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drivers: add support for STM lis2dh12 accelerometer

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This commit is contained in:
Hauke Petersen 2018-01-12 23:24:43 +01:00
parent 14842f943a
commit 09dab1a9fb
8 changed files with 466 additions and 0 deletions
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10
drivers/Makefile.dep
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@ -150,6 +150,16 @@ ifneq (,$(filter l3g4200d,$(USEMODULE)))
FEATURES_REQUIRED += periph_i2c
endif
ifneq (,$(filter lis2dh12%,$(USEMODULE)))
ifneq (,$(filter lis2dh12_spi,$(USEMODULE)))
FEATURES_REQUIRED += periph_gpio
FEATURES_REQUIRED += periph_spi
else
FEATURES_REQUIRED += periph_i2c
endif
USEMODULE += lis2dh12
endif
ifneq (,$(filter lis3dh,$(USEMODULE)))
FEATURES_REQUIRED += periph_gpio
FEATURES_REQUIRED += periph_spi

3
drivers/Makefile.include
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@ -160,3 +160,6 @@ endif
ifneq (,$(filter rn2%3,$(USEMODULE)))
USEMODULE_INCLUDES += $(RIOTBASE)/drivers/rn2xx3/include
endif
ifneq (,$(filter lis2dh12,$(USEMODULE)))
USEMODULE_INCLUDES += $(RIOTBASE)/drivers/lis2dh12/include
endif

149
drivers/include/lis2dh12.h Normal file
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@ -0,0 +1,149 @@
/*
* Copyright (C) 2018 Freie Universität Berlin
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*/
/**
* @defgroup drivers_lis2dh12 LIS2DH12 Accelerometer
* @ingroup drivers_sensors
* @brief Driver for the STM LIS2DH12 accelerometer
*
* This device driver provides a minimal interface to LIS2DH12 devices. As of
* now, it only provides very basic access to the device. The driver configures
* the device to continuously read the acceleration data with statically
* defined scale and rate, and with a fixed 10-bit resolution. The LIS2DH12's
* FIFO is bypassed, so the driver might not be sufficient for use cases where
* the complete history of readings is of interest.
*
* Also, the current version of the driver supports only interfacing the sensor
* via SPI. The driver is however written in a way, that adding I2C interface
* support is quite simple, as all bus related functions (acquire, release,
* read, write) are cleanly separated in the code.
*
* @{
* @file
* @brief Interface definition for the STM LIS2DH12 accelerometer
*
* @author Hauke Petersen <hauke.petersen@fu-berlin.de>
*/
#ifndef LIS2DH12_H
#define LIS2DH12_H
#include "periph/spi.h"
#include "periph/gpio.h"
#ifdef __cplusplus
extern "C" {
#endif
/* I2C support is not implemented (yet), so throw an error when selected */
#ifndef MODULE_LIS2DH12_SPI
#error "LIS2DH12 error: I2C mode is not supported, yet. Use module li2dh12_spi"
#endif
/**
* @brief Available scale values
*/
typedef enum {
LIS2DH12_SCALE_2G = 0x00, /**< +- 2g */
LIS2DH12_SCALE_4G = 0x10, /**< +- 4g */
LIS2DH12_SCALE_8G = 0x20, /**< +- 8g */
LIS2DH12_SCALE_16G = 0x30, /**< +- 16g */
} lis2dh12_scale_t;
/**
* @brief Available sampling rates
*
* @note The device does also support some additional rates for specific low-
* power modes, but those are as of now not supported by this driver
*/
typedef enum {
LIS2DH12_RATE_1HZ = 0x17, /**< sample with 1Hz */
LIS2DH12_RATE_10HZ = 0x27, /**< sample with 10Hz */
LIS2DH12_RATE_25HZ = 0x37, /**< sample with 25Hz */
LIS2DH12_RATE_50HZ = 0x47, /**< sample with 50Hz */
LIS2DH12_RATE_100HZ = 0x57, /**< sample with 100Hz */
LIS2DH12_RATE_200HZ = 0x67, /**< sample with 200Hz */
LIS2DH12_RATE_400HZ = 0x77, /**< sample with 400Hz */
} lis2dh12_rate_t;
/**
* @brief LIS2DH12 configuration parameters
*/
typedef struct {
spi_t spi; /**< SPI bus the device is connected to */
gpio_t cs; /**< connected chip select pin */
lis2dh12_scale_t scale; /**< sampling sensitivity used */
lis2dh12_rate_t rate; /**< sampling rate used */
} lis2dh12_params_t;
/**
* @brief LIS2DH12 device descriptor
*/
typedef struct {
const lis2dh12_params_t *p; /**< device configuration */
uint16_t comp; /**< scale compensation factor */
} lis2dh12_t;
/**
* @brief Status and error return codes
*/
enum {
LIS2DH12_OK = 0, /**< everything was fine */
LIS2DH12_NOBUS = -1, /**< bus interface error */
LIS2DH12_NODEV = -2, /**< unable to talk to device */
};
/**
* @brief Initialize the given LIS2DH12 sensor device
*
* @param[out] dev device descriptor
* @param[in] params static device configuration
*
* @return LIS2DH12_OK on success
* @return LIS2DH12_NOBUS on bus errors
* @return LIS2DH12_NODEV if no LIS2DH12 device was found on the bus
*/
int lis2dh12_init(lis2dh12_t *dev, const lis2dh12_params_t *params);
/**
* @brief Read acceleration data from the given device
*
* @param[in] dev device descriptor
* @param[out] data acceleration data in mili-g, **MUST** hold 3 values
*
* @return LIS2DH12_OK on success
* @return LIS2DH12_NOBUS on bus error
*/
int lis2dh12_read(const lis2dh12_t *dev, int16_t *data);
/**
* @brief Power on the given device
*
* @param[in] dev device descriptor
*
* @return LIS2DH12_OK on success
* @return LIS2DH12_NOBUS on bus error
*/
int lis2dh12_poweron(const lis2dh12_t *dev);
/**
* @brief Power off the given device
*
* @param[in] dev device descriptor
*
* @return LIS2DH12_OK on success
* @return LIS2DH12_NOBUS on bus error
*/
int lis2dh12_poweroff(const lis2dh12_t *dev);
#ifdef __cplusplus
}
#endif
#endif /* LIS2DH12_H */
/** @} */

