI_WRITE | ((length > 1) ? LIS331DLH_LLD_SPI_MULT : 0);
94
  memcpy(buffer+1, data, length);
95
  return apalSPITransmit(lisd->spid, buffer, length+1);
96
}
97

    
98
/**
99
 * @brief Reset the high pass filter
100
 * @param[in]   lisd      The LIS331DLH driver to use.
101
 *
102
 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
103
 */
104
apalExitStatus_t lis331dlh_lld_reset_hp_filter(const LIS331DLHDriver* const lisd)
105
{
106
  return lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_HP_FILTER_RESET, NULL, 0);
107
}
108

    
109
/**
110
 * @brief Read the sensor data of all 3 axes.
111
 * @param[in]   lisd      The LIS331DLH driver to use.
112
 * @param[out]  data      The sensor data.
113
 * @param[in]   cfg       The current configuration. Needed to find out if the data is saved as little or big endian.
114
 *
115
 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
116
 */
117
apalExitStatus_t lis331dlh_lld_read_all_data(const LIS331DLHDriver* const lisd, int16_t *data, const lis331dlh_lld_cfg_t *cfg)
118
{
119
  apalDbgAssert(data != NULL);
120
  apalDbgAssert(cfg != NULL);
121

    
122
  uint8_t buffer[6];
123
  apalExitStatus_t status = lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_OUT_X_L, buffer, 6);
124
  if (!(cfg->registers.ctrl_reg4 & LIS331DLH_LLD_BLE_BE)) {
125
    data[0] = (int16_t) (buffer[0] | (buffer[1] << 8));
126
    data[1] = (int16_t) (buffer[2] | (buffer[3] << 8));
127
    data[2] = (int16_t) (buffer[4] | (buffer[5] << 8));
128
  } else {
129
    data[0] = (int16_t) (buffer[1] | (buffer[0] << 8));
130
    data[1] = (int16_t) (buffer[3] | (buffer[2] << 8));
131
    data[2] = (int16_t) (buffer[5] | (buffer[4] << 8));
132
  }
133
  return status;
134
}
135

    
136
/**
137
 * @brief Read the sensor data of one axis.
138
 * @param[in]   lisd      The LIS331DLH driver to use.
139
 * @param[out]  data      The sensor data.
140
 * @param[in]   axis      The axis for which the data should be read.
141
 * @param[in]   cfg       The current configuration. Needed to find out if the data is saved as little or big endian.
142
 *
143
 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
144
 */
145
apalExitStatus_t lis331dlh_lld_read_data(const LIS331DLHDriver* const lisd, int16_t *data, const lis331dlh_lld_axis_t axis, const lis331dlh_lld_cfg_t *cfg)
146
{
147
  apalDbgAssert(data != NULL);
148
  apalDbgAssert(cfg != NULL);
149

    
150
  apalExitStatus_t status = APAL_STATUS_SUCCESS;
151
  uint8_t buffer[2];
152
  switch (axis) {
153
    case LIS331DLH_LLD_X_AXIS:
154
      status = lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_OUT_X_L, buffer, 2);
155
      break;
156
    case LIS331DLH_LLD_Y_AXIS:
157
      status = lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_OUT_Y_L, buffer, 2);
158
      break;
159
    case LIS331DLH_LLD_Z_AXIS:
160
      status = lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_OUT_Z_L, buffer, 2);
161
      break;
162
    default:
163
      return APAL_STATUS_INVALIDARGUMENTS;
164
  }
165
  // entweder jedes mal endian abfragen oder config mit übergeben
166
  if (!(cfg->registers.ctrl_reg4 & LIS331DLH_LLD_BLE_BE)) {
167
    *data = (int16_t) (buffer[0] | (buffer[1] << 8));
168
  } else {
169
    *data = (int16_t) (buffer[1] | (buffer[0] << 8));
170
  }
171
  return status;
172
}
173

    
174
/**
175
 * @brief Read the current configuration
176
 * @param[in]   lisd      The LIS331DLH driver to use.
177
 * @param[out]  cfg       The current configuration.
178
 *
179
 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
180
 */
181
apalExitStatus_t lis331dlh_lld_read_config(const LIS331DLHDriver* const lisd, lis331dlh_lld_cfg_t *cfg)
182
{
183
  apalDbgAssert(cfg != NULL);
184

