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drivers/lsm6dsl: adapt to new I2C API

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This commit is contained in:
Alexandre Abadie 2018-05-25 11:44:41 +02:00 committed by dylad
parent d8e0745c06
commit b866bdb9d9
1 changed files with 30 additions and 31 deletions
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61
drivers/lsm6dsl/lsm6dsl.c
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@ -56,14 +56,13 @@ int lsm6dsl_init(lsm6dsl_t *dev, const lsm6dsl_params_t *params)
dev->params = *params; dev->params = *params;
i2c_acquire(BUS); i2c_acquire(BUS);
i2c_init_master(BUS, I2C_SPEED_NORMAL);
/* Reboot */ /* Reboot */
i2c_write_reg(BUS, ADDR, LSM6DSL_REG_CTRL3_C, LSM6DSL_CTRL3_C_BOOT); i2c_write_reg(BUS, ADDR, LSM6DSL_REG_CTRL3_C, LSM6DSL_CTRL3_C_BOOT, 0);
xtimer_usleep(LSM6DSL_BOOT_WAIT); xtimer_usleep(LSM6DSL_BOOT_WAIT);
if (i2c_read_reg(BUS, ADDR, LSM6DSL_REG_WHO_AM_I, &tmp) != 1) { if (i2c_read_reg(BUS, ADDR, LSM6DSL_REG_WHO_AM_I, &tmp, 0) != 1) {
i2c_release(BUS); i2c_release(BUS);
DEBUG("[ERROR] lsm6dsl_init: i2c_read_reg LSM6DSL_REG_WHO_AM_I!\n"); DEBUG("[ERROR] lsm6dsl_init: i2c_read_reg LSM6DSL_REG_WHO_AM_I!\n");
return -LSM6DSL_ERROR_BUS; return -LSM6DSL_ERROR_BUS;
@ -77,19 +76,19 @@ int lsm6dsl_init(lsm6dsl_t *dev, const lsm6dsl_params_t *params)
/* Set acc odr / full scale */ /* Set acc odr / full scale */
tmp = (dev->params.acc_odr << LSM6DSL_CTRL_ODR_SHIFT) | tmp = (dev->params.acc_odr << LSM6DSL_CTRL_ODR_SHIFT) |
(dev->params.acc_fs << LSM6DSL_CTRL_FS_SHIFT); (dev->params.acc_fs << LSM6DSL_CTRL_FS_SHIFT);
res = i2c_write_reg(BUS, ADDR, LSM6DSL_REG_CTRL1_XL, tmp); res = i2c_write_reg(BUS, ADDR, LSM6DSL_REG_CTRL1_XL, tmp, 0);
/* Set gyro odr / full scale */ /* Set gyro odr / full scale */
tmp = (dev->params.gyro_odr << LSM6DSL_CTRL_ODR_SHIFT) | tmp = (dev->params.gyro_odr << LSM6DSL_CTRL_ODR_SHIFT) |
(dev->params.gyro_fs << LSM6DSL_CTRL_FS_SHIFT); (dev->params.gyro_fs << LSM6DSL_CTRL_FS_SHIFT);
res += i2c_write_reg(BUS, ADDR, LSM6DSL_REG_CTRL2_G, tmp); res += i2c_write_reg(BUS, ADDR, LSM6DSL_REG_CTRL2_G, tmp, 0);
/* Set continuous mode */ /* Set continuous mode */
uint8_t fifo_odr = MAX(dev->params.acc_odr, dev->params.gyro_odr); uint8_t fifo_odr = MAX(dev->params.acc_odr, dev->params.gyro_odr);
