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LibrePilot/flight/pios/common/pios_adxl345.c

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/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_ADXL345 ADXL345 Functions
* @brief Deals with the hardware interface to the BMA180 3-axis accelerometer
* @{
*
* @file pios_adxl345.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief PiOS ADXL345 digital accelerometer driver.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* 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, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "pios.h"
#ifdef PIOS_INCLUDE_ADXL345
enum pios_adxl345_dev_magic {
PIOS_ADXL345_DEV_MAGIC = 0xcb55aa55,
};
struct adxl345_dev {
uint32_t spi_id;
uint32_t slave_num;
enum pios_adxl345_dev_magic magic;
};
// ! Global structure for this device device
static struct adxl345_dev *dev;
// ! Private functions
static struct adxl345_dev *PIOS_ADXL345_alloc(void);
static int32_t PIOS_ADXL345_Validate(struct adxl345_dev *dev);
static int32_t PIOS_ADXL345_ClaimBus();
static int32_t PIOS_ADXL345_ReleaseBus();
static int32_t PIOS_ADXL345_FifoDepth(uint8_t depth);
/**
* @brief Allocate a new device
*/
static struct adxl345_dev *PIOS_ADXL345_alloc(void)
{
struct adxl345_dev *adxl345_dev;
adxl345_dev = (struct adxl345_dev *)pios_malloc(sizeof(*adxl345_dev));
if (!adxl345_dev) {
return NULL;
}
adxl345_dev->magic = PIOS_ADXL345_DEV_MAGIC;
return adxl345_dev;
}
/**
* @brief Validate the handle to the spi device
* @returns 0 for valid device or -1 otherwise
*/
static int32_t PIOS_ADXL345_Validate(struct adxl345_dev *vdev)
{
if (vdev == NULL) {
return -1;
}
if (vdev->magic != PIOS_ADXL345_DEV_MAGIC) {
return -2;
}
if (vdev->spi_id == 0) {
return -3;
}
return 0;
}
/**
* @brief Claim the SPI bus for the accel communications and select this chip
* @return 0 for succesful claiming of bus or -1 otherwise
*/
static int32_t PIOS_ADXL345_ClaimBus()
{
if (PIOS_ADXL345_Validate(dev) != 0) {
return -1;
}
if (PIOS_SPI_ClaimBus(dev->spi_id) != 0) {
return -2;
}
PIOS_SPI_RC_PinSet(dev->spi_id, dev->slave_num, 0);
return 0;
}
/**
* @brief Release the SPI bus for the accel communications and end the transaction
* @return 0 if success or <0 for failure
*/
static int32_t PIOS_ADXL345_ReleaseBus()
{
if (PIOS_ADXL345_Validate(dev) != 0) {
return -1;
}
PIOS_SPI_RC_PinSet(dev->spi_id, dev->slave_num, 1);
if (PIOS_SPI_ReleaseBus(dev->spi_id) != 0) {
return -2;
}
return 0;
}
/**
* @brief Select the sampling rate of the chip
*
* This also puts it into high power mode
*/
int32_t PIOS_ADXL345_SelectRate(uint8_t rate)
{
if (PIOS_ADXL345_Validate(dev) != 0) {
return -1;
}
if (PIOS_ADXL345_ClaimBus() != 0) {
return -2;
}
uint8_t out[2] = { ADXL_RATE_ADDR, rate & 0x0F };
if (PIOS_SPI_TransferBlock(dev->spi_id, out, NULL, sizeof(out), NULL) < 0) {
PIOS_ADXL345_ReleaseBus();
return -3;
}
PIOS_ADXL345_ReleaseBus();
return 0;
}
/**
* @brief Set the range of the accelerometer and set the data to be right justified
* with sign extension. Also keep device in 4 wire mode.
*/
int32_t PIOS_ADXL345_SetRange(uint8_t range)
{
if (PIOS_ADXL345_Validate(dev) != 0) {
return -1;
}
if (PIOS_ADXL345_ClaimBus() != 0) {
return -2;
}
uint8_t out[2] = { ADXL_FORMAT_ADDR, (range & 0x03) | ADXL_FULL_RES | ADXL_4WIRE };
if (PIOS_SPI_TransferBlock(dev->spi_id, out, NULL, sizeof(out), NULL) < 0) {
PIOS_ADXL345_ReleaseBus();
return -3;
}
PIOS_ADXL345_ReleaseBus();
return 0;
}
/**
* @brief Set the fifo depth that triggers an interrupt. This will be matched to the oversampling
*/
static int32_t PIOS_ADXL345_FifoDepth(uint8_t depth)
{
if (PIOS_ADXL345_Validate(dev) != 0) {
return -1;
}
if (PIOS_ADXL345_ClaimBus() != 0) {
return -2;
}
uint8_t out[2] = { ADXL_FIFO_ADDR, (depth & 0x1f) | ADXL_FIFO_STREAM };
if (PIOS_SPI_TransferBlock(dev->spi_id, out, NULL, sizeof(out), NULL) < 0) {
PIOS_ADXL345_ReleaseBus();
return -3;
}
PIOS_ADXL345_ReleaseBus();
return 0;
}
/**
* @brief Enable measuring. This also disables the activity sensors (tap or free fall)
*/
static int32_t PIOS_ADXL345_SetMeasure(__attribute__((unused)) uint8_t enable)
{
