Statistics
| Branch: | Tag: | Revision:

amiro-lld / source / alld_lis331dlh.c @ 5e2f673b

History | View | Annotate | Download (9.57 KB)

1
/*
2
AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
3
Copyright (C) 2016..2018  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
 * @brief Read the content of one or more registers.
35
 * @param[in]   lisd      The LIS331DLH driver to use.
36
 * @param[in]   regaddr   The address of the first register.
37
 * @param[out]  data      The data read from the registers.
38
 * @param[in]   length    Number of registers to read.
39
 *
40
 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
41
 */
42
inline apalExitStatus_t
43
lis331dlh_lld_read_register(const LIS331DLHDriver* const lisd, const lis331dlh_lld_register_t regaddr, uint8_t *data, const uint8_t length)
44
{
45
  apalDbgAssert(lisd != NULL && lisd->spid != NULL);
46
  apalDbgAssert(data != NULL);
47

    
48
  uint8_t buffer[length+1];
49
  buffer[0] = regaddr | LIS331DLH_LLD_SPI_READ | ((length > 1) ? LIS331DLH_LLD_SPI_MULT : 0);
50
  apalExitStatus_t status = apalSPIExchange(lisd->spid, buffer, buffer, length+1);
51
  memcpy(data, buffer+1, length);
52
  return status;
53
}
54

    
55
/**
56
 * @brief Write to one or more registers.
57
 * @param[in]   lisd      The LIS331DLH driver to use.
58
 * @param[in]   regaddr   The address of the first register.
59
 * @param[in]   data      The data to be written to the registers.
60
 * @param[in]   length    Number of registers to write.
61
 *
62
 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
63
 */
64
inline apalExitStatus_t
65
lis331dlh_lld_write_register(const LIS331DLHDriver* const lisd, const lis331dlh_lld_register_t regaddr, const uint8_t *data, const uint8_t length)
66
{
67
  apalDbgAssert(lisd != NULL && lisd->spid != NULL);
68
  apalDbgAssert(data != NULL);
69

    
70
  uint8_t buffer[length+1];
71
  buffer[0] = regaddr | LIS331DLH_LLD_SPI_WRITE | ((length > 1) ? LIS331DLH_LLD_SPI_MULT : 0);
72
  memcpy(buffer+1, data, length);
73
  return apalSPITransmit(lisd->spid, buffer, length+1);
74
}
75

    
76
/**
77
 * @brief Reset the high pass filter
78
 * @param[in]   lisd      The LIS331DLH driver to use.
79
 *
80
 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
81
 */
82
inline apalExitStatus_t
83
lis331dlh_lld_reset_hp_filter(const LIS331DLHDriver* const lisd)
84
{
85
  return lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_HP_FILTER_RESET, NULL, 0);
86
}
87

    
88
/**
89
 * @brief Read the sensor data of all 3 axes.
90
 * @param[in]   lisd      The LIS331DLH driver to use.
91
 * @param[out]  data      The sensor data.
92
 * @param[in]   cfg       The current configuration. Needed to find out if the data is saved as little or big endian.
93
 *
94
 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
95
 */
96
inline apalExitStatus_t
97
lis331dlh_lld_read_all_data(const LIS331DLHDriver* const lisd, int16_t *data, const lis331dlh_lld_cfg_t *cfg)
98
{
99
  apalDbgAssert(data != NULL);
100
  apalDbgAssert(cfg != NULL);
101

    
102
  uint8_t buffer[6];
103
  apalExitStatus_t status = lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_OUT_X_L, buffer, 6);
104
  if (!(cfg->registers.ctrl_reg4 & LIS331DLH_LLD_BLE_BE)) {
105
    data[0] = (int16_t) (buffer[0] | (buffer[1] << 8));
106
    data[1] = (int16_t) (buffer[2] | (buffer[3] << 8));
107
    data[2] = (int16_t) (buffer[4] | (buffer[5] << 8));
108
  } else {
109
    data[0] = (int16_t) (buffer[1] | (buffer[0] << 8));
110
    data[1] = (int16_t) (buffer[3] | (buffer[2] << 8));
111
    data[2] = (int16_t) (buffer[5] | (buffer[4] << 8));
112
  }
113
  return status;
114
}
115

    
116
/**
117
 * @brief Read the sensor data of one axis.
118
 * @param[in]   lisd      The LIS331DLH driver to use.
119
 * @param[out]  data      The sensor data.
120
 * @param[in]   axis      The axis for which the data should be read.
121
 * @param[in]   cfg       The current configuration. Needed to find out if the data is saved as little or big endian.
122
 *
123
 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
124
 */
125
inline apalExitStatus_t
126
lis331dlh_lld_read_data(const LIS331DLHDriver* const lisd, int16_t *data, const lis331dlh_lld_axis_t axis, const lis331dlh_lld_cfg_t *cfg)
127
{
128
  apalDbgAssert(data != NULL);
129
  apalDbgAssert(cfg != NULL);
130

