amiro-lld / source / alld_lis331dlh.c @ ef078306
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1 | d6728c5b | Thomas Schöpping | /*
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2 | AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
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3 | f125ae07 | Thomas Schöpping | Copyright (C) 2016..2019 Thomas Schöpping et al.
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4 | d6728c5b | Thomas Schöpping | |
5 | This program is free software: you can redistribute it and/or modify
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6 | f0ca400f | Thomas Schöpping | it under the terms of the GNU Lesser General Public License as published by
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7 | d6728c5b | Thomas Schöpping | the Free Software Foundation, either version 3 of the License, or
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8 | (at your option) any later version.
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9 | |||
10 | This program is distributed in the hope that it will be useful,
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11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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13 | f0ca400f | Thomas Schöpping | GNU Lesser General Public License for more details.
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14 | d6728c5b | Thomas Schöpping | |
15 | f0ca400f | Thomas Schöpping | You should have received a copy of the GNU Lesser General Public License
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16 | d6728c5b | Thomas Schöpping | along with this program. If not, see <http://www.gnu.org/licenses/>.
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17 | */
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18 | |||
19 | 5e2f673b | Marc Rothmann | /**
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20 | * @file alld_lis331dlh.c
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21 | * @brief Accelerometer function implementations.
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22 | *
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23 | * @addtogroup lld_accel
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24 | * @{
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25 | */
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26 | |||
27 | d6728c5b | Thomas Schöpping | #include <alld_lis331dlh.h> |
28 | |||
29 | #if defined(AMIROLLD_CFG_USE_LIS331DLH) || defined(__DOXYGEN__)
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30 | |||
31 | #include <string.h> |
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32 | |||
33 | ef078306 | Thomas Schöpping | /******************************************************************************/
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34 | /* LOCAL DEFINITIONS */
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35 | /******************************************************************************/
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36 | |||
37 | /******************************************************************************/
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38 | /* EXPORTED VARIABLES */
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39 | /******************************************************************************/
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40 | |||
41 | /******************************************************************************/
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42 | /* LOCAL TYPES */
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43 | /******************************************************************************/
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44 | |||
45 | /******************************************************************************/
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46 | /* LOCAL VARIABLES */
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47 | /******************************************************************************/
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48 | |||
49 | /******************************************************************************/
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50 | /* LOCAL FUNCTIONS */
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51 | /******************************************************************************/
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52 | |||
53 | /******************************************************************************/
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54 | /* EXPORTED FUNCTIONS */
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55 | /******************************************************************************/
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56 | |||
57 | d6728c5b | Thomas Schöpping | /**
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58 | * @brief Read the content of one or more registers.
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59 | * @param[in] lisd The LIS331DLH driver to use.
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60 | * @param[in] regaddr The address of the first register.
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61 | * @param[out] data The data read from the registers.
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62 | * @param[in] length Number of registers to read.
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63 | *
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64 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
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65 | */
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66 | inline apalExitStatus_t
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67 | lis331dlh_lld_read_register(const LIS331DLHDriver* const lisd, const lis331dlh_lld_register_t regaddr, uint8_t *data, const uint8_t length) |
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68 | { |
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69 | apalDbgAssert(lisd != NULL && lisd->spid != NULL); |
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70 | apalDbgAssert(data != NULL);
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71 | |||
72 | uint8_t buffer[length+1];
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73 | buffer[0] = regaddr | LIS331DLH_LLD_SPI_READ | ((length > 1) ? LIS331DLH_LLD_SPI_MULT : 0); |
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74 | apalExitStatus_t status = apalSPIExchange(lisd->spid, buffer, buffer, length+1);
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75 | memcpy(data, buffer+1, length);
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76 | return status;
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77 | } |
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78 | |||
79 | /**
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80 | * @brief Write to one or more registers.
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81 | * @param[in] lisd The LIS331DLH driver to use.
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82 | * @param[in] regaddr The address of the first register.
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83 | * @param[in] data The data to be written to the registers.
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84 | * @param[in] length Number of registers to write.
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85 | *
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86 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
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87 | */
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88 | inline apalExitStatus_t
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89 | lis331dlh_lld_write_register(const LIS331DLHDriver* const lisd, const lis331dlh_lld_register_t regaddr, const uint8_t *data, const uint8_t length) |
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90 | { |
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91 | apalDbgAssert(lisd != NULL && lisd->spid != NULL); |
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92 | apalDbgAssert(data != NULL);
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93 | |||
94 | uint8_t buffer[length+1];
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95 | buffer[0] = regaddr | LIS331DLH_LLD_SPI_WRITE | ((length > 1) ? LIS331DLH_LLD_SPI_MULT : 0); |
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96 | memcpy(buffer+1, data, length);
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97 | return apalSPITransmit(lisd->spid, buffer, length+1); |
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98 | } |
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99 | |||
100 | /**
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101 | * @brief Reset the high pass filter
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102 | * @param[in] lisd The LIS331DLH driver to use.