tmp = (fifo_odr << LSM6DSL_FIFO_CTRL5_FIFO_ODR_SHIFT) | tmp = (fifo_odr << LSM6DSL_FIFO_CTRL5_FIFO_ODR_SHIFT) |
LSM6DSL_FIFO_CTRL5_CONTINUOUS_MODE; LSM6DSL_FIFO_CTRL5_CONTINUOUS_MODE;
res += i2c_write_reg(BUS, ADDR, LSM6DSL_REG_FIFO_CTRL5, tmp); res += i2c_write_reg(BUS, ADDR, LSM6DSL_REG_FIFO_CTRL5, tmp, 0);
tmp = (dev->params.gyro_decimation << LSM6DSL_FIFO_CTRL3_GYRO_DEC_SHIFT) | tmp = (dev->params.gyro_decimation << LSM6DSL_FIFO_CTRL3_GYRO_DEC_SHIFT) |
dev->params.acc_decimation; dev->params.acc_decimation;
res += i2c_write_reg(BUS, ADDR, LSM6DSL_REG_FIFO_CTRL3, tmp); res += i2c_write_reg(BUS, ADDR, LSM6DSL_REG_FIFO_CTRL3, tmp, 0);
i2c_release(BUS); i2c_release(BUS);
@ -106,20 +105,20 @@ int lsm6dsl_read_acc(const lsm6dsl_t *dev, lsm6dsl_3d_data_t *data)
uint8_t tmp; uint8_t tmp;
i2c_acquire(BUS); i2c_acquire(BUS);
i2c_read_reg(BUS, ADDR, LSM6DSL_REG_STATUS_REG, &tmp); i2c_read_reg(BUS, ADDR, LSM6DSL_REG_STATUS_REG, &tmp, 0);
DEBUG("lsm6dsl status: %x\n", tmp); DEBUG("lsm6dsl status: %x\n", tmp);
res = i2c_read_reg(BUS, ADDR, LSM6DSL_REG_OUTX_L_XL, &tmp); res = i2c_read_reg(BUS, ADDR, LSM6DSL_REG_OUTX_L_XL, &tmp, 0);
data->x = tmp; data->x = tmp;
res += i2c_read_reg(BUS, ADDR, LSM6DSL_REG_OUTX_H_XL, &tmp); res += i2c_read_reg(BUS, ADDR, LSM6DSL_REG_OUTX_H_XL, &tmp, 0);
data->x |= tmp << 8; data->x |= tmp << 8;
res += i2c_read_reg(BUS, ADDR, LSM6DSL_REG_OUTY_L_XL, &tmp); res += i2c_read_reg(BUS, ADDR, LSM6DSL_REG_OUTY_L_XL, &tmp, 0);
data->y = tmp; data->y = tmp;
res += i2c_read_reg(BUS, ADDR, LSM6DSL_REG_OUTY_H_XL, &tmp); res += i2c_read_reg(BUS, ADDR, LSM6DSL_REG_OUTY_H_XL, &tmp, 0);
data->y |= tmp << 8; data->y |= tmp << 8;
res += i2c_read_reg(BUS, ADDR, LSM6DSL_REG_OUTZ_L_XL, &tmp); res += i2c_read_reg(BUS, ADDR, LSM6DSL_REG_OUTZ_L_XL, &tmp, 0);
data->z = tmp; data->z = tmp;
res += i2c_read_reg(BUS, ADDR, LSM6DSL_REG_OUTZ_H_XL, &tmp); res += i2c_read_reg(BUS, ADDR, LSM6DSL_REG_OUTZ_H_XL, &tmp, 0);
data->z |= tmp << 8; data->z |= tmp << 8;
i2c_release(BUS); i2c_release(BUS);
@ -142,20 +141,20 @@ int lsm6dsl_read_gyro(const lsm6dsl_t *dev, lsm6dsl_3d_data_t *data)
uint8_t tmp; uint8_t tmp;
i2c_acquire(BUS); i2c_acquire(BUS);
i2c_read_reg(BUS, ADDR, LSM6DSL_REG_STATUS_REG, &tmp); i2c_read_reg(BUS, ADDR, LSM6DSL_REG_STATUS_REG, &tmp, 0);
DEBUG("lsm6dsl status: %x\n", tmp); DEBUG("lsm6dsl status: %x\n", tmp);
