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a2d8544931
to make the flight code compile again. Needs careful review, particularly all the fixes for the signed vs unsigned comparisons. +review OPReview-459
313 lines
7.3 KiB
C
313 lines
7.3 KiB
C
/**
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******************************************************************************
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* @addtogroup PIOS PIOS Core hardware abstraction layer
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* @{
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* @addtogroup PIOS_ADXL345 ADXL345 Functions
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* @brief Deals with the hardware interface to the BMA180 3-axis accelerometer
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* @{
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*
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* @file pios_adxl345.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
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* @brief PiOS ADXL345 digital accelerometer driver.
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "pios.h"
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#ifdef PIOS_INCLUDE_ADXL345
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enum pios_adxl345_dev_magic {
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PIOS_ADXL345_DEV_MAGIC = 0xcb55aa55,
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};
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struct adxl345_dev {
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uint32_t spi_id;
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uint32_t slave_num;
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enum pios_adxl345_dev_magic magic;
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};
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//! Global structure for this device device
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static struct adxl345_dev * dev;
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//! Private functions
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static struct adxl345_dev * PIOS_ADXL345_alloc(void);
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static int32_t PIOS_ADXL345_Validate(struct adxl345_dev * dev);
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static int32_t PIOS_ADXL345_ClaimBus();
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static int32_t PIOS_ADXL345_ReleaseBus();
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static int32_t PIOS_ADXL345_FifoDepth(uint8_t depth);
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/**
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* @brief Allocate a new device
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*/
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static struct adxl345_dev * PIOS_ADXL345_alloc(void)
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{
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struct adxl345_dev * adxl345_dev;
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adxl345_dev = (struct adxl345_dev *)pvPortMalloc(sizeof(*adxl345_dev));
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if (!adxl345_dev) return (NULL);
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adxl345_dev->magic = PIOS_ADXL345_DEV_MAGIC;
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return(adxl345_dev);
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}
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/**
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* @brief Validate the handle to the spi device
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* @returns 0 for valid device or -1 otherwise
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*/
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static int32_t PIOS_ADXL345_Validate(struct adxl345_dev * dev)
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{
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if (dev == NULL)
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return -1;
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if (dev->magic != PIOS_ADXL345_DEV_MAGIC)
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return -2;
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if (dev->spi_id == 0)
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return -3;
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return 0;
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}
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/**
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* @brief Claim the SPI bus for the accel communications and select this chip
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* @return 0 for succesful claiming of bus or -1 otherwise
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*/
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static int32_t PIOS_ADXL345_ClaimBus()
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{
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if(PIOS_ADXL345_Validate(dev) != 0)
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return -1;
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if(PIOS_SPI_ClaimBus(dev->spi_id) != 0)
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return -2;
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PIOS_SPI_RC_PinSet(dev->spi_id, dev->slave_num, 0);
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return 0;
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}
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/**
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* @brief Release the SPI bus for the accel communications and end the transaction
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* @return 0 if success or <0 for failure
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*/
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static int32_t PIOS_ADXL345_ReleaseBus()
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{
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if(PIOS_ADXL345_Validate(dev) != 0)
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return -1;
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PIOS_SPI_RC_PinSet(dev->spi_id, dev->slave_num, 1);
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if(PIOS_SPI_ReleaseBus(dev->spi_id) != 0)
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return -2;
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return 0;
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}
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/**
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* @brief Select the sampling rate of the chip
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*
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* This also puts it into high power mode
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*/
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int32_t PIOS_ADXL345_SelectRate(uint8_t rate)
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{
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if(PIOS_ADXL345_Validate(dev) != 0)
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return -1;
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if(PIOS_ADXL345_ClaimBus() != 0)
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return -2;
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uint8_t out[2] = {ADXL_RATE_ADDR, rate & 0x0F};
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if(PIOS_SPI_TransferBlock(dev->spi_id,out,NULL,sizeof(out),NULL) < 0) {
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PIOS_ADXL345_ReleaseBus();
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return -3;
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}
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PIOS_ADXL345_ReleaseBus();
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return 0;
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}
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/**
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* @brief Set the range of the accelerometer and set the data to be right justified
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* with sign extension. Also keep device in 4 wire mode.
