mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-01 04:46:51 +08:00
[peripherals] initial LIS302DL driver
This commit is contained in:
Felix Ruess
@@ -36,6 +36,19 @@
|
||||
#include "math/pprz_trig_int.h"
|
||||
#include <stdlib.h>
|
||||
|
||||
|
||||
struct Uint8Vect3 {
|
||||
uint8_t x;
|
||||
uint8_t y;
|
||||
uint8_t z;
|
||||
};
|
||||
|
||||
struct Int8Vect3 {
|
||||
int8_t x;
|
||||
int8_t y;
|
||||
int8_t z;
|
||||
};
|
||||
|
||||
struct Uint16Vect3 {
|
||||
uint16_t x;
|
||||
uint16_t y;
|
||||
|
||||
@@ -0,0 +1,66 @@
|
||||
/*
|
||||
* Copyright (C) 2013 Felix Ruess <felix.ruess@gmail.com>
|
||||
*
|
||||
* This file is part of paparazzi.
|
||||
*
|
||||
* paparazzi 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 2, or (at your option)
|
||||
* any later version.
|
||||
*
|
||||
* paparazzi 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 paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*/
|
||||
|
||||
/**
|
||||
* @file peripherals/lis302dl.h
|
||||
*
|
||||
* ST LIS302DL 3-axis accelerometer driver common interface (I2C and SPI).
|
||||
*/
|
||||
|
||||
#ifndef LIS302DL_H
|
||||
#define LIS302DL_H
|
||||
|
||||
/* Include address and register definition */
|
||||
#include "peripherals/lis302dl_regs.h"
|
||||
|
||||
enum Lis302dlConfStatus {
|
||||
LIS_CONF_UNINIT = 0,
|
||||
LIS_CONF_WHO_AM_I = 1,
|
||||
LIS_CONF_WHO_AM_I_OK = 2,
|
||||
LIS_CONF_REG2 = 3,
|
||||
LIS_CONF_REG3 = 4,
|
||||
LIS_CONF_ENABLE = 5,
|
||||
LIS_CONF_DONE = 6
|
||||
};
|
||||
|
||||
struct Lis302dlConfig {
|
||||
bool_t int_invert; ///< Invert Interrupt FALSE: active high, TRUE: active low
|
||||
bool_t spi_3_wire; ///< Set 3-wire SPI mode, if FALSE: 4-wire SPI mode
|
||||
|
||||
/** Filtered Data Selection.
|
||||
* FALSE: internal filter bypassed;
|
||||
* TRUE: data from internal filter sent to output register */
|
||||
bool_t filt_data;
|
||||
enum Lis302dlRanges range; ///< g Range
|
||||
enum Lis302dlRates rate; ///< Data Output Rate
|
||||
};
|
||||
|
||||
static inline void lis302dl_set_default_config(struct Lis302dlConfig *c)
|
||||
{
|
||||
c->int_invert = TRUE;
|
||||
c->filt_data = FALSE;
|
||||
c->spi_3_wire = FALSE;
|
||||
|
||||
c->rate = LIS302DL_RATE_100HZ;
|
||||
c->range = LIS302DL_RANGE_2G;
|
||||
}
|
||||
|
||||
#endif /* LIS302DL_H */
|
||||
@@ -0,0 +1,55 @@
|
||||
/*
|
||||
* Copyright (C) 2013 Felix Ruess <felix.ruess@gmail.com>
|
||||
*
|
||||
* This file is part of paparazzi.
|
||||
*
|
||||
* paparazzi 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 2, or (at your option)
|
||||
* any later version.
|
||||
*
|
||||
* paparazzi 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 paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*/
|
||||
|
||||
/**
|
||||
* @file peripherals/lis302dl_regs.h
|
||||
*
|
||||
* ST LIS302DL 3-axis accelerometer register definitions.
