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RIOT/drivers/lsm303dlhc/lsm303dlhc.c
Benjamin Valentin 6e7d5ae2d3 codespell: fix remaining issues
2022-09-16 14:00:35 +02:00

238 lines
7.3 KiB
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/*
* Copyright (C) 2014 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_lsm303dlhc
* @{
*
* @file
* @brief Device driver implementation for the LSM303DLHC 3D accelerometer/magnetometer.
*
* @author Thomas Eichinger <thomas.eichinger@fu-berlin.de>
* @author Peter Kietzmann <peter.kietzmann@haw-hamburg.de>
*
* @}
*/
#include "lsm303dlhc.h"
#include "lsm303dlhc-internal.h"
#define ENABLE_DEBUG 0
#include "debug.h"
#define DEV_I2C (dev->params.i2c)
#define DEV_ACC_ADDR (dev->params.acc_addr)
#define DEV_ACC_PIN (dev->params.acc_pin)
#define DEV_ACC_RATE (dev->params.acc_rate)
#define DEV_ACC_SCALE (dev->params.acc_scale)
#define DEV_MAG_ADDR (dev->params.mag_addr)
#define DEV_MAG_PIN (dev->params.mag_pin)
#define DEV_MAG_RATE (dev->params.mag_rate)
#define DEV_MAG_GAIN (dev->params.mag_gain)
int lsm303dlhc_init(lsm303dlhc_t *dev, const lsm303dlhc_params_t *params)
{
dev->params = *params;
int res;
uint8_t tmp;
DEBUG("lsm303dlhc init...");
/* Acquire exclusive access to the bus. */
i2c_acquire(DEV_I2C);
/* reboot sensor */
res = i2c_write_reg(DEV_I2C, DEV_ACC_ADDR,
LSM303DLHC_REG_CTRL5_A, LSM303DLHC_REG_CTRL5_A_BOOT, 0);
/* configure accelerometer */
/* enable all three axis and set sample rate */
tmp = (LSM303DLHC_CTRL1_A_XEN
| LSM303DLHC_CTRL1_A_YEN
| LSM303DLHC_CTRL1_A_ZEN
| DEV_ACC_RATE);
res += i2c_write_reg(DEV_I2C, DEV_ACC_ADDR,
LSM303DLHC_REG_CTRL1_A, tmp, 0);
/* update on read, MSB @ low address, scale and high-resolution */
tmp = (DEV_ACC_SCALE | LSM303DLHC_CTRL4_A_HR);
res += i2c_write_reg(DEV_I2C, DEV_ACC_ADDR,
LSM303DLHC_REG_CTRL4_A, tmp, 0);
/* no interrupt generation */
res += i2c_write_reg(DEV_I2C, DEV_ACC_ADDR,
LSM303DLHC_REG_CTRL3_A, LSM303DLHC_CTRL3_A_I1_NONE, 0);
/* configure acc data ready pin */
gpio_init(DEV_ACC_PIN, GPIO_IN);
/* configure magnetometer and temperature */
/* enable temperature output and set sample rate */
tmp = LSM303DLHC_TEMP_EN | DEV_MAG_RATE;
res += i2c_write_reg(DEV_I2C, DEV_MAG_ADDR,
LSM303DLHC_REG_CRA_M, tmp, 0);
/* configure z-axis gain */
res += i2c_write_reg(DEV_I2C, DEV_MAG_ADDR,
LSM303DLHC_REG_CRB_M, DEV_MAG_GAIN, 0);
/* set continuous mode */
res += i2c_write_reg(DEV_I2C, DEV_MAG_ADDR,
LSM303DLHC_REG_MR_M, LSM303DLHC_MAG_MODE_CONTINUOUS, 0);
i2c_release(DEV_I2C);
/* configure mag data ready pin */
gpio_init(DEV_MAG_PIN, GPIO_IN);
if (IS_ACTIVE(ENABLE_DEBUG) && res == 0) {
DEBUG("[OK]\n");
}
else {
DEBUG("[Failed]\n");
}
return (res < 0) ? -1 : 0;
}
int lsm303dlhc_read_acc(const lsm303dlhc_t *dev, lsm303dlhc_3d_data_t *data)
{
int res;
uint8_t tmp;
i2c_acquire(DEV_I2C);
i2c_read_reg(DEV_I2C, DEV_ACC_ADDR, LSM303DLHC_REG_STATUS_A, &tmp, 0);
DEBUG("lsm303dlhc status: %x\n", tmp);
DEBUG("lsm303dlhc: wait for acc values ... ");
res = i2c_read_reg(DEV_I2C, DEV_ACC_ADDR,
LSM303DLHC_REG_OUT_X_L_A, &tmp, 0);
data->x_axis = tmp;
res += i2c_read_reg(DEV_I2C, DEV_ACC_ADDR,
LSM303DLHC_REG_OUT_X_H_A, &tmp, 0);
data->x_axis |= tmp<<8;
