AMiRo-OS

/*

AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.

Copyright (C) 2016..2018  Thomas Schöpping et al.

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

GNU General Public License for more details.

You should have received a copy of the GNU General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

*/

#include <alld_lis331dlh.h>

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

#include <string.h>

/**

 * @brief Read the content of one or more registers.

 * @param[in]   lisd      The LIS331DLH driver to use.

 * @param[in]   regaddr   The address of the first register.

 * @param[out]  data      The data read from the registers.

 * @param[in]   length    Number of registers to read.

 *

 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.

 */

inline apalExitStatus_t

lis331dlh_lld_read_register(const LIS331DLHDriver* const lisd, const lis331dlh_lld_register_t regaddr, uint8_t *data, const uint8_t length)

{

  apalDbgAssert(lisd != NULL && lisd->spid != NULL);

  apalDbgAssert(data != NULL);

  uint8_t buffer[length+1];

  buffer[0] = regaddr | LIS331DLH_LLD_SPI_READ | ((length > 1) ? LIS331DLH_LLD_SPI_MULT : 0);

  apalExitStatus_t status = apalSPIExchange(lisd->spid, buffer, buffer, length+1);

  memcpy(data, buffer+1, length);

  return status;

}

/**

 * @brief Write to one or more registers.

 * @param[in]   lisd      The LIS331DLH driver to use.

 * @param[in]   regaddr   The address of the first register.

 * @param[in]   data      The data to be written to the registers.

 * @param[in]   length    Number of registers to write.

 *

 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.

 */

inline apalExitStatus_t

lis331dlh_lld_write_register(const LIS331DLHDriver* const lisd, const lis331dlh_lld_register_t regaddr, const uint8_t *data, const uint8_t length)

{

  apalDbgAssert(lisd != NULL && lisd->spid != NULL);

  apalDbgAssert(data != NULL);

  uint8_t buffer[length+1];

  buffer[0] = regaddr | LIS331DLH_LLD_SPI_WRITE | ((length > 1) ? LIS331DLH_LLD_SPI_MULT : 0);

  memcpy(buffer+1, data, length);

  return apalSPITransmit(lisd->spid, buffer, length+1);

}

/**

 * @brief Reset the high pass filter

 * @param[in]   lisd      The LIS331DLH driver to use.

 *

 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.

 */

inline apalExitStatus_t

lis331dlh_lld_reset_hp_filter(const LIS331DLHDriver* const lisd)

{

  return lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_HP_FILTER_RESET, NULL, 0);

}

/**

 * @brief Read the sensor data of all 3 axes.

 * @param[in]   lisd      The LIS331DLH driver to use.

 * @param[out]  data      The sensor data.

 * @param[in]   cfg       The current configuration. Needed to find out if the data is saved as little or big endian.

 *

 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.

 */

inline apalExitStatus_t

lis331dlh_lld_read_all_data(const LIS331DLHDriver* const lisd, int16_t *data, const lis331dlh_lld_cfg_t *cfg)

{

  apalDbgAssert(data != NULL);

  apalDbgAssert(cfg != NULL);

  uint8_t buffer[6];

  apalExitStatus_t status = lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_OUT_X_L, buffer, 6);

  if (!(cfg->registers.ctrl_reg4 & LIS331DLH_LLD_BLE_BE)) {

    data[0] = (int16_t) (buffer[0] | (buffer[1] << 8));

    data[1] = (int16_t) (buffer[2] | (buffer[3] << 8));

    data[2] = (int16_t) (buffer[4] | (buffer[5] << 8));

  } else {

    data[0] = (int16_t) (buffer[1] | (buffer[0] << 8));

    data[1] = (int16_t) (buffer[3] | (buffer[2] << 8));

    data[2] = (int16_t) (buffer[5] | (buffer[4] << 8));

  }

  return status;

}

/**

 * @brief Read the sensor data of one axis.

 * @param[in]   lisd      The LIS331DLH driver to use.

 * @param[out]  data      The sensor data.

 * @param[in]   axis      The axis for which the data should be read.

 * @param[in]   cfg       The current configuration. Needed to find out if the data is saved as little or big endian.

 *

 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.