res = i2c_read_reg(BUS, ADDR, LSM6DSL_REG_OUTX_L_G, &tmp); res = i2c_read_reg(BUS, ADDR, LSM6DSL_REG_OUTX_L_G, &tmp, 0);
data->x = tmp; data->x = tmp;
res += i2c_read_reg(BUS, ADDR, LSM6DSL_REG_OUTX_H_G, &tmp); res += i2c_read_reg(BUS, ADDR, LSM6DSL_REG_OUTX_H_G, &tmp, 0);
data->x |= tmp << 8; data->x |= tmp << 8;
res += i2c_read_reg(BUS, ADDR, LSM6DSL_REG_OUTY_L_G, &tmp); res += i2c_read_reg(BUS, ADDR, LSM6DSL_REG_OUTY_L_G, &tmp, 0);
data->y = tmp; data->y = tmp;
res += i2c_read_reg(BUS, ADDR, LSM6DSL_REG_OUTY_H_G, &tmp); res += i2c_read_reg(BUS, ADDR, LSM6DSL_REG_OUTY_H_G, &tmp, 0);
data->y |= tmp << 8; data->y |= tmp << 8;
res += i2c_read_reg(BUS, ADDR, LSM6DSL_REG_OUTZ_L_G, &tmp); res += i2c_read_reg(BUS, ADDR, LSM6DSL_REG_OUTZ_L_G, &tmp, 0);
data->z = tmp; data->z = tmp;
res += i2c_read_reg(BUS, ADDR, LSM6DSL_REG_OUTZ_H_G, &tmp); res += i2c_read_reg(BUS, ADDR, LSM6DSL_REG_OUTZ_H_G, &tmp, 0);
data->z |= tmp << 8; data->z |= tmp << 8;
i2c_release(BUS); i2c_release(BUS);
@ -178,12 +177,12 @@ int lsm6dsl_read_temp(const lsm6dsl_t *dev, int16_t *data)
uint16_t traw; uint16_t traw;
/* read raw temperature */ /* read raw temperature */
i2c_acquire(BUS); i2c_acquire(BUS);
if (i2c_read_reg(BUS, ADDR, LSM6DSL_REG_OUT_TEMP_L, &tmp) != 1) { if (i2c_read_reg(BUS, ADDR, LSM6DSL_REG_OUT_TEMP_L, &tmp, 0) != 1) {
i2c_release(BUS); i2c_release(BUS);
return -LSM6DSL_ERROR_BUS; return -LSM6DSL_ERROR_BUS;
} }
traw = tmp; traw = tmp;
if (i2c_read_reg(BUS, ADDR, LSM6DSL_REG_OUT_TEMP_H, &tmp) != 1) { if (i2c_read_reg(BUS, ADDR, LSM6DSL_REG_OUT_TEMP_H, &tmp, 0) != 1) {
i2c_release(BUS); i2c_release(BUS);
return -LSM6DSL_ERROR_BUS; return -LSM6DSL_ERROR_BUS;
} }
@ -202,7 +201,7 @@ int lsm6dsl_acc_power_down(const lsm6dsl_t *dev)
uint8_t tmp; uint8_t tmp;
i2c_acquire(BUS); i2c_acquire(BUS);
res = i2c_read_reg(BUS, ADDR, LSM6DSL_REG_CTRL1_XL, &tmp); res = i2c_read_reg(BUS, ADDR, LSM6DSL_REG_CTRL1_XL, &tmp, 0);
if (res != 1) { if (res != 1) {
i2c_release(BUS); i2c_release(BUS);
DEBUG("[ERROR] lsm6dsl_acc_power_down\n"); DEBUG("[ERROR] lsm6dsl_acc_power_down\n");
@ -210,7 +209,7 @@ int lsm6dsl_acc_power_down(const lsm6dsl_t *dev)
} }
tmp &= ~(LSM6DSL_CTRL_ODR_MASK); tmp &= ~(LSM6DSL_CTRL_ODR_MASK);
res = i2c_write_reg(BUS, ADDR, LSM6DSL_REG_CTRL1_XL, tmp); res = i2c_write_reg(BUS, ADDR, LSM6DSL_REG_CTRL1_XL, tmp, 0);