1
drivers/lis2dh12/Makefile Normal file
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@ -0,0 +1 @@
include $(RIOTBASE)/Makefile.base

69
drivers/lis2dh12/include/lis2dh12_params.h Normal file
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@ -0,0 +1,69 @@
/*
* Copyright (C) 2018 Freie Universität Berlin
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*/
/**
* @ingroup drivers_lis2dh12
*
* @{
* @file
* @brief Default configuration for LIS2DH12 devices
*
* @author Hauke Petersen <hauke.petersen@fu-berlin.de>
*/
#ifndef LIS2DH12_PARAMS_H
#define LIS2DH12_PARAMS_H
#include "board.h"
#include "lis2dh12.h"
#ifdef __cplusplus
extern "C" {
#endif
/**
* @name Set default configuration parameters for LIS2DH12 devices
* @{
*/
#ifndef LIS2DH12_PARAM_SPI
#define LIS2DH12_PARAM_SPI SPI_DEV(0)
#endif
#ifndef LIS2DH12_PARAM_CS
#define LIS2DH12_PARAM_CS GPIO_PIN(0, 0)
#endif
#ifndef LIS2DH12_PARAM_SCALE
#define LIS2DH12_PARAM_SCALE LIS2DH12_SCALE_2G
#endif
#ifndef LIS2DH12_PARAM_RATE
#define LIS2DH12_PARAM_RATE LIS2DH12_RATE_100HZ
#endif
#define LIS2DH12_PARAMS_DEFAULT { .spi = LIS2DH12_PARAM_SPI, \
.cs = LIS2DH12_PARAM_CS, \
.scale = LIS2DH12_PARAM_SCALE, \
.rate = LIS2DH12_PARAM_RATE }
/**@}*/
/**
* @brief LIS2DH12 configuration
*/
static const lis2dh12_params_t lis2dh12_params[] =
{
#ifdef LIS2DH12_PARAMS_BOARD
LIS2DH12_PARAMS_BOARD,
#else
LIS2DH12_PARAMS_DEFAULT,
#endif
};
#ifdef __cplusplus
}
#endif
#endif /* LIS2DH12_PARAMS_H */
/** @} */