|
||||
*/
|
||||
|
||||
#ifndef LIS302DL_REGS_H
|
||||
#define LIS302DL_REGS_H
|
||||
|
||||
/* Registers */
|
||||
#define LIS302DL_REG_WHO_AM_I 0x0F
|
||||
#define LIS302DL_REG_CTRL_REG1 0x20
|
||||
#define LIS302DL_REG_CTRL_REG2 0x21
|
||||
#define LIS302DL_REG_CTRL_REG3 0x22
|
||||
#define LIS302DL_REG_STATUS 0x27
|
||||
#define LIS302DL_REG_OUTX 0x29
|
||||
#define LIS302DL_REG_OUTY 0x2B
|
||||
#define LIS302DL_REG_OUTZ 0x2D
|
||||
|
||||
/** LIS302DL device identifier contained in LIS302DL_REG_WHO_AM_I */
|
||||
#define LIS302DL_WHO_AM_I 0x3B
|
||||
|
||||
enum Lis302dlRates {
|
||||
LIS302DL_RATE_100HZ = 0,
|
||||
LIS302DL_RATE_400HZ = 1
|
||||
};
|
||||
|
||||
enum Lis302dlRanges {
|
||||
LIS302DL_RANGE_2G = 0,
|
||||
LIS302DL_RANGE_8G = 1
|
||||
};
|
||||
|
||||
|
||||
#endif /* LIS302DL_REGS_H */
|
||||
@@ -0,0 +1,174 @@
|
||||
/*
|
||||
* Copyright (C) 2013 Felix Ruess <felix.ruess@gmail.com>
|
||||
*
|
||||
* This file is part of paparazzi.
|
||||
*
|
||||
* paparazzi 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 2, or (at your option)
|
||||
* any later version.
|
||||
*
|
||||
* paparazzi 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 paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*/
|
||||
|
||||
/**
|
||||
* @file peripherals/lis302dl_spi.c
|
||||
*
|
||||
* Driver for LIS302DL 3-axis accelerometer from ST using SPI.
|
||||
*/
|
||||
|
||||
#include "peripherals/lis302dl_spi.h"
|
||||
|
||||
void lis302dl_spi_init(struct Lis302dl_Spi *lis, struct spi_periph *spi_p, uint8_t slave_idx)
|
||||
{
|
||||
/* set spi_peripheral */
|
||||
lis->spi_p = spi_p;
|
||||
|
||||
/* configure spi transaction */
|
||||
lis->spi_trans.cpol = SPICpolIdleHigh;
|
||||
lis->spi_trans.cpha = SPICphaEdge2;
|
||||
lis->spi_trans.dss = SPIDss8bit;
|
||||
lis->spi_trans.bitorder = SPIMSBFirst;
|
||||
lis->spi_trans.cdiv = SPIDiv64;
|
||||
|
||||
lis->spi_trans.select = SPISelectUnselect;
|
||||
lis->spi_trans.slave_idx = slave_idx;
|
||||
lis->spi_trans.output_length = 2;
|
||||
lis->spi_trans.input_length = 8;
|
||||
// callback currently unused
|
||||
lis->spi_trans.before_cb = NULL;
|
||||
lis->spi_trans.after_cb = NULL;
|
||||
lis->spi_trans.input_buf = &(lis->rx_buf[0]);
|
||||
lis->spi_trans.output_buf = &(lis->tx_buf[0]);
|
||||
|
||||
/* set inital status: Success or Done */
|
||||
lis->spi_trans.status = SPITransDone;
|
||||
|
||||
/* set default LIS302DL config options */
|
||||
lis302dl_set_default_config(&(lis->config));
|
||||
|
||||
lis->initialized = FALSE;
|
||||
lis->data_available = FALSE;
|
||||
lis->init_status = LIS_CONF_UNINIT;
|
||||
}
|
||||
|
||||
|
||||
static void lis302dl_spi_write_to_reg(struct Lis302dl_Spi *lis, uint8_t _reg, uint8_t _val) {
|
||||
lis->spi_trans.output_length = 2;
|
||||
lis->spi_trans.input_length = 0;
|
||||
lis->tx_buf[0] = _reg;
|
||||