    
131
  apalExitStatus_t status = APAL_STATUS_SUCCESS;
132
  uint8_t buffer[2];
133
  switch (axis) {
134
    case LIS331DLH_LLD_X_AXIS:
135
      status = lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_OUT_X_L, buffer, 2);
136
      break;
137
    case LIS331DLH_LLD_Y_AXIS:
138
      status = lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_OUT_Y_L, buffer, 2);
139
      break;
140
    case LIS331DLH_LLD_Z_AXIS:
141
      status = lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_OUT_Z_L, buffer, 2);
142
      break;
143
    default:
144
      return APAL_STATUS_INVALIDARGUMENTS;
145
  }
146
  // entweder jedes mal endian abfragen oder config mit übergeben
147
  if (!(cfg->registers.ctrl_reg4 & LIS331DLH_LLD_BLE_BE)) {
148
    *data = (int16_t) (buffer[0] | (buffer[1] << 8));
149
  } else {
150
    *data = (int16_t) (buffer[1] | (buffer[0] << 8));
151
  }
152
  return status;
153
}
154

    
155
/**
156
 * @brief Read the current configuration
157
 * @param[in]   lisd      The LIS331DLH driver to use.
158
 * @param[out]  cfg       The current configuration.
159
 *
160
 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
161
 */
162
inline apalExitStatus_t
163
lis331dlh_lld_read_config(const LIS331DLHDriver* const lisd, lis331dlh_lld_cfg_t *cfg)
164
{
165
  apalDbgAssert(cfg != NULL);
166

    
167
  return lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_CTRL_REG1, cfg->data, 5);
168
}
169

    
170
/**
171
 * @brief Write the a configuration
172
 * @param[in]   lisd      The LIS331DLH driver to use.
173
 * @param[in]   cfg       The new configuration.
174
 *
175
 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
176
 */
177
inline apalExitStatus_t
178
lis331dlh_lld_write_config(const LIS331DLHDriver* const lisd, const lis331dlh_lld_cfg_t *cfg)
179
{
180
  apalDbgAssert(cfg != NULL);
181

    
182
  return lis331dlh_lld_write_register(lisd, LIS331DLH_LLD_REGISTER_CTRL_REG1, cfg->data, 5);
183
}
184

    
185
/**
186
 * @brief Read the interrupt configuration of one of the interrupts.
187
 * @param[in]   spid        The SPI driver to use.
188
 * @param[out]  cfg         The current interrupt configuration.
189
 * @param[in]   interrupt   The interrupt for which the configuration should be read.
190
 *
191
 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
192
 */
193
inline apalExitStatus_t
194
lis331dlh_lld_read_int_config(const LIS331DLHDriver* const lisd, lis331dlh_lld_int_cfg_t *cfg, const lis331dlh_lld_int_t interrupt)
195
{
196
  apalDbgAssert(cfg != NULL);
197

    
198
  uint8_t buffer[2];
199
  apalExitStatus_t status = APAL_STATUS_OK;
200
  if (interrupt == LIS331DLH_LLD_INT1) {
201
    status |= lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_INT1_CFG, &cfg->cfg_reg, 1);
202
    status |= lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_INT1_THS, buffer, 2);
203
  } else {
204
    status |= lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_INT2_CFG, &cfg->cfg_reg, 1);
205
    status |= lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_INT2_THS, buffer, 2);
206
  }
207
  if (status != APAL_STATUS_OK) {
208
    return status;
209
  }
210
  cfg->threshold = buffer[0];
211
  cfg->duration = buffer[1];
212
  return status;
213
}
214

    
215
/**
216
 * @brief Write the interrupt configuration of one of the interrupts.
217
 * @param[in]   spid        The SPI driver to use.
218
 * @param[in]   cfg         The current new configuration.
219
 * @param[in]   interrupt   The interrupt for which the configuration should be written.
220
 *
221
 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
222
 */
223
inline apalExitStatus_t
224
lis331dlh_lld_write_int_config(const LIS331DLHDriver* const lisd, const lis331dlh_lld_int_cfg_t *cfg, const lis331dlh_lld_int_t interrupt)
225
{
226
  apalDbgAssert(cfg != NULL);
227

    
228
  uint8_t buffer[2];
229
  buffer[0] = cfg->threshold;
230
  buffer[1] = cfg->duration;
231
  apalExitStatus_t status = APAL_STATUS_OK;
232
  if (interrupt == LIS331DLH_LLD_INT1) {
233
    status |= lis331dlh_lld_write_register(lisd, LIS331DLH_LLD_REGISTER_INT1_CFG, &(cfg->cfg_reg), 1);
234
    status |= lis331dlh_lld_write_register(lisd, LIS331DLH_LLD_REGISTER_INT1_THS, buffer, 2);
235
  } else {
236
    status |= lis331dlh_lld_write_register(lisd, LIS331DLH_LLD_REGISTER_INT2_CFG, &(cfg->cfg_reg), 1);
237
    status |= lis331dlh_lld_write_register(lisd, LIS331DLH_LLD_REGISTER_INT2_THS, buffer, 2);
238
  }
239
  return status;
240
}
241

    
242
/**
243
 * @brief Read the status register.
244
 * @param[in]   spid        The SPI driver to use.
245
 * @param[out]  status      The status register value.
246
 *
247
 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.
248
 */
249
inline apalExitStatus_t
250
lis331dlh_lld_read_status_register(const LIS331DLHDriver* const lisd, uint8_t *status)
251
{
252
  apalDbgAssert(status != NULL);
253

    
254
  return lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_STATUS_REG, status, 1);
255
}
256

    
257
#endif /* defined(AMIROLLD_CFG_USE_LIS331DLH) */
258

    
259
/** @} */