amiro-lld / drivers / LIS331DLH / v1 / alld_LIS331DLH.c @ ed9a1bf5
History | View | Annotate | Download (10.816 KB)
| 1 | d6728c5b | Thomas Schöpping | /*
|
|---|---|---|---|
| 2 | AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
|
||
| 3 | f69ec051 | Thomas Schöpping | Copyright (C) 2016..2020 Thomas Schöpping et al.
|
| 4 | d6728c5b | Thomas Schöpping | |
| 5 | This program is free software: you can redistribute it and/or modify
|
||
| 6 | f0ca400f | Thomas Schöpping | it under the terms of the GNU Lesser General Public License as published by
|
| 7 | d6728c5b | Thomas Schöpping | 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 | f0ca400f | Thomas Schöpping | GNU Lesser General Public License for more details.
|
| 14 | d6728c5b | Thomas Schöpping | |
| 15 | f0ca400f | Thomas Schöpping | You should have received a copy of the GNU Lesser General Public License
|
| 16 | d6728c5b | Thomas Schöpping | along with this program. If not, see <http://www.gnu.org/licenses/>.
|
| 17 | */
|
||
| 18 | |||
| 19 | 5e2f673b | Marc Rothmann | /**
|
| 20 | 9466e34d | Thomas Schöpping | * @file alld_LIS331DLH.c
|
| 21 | 5e2f673b | Marc Rothmann | * @brief Accelerometer function implementations.
|
| 22 | *
|
||
| 23 | * @addtogroup lld_accel
|
||
| 24 | * @{
|
||
| 25 | */
|
||
| 26 | |||
| 27 | 1d5bcc82 | Thomas Schöpping | #include <alld_LIS331DLH.h> |
| 28 | d6728c5b | Thomas Schöpping | #include <string.h> |
| 29 | |||
| 30 | ef078306 | Thomas Schöpping | /******************************************************************************/
|
| 31 | /* LOCAL DEFINITIONS */
|
||
| 32 | /******************************************************************************/
|
||
| 33 | |||
| 34 | /******************************************************************************/
|
||
| 35 | /* EXPORTED VARIABLES */
|
||
| 36 | /******************************************************************************/
|
||
| 37 | |||
| 38 | /******************************************************************************/
|
||
| 39 | /* LOCAL TYPES */
|
||
| 40 | /******************************************************************************/
|
||
| 41 | |||
| 42 | /******************************************************************************/
|
||
| 43 | /* LOCAL VARIABLES */
|
||
| 44 | /******************************************************************************/
|
||
| 45 | |||
| 46 | /******************************************************************************/
|
||
| 47 | /* LOCAL FUNCTIONS */
|
||
| 48 | /******************************************************************************/
|
||
| 49 | |||
| 50 | /******************************************************************************/
|
||
| 51 | /* EXPORTED FUNCTIONS */
|
||
| 52 | /******************************************************************************/
|
||
| 53 | |||
| 54 | d6728c5b | Thomas Schöpping | /**
|
| 55 | * @brief Read the content of one or more registers.
|
||
| 56 | * @param[in] lisd The LIS331DLH driver to use.
|
||
| 57 | * @param[in] regaddr The address of the first register.
|
||
| 58 | * @param[out] data The data read from the registers.
|
||
| 59 | * @param[in] length Number of registers to read.
|
||
| 60 | *
|
||
| 61 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
|
||
| 62 | */
|
||
| 63 | 21076167 | Thomas Schöpping | apalExitStatus_t lis331dlh_lld_read_register(const LIS331DLHDriver* const lisd, const lis331dlh_lld_register_t regaddr, uint8_t *data, const uint8_t length) |
| 64 | d6728c5b | Thomas Schöpping | {
|
| 65 | apalDbgAssert(lisd != NULL && lisd->spid != NULL); |
||
| 66 | apalDbgAssert(data != NULL);
|
||
| 67 | |||
| 68 | uint8_t buffer[length+1];
|
||
| 69 | buffer[0] = regaddr | LIS331DLH_LLD_SPI_READ | ((length > 1) ? LIS331DLH_LLD_SPI_MULT : 0); |
||
| 70 | apalExitStatus_t status = apalSPIExchange(lisd->spid, buffer, buffer, length+1);
|
||
| 71 | memcpy(data, buffer+1, length);
|
||
| 72 | return status;
|
||
| 73 | } |
||
| 74 | |||
| 75 | /**
|
||
| 76 | * @brief Write to one or more registers.