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103 | *
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104 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
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105 | */
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106 | inline apalExitStatus_t
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107 | lis331dlh_lld_reset_hp_filter(const LIS331DLHDriver* const lisd) |
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108 | { |
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109 | return lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_HP_FILTER_RESET, NULL, 0); |
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110 | } |
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111 | |||
112 | /**
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113 | * @brief Read the sensor data of all 3 axes.
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114 | * @param[in] lisd The LIS331DLH driver to use.
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115 | * @param[out] data The sensor data.
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116 | * @param[in] cfg The current configuration. Needed to find out if the data is saved as little or big endian.
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117 | *
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118 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
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119 | */
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120 | inline apalExitStatus_t
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121 | lis331dlh_lld_read_all_data(const LIS331DLHDriver* const lisd, int16_t *data, const lis331dlh_lld_cfg_t *cfg) |
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122 | { |
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123 | apalDbgAssert(data != NULL);
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124 | apalDbgAssert(cfg != NULL);
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125 | |||
126 | uint8_t buffer[6];
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127 | apalExitStatus_t status = lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_OUT_X_L, buffer, 6);
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128 | if (!(cfg->registers.ctrl_reg4 & LIS331DLH_LLD_BLE_BE)) {
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129 | data[0] = (int16_t) (buffer[0] | (buffer[1] << 8)); |
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130 | data[1] = (int16_t) (buffer[2] | (buffer[3] << 8)); |
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131 | data[2] = (int16_t) (buffer[4] | (buffer[5] << 8)); |
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132 | } else {
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133 | data[0] = (int16_t) (buffer[1] | (buffer[0] << 8)); |
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134 | data[1] = (int16_t) (buffer[3] | (buffer[2] << 8)); |
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135 | data[2] = (int16_t) (buffer[5] | (buffer[4] << 8)); |
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136 | } |
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137 | return status;
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138 | } |
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139 | |||
140 | /**
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141 | * @brief Read the sensor data of one axis.
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142 | * @param[in] lisd The LIS331DLH driver to use.
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143 | * @param[out] data The sensor data.
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144 | * @param[in] axis The axis for which the data should be read.
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145 | * @param[in] cfg The current configuration. Needed to find out if the data is saved as little or big endian.
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146 | *
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147 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
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148 | */
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149 | inline apalExitStatus_t
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150 | lis331dlh_lld_read_data(const LIS331DLHDriver* const lisd, int16_t *data, const lis331dlh_lld_axis_t axis, const lis331dlh_lld_cfg_t *cfg) |
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151 | { |
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152 | apalDbgAssert(data != NULL);
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153 | apalDbgAssert(cfg != NULL);
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154 | |||
155 | apalExitStatus_t status = APAL_STATUS_SUCCESS; |
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156 | uint8_t buffer[2];
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157 | switch (axis) {
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158 | case LIS331DLH_LLD_X_AXIS:
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159 | status = lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_OUT_X_L, buffer, 2);
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160 | break;
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161 | case LIS331DLH_LLD_Y_AXIS:
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162 | status = lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_OUT_Y_L, buffer, 2);
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163 | break;
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164 | case LIS331DLH_LLD_Z_AXIS:
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165 | status = lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_OUT_Z_L, buffer, 2);
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166 | break;
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167 | default:
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168 | return APAL_STATUS_INVALIDARGUMENTS;
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169 | } |
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170 | // entweder jedes mal endian abfragen oder config mit übergeben
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171 | if (!(cfg->registers.ctrl_reg4 & LIS331DLH_LLD_BLE_BE)) {
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172 | *data = (int16_t) (buffer[0] | (buffer[1] << 8)); |
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173 | } else {
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174 | *data = (int16_t) (buffer[1] | (buffer[0] << 8)); |
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175 | } |
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176 | return status;
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177 | } |
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178 | |||
179 | /**
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180 | * @brief Read the current configuration
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181 | * @param[in] lisd The LIS331DLH driver to use.
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182 | * @param[out] cfg The current configuration.
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183 | *
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184 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
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185 | */
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186 | inline apalExitStatus_t
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187 | lis331dlh_lld_read_config(const LIS331DLHDriver* const lisd, lis331dlh_lld_cfg_t *cfg) |
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188 | { |
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189 | apalDbgAssert(cfg != NULL);
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190 | |||
191 | return lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_CTRL_REG1, cfg->data, 5); |
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192 | } |
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193 | |||
194 | /**
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195 | * @brief Write the a configuration
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196 | * @param[in] lisd The LIS331DLH driver to use.
