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sensors: Support fxos8700cq motion I2C sensor
Device is composed of 3-axis, linear accelerometer and 3-axis, magnetometer It is onboarded in NXP FRDM-K64F SBC. Change-Id: I405a12cbf2c9994f3bd66e108d2eb8faeee00e18 Bug: https://github.com/apache/incubator-nuttx/issues/1988 Relate-to: https://www.nxp.com/docs/en/data-sheet/FXOS8700CQ.pdf Forwarded: https://github.com/apache/incubator-nuttx/pull/1989 Signed-off-by: Philippe Coval <rzr@users.sf.net>
This commit is contained in:
Philippe Coval
committed by
Xiang Xiao
Xiang Xiao
parent
5c258f52bf
commit
cafe24528c
@@ -131,6 +131,13 @@ config SENSORS_DHTXX
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---help---
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Enable driver support for the DHTxx humidity/temperature sensor.
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config SENSORS_FXOS8700CQ
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bool "NXP FXOS8700CQ Motion Sensor support"
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default n
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select I2C
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---help---
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Enable driver support for the NXP FXOS8700CQ Motion sensor
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config SENSORS_HCSR04
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bool "HC-SR04 Distance Measurement Sensor"
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default n
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@@ -69,6 +69,10 @@ ifeq ($(CONFIG_SENSORS_AS726X),y)
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CSRCS += as726x.c
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endif
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ifeq ($(CONFIG_SENSORS_FXOS8700CQ),y)
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CSRCS += fxos8700cq.c
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endif
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ifeq ($(CONFIG_SENSORS_KXTJ9),y)
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CSRCS += kxtj9.c
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endif
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@@ -0,0 +1,450 @@
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/****************************************************************************
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* drivers/sensors/fxos8700cq.c
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* Driver for Motion Sensor FXOS8700CQ (NXP)
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <stdlib.h>
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#include <errno.h>
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#include <nuttx/kmalloc.h>
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#include <nuttx/i2c/i2c_master.h>
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#include <nuttx/sensors/fxos8700cq.h>
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#if defined(CONFIG_SENSORS_FXOS8700CQ)
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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#define FXOS8700CQ_I2C_ADDR 0x1d
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#define FXOS8700CQ_I2C_FREQ 400000
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/* I2C Regs */
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#define FXOS8700CQ_STATUS 0x00
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#define FXOS8700CQ_WHOAMI 0x0D
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#define FXOS8700CQ_XYZ_DATA_CFG 0x0E
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#define FXOS8700CQ_CTRL_REG1 0x2A
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#define FXOS8700CQ_CTRL_REG2 0x2B
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#define FXOS8700CQ_CTRL_REG3 0x2C
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#define FXOS8700CQ_CTRL_REG4 0x2D
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#define FXOS8700CQ_CTRL_REG5 0x2E
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#define FXOS8700CQ_M_CTRL_REG1 0x5B
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#define FXOS8700CQ_M_CTRL_REG2 0x5C
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#define FXOS8700CQ_PULSE_CFG (0x21)
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#define FXOS8700CQ_PULSE_SRC (0x22)
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#define FXOS8700CQ_PULSE_THSX (0x23)
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/* Values */
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#define FXOS8700CQ_WHOAMI_VAL 0xC7
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/** status byte + x,y,z for accelerometer and magnetometer */
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#define FXOS8700CQ_READ_LEN ((8 + (16 * 3 + 16 * 3)) / 8)
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/****************************************************************************
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* Private Types
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****************************************************************************/
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struct fxos8700cq_dev_s
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{
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FAR struct i2c_master_s *i2c;
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uint8_t addr;
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int freq;
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};
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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static uint8_t fxos8700cq_getreg8(FAR struct fxos8700cq_dev_s *priv,
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uint8_t regaddr);
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static int fxos8700cq_putreg8(FAR struct fxos8700cq_dev_s *priv,
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uint8_t regaddr, uint8_t regval);
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static int fxos8700cq_getregs(FAR struct fxos8700cq_dev_s *priv,
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uint8_t regaddr, uint8_t *regval, int len);
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/* Character driver methods */
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static int fxos8700cq_open(FAR struct file *filep);
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static int fxos8700cq_close(FAR struct file *filep);
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static ssize_t fxos8700cq_read(FAR struct file *filep,
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FAR char *buffer, size_t len);
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static int fxos8700cq_checkid(FAR struct fxos8700cq_dev_s *priv);
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/****************************************************************************
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* Private Data
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****************************************************************************/
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/** vtable that supports the character driver interface */
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static const struct file_operations g_fxos8700cqfops =
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{
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fxos8700cq_open,
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fxos8700cq_close,
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fxos8700cq_read,
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0, /* write */
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0, /* seek */
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0, /* ioctl */
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};
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/****************************************************************************
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* Name: fxos8700cq_getreg8
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*
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* Description:
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* Read from an 8-bit FXOS8700CQ register
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*
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****************************************************************************/
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static uint8_t fxos8700cq_getreg8(FAR struct fxos8700cq_dev_s *priv,
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uint8_t regaddr)
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{
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uint8_t regval = 0;
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struct i2c_msg_s msg[2];
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int ret;
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msg[0].frequency = priv->freq;
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msg[0].addr = priv->addr;
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msg[0].flags = 0;
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msg[0].buffer = ®addr;
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msg[0].length = 1;
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msg[1].frequency = priv->freq;
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msg[1].addr = priv->addr;
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msg[1].flags = I2C_M_READ;
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msg[1].buffer = ®val;
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msg[1].length = 1;
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ret = I2C_TRANSFER(priv->i2c, msg, 2);
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if (ret < 0)
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{
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snerr("I2C_TRANSFER failed: %d\n", ret);
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}
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return regval;