|
||
| 77 | * @param[in] lisd The LIS331DLH driver to use.
|
||
| 78 | * @param[in] regaddr The address of the first register.
|
||
| 79 | * @param[in] data The data to be written to the registers.
|
||
| 80 | * @param[in] length Number of registers to write.
|
||
| 81 | *
|
||
| 82 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
|
||
| 83 | */
|
||
| 84 | 21076167 | Thomas Schöpping | apalExitStatus_t lis331dlh_lld_write_register(const LIS331DLHDriver* const lisd, const lis331dlh_lld_register_t regaddr, const uint8_t *data, const uint8_t length) |
| 85 | d6728c5b | Thomas Schöpping | {
|
| 86 | apalDbgAssert(lisd != NULL && lisd->spid != NULL); |
||
| 87 | apalDbgAssert(data != NULL);
|
||
| 88 | |||
| 89 | uint8_t buffer[length+1];
|
||
| 90 | buffer[0] = regaddr | LIS331DLH_LLD_SPI_WRITE | ((length > 1) ? LIS331DLH_LLD_SPI_MULT : 0); |
||
| 91 | memcpy(buffer+1, data, length);
|
||
| 92 | return apalSPITransmit(lisd->spid, buffer, length+1); |
||
| 93 | } |
||
| 94 | |||
| 95 | /**
|
||
| 96 | * @brief Reset the high pass filter
|
||
| 97 | * @param[in] lisd The LIS331DLH driver to use.
|
||
| 98 | *
|
||
| 99 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
|
||
| 100 | */
|
||
| 101 | 21076167 | Thomas Schöpping | apalExitStatus_t lis331dlh_lld_reset_hp_filter(const LIS331DLHDriver* const lisd) |
| 102 | d6728c5b | Thomas Schöpping | {
|
| 103 | return lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_HP_FILTER_RESET, NULL, 0); |
||
| 104 | } |
||
| 105 | |||
| 106 | /**
|
||
| 107 | * @brief Read the sensor data of all 3 axes.
|
||
| 108 | * @param[in] lisd The LIS331DLH driver to use.
|
||
| 109 | * @param[out] data The sensor data.
|
||
| 110 | * @param[in] cfg The current configuration. Needed to find out if the data is saved as little or big endian.
|
||
| 111 | *
|
||
| 112 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
|
||
| 113 | */
|
||
| 114 | 21076167 | Thomas Schöpping | apalExitStatus_t lis331dlh_lld_read_all_data(const LIS331DLHDriver* const lisd, int16_t *data, const lis331dlh_lld_cfg_t *cfg) |
| 115 | d6728c5b | Thomas Schöpping | {
|
| 116 | apalDbgAssert(data != NULL);
|
||
| 117 | apalDbgAssert(cfg != NULL);
|
||
| 118 | |||
| 119 | uint8_t buffer[6];
|
||
| 120 | apalExitStatus_t status = lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_OUT_X_L, buffer, 6);
|
||
| 121 | if (!(cfg->registers.ctrl_reg4 & LIS331DLH_LLD_BLE_BE)) {
|
||
| 122 | data[0] = (int16_t) (buffer[0] | (buffer[1] << 8)); |
||
| 123 | data[1] = (int16_t) (buffer[2] | (buffer[3] << 8)); |
||
| 124 | data[2] = (int16_t) (buffer[4] | (buffer[5] << 8)); |
||
| 125 | } else {
|
||
| 126 | data[0] = (int16_t) (buffer[1] | (buffer[0] << 8)); |
||
| 127 | data[1] = (int16_t) (buffer[3] | (buffer[2] << 8)); |
||
| 128 | data[2] = (int16_t) (buffer[5] | (buffer[4] << 8)); |
||
| 129 | } |
||
| 130 | return status;
|
||
| 131 | } |
||
| 132 | |||
| 133 | /**
|
||
| 134 | * @brief Read the sensor data of one axis.