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197 | * @param[in] cfg The new configuration.
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198 | *
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199 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
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200 | */
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201 | inline apalExitStatus_t
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202 | lis331dlh_lld_write_config(const LIS331DLHDriver* const lisd, const lis331dlh_lld_cfg_t *cfg) |
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203 | { |
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204 | apalDbgAssert(cfg != NULL);
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205 | |||
206 | return lis331dlh_lld_write_register(lisd, LIS331DLH_LLD_REGISTER_CTRL_REG1, cfg->data, 5); |
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207 | } |
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208 | |||
209 | /**
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210 | * @brief Read the interrupt configuration of one of the interrupts.
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211 | * @param[in] spid The SPI driver to use.
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212 | * @param[out] cfg The current interrupt configuration.
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213 | * @param[in] interrupt The interrupt for which the configuration should be read.
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214 | *
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215 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
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216 | */
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217 | inline apalExitStatus_t
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218 | lis331dlh_lld_read_int_config(const LIS331DLHDriver* const lisd, lis331dlh_lld_int_cfg_t *cfg, const lis331dlh_lld_int_t interrupt) |
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219 | { |
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220 | apalDbgAssert(cfg != NULL);
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221 | |||
222 | uint8_t buffer[2];
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223 | apalExitStatus_t status = APAL_STATUS_OK; |
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224 | if (interrupt == LIS331DLH_LLD_INT1) {
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225 | status |= lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_INT1_CFG, &cfg->cfg_reg, 1);
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226 | status |= lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_INT1_THS, buffer, 2);
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227 | } else {
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228 | status |= lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_INT2_CFG, &cfg->cfg_reg, 1);
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229 | status |= lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_INT2_THS, buffer, 2);
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230 | } |
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231 | if (status != APAL_STATUS_OK) {
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232 | return status;
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233 | } |
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234 | cfg->threshold = buffer[0];
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235 | cfg->duration = buffer[1];
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236 | return status;
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237 | } |
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238 | |||
239 | /**
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240 | * @brief Write the interrupt configuration of one of the interrupts.
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241 | * @param[in] spid The SPI driver to use.
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242 | * @param[in] cfg The current new configuration.
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243 | * @param[in] interrupt The interrupt for which the configuration should be written.
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244 | *
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245 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
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246 | */
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247 | inline apalExitStatus_t
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248 | lis331dlh_lld_write_int_config(const LIS331DLHDriver* const lisd, const lis331dlh_lld_int_cfg_t *cfg, const lis331dlh_lld_int_t interrupt) |
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249 | { |
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250 | apalDbgAssert(cfg != NULL);
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251 | |||
252 | uint8_t buffer[2];
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253 | buffer[0] = cfg->threshold;
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254 | buffer[1] = cfg->duration;
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255 | apalExitStatus_t status = APAL_STATUS_OK; |
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256 | if (interrupt == LIS331DLH_LLD_INT1) {
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257 | status |= lis331dlh_lld_write_register(lisd, LIS331DLH_LLD_REGISTER_INT1_CFG, &(cfg->cfg_reg), 1);
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258 | status |= lis331dlh_lld_write_register(lisd, LIS331DLH_LLD_REGISTER_INT1_THS, buffer, 2);
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259 | } else {
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260 | status |= lis331dlh_lld_write_register(lisd, LIS331DLH_LLD_REGISTER_INT2_CFG, &(cfg->cfg_reg), 1);
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261 | status |= lis331dlh_lld_write_register(lisd, LIS331DLH_LLD_REGISTER_INT2_THS, buffer, 2);
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262 | } |
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263 | return status;
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264 | } |
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265 | |||
266 | /**
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267 | * @brief Read the status register.
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268 | * @param[in] spid The SPI driver to use.
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269 | * @param[out] status The status register value.
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270 | *
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271 | * @return The return status indicates whether the function call was succesfull or a timeout occurred.
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272 | */
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273 | inline apalExitStatus_t
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274 | lis331dlh_lld_read_status_register(const LIS331DLHDriver* const lisd, uint8_t *status) |
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275 | { |
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276 | apalDbgAssert(status != NULL);
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277 | |||
278 | return lis331dlh_lld_read_register(lisd, LIS331DLH_LLD_REGISTER_STATUS_REG, status, 1); |
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279 | } |
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280 | |||
281 | #endif /* defined(AMIROLLD_CFG_USE_LIS331DLH) */ |
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282 | 5e2f673b | Marc Rothmann | |
283 | /** @} */ |