 */

inline 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)

{

  apalDbgAssert(data != NULL);

  apalDbgAssert(cfg != NULL);

  apalExitStatus_t status = APAL_STATUS_SUCCESS;

  uint8_t buffer[2];

  switch (axis) {

    case LIS331DLH_LLD_X_AXIS:

      status = lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_OUT_X_L, buffer, 2);

      break;

    case LIS331DLH_LLD_Y_AXIS:

      status = lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_OUT_Y_L, buffer, 2);

      break;

    case LIS331DLH_LLD_Z_AXIS:

      status = lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_OUT_Z_L, buffer, 2);

      break;

    default:

      return APAL_STATUS_INVALIDARGUMENTS;

  }

  // entweder jedes mal endian abfragen oder config mit übergeben

  if (!(cfg->registers.ctrl_reg4 & LIS331DLH_LLD_BLE_BE)) {

    *data = (int16_t) (buffer[0] | (buffer[1] << 8));

  } else {

    *data = (int16_t) (buffer[1] | (buffer[0] << 8));

  }

  return status;

}

/**

 * @brief Read the current configuration

 * @param[in]   lisd      The LIS331DLH driver to use.

 * @param[out]  cfg       The current configuration.

 *

 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.

 */

inline apalExitStatus_t

lis331dlh_lld_read_config(const LIS331DLHDriver* const lisd, lis331dlh_lld_cfg_t *cfg)

{

  apalDbgAssert(cfg != NULL);

  return lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_CTRL_REG1, cfg->data, 5);

}

/**

 * @brief Write the a configuration

 * @param[in]   lisd      The LIS331DLH driver to use.

 * @param[in]   cfg       The new configuration.

 *

 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.

 */

inline apalExitStatus_t

lis331dlh_lld_write_config(const LIS331DLHDriver* const lisd, const lis331dlh_lld_cfg_t *cfg)

{

  apalDbgAssert(cfg != NULL);

  return lis331dlh_lld_write_register(lisd, LIS331DLH_LLD_REGISTER_CTRL_REG1, cfg->data, 5);

}

/**

 * @brief Read the interrupt configuration of one of the interrupts.

 * @param[in]   spid        The SPI driver to use.

 * @param[out]  cfg         The current interrupt configuration.

 * @param[in]   interrupt   The interrupt for which the configuration should be read.

 *

 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.

 */

inline apalExitStatus_t

lis331dlh_lld_read_int_config(const LIS331DLHDriver* const lisd, lis331dlh_lld_int_cfg_t *cfg, const lis331dlh_lld_int_t interrupt)

{

  apalDbgAssert(cfg != NULL);

  uint8_t buffer[2];

  apalExitStatus_t status = APAL_STATUS_OK;

  if (interrupt == LIS331DLH_LLD_INT1) {

    status |= lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_INT1_CFG, &cfg->cfg_reg, 1);

    status |= lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_INT1_THS, buffer, 2);

  } else {

    status |= lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_INT2_CFG, &cfg->cfg_reg, 1);

    status |= lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_INT2_THS, buffer, 2);

  }

  if (status != APAL_STATUS_OK) {

    return status;

  }

  cfg->threshold = buffer[0];

  cfg->duration = buffer[1];

  return status;

}

/**

 * @brief Write the interrupt configuration of one of the interrupts.

 * @param[in]   spid        The SPI driver to use.

 * @param[in]   cfg         The current new configuration.

 * @param[in]   interrupt   The interrupt for which the configuration should be written.

 *

 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.

 */

inline apalExitStatus_t

lis331dlh_lld_write_int_config(const LIS331DLHDriver* const lisd, const lis331dlh_lld_int_cfg_t *cfg, const lis331dlh_lld_int_t interrupt)

{

  apalDbgAssert(cfg != NULL);

  uint8_t buffer[2];

  buffer[0] = cfg->threshold;

  buffer[1] = cfg->duration;

  apalExitStatus_t status = APAL_STATUS_OK;

  if (interrupt == LIS331DLH_LLD_INT1) {

    status |= lis331dlh_lld_write_register(lisd, LIS331DLH_LLD_REGISTER_INT1_CFG, &(cfg->cfg_reg), 1);

    status |= lis331dlh_lld_write_register(lisd, LIS331DLH_LLD_REGISTER_INT1_THS, buffer, 2);

  } else {

    status |= lis331dlh_lld_write_register(lisd, LIS331DLH_LLD_REGISTER_INT2_CFG, &(cfg->cfg_reg), 1);

    status |= lis331dlh_lld_write_register(lisd, LIS331DLH_LLD_REGISTER_INT2_THS, buffer, 2);

  }

  return status;

}

/**

 * @brief Read the status register.

 * @param[in]   spid        The SPI driver to use.

 * @param[out]  status      The status register value.

 *

 * @return  The return status indicates whether the function call was succesfull or a timeout occurred.

 */

inline apalExitStatus_t

lis331dlh_lld_read_status_register(const LIS331DLHDriver* const lisd, uint8_t *status)

{

  apalDbgAssert(status != NULL);

  return lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_STATUS_REG, status, 1);

}

#endif /* defined(AMIROLLD_CFG_USE_LIS331DLH) */