150
drivers/lis2dh12/lis2dh12.c Normal file
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@ -0,0 +1,150 @@
/*
* Copyright (C) 2018 Freie Universität Berlin
*
* This file is subject to the terms and conditions of the GNU Lesser General
* Public License v2.1. See the file LICENSE in the top level directory for more
* details.
*/
/**
* @ingroup drivers_lis2dh12
* @{
*
* @file
* @brief LIS2DH12 accelerometer driver implementation
*
* @author Hauke Petersen <hauke.petersen@fu-berlin.de>
* @}
*/
#include "assert.h"
#include "lis2dh12.h"
#include "lis2dh12_internal.h"
#define ENABLE_DEBUG (0)
#include "debug.h"
/* SPI bus speed and mode */
#define BUS_CLK SPI_CLK_5MHZ
#define MODE SPI_MODE_0
#define BUS_OK SPI_OK
/* shortcuts for SPI bus parameters */
#define BUS (dev->p->spi)
#define CS (dev->p->cs)
/* flag to set when reading from the device */
#define FLAG_READ (0x80)
/* flag to enable address auto incrementation on read or write */
#define FLAG_AINC (0x40)
static int _acquire(const lis2dh12_t *dev)
{
return spi_acquire(BUS, CS, MODE, BUS_CLK);
}
static void _release(const lis2dh12_t *dev)
{
spi_release(BUS);
}
static uint8_t _read(const lis2dh12_t *dev, uint8_t reg)
{
return spi_transfer_reg(BUS, CS, (FLAG_READ | reg), 0);
}
static void _read_burst(const lis2dh12_t *dev, uint8_t reg,
void *data, size_t len)
{
spi_transfer_regs(BUS, CS, (FLAG_READ | FLAG_AINC | reg), NULL, data, len);
}
static void _write(const lis2dh12_t *dev, uint8_t reg, uint8_t data)
{
DEBUG("[lis2dh12] write: reg 0x%02x, val 0x%02x\n", (int)reg, (int)data);
spi_transfer_reg(BUS, CS, reg, data);
}
int lis2dh12_init(lis2dh12_t *dev, const lis2dh12_params_t *params)
{
assert(dev && params);
dev->p = params;
dev->comp = (1000UL * (0x02 << (dev->p->scale >> 4)));
/* start by setting up the chip select pin */
if (spi_init_cs(BUS, CS) != SPI_OK) {
DEBUG("[lis2dh12] error: unable to initialize CS pin\n");
return LIS2DH12_NOBUS;
}
/* acquire the SPI bus and verify that our parameters are valid */
if (_acquire(dev) != BUS_OK) {
DEBUG("[lis2dh12] error: unable to acquire SPI bus\n");
return LIS2DH12_NOBUS;
}
/* read the WHO_IM_I register to verify the connections to the device */
if (_read(dev, REG_WHO_AM_I) != WHO_AM_I_VAL) {
DEBUG("[lis2dh12] error: invalid value read from WHO_AM_I register\n");
_release(dev);
return LIS2DH12_NODEV;
}
/* set sampling rate and scale. This also enables the device and starts
* sampling of data */
_write(dev, REG_CTRL_REG4, dev->p->scale);
_write(dev, REG_CTRL_REG1, dev->p->rate);
_release(dev);
return LIS2DH12_OK;
}
int lis2dh12_read(const lis2dh12_t *dev, int16_t *data)
{
assert(dev && data);
/* allocate 6 byte to save the 6 RAW data registers */
uint8_t raw[6];
/* read sampled data from the device */
_acquire(dev);
_read_burst(dev, REG_OUT_X_L, raw, 6);
_release(dev);
/* calculate the actual g-values for the x, y, and z dimension */
for (int i = 0; i < 3; i++) {
int32_t tmp = ((raw[i * 2] >> 6) | (raw[(i * 2) + 1] << 2));
if (tmp & 0x00000200) {
tmp |= 0xfffffc00;
}
data[i] = (int16_t)((tmp * dev->comp) / 512);
}
return LIS2DH12_OK;
}
int lis2dh12_poweron(const lis2dh12_t *dev)
{
assert(dev);
_acquire(dev);
_write(dev, REG_CTRL_REG1, dev->p->rate);
_release(dev);
return LIS2DH12_OK;
}
int lis2dh12_poweroff(const lis2dh12_t *dev)
{
assert(dev);
_acquire(dev);
_write(dev, REG_CTRL_REG1, 0);
_release(dev);
return LIS2DH12_OK;
}