    
185
  return lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_CTRL_REG1, cfg->data, 5);
186
}
187

    
188
/**
189
 * @brief Write the a configuration
190
 * @param[in]   lisd      The LIS331DLH driver to use.
191
 * @param[in]   cfg       The new configuration.
192
 *
193
 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
194
 */
195
apalExitStatus_t lis331dlh_lld_write_config(const LIS331DLHDriver* const lisd, const lis331dlh_lld_cfg_t *cfg)
196
{
197
  apalDbgAssert(cfg != NULL);
198

    
199
  return lis331dlh_lld_write_register(lisd, LIS331DLH_LLD_REGISTER_CTRL_REG1, cfg->data, 5);
200
}
201

    
202
/**
203
 * @brief Read the interrupt configuration of one of the interrupts.
204
 * @param[in]   spid        The SPI driver to use.
205
 * @param[out]  cfg         The current interrupt configuration.
206
 * @param[in]   interrupt   The interrupt for which the configuration should be read.
207
 *
208
 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
209
 */
210
apalExitStatus_t lis331dlh_lld_read_int_config(const LIS331DLHDriver* const lisd, lis331dlh_lld_int_cfg_t *cfg, const lis331dlh_lld_int_t interrupt)
211
{
212
  apalDbgAssert(cfg != NULL);
213

    
214
  uint8_t buffer[2];
215
  apalExitStatus_t status = APAL_STATUS_OK;
216
  if (interrupt == LIS331DLH_LLD_INT1) {
217
    status |= lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_INT1_CFG, &cfg->cfg_reg, 1);
218
    status |= lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_INT1_THS, buffer, 2);
219
  } else {
220
    status |= lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_INT2_CFG, &cfg->cfg_reg, 1);
221
    status |= lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_INT2_THS, buffer, 2);
222
  }
223
  if (status != APAL_STATUS_OK) {
224
    return status;
225
  }
226
  cfg->threshold = buffer[0];
227
  cfg->duration = buffer[1];
228
  return status;
229
}
230

    
231
/**
232
 * @brief Write the interrupt configuration of one of the interrupts.
233
 * @param[in]   spid        The SPI driver to use.
234
 * @param[in]   cfg         The current new configuration.
235
 * @param[in]   interrupt   The interrupt for which the configuration should be written.
236
 *
237
 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
238
 */
239
apalExitStatus_t lis331dlh_lld_write_int_config(const LIS331DLHDriver* const lisd, const lis331dlh_lld_int_cfg_t *cfg, const lis331dlh_lld_int_t interrupt)
240
{
241
  apalDbgAssert(cfg != NULL);
242

    
243
  uint8_t buffer[2];
244
  buffer[0] = cfg->threshold;
245
  buffer[1] = cfg->duration;
246
  apalExitStatus_t status = APAL_STATUS_OK;
247
  if (interrupt == LIS331DLH_LLD_INT1) {
248
    status |= lis331dlh_lld_write_register(lisd, LIS331DLH_LLD_REGISTER_INT1_CFG, &(cfg->cfg_reg), 1);
249
    status |= lis331dlh_lld_write_register(lisd, LIS331DLH_LLD_REGISTER_INT1_THS, buffer, 2);
250
  } else {
251
    status |= lis331dlh_lld_write_register(lisd, LIS331DLH_LLD_REGISTER_INT2_CFG, &(cfg->cfg_reg), 1);
252
    status |= lis331dlh_lld_write_register(lisd, LIS331DLH_LLD_REGISTER_INT2_THS, buffer, 2);
253
  }
254
  return status;
255
}
256

    
257
/**
258
 * @brief Read the status register.
259
 * @param[in]   spid        The SPI driver to use.
260
 * @param[out]  status      The status register value.
261
 *
262
 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
263
 */
264
apalExitStatus_t lis331dlh_lld_read_status_register(const LIS331DLHDriver* const lisd, uint8_t *status)
265
{
266
  apalDbgAssert(status != NULL);
267

    
268
  return lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_STATUS_REG, status, 1);
269
}
270

    
271
#endif /* defined(AMIROLLD_CFG_USE_LIS331DLH) */
272

    
273
/** @} */