|
||
| 135 | * @param[in] lisd The LIS331DLH driver to use.
|
||
| 136 | * @param[out] data The sensor data.
|
||
| 137 | * @param[in] axis The axis for which the data should be read.
|
||
| 138 | * @param[in] cfg The current configuration. Needed to find out if the data is saved as little or big endian.
|
||
| 139 | *
|
||
| 140 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
|
||
| 141 | */
|
||
| 142 | 21076167 | Thomas Schöpping | 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) |
| 143 | d6728c5b | Thomas Schöpping | {
|
| 144 | apalDbgAssert(data != NULL);
|
||
| 145 | apalDbgAssert(cfg != NULL);
|
||
| 146 | |||
| 147 | apalExitStatus_t status = APAL_STATUS_SUCCESS; |
||
| 148 | uint8_t buffer[2];
|
||
| 149 | switch (axis) {
|
||
| 150 | case LIS331DLH_LLD_X_AXIS:
|
||
| 151 | status = lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_OUT_X_L, buffer, 2);
|
||
| 152 | break;
|
||
| 153 | case LIS331DLH_LLD_Y_AXIS:
|
||
| 154 | status = lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_OUT_Y_L, buffer, 2);
|
||
| 155 | break;
|
||
| 156 | case LIS331DLH_LLD_Z_AXIS:
|
||
| 157 | status = lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_OUT_Z_L, buffer, 2);
|
||
| 158 | break;
|
||
| 159 | default:
|
||
| 160 | return APAL_STATUS_INVALIDARGUMENTS;
|
||
| 161 | } |
||
| 162 | // entweder jedes mal endian abfragen oder config mit übergeben
|
||
| 163 | if (!(cfg->registers.ctrl_reg4 & LIS331DLH_LLD_BLE_BE)) {
|
||
| 164 | *data = (int16_t) (buffer[0] | (buffer[1] << 8)); |
||
| 165 | } else {
|
||
| 166 | *data = (int16_t) (buffer[1] | (buffer[0] << 8)); |
||
| 167 | } |
||
| 168 | return status;
|
||
| 169 | } |
||
| 170 | |||
| 171 | /**
|
||
| 172 | * @brief Read the current configuration
|
||
| 173 | * @param[in] lisd The LIS331DLH driver to use.
|
||
| 174 | * @param[out] cfg The current configuration.
|
||
| 175 | *
|
||
| 176 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
|
||
| 177 | */
|
||
| 178 | 21076167 | Thomas Schöpping | apalExitStatus_t lis331dlh_lld_read_config(const LIS331DLHDriver* const lisd, lis331dlh_lld_cfg_t *cfg) |
| 179 | d6728c5b | Thomas Schöpping | {
|
| 180 | apalDbgAssert(cfg != NULL);
|
||
| 181 | |||
| 182 | return lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_CTRL_REG1, cfg->data, 5); |
||
| 183 | } |
||
| 184 | |||
| 185 | /**
|
||
| 186 | * @brief Write the a configuration
|
||
| 187 | * @param[in] lisd The LIS331DLH driver to use.
|
||
| 188 | * @param[in] cfg The new configuration.
|
||
| 189 | *
|
||
| 190 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
|
||
| 191 | */
|
||
| 192 | 21076167 | Thomas Schöpping | apalExitStatus_t lis331dlh_lld_write_config(const LIS331DLHDriver* const lisd, const lis331dlh_lld_cfg_t *cfg) |
| 193 | d6728c5b | Thomas Schöpping | {
|
| 194 | apalDbgAssert(cfg != NULL);
|
||
| 195 | |||
| 196 | return lis331dlh_lld_write_register(lisd, LIS331DLH_LLD_REGISTER_CTRL_REG1, cfg->data, 5); |
||
| 197 | } |
||
| 198 | |||
| 199 | /**
|
||
| 200 | * @brief Read the interrupt configuration of one of the interrupts.
|
||
| 201 | * @param[in] spid The SPI driver to use.
|
||
| 202 | * @param[out] cfg The current interrupt configuration.
|
||
| 203 | * @param[in] interrupt The interrupt for which the configuration should be read.