83
drivers/lis2dh12/lis2dh12_internal.h Normal file
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@ -0,0 +1,83 @@
/*
* Copyright (C) 2018 Freie Universität Berlin
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*/
/**
* @ingroup drivers_lis2dh12
* @{
*
* @file
* @brief Command definition for the LIS2DH12 accelerometer
*
* @author Hauke Petersen <hauke.petersen@fu-berlin.de>
*/
#ifndef LIS2DH12_INTERNAL_H
#define LIS2DH12_INTERNAL_H
#ifdef __cplusplus
extern "C" {
#endif
/**
* @name LIS2DH12 registers
* @{
*/
#define REG_STATUS_REG_AUX (0x07)
#define REG_OUT_TEMP_L (0x0C)
#define REG_OUT_TEMP_H (0x0D)
#define REG_WHO_AM_I (0x0F)
#define REG_CTRL_REG0 (0x1E)
#define REG_TEMP_CFG_REG (0x1F)
#define REG_CTRL_REG1 (0x20)
#define REG_CTRL_REG2 (0x21)
#define REG_CTRL_REG3 (0x22)
#define REG_CTRL_REG4 (0x23)
#define REG_CTRL_REG5 (0x24)
#define REG_CTRL_REG6 (0x25)
#define REG_REFERENCE (0x26)
#define REG_STATUS_REG (0x27)
#define REG_OUT_X_L (0x28)
#define REG_OUT_X_H (0x29)
#define REG_OUT_Y_L (0x2A)
#define REG_OUT_Y_H (0x2B)
#define REG_OUT_Z_L (0x2C)
#define REG_OUT_Z_H (0x2D)
#define REG_FIFO_CTRL_REG (0x2E)
#define REG_FIFO_SRC_REG (0x2F)
#define REG_INT1_CFG (0x30)
#define REG_INT1_SRC (0x31)
#define REG_INT1_THS (0x32)
#define REG_INT1_DURATION (0x33)
#define REG_INT2_CFG (0x34)
#define REG_INT2_SRC (0x35)
#define REG_INT2_THS (0x36)
#define REG_INT2_DURATION (0x37)
#define REG_CLICK_CFG (0x38)
#define REG_CLICK_SRC (0x39)
#define REG_CLICK_THS (0x3A)
#define REG_TIME_LIMIT (0x3B)
#define REG_TIME_LATENCY (0x3C)
#define REG_TIME_WINDOW (0x3D)
#define REG_ACT_THS (0x3E)
#define REG_ACT_DUR (0x3F)
/** @} */
/**
* @name Selected register values
* @{
*/
#define WHO_AM_I_VAL (0x33)
/** @} */
#ifdef __cplusplus
}
#endif
#endif /* LIS2DH12_INTERNAL_H */
/** @} */

1
makefiles/pseudomodules.inc.mk
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@ -31,6 +31,7 @@ PSEUDOMODULES += gnrc_sock_check_reuse
PSEUDOMODULES += gnrc_txtsnd
PSEUDOMODULES += l2filter_blacklist
PSEUDOMODULES += l2filter_whitelist
PSEUDOMODULES += lis2dh12_spi
PSEUDOMODULES += log
PSEUDOMODULES += log_printfnoformat
PSEUDOMODULES += lora