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}
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/****************************************************************************
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* Name: fxos8700cq_putreg8
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*
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* Description:
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* Write a value to an 8-bit FXOS8700CQ register
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*
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****************************************************************************/
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static int fxos8700cq_putreg8(FAR struct fxos8700cq_dev_s *priv,
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uint8_t regaddr, uint8_t regval)
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{
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struct i2c_msg_s msg[2];
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int ret;
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uint8_t txbuffer[2];
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txbuffer[0] = regaddr;
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txbuffer[1] = regval;
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msg[0].frequency = priv->freq;
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msg[0].addr = priv->addr;
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msg[0].flags = 0;
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msg[0].buffer = txbuffer;
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msg[0].length = 2;
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ret = I2C_TRANSFER(priv->i2c, msg, 1);
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if (ret < 0)
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{
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snerr("I2C_TRANSFER failed: %d\n", ret);
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}
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return ret;
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}
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/****************************************************************************
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* Name: fxos8700cq_getregs
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*
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* Description:
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* Read cnt bytes from specified dev_addr and reg_addr
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*
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****************************************************************************/
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static int fxos8700cq_getregs(FAR struct fxos8700cq_dev_s *priv,
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uint8_t regaddr, uint8_t *regval, int len)
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{
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struct i2c_msg_s msg[2];
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int ret;
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msg[0].frequency = priv->freq;
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msg[0].addr = priv->addr;
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msg[0].flags = 0;
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msg[0].buffer = ®addr;
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msg[0].length = 1;
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msg[1].frequency = priv->freq;
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msg[1].addr = priv->addr;
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msg[1].flags = I2C_M_READ;
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msg[1].buffer = regval;
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msg[1].length = len;
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ret = I2C_TRANSFER(priv->i2c, msg, 2);
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if (ret < 0)
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{
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snerr("I2C_TRANSFER failed: %d\n", ret);
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}
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return ret;
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}
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/****************************************************************************
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* Name: fxos8700cq_open
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*
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* Description:
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* Standard character driver open method.
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*
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****************************************************************************/
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static int fxos8700cq_open(FAR struct file *filep)
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{
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FAR struct inode *inode = filep->f_inode;
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FAR struct fxos8700cq_dev_s *priv = inode->i_private;
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uint8_t regval;
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int ret = 0;
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ret = fxos8700cq_getreg8(priv, FXOS8700CQ_WHOAMI);
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if (ret != FXOS8700CQ_WHOAMI_VAL)
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{
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snerr("ERROR: Invalid device identification %02x\n", regval);
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return -ENODEV;
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}
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regval = 0x00; /* active: standbye */
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ret = fxos8700cq_putreg8(priv, FXOS8700CQ_CTRL_REG1, regval);
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if (ret < 0)
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{
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snerr("ERROR: %02x\n", regval);
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return (ret);
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}
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/* m_hms[1:0]: Hybrid mode, both accelerometer and magnetometer
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* m_os[2:0]: Oversample ratio (OSR) for magnetometer data
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* m_ost: One-shot triggered magnetic measurement mode
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* m_rst: One-shot magnetic reset degauss control bit
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* m_acal: Magnetic hard-iron offset auto-calibration enable
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*/
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regval = 0
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| (0b11 << 0)
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| (0b11 << 3)
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| (0b1 << 5)
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| (0b0 << 6)
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| (0b0 << 7)
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;
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ret = fxos8700cq_putreg8(priv, FXOS8700CQ_M_CTRL_REG1, regval);
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if (ret < 0)
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{
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return (ret);
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}
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/* hyb_autoinc_mode */
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regval = 0b1 << 5;
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ret = fxos8700cq_putreg8(priv, FXOS8700CQ_M_CTRL_REG2, regval);
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if (ret < 0)
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{
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return (ret);
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}
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/* fs[1:0]: Accelerometer full-scale range : 4G */
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regval = 0b01;
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ret = fxos8700cq_putreg8(priv, FXOS8700CQ_XYZ_DATA_CFG, regval);
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if (ret < 0)
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{
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return (ret);
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}
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/* active , lnoise , dr[2:0] */
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regval = 0b1
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| (0b1 < 2)
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| (0b001 < 5)
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;
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ret = fxos8700cq_putreg8(priv, FXOS8700CQ_CTRL_REG1, regval);
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if (ret < 0)
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{
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return (ret);
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}
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return OK;
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}
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/****************************************************************************
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* Name: fxos8700cq_close
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*
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* Description:
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* Standard character driver close method.