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*/
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int32_t PIOS_ADXL345_SetRange(uint8_t range)
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{
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if(PIOS_ADXL345_Validate(dev) != 0)
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return -1;
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if(PIOS_ADXL345_ClaimBus() != 0)
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return -2;
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uint8_t out[2] = {ADXL_FORMAT_ADDR, (range & 0x03) | ADXL_FULL_RES | ADXL_4WIRE};
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if(PIOS_SPI_TransferBlock(dev->spi_id,out,NULL,sizeof(out),NULL) < 0) {
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PIOS_ADXL345_ReleaseBus();
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return -3;
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}
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PIOS_ADXL345_ReleaseBus();
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return 0;
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}
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/**
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* @brief Set the fifo depth that triggers an interrupt. This will be matched to the oversampling
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*/
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static int32_t PIOS_ADXL345_FifoDepth(uint8_t depth)
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{
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if(PIOS_ADXL345_Validate(dev) != 0)
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return -1;
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if(PIOS_ADXL345_ClaimBus() != 0)
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return -2;
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uint8_t out[2] = {ADXL_FIFO_ADDR, (depth & 0x1f) | ADXL_FIFO_STREAM};
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if(PIOS_SPI_TransferBlock(dev->spi_id,out,NULL,sizeof(out),NULL) < 0) {
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PIOS_ADXL345_ReleaseBus();
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return -3;
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}
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PIOS_ADXL345_ReleaseBus();
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return 0;
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}
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/**
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* @brief Enable measuring. This also disables the activity sensors (tap or free fall)
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*/
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static int32_t PIOS_ADXL345_SetMeasure(__attribute__((unused)) uint8_t enable)
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{
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if(PIOS_ADXL345_Validate(dev) != 0)
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return -1;
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if(PIOS_ADXL345_ClaimBus() != 0)
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return -2;
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uint8_t out[2] = {ADXL_POWER_ADDR, ADXL_MEAURE};
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if(PIOS_SPI_TransferBlock(dev->spi_id,out,NULL,sizeof(out),NULL) < 0) {
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PIOS_ADXL345_ReleaseBus();
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return -3;
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}
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PIOS_ADXL345_ReleaseBus();
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return 0;
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}
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/**
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* @brief Initialize with good default settings
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*/
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int32_t PIOS_ADXL345_Init(uint32_t spi_id, uint32_t slave_num)
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{
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dev = PIOS_ADXL345_alloc();
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if(dev == NULL)
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return -1;
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dev->spi_id = spi_id;
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dev->slave_num = slave_num;
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PIOS_ADXL345_ReleaseBus();
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PIOS_ADXL345_SelectRate(ADXL_RATE_3200);
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PIOS_ADXL345_SetRange(ADXL_RANGE_8G);
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PIOS_ADXL345_FifoDepth(16);
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PIOS_ADXL345_SetMeasure(1);
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return 0;
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}
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/**
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* @brief Return number of entries in the fifo
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*/
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int32_t PIOS_ADXL345_Test()
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{
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if(PIOS_ADXL345_Validate(dev) != 0)
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return -1;
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if(PIOS_ADXL345_ClaimBus() != 0)
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return -2;
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uint8_t buf[2] = {0,0};
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uint8_t rec[2] = {0,0};
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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) {
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PIOS_ADXL345_ReleaseBus();
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return -3;
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}
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PIOS_ADXL345_ReleaseBus();
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return (rec[1] == ADXL_DEVICE_ID) ? 0 : -4;
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}
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/**
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* @brief Return number of entries in the fifo
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*/
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int32_t PIOS_ADXL345_FifoElements()
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{
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if(PIOS_ADXL345_Validate(dev) != 0)
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return -1;
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if(PIOS_ADXL345_ClaimBus() != 0)
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return -2;
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uint8_t buf[2] = {0,0};
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uint8_t rec[2] = {0,0};
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buf[0] = ADXL_FIFOSTATUS_ADDR | ADXL_READ_BIT ; // Read fifo status
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if(PIOS_SPI_TransferBlock(dev->spi_id,&buf[0],&rec[0],sizeof(buf),NULL) < 0) {
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PIOS_ADXL345_ReleaseBus();
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return -3;
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}
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PIOS_ADXL345_ReleaseBus();
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return rec[1] & 0x3f;
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}
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/**
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* @brief Read a single set of values from the x y z channels
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* @returns The number of samples remaining in the fifo
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*/
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uint8_t PIOS_ADXL345_Read(struct pios_adxl345_data * data)
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{
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if(PIOS_ADXL345_Validate(dev) != 0)
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return -1;
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if(PIOS_ADXL345_ClaimBus() != 0)
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return -2;
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// To save memory use same buffer for in and out but offset by
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// a byte
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uint8_t buf[9] = {0,0,0,0,0,0,0,0};
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uint8_t rec[9] = {0,0,0,0,0,0,0,0};
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buf[0] = ADXL_X0_ADDR | ADXL_MULTI_BIT | ADXL_READ_BIT ; // Multibyte read starting at X0
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if(PIOS_SPI_TransferBlock(dev->spi_id,&buf[0],&rec[0],9,NULL) < 0) {
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PIOS_ADXL345_ReleaseBus();
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return -3;
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}
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PIOS_ADXL345_ReleaseBus();
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data->x = rec[1] + (rec[2] << 8);
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data->y = rec[3] + (rec[4] << 8);
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data->z = rec[5] + (rec[6] << 8);
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return rec[8] & 0x7F; // return number of remaining entries
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}
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#endif /* PIOS_INCLUDE_ADXL345 */
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