i2c_release(BUS); i2c_release(BUS);
@ -228,7 +227,7 @@ int lsm6dsl_gyro_power_down(const lsm6dsl_t *dev)
uint8_t tmp; uint8_t tmp;
i2c_acquire(BUS); i2c_acquire(BUS);
res = i2c_read_reg(BUS, ADDR, LSM6DSL_REG_CTRL2_G, &tmp); res = i2c_read_reg(BUS, ADDR, LSM6DSL_REG_CTRL2_G, &tmp, 0);
if (res != 1) { if (res != 1) {
i2c_release(BUS); i2c_release(BUS);
DEBUG("[ERROR] lsm6dsl_gyro_power_down\n"); DEBUG("[ERROR] lsm6dsl_gyro_power_down\n");
@ -236,7 +235,7 @@ int lsm6dsl_gyro_power_down(const lsm6dsl_t *dev)
} }
tmp &= ~(LSM6DSL_CTRL_ODR_MASK); tmp &= ~(LSM6DSL_CTRL_ODR_MASK);
res = i2c_write_reg(BUS, ADDR, LSM6DSL_REG_CTRL2_G, tmp); res = i2c_write_reg(BUS, ADDR, LSM6DSL_REG_CTRL2_G, tmp, 0);
i2c_release(BUS); i2c_release(BUS);
@ -254,7 +253,7 @@ int lsm6dsl_acc_power_up(const lsm6dsl_t *dev)
uint8_t tmp; uint8_t tmp;
i2c_acquire(BUS); i2c_acquire(BUS);
res = i2c_read_reg(BUS, ADDR, LSM6DSL_REG_CTRL1_XL, &tmp); res = i2c_read_reg(BUS, ADDR, LSM6DSL_REG_CTRL1_XL, &tmp, 0);
if (res != 1) { if (res != 1) {
i2c_release(BUS); i2c_release(BUS);
DEBUG("[ERROR] lsm6dsl_acc_power_up\n"); DEBUG("[ERROR] lsm6dsl_acc_power_up\n");
@ -263,7 +262,7 @@ int lsm6dsl_acc_power_up(const lsm6dsl_t *dev)
tmp &= ~(LSM6DSL_CTRL_ODR_MASK); tmp &= ~(LSM6DSL_CTRL_ODR_MASK);
tmp |= dev->params.acc_odr << LSM6DSL_CTRL_ODR_SHIFT; tmp |= dev->params.acc_odr << LSM6DSL_CTRL_ODR_SHIFT;
res = i2c_write_reg(BUS, ADDR, LSM6DSL_REG_CTRL1_XL, tmp); res = i2c_write_reg(BUS, ADDR, LSM6DSL_REG_CTRL1_XL, tmp, 0);
i2c_release(BUS); i2c_release(BUS);
@ -281,7 +280,7 @@ int lsm6dsl_gyro_power_up(const lsm6dsl_t *dev)
uint8_t tmp; uint8_t tmp;
i2c_acquire(BUS); i2c_acquire(BUS);
res = i2c_read_reg(BUS, ADDR, LSM6DSL_REG_CTRL2_G, &tmp); res = i2c_read_reg(BUS, ADDR, LSM6DSL_REG_CTRL2_G, &tmp, 0);
if (res != 1) { if (res != 1) {
i2c_release(BUS); i2c_release(BUS);
DEBUG("[ERROR] lsm6dsl_gyro_power_up\n"); DEBUG("[ERROR] lsm6dsl_gyro_power_up\n");
@ -290,7 +289,7 @@ int lsm6dsl_gyro_power_up(const lsm6dsl_t *dev)
tmp &= ~(LSM6DSL_CTRL_ODR_MASK); tmp &= ~(LSM6DSL_CTRL_ODR_MASK);
tmp |= dev->params.gyro_odr << LSM6DSL_CTRL_ODR_SHIFT; tmp |= dev->params.gyro_odr << LSM6DSL_CTRL_ODR_SHIFT;
res = i2c_write_reg(BUS, ADDR, LSM6DSL_REG_CTRL2_G, tmp); res = i2c_write_reg(BUS, ADDR, LSM6DSL_REG_CTRL2_G, tmp, 0);
i2c_release(BUS); i2c_release(BUS);