res += i2c_read_reg(DEV_I2C, DEV_ACC_ADDR,
LSM303DLHC_REG_OUT_Y_L_A, &tmp, 0);
data->y_axis = tmp;
res += i2c_read_reg(DEV_I2C, DEV_ACC_ADDR,
LSM303DLHC_REG_OUT_Y_H_A, &tmp, 0);
data->y_axis |= tmp<<8;
res += i2c_read_reg(DEV_I2C, DEV_ACC_ADDR,
LSM303DLHC_REG_OUT_Z_L_A, &tmp, 0);
data->z_axis = tmp;
res += i2c_read_reg(DEV_I2C, DEV_ACC_ADDR,
LSM303DLHC_REG_OUT_Z_H_A, &tmp, 0);
data->z_axis |= tmp<<8;
i2c_release(DEV_I2C);
DEBUG("read ... ");
data->x_axis = data->x_axis>>4;
data->y_axis = data->y_axis>>4;
data->z_axis = data->z_axis>>4;
if (res < 0) {
DEBUG("[!!failed!!]\n");
return -1;
}
DEBUG("[done]\n");
return 0;
}
int lsm303dlhc_read_mag(const lsm303dlhc_t *dev, lsm303dlhc_3d_data_t *data)
{
int res;
DEBUG("lsm303dlhc: wait for mag values... ");
while (gpio_read(DEV_MAG_PIN) == 0){}
DEBUG("read ... ");
i2c_acquire(DEV_I2C);
res = i2c_read_regs(DEV_I2C, DEV_MAG_ADDR,
LSM303DLHC_REG_OUT_X_H_M, data, 6, 0);
i2c_release(DEV_I2C);
if (res < 0) {
DEBUG("[!!failed!!]\n");
return -1;
}
DEBUG("[done]\n");
/* interchange y and z axis and fix endianness */
int16_t tmp = data->y_axis;
data->x_axis = ((data->x_axis<<8)|((data->x_axis>>8)&0xff));
data->y_axis = ((data->z_axis<<8)|((data->z_axis>>8)&0xff));
data->z_axis = ((tmp<<8)|((tmp>>8)&0xff));
/* compensate z-axis sensitivity */
/* gain is currently hardcoded to LSM303DLHC_GAIN_5 */
data->z_axis = ((data->z_axis * 400) / 355);
return 0;
}
int lsm303dlhc_read_temp(const lsm303dlhc_t *dev, int16_t *value)
{
int res;
i2c_acquire(DEV_I2C);
res = i2c_read_regs(DEV_I2C, DEV_MAG_ADDR, LSM303DLHC_REG_TEMP_OUT_H,
value, 2, 0);
i2c_release(DEV_I2C);
if (res < 0) {
return -1;
}
*value = (((*value) >> 8) & 0xff) | (*value << 8);
DEBUG("LSM303DLHC: raw temp: %i\n", *value);
return 0;
}
int lsm303dlhc_disable(const lsm303dlhc_t *dev)
{
int res;
i2c_acquire(DEV_I2C);
res = i2c_write_reg(DEV_I2C, DEV_ACC_ADDR,
LSM303DLHC_REG_CTRL1_A, LSM303DLHC_CTRL1_A_POWEROFF, 0);
res += i2c_write_reg(DEV_I2C, DEV_MAG_ADDR,
LSM303DLHC_REG_MR_M, LSM303DLHC_MAG_MODE_SLEEP, 0);
res += i2c_write_reg(DEV_I2C, DEV_ACC_ADDR,
LSM303DLHC_REG_CRA_M, LSM303DLHC_TEMP_DIS, 0);
i2c_release(DEV_I2C);
return (res < 0) ? -1 : 0;
}
int lsm303dlhc_enable(const lsm303dlhc_t *dev)
{
int res;
uint8_t tmp = (LSM303DLHC_CTRL1_A_XEN
| LSM303DLHC_CTRL1_A_YEN
| LSM303DLHC_CTRL1_A_ZEN
| LSM303DLHC_CTRL1_A_N1344HZ_L5376HZ);
i2c_acquire(DEV_I2C);
res = i2c_write_reg(DEV_I2C, DEV_ACC_ADDR, LSM303DLHC_REG_CTRL1_A, tmp, 0);
tmp = (LSM303DLHC_CTRL4_A_BDU| LSM303DLHC_CTRL4_A_SCALE_2G | LSM303DLHC_CTRL4_A_HR);
res += i2c_write_reg(DEV_I2C, DEV_ACC_ADDR, LSM303DLHC_REG_CTRL4_A, tmp, 0);
res += i2c_write_reg(DEV_I2C, DEV_ACC_ADDR, LSM303DLHC_REG_CTRL3_A,
LSM303DLHC_CTRL3_A_I1_DRDY1, 0);
gpio_init(DEV_ACC_PIN, GPIO_IN);
tmp = LSM303DLHC_TEMP_EN | LSM303DLHC_TEMP_SAMPLE_75HZ;
res += i2c_write_reg(DEV_I2C, DEV_MAG_ADDR, LSM303DLHC_REG_CRA_M, tmp, 0);
res += i2c_write_reg(DEV_I2C, DEV_MAG_ADDR,
LSM303DLHC_REG_CRB_M, LSM303DLHC_GAIN_5, 0);
res += i2c_write_reg(DEV_I2C, DEV_MAG_ADDR,
LSM303DLHC_REG_MR_M, LSM303DLHC_MAG_MODE_CONTINUOUS, 0);
i2c_release(DEV_I2C);
gpio_init(DEV_MAG_PIN, GPIO_IN);
return (res < 0) ? -1 : 0;
}
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