if (PIOS_ADXL345_Validate(dev) != 0) {
return -1;
}
if (PIOS_ADXL345_ClaimBus() != 0) {
return -2;
}
uint8_t out[2] = { ADXL_POWER_ADDR, ADXL_MEAURE };
if (PIOS_SPI_TransferBlock(dev->spi_id, out, NULL, sizeof(out), NULL) < 0) {
PIOS_ADXL345_ReleaseBus();
return -3;
}
PIOS_ADXL345_ReleaseBus();
return 0;
}
/**
* @brief Initialize with good default settings
*/
int32_t PIOS_ADXL345_Init(uint32_t spi_id, uint32_t slave_num)
{
dev = PIOS_ADXL345_alloc();
if (dev == NULL) {
return -1;
}
dev->spi_id = spi_id;
dev->slave_num = slave_num;
PIOS_ADXL345_ReleaseBus();
PIOS_ADXL345_SelectRate(ADXL_RATE_1600);
PIOS_ADXL345_SetRange(ADXL_RANGE_8G);
PIOS_ADXL345_FifoDepth(16);
PIOS_ADXL345_SetMeasure(1);
return 0;
}
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/**
* @brief Return number of entries in the fifo
*/
int32_t PIOS_ADXL345_Test()
{
if (PIOS_ADXL345_Validate(dev) != 0) {
return -1;
}
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if (PIOS_ADXL345_ClaimBus() != 0) {
return -2;
}
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uint8_t buf[2] = { 0, 0 };
uint8_t rec[2] = { 0, 0 };
buf[0] = ADXL_WHOAMI | ADXL_READ_BIT;
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if (PIOS_SPI_TransferBlock(dev->spi_id, &buf[0], &rec[0], sizeof(buf), NULL) < 0) {
PIOS_ADXL345_ReleaseBus();
return -3;
}
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PIOS_ADXL345_ReleaseBus();
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return (rec[1] == ADXL_DEVICE_ID) ? 0 : -4;
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}
/**
* @brief Return number of entries in the fifo
*/
int32_t PIOS_ADXL345_FifoElements()
{
if (PIOS_ADXL345_Validate(dev) != 0) {
return -1;
}
if (PIOS_ADXL345_ClaimBus() != 0) {
return -2;
}
uint8_t buf[2] = { 0, 0 };
uint8_t rec[2] = { 0, 0 };
buf[0] = ADXL_FIFOSTATUS_ADDR | ADXL_READ_BIT; // Read fifo status
if (PIOS_SPI_TransferBlock(dev->spi_id, &buf[0], &rec[0], sizeof(buf), NULL) < 0) {
PIOS_ADXL345_ReleaseBus();
return -3;
}
PIOS_ADXL345_ReleaseBus();
return rec[1] & 0x3f;
}
/**
* @brief Read a single set of values from the x y z channels
* @returns The number of samples remaining in the fifo
*/
uint8_t PIOS_ADXL345_Read(struct pios_adxl345_data *data)
{
if (PIOS_ADXL345_Validate(dev) != 0) {
return -1;
}
if (PIOS_ADXL345_ClaimBus() != 0) {
return -2;
}
// To save memory use same buffer for in and out but offset by
// a byte
uint8_t buf[10] = { 0 };
uint8_t *rec = buf + 1;
buf[0] = ADXL_X0_ADDR | ADXL_MULTI_BIT | ADXL_READ_BIT; // Multibyte read starting at X0
if (PIOS_SPI_TransferBlock(dev->spi_id, &buf[0], &rec[0], 9, NULL) < 0) {
PIOS_ADXL345_ReleaseBus();
return -3;
}
PIOS_ADXL345_ReleaseBus();
data->x = rec[1] + (rec[2] << 8);
data->y = rec[3] + (rec[4] << 8);
data->z = rec[5] + (rec[6] << 8);
return rec[8] & 0x7F; // return number of remaining entries
}
/**
* @brief Read a single set of values from the x y z channels
* @returns 0 if successful
*/
int8_t PIOS_ADXL345_ReadAndAccumulateSamples(struct pios_adxl345_data *data, uint8_t samples)
{
if (PIOS_ADXL345_Validate(dev) != 0) {
return -1;
}
if (PIOS_ADXL345_ClaimBus() != 0) {
return -2;
}
data->x = 0;
data->y = 0;
data->z = 0;
// To save memory use same buffer for in and out but offset by
// a byte
#ifdef PIOS_INCLUDE_INSTRUMENTATION
PIOS_Instrumentation_TimeStart(counterUpd);
#endif
for (uint8_t i = 0; i < samples; i++) {
uint8_t buf[7] = { 0 };
uint8_t *rec = &buf[1];
PIOS_SPI_RC_PinSet(dev->spi_id, dev->slave_num, 0);
buf[0] = ADXL_X0_ADDR | ADXL_MULTI_BIT | ADXL_READ_BIT; // Multibyte read starting at X0
if (PIOS_SPI_TransferBlock(dev->spi_id, &buf[0], &rec[0], 7, NULL) < 0) {
PIOS_ADXL345_ReleaseBus();
return -3;
}
PIOS_SPI_RC_PinSet(dev->spi_id, dev->slave_num, 1);
data->x += rec[1] + (rec[2] << 8);
data->y += rec[3] + (rec[4] << 8);
data->z += rec[5] + (rec[6] << 8);
}
uint8_t r = PIOS_SPI_TransferByte(dev->spi_id, ADXL_FIFOSTATUS_ADDR | ADXL_READ_BIT);
#ifdef PIOS_INCLUDE_INSTRUMENTATION
PIOS_Instrumentation_TimeEnd(counterUpd);
#endif
PIOS_ADXL345_ReleaseBus();
return r & 0x7F; // return number of remaining entries
}
#endif /* PIOS_INCLUDE_ADXL345 */