|
||
| 204 | *
|
||
| 205 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
|
||
| 206 | */
|
||
| 207 | 21076167 | Thomas Schöpping | apalExitStatus_t lis331dlh_lld_read_int_config(const LIS331DLHDriver* const lisd, lis331dlh_lld_int_cfg_t *cfg, const lis331dlh_lld_int_t interrupt) |
| 208 | d6728c5b | Thomas Schöpping | {
|
| 209 | apalDbgAssert(cfg != NULL);
|
||
| 210 | |||
| 211 | uint8_t buffer[2];
|
||
| 212 | apalExitStatus_t status = APAL_STATUS_OK; |
||
| 213 | if (interrupt == LIS331DLH_LLD_INT1) {
|
||
| 214 | status |= lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_INT1_CFG, &cfg->cfg_reg, 1);
|
||
| 215 | status |= lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_INT1_THS, buffer, 2);
|
||
| 216 | } else {
|
||
| 217 | status |= lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_INT2_CFG, &cfg->cfg_reg, 1);
|
||
| 218 | status |= lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_INT2_THS, buffer, 2);
|
||
| 219 | } |
||
| 220 | if (status != APAL_STATUS_OK) {
|
||
| 221 | return status;
|
||
| 222 | } |
||
| 223 | cfg->threshold = buffer[0];
|
||
| 224 | cfg->duration = buffer[1];
|
||
| 225 | return status;
|
||
| 226 | } |
||
| 227 | |||
| 228 | /**
|
||
| 229 | * @brief Write the interrupt configuration of one of the interrupts.
|
||
| 230 | * @param[in] spid The SPI driver to use.
|
||
| 231 | * @param[in] cfg The current new configuration.
|
||
| 232 | * @param[in] interrupt The interrupt for which the configuration should be written.
|
||
| 233 | *
|
||
| 234 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
|
||
| 235 | */
|
||
| 236 | 21076167 | Thomas Schöpping | apalExitStatus_t lis331dlh_lld_write_int_config(const LIS331DLHDriver* const lisd, const lis331dlh_lld_int_cfg_t *cfg, const lis331dlh_lld_int_t interrupt) |
| 237 | d6728c5b | Thomas Schöpping | {
|
| 238 | apalDbgAssert(cfg != NULL);
|
||
| 239 | |||
| 240 | uint8_t buffer[2];
|
||
| 241 | buffer[0] = cfg->threshold;
|
||
| 242 | buffer[1] = cfg->duration;
|
||
| 243 | apalExitStatus_t status = APAL_STATUS_OK; |
||
| 244 | if (interrupt == LIS331DLH_LLD_INT1) {
|
||
| 245 | status |= lis331dlh_lld_write_register(lisd, LIS331DLH_LLD_REGISTER_INT1_CFG, &(cfg->cfg_reg), 1);
|
||
| 246 | status |= lis331dlh_lld_write_register(lisd, LIS331DLH_LLD_REGISTER_INT1_THS, buffer, 2);
|
||
| 247 | } else {
|
||
| 248 | status |= lis331dlh_lld_write_register(lisd, LIS331DLH_LLD_REGISTER_INT2_CFG, &(cfg->cfg_reg), 1);
|
||
| 249 | status |= lis331dlh_lld_write_register(lisd, LIS331DLH_LLD_REGISTER_INT2_THS, buffer, 2);
|
||
| 250 | } |
||
| 251 | return status;
|
||
| 252 | } |
||
| 253 | |||
| 254 | /**
|
||
| 255 | * @brief Read the status register.
|
||
| 256 | * @param[in] spid The SPI driver to use.
|
||
| 257 | * @param[out] status The status register value.
|
||
| 258 | *
|
||
| 259 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
|
||
| 260 | */
|
||
| 261 | 21076167 | Thomas Schöpping | apalExitStatus_t lis331dlh_lld_read_status_register(const LIS331DLHDriver* const lisd, uint8_t *status) |
| 262 | d6728c5b | Thomas Schöpping | {
|
| 263 | apalDbgAssert(status != NULL);
|
||
| 264 | |||
| 265 | return lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_STATUS_REG, status, 1); |
||
| 266 | } |
||
| 267 | |||
| 268 | 5e2f673b | Marc Rothmann | /** @} */
|