mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-13 20:48:42 +01:00
313 lines
7.3 KiB
C
313 lines
7.3 KiB
C
/**
|
|
******************************************************************************
|
|
* @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 *)pvPortMalloc(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 * dev)
|
|
{
|
|
if (dev == NULL)
|
|
return -1;
|
|
if (dev->magic != PIOS_ADXL345_DEV_MAGIC)
|
|
return -2;
|
|
if (dev->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(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_3200);
|
|
PIOS_ADXL345_SetRange(ADXL_RANGE_8G);
|
|
PIOS_ADXL345_FifoDepth(16);
|
|
PIOS_ADXL345_SetMeasure(1);
|
|
|
|
return 0;
|
|
}
|
|
|
|
/**
|
|
* @brief Return number of entries in the fifo
|
|
*/
|
|
int32_t PIOS_ADXL345_Test()
|
|
{
|
|
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_WHOAMI | ADXL_READ_BIT;
|
|
|
|
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] == ADXL_DEVICE_ID) ? 0 : -4;
|
|
}
|
|
|
|
/**
|
|
* @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[9] = {0,0,0,0,0,0,0,0};
|
|
uint8_t rec[9] = {0,0,0,0,0,0,0,0};
|
|
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],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
|
|
}
|
|
|
|
#endif /* PIOS_INCLUDE_ADXL345 */
|