lis->tx_buf[1] = _val;
|
||||
spi_submit(lis->spi_p, &(lis->spi_trans));
|
||||
}
|
||||
|
||||
// Configuration function called once before normal use
|
||||
static void lis302dl_spi_send_config(struct Lis302dl_Spi *lis)
|
||||
{
|
||||
uint8_t reg_val = 0;
|
||||
|
||||
switch (lis->init_status) {
|
||||
case LIS_CONF_WHO_AM_I:
|
||||
/* query device id */
|
||||
lis->spi_trans.output_length = 1;
|
||||
lis->spi_trans.input_length = 2;
|
||||
/* set read bit then reg address */
|
||||
lis->tx_buf[0] = (1<<7 | LIS302DL_REG_WHO_AM_I);
|
||||
if (spi_submit(lis->spi_p, &(lis->spi_trans)))
|
||||
lis->init_status++;
|
||||
break;
|
||||
case LIS_CONF_REG2:
|
||||
/* set SPI mode, Filtered Data Selection */
|
||||
reg_val = (lis->config.spi_3_wire << 7) | (lis->config.filt_data << 4);
|
||||
lis302dl_spi_write_to_reg(lis, LIS302DL_REG_CTRL_REG2, reg_val);
|
||||
lis->init_status++;
|
||||
break;
|
||||
case LIS_CONF_REG3:
|
||||
/* Interrupt active high/low */
|
||||
lis302dl_spi_write_to_reg(lis, LIS302DL_REG_CTRL_REG3, (lis->config.int_invert << 7));
|
||||
lis->init_status++;
|
||||
break;
|
||||
case LIS_CONF_ENABLE:
|
||||
/* set data rate, range, enable measurement, is in standby after power up */
|
||||
reg_val = (lis->config.rate << 7) |
|
||||
(1 << 6) | // Power Down Control to active mode
|
||||
(lis->config.range << 5) |
|
||||
0x5; // enable z,y,x axes
|
||||
lis302dl_spi_write_to_reg(lis, LIS302DL_REG_CTRL_REG1, reg_val);
|
||||
lis->init_status++;
|
||||
break;
|
||||
case LIS_CONF_DONE:
|
||||
lis->initialized = TRUE;
|
||||
lis->spi_trans.status = SPITransDone;
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void lis302dl_spi_start_configure(struct Lis302dl_Spi *lis)
|
||||
{
|
||||
if (lis->init_status == LIS_CONF_UNINIT) {
|
||||
lis->init_status++;
|
||||
if (lis->spi_trans.status == SPITransSuccess || lis->spi_trans.status == SPITransDone) {
|
||||
lis302dl_spi_send_config(lis);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void lis302dl_spi_read(struct Lis302dl_Spi *lis)
|
||||
{
|
||||
if (lis->initialized && lis->spi_trans.status == SPITransDone) {
|
||||
lis->spi_trans.output_length = 1;
|
||||
lis->spi_trans.input_length = 8;
|
||||
/* set read bit and multiple byte bit, then address */
|
||||
lis->tx_buf[0] = (1<<7|1<<6|LIS302DL_REG_STATUS);
|
||||
spi_submit(lis->spi_p, &(lis->spi_trans));
|
||||
}
|
||||
}
|
||||
|
||||
void lis302dl_spi_event(struct Lis302dl_Spi *lis)
|
||||
{
|
||||
if (lis->initialized) {
|
||||
if (lis->spi_trans.status == SPITransFailed) {
|
||||
lis->spi_trans.status = SPITransDone;
|
||||
}
|
||||
else if (lis->spi_trans.status == SPITransSuccess) {
|
||||
// Successfull reading
|
||||
if (bit_is_set(lis->rx_buf[1], 3)) {
|
||||
// new xyz data available
|
||||
lis->data.vect.x = lis->rx_buf[3];
|
||||
lis->data.vect.y = lis->rx_buf[5];
|
||||