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*
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****************************************************************************/
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static int fxos8700cq_close(FAR struct file *filep)
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{
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FAR struct inode *inode = filep->f_inode;
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FAR struct fxos8700cq_dev_s *priv = inode->i_private;
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uint8_t regval = 0b0; /* active */
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int ret = fxos8700cq_putreg8(priv, FXOS8700CQ_CTRL_REG1, regval);
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if (ret < 0)
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{
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return (ret);
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}
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return OK;
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}
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/****************************************************************************
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* Name: fxos8700cq_read
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*
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* Description:
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* Standard character driver read method.
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*
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****************************************************************************/
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static ssize_t fxos8700cq_read(FAR struct file *filep, FAR char *buffer,
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size_t len)
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{
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FAR struct inode *inode = filep->f_inode;
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FAR struct fxos8700cq_dev_s *priv = inode->i_private;
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FAR fxos8700cq_data * p = (FAR fxos8700cq_data *) buffer;
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if (len < sizeof(fxos8700cq_data))
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{
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snerr("Expected buffer size is %d\n", sizeof(fxos8700cq_data));
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return 0;
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}
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uint8_t data[FXOS8700CQ_READ_LEN];
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int status = fxos8700cq_getregs(priv, FXOS8700CQ_STATUS,
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(FAR uint8_t *)data, FXOS8700CQ_READ_LEN);
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if (status < 0)
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{
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snerr("Error: read status=%d", status);
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return 0;
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}
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/* Copy the 14 bit accelerometer byte data into 16 bit words */
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p->accel.x = (int16_t)(((data[1] << 8) | data[2])) >> 2;
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p->accel.y = (int16_t)(((data[3] << 8) | data[4])) >> 2;
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p->accel.z = (int16_t)(((data[5] << 8) | data[6])) >> 2;
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/* Copy the magnetometer byte data into 16 bit words */
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p->magn.x = (int16_t)(((data[7] << 8) | data[8]));
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p->magn.y = (int16_t)(((data[9] << 8) | data[10]));
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p->magn.z = (int16_t)(((data[11] << 8) | data[12]));
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return len;
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}
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/****************************************************************************
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* Name: fxos8700cq_checkid
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*
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* Description:
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* Read and verify the FXOS8700CQ chip ID
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*
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****************************************************************************/
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static int fxos8700cq_checkid(FAR struct fxos8700cq_dev_s *priv)
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{
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uint8_t devid = 0;
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devid = fxos8700cq_getreg8(priv, FXOS8700CQ_WHOAMI);
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sninfo("devid: %04x\n", devid);
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if (devid != (uint16_t) FXOS8700CQ_WHOAMI_VAL)
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{
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return -ENODEV;
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}
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return OK;
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}
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/****************************************************************************
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* Name: fxos8700cq_register
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*
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* Description:
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* Register the FXOS8700CQ character device as 'devpath'
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*
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* Input Parameters:
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* devpath - The full path to the driver to register. E.g., "/dev/accel0"
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* dev - An instance of the I2C interface to communicate with device
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*
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*
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* Returned Value:
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* Zero (OK) on success; a negated errno value on failure.