lis->data.vect.z = lis->rx_buf[7];
|
||||
lis->data_available = TRUE;
|
||||
}
|
||||
lis->spi_trans.status = SPITransDone;
|
||||
}
|
||||
}
|
||||
else if (lis->init_status != LIS_CONF_UNINIT) { // Configuring but not yet initialized
|
||||
switch (lis->spi_trans.status) {
|
||||
case SPITransFailed:
|
||||
lis->init_status--; // Retry config (TODO max retry)
|
||||
case SPITransSuccess:
|
||||
if (lis->init_status == LIS_CONF_WHO_AM_I_OK) {
|
||||
if (lis->rx_buf[1] == LIS302DL_WHO_AM_I)
|
||||
lis->init_status++;
|
||||
else
|
||||
lis->init_status = LIS_CONF_WHO_AM_I;
|
||||
}
|
||||
case SPITransDone:
|
||||
lis->spi_trans.status = SPITransDone;
|
||||
lis302dl_spi_send_config(lis);
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,68 @@
|
||||
/*
|
||||
* Copyright (C) 2013 Felix Ruess <felix.ruess@gmail.com>
|
||||
*
|
||||
* This file is part of paparazzi.
|
||||
*
|
||||
* paparazzi 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 2, or (at your option)
|
||||
* any later version.
|
||||
*
|
||||
* paparazzi 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 paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*/
|
||||
|
||||
/**
|
||||
* @file peripherals/lis302dl_spi.h
|
||||
*
|
||||
* Driver for LIS302DL 3-axis accelerometer from ST using SPI.
|
||||
*/
|
||||
|
||||
#ifndef LIS302DL_SPI_H
|
||||
#define LIS302DL_SPI_H
|
||||
|
||||
#include "std.h"
|
||||
#include "math/pprz_algebra_int.h"
|
||||
#include "mcu_periph/spi.h"
|
||||
|
||||
/* Include common LIS302DL options and definitions */
|
||||
#include "peripherals/lis302dl.h"
|
||||
|
||||
|
||||
struct Lis302dl_Spi {
|
||||
struct spi_periph *spi_p;
|
||||
struct spi_transaction spi_trans;
|
||||
volatile uint8_t tx_buf[2];
|
||||
volatile uint8_t rx_buf[8];
|
||||
enum Lis302dlConfStatus init_status; ///< init status
|
||||
bool_t initialized; ///< config done flag
|
||||
volatile bool_t data_available; ///< data ready flag
|
||||
union {
|
||||
struct Int8Vect3 vect; ///< data vector in accel coordinate system
|
||||
int8_t value[3]; ///< data values accessible by channel index
|
||||
} data;
|
||||
struct Lis302dlConfig config;
|
||||
};
|
||||
|
||||
// Functions
|
||||
extern void lis302dl_spi_init(struct Lis302dl_Spi *lis, struct spi_periph *spi_p, uint8_t addr);
|
||||
extern void lis302dl_spi_start_configure(struct Lis302dl_Spi *lis);
|
||||
extern void lis302dl_spi_read(struct Lis302dl_Spi *lis);
|
||||
extern void lis302dl_spi_event(struct Lis302dl_Spi *lis);
|
||||
|
||||
/// convenience function: read or start configuration if not already initialized
|
||||
static inline void lis302dl_spi_periodic(struct Lis302dl_Spi *lis) {
|
||||
if (lis->initialized)
|
||||
lis302dl_spi_read(lis);
|
||||
else
|
||||
lis302dl_spi_start_configure(lis);
|
||||
}
|
||||
|
||||
#endif // LIS302DL_SPI_H
|
||||
Reference in New Issue
Block a user