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*
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****************************************************************************/
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int fxos8700cq_register(FAR const char *devpath,
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FAR struct i2c_master_s *dev)
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{
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FAR struct fxos8700cq_dev_s *priv;
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int ret;
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priv = (FAR struct fxos8700cq_dev_s *)
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kmm_malloc(sizeof(struct fxos8700cq_dev_s));
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if (!priv)
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{
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snerr("Failed to allocate instance\n");
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return -ENOMEM;
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}
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priv->i2c = dev;
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priv->addr = FXOS8700CQ_I2C_ADDR;
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priv->freq = FXOS8700CQ_I2C_FREQ;
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ret = fxos8700cq_checkid(priv);
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if (ret < 0)
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{
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snerr("Wrong Device ID!\n");
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kmm_free(priv);
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return ret;
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}
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ret = register_driver(devpath, &g_fxos8700cqfops, 0666, priv);
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if (ret < 0)
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{
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snerr("Failed to register driver: %d\n", ret);
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kmm_free(priv);
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}
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sninfo("FXOS8700CQ driver loaded successfully!\n");
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return OK;
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}
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#endif /* CONFIG_SENSORS_FXOS8700CQ */
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@@ -0,0 +1,120 @@
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/****************************************************************************
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* include/nuttx/sensors/fxos8700cq.h
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* FXOS8700CQ Driver declaration
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*
|
||||
* Licensed to the Apache Software Foundation (ASF) under one or more
|
||||
* contributor license agreements. See the NOTICE file distributed with
|
||||
* this work for additional information regarding copyright ownership. The
|
||||
* ASF licenses this file to you under the Apache License, Version 2.0 (the
|
||||
* "License"); you may not use this file except in compliance with the
|
||||
* License. You may obtain a copy of the License at
|
||||
*
|
||||
* http://www.apache.org/licenses/LICENSE-2.0
|
||||
*
|
||||
* Unless required by applicable law or agreed to in writing, software
|
||||
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
|
||||
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
|
||||
* License for the specific language governing permissions and limitations
|
||||
* under the License.
|
||||
*
|
||||
****************************************************************************/
|
||||
#ifndef __INCLUDE_NUTTX_SENSORS_FXOS8700CQ_H
|
||||
#define __INCLUDE_NUTTX_SENSORS_FXOS8700CQ_H
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
#include <nuttx/fs/ioctl.h>
|
||||
|
||||
#if defined(CONFIG_SENSORS_FXOS8700CQ)
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/* Configuration ************************************************************/
|
||||
|
||||
/* Power mode */
|
||||
|
||||
#define FXOS8700CQ_PM_SUSPEND (0x00)
|
||||
#define FXOS8700CQ_PM_NORMAL (0x01)
|
||||
#define FXOS8700CQ_PM_LOWPOWER (0x02)
|
||||
#define FXOS8700CQ_PM_FASTSTARTUP (0x03)
|
||||
|
||||
/* IOCTL Commands ***********************************************************/
|
||||
|
||||
#define SNIOC_ENABLESC _SNIOC(0x0001) /* Arg: uint8_t value */
|
||||
#define SNIOC_READSC _SNIOC(0x0002) /* Arg: int16_t* pointer */
|
||||
#define SNIOC_SETACCPM _SNIOC(0x0003) /* Arg: uint8_t value */
|
||||
#define SNIOC_SETACCODR _SNIOC(0x0004) /* Arg: uint8_t value */
|
||||
|
||||
/****************************************************************************
|
||||
* Public Types
|
||||
****************************************************************************/
|
||||
|
||||
typedef struct
|
||||
{
|
||||
int16_t x;
|
||||
int16_t y;
|
||||
int16_t z;
|
||||
} v3int16_t;
|
||||
|
||||
typedef struct
|
||||
{
|
||||
v3int16_t accel;
|
||||
v3int16_t magn;
|
||||
} fxos8700cq_data;
|
||||
|
||||
struct i2c_master_s;
|
||||
|
||||
/****************************************************************************
|
||||
* Public Function Prototypes
|
||||
****************************************************************************/
|
||||
|
||||
#ifdef __cplusplus
|
||||
#define EXTERN extern "C"
|
||||
extern "C"
|
||||
{
|
||||
#else
|
||||
#define EXTERN extern
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Name: fxos8700cq_register
|
||||
*
|
||||
* Description:
|
||||
* Register the FXOS8700CQ character device as 'devpath'
|
||||
*
|
||||
* Input Parameters:
|
||||
* devpath - The full path to the driver to register. E.g., "/dev/accel0"
|
||||
* dev - An instance of the I2C interface to communicate with device
|
||||
*
|
||||
* Returned Value:
|
||||
* Zero (OK) on success; a negated errno value on failure.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#ifndef CONFIG_SENSORS_FXOS8700CQ_SCU
|
||||
|
||||
int fxos8700cq_register(FAR const char *devpath,
|
||||
FAR struct i2c_master_s *dev);
|
||||
|
||||
#else /* CONFIG_SENSORS_FXOS8700CQ_SCU */
|
||||
|
||||
int fxos8700cq_init(FAR struct i2c_master_s *dev, int port);
|
||||
int fxos8700cqgyro_register(FAR const char *devpath, int minor,
|
||||
FAR struct i2c_master_s *dev, int port);
|
||||
int fxos8700cqaccel_register(FAR const char *devpath, int minor,
|
||||
FAR struct i2c_master_s *dev, int port);
|
||||
|
||||
#endif
|
||||
|
||||
#undef EXTERN
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* CONFIG_SENSORS_FXOS8700CQ */
|
||||
#endif /* __INCLUDE_NUTTX_SENSORS_FXOS8700CQ_H */
|
||||
Reference in New Issue
Block a user