/****************************************************************************
* drivers/sensors/msa301.c
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you under the Apache License, Version 2.0 (the
* "License"); you may not use this file except in compliance with the
* License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations
* under the License.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <errno.h>
#include <debug.h>
#include <assert.h>
#include <stdlib.h>
#include <stdio.h>
#include <nuttx/kmalloc.h>
#include <nuttx/signal.h>
#include <nuttx/fs/fs.h>
#include <nuttx/i2c/i2c_master.h>
#include <nuttx/sensors/msa301.h>
#if defined(CONFIG_I2C) && defined(CONFIG_SENSORS_MSA301)
/****************************************************************************
* Private Types
****************************************************************************/
struct msa301_dev_s
{
FAR struct i2c_master_s * i2c; /* I2C interface */
uint8_t addr; /* I2C address */
msa301_range_t range;
FAR const struct msa301_ops_s *ops;
sem_t exclsem;
struct msa301_sensor_data_s sensor_data; /* Sensor data container */
};
struct msa301_ops_s
{
CODE int (*config)(FAR struct msa301_dev_s *priv);
CODE int (*start)(FAR struct msa301_dev_s *priv);
CODE int (*stop)(FAR struct msa301_dev_s *priv);
CODE int (*sensor_read)(FAR struct msa301_dev_s *priv);
};
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
# ifndef CONFIG_MSA301_I2C_FREQUENCY
# define CONFIG_MSA301_I2C_FREQUENCY 400000
# endif
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
/* I2C Helpers */
static int msa301_readreg8(FAR struct msa301_dev_s *priv,
uint8_t regaddr, FAR uint8_t *regval);
static int msa301_writereg8(FAR struct msa301_dev_s *priv,
uint8_t regaddr, uint8_t regval);
static int msa301_readreg(FAR struct msa301_dev_s *priv,
uint8_t regaddr, FAR uint8_t *regval, uint8_t len);
/* Accelerometer Operations */
static int msa301_sensor_config(FAR struct msa301_dev_s *priv);
static int msa301_sensor_start(FAR struct msa301_dev_s *priv);
static int msa301_sensor_stop(FAR struct msa301_dev_s *priv);
static int msa301_sensor_read(FAR struct msa301_dev_s *priv);
/* Character Driver Methods */
static int msa301_open(FAR struct file *filep);
static int msa301_close(FAR struct file *filep);
static ssize_t msa301_read(FAR struct file *filep,
FAR char *buffer, size_t buflen);
static ssize_t msa301_write(FAR struct file *filep,
FAR const char *buffer, size_t buflen);
static int msa301_ioctl(FAR struct file *filep, int cmd,
unsigned long arg);
/* Common Register Function */
static int msa301_register(FAR const char * devpath,
FAR struct i2c_master_s * i2c,
uint8_t addr,
FAR const struct msa301_ops_s *ops);
/****************************************************************************
* Private Data
****************************************************************************/
static const struct file_operations g_fops =
{
msa301_open, /* open */
msa301_close, /* close */
msa301_read, /* read */
msa301_write, /* write */
NULL, /* seek */
msa301_ioctl, /* ioctl */
};
static const struct msa301_ops_s g_msa301_sensor_ops =
{
msa301_sensor_config,
msa301_sensor_start,
msa301_sensor_stop,
msa301_sensor_read,
};
/****************************************************************************
* Private Functions
****************************************************************************/
static int msa301_readreg(FAR struct msa301_dev_s *priv,
uint8_t regaddr, FAR uint8_t *regval, uint8_t len)
{
struct i2c_config_s config;
int ret;
/* Sanity check */
DEBUGASSERT(priv != NULL);
DEBUGASSERT(regval != NULL);
/* Set up the I2C configuration */
config.frequency = CONFIG_MSA301_I2C_FREQUENCY;
config.address = priv->addr;
config.addrlen = 7;
/* Write the register address */
ret = i2c_write(priv->i2c, &config, ®addr, sizeof(regaddr));
if (ret < 0)
{
snerr("ERROR: i2c_write failed: %d\n", ret);
return ret;
}
/* Restart and read 8 bits from the register */
ret = i2c_read(priv->i2c, &config, regval, len);
if (ret < 0)
{
snerr("ERROR: i2c_read failed: %d\n", ret);
return ret;
}
return OK;
}
/****************************************************************************
* Name: msa301_readreg8
*
* Description:
* Read from an 8-bit register.
*
****************************************************************************/
static int msa301_readreg8(FAR struct msa301_dev_s *priv,
uint8_t regaddr, FAR uint8_t *regval)
{
struct i2c_config_s config;
int ret;
/* Sanity check */
DEBUGASSERT(priv != NULL);
DEBUGASSERT(regval != NULL);
/* Set up the I2C configuration */
config.frequency = CONFIG_MSA301_I2C_FREQUENCY;
config.address = priv->addr;
config.addrlen = 7;
/* Write the register address */
ret = i2c_write(priv->i2c, &config, ®addr, sizeof(regaddr));
if (ret < 0)
{
snerr("ERROR: i2c_write failed: %d\n", ret);
return ret;
}
/* Restart and read 8 bits from the register */
ret = i2c_read(priv->i2c, &config, regval, sizeof(*regval));
if (ret < 0)
{
snerr("ERROR: i2c_read failed: %d\n", ret);
return ret;
}
sninfo("addr: %02x value: %02x\n", regaddr, *regval);
return OK;
}
/****************************************************************************
* Name: msa301_writereg8
*
* Description:
* Write to an 8-bit register.
*
****************************************************************************/
static int msa301_writereg8(FAR struct msa301_dev_s *priv,
uint8_t regaddr, uint8_t regval)
{
struct i2c_config_s config;
uint8_t buffer[2];
int ret;
/* Sanity check */
DEBUGASSERT(priv != NULL);
/* Set up a 2-byte message to send */
buffer[0] = regaddr;
buffer[1] = regval;
/* Set up the I2C configuration */
config.frequency = CONFIG_MSA301_I2C_FREQUENCY;
config.address = priv->addr;
config.addrlen = 7;
/* Write the register address followed by the data (no RESTART) */
ret = i2c_write(priv->i2c, &config, buffer, sizeof(buffer));
if (ret < 0)
{
snerr("ERROR: i2c_write failed: %d\n", ret);
return ret;
}
sninfo("addr: %02x value: %02x\n", regaddr, regval);
return OK;
}
static int msa301_set_range(FAR struct msa301_dev_s *priv,
msa301_range_t range)
{
uint8_t ctl;
if (range > MSA301_RANGE_16_G)
{
return -1;
}
msa301_readreg8(priv, MSA301_REG_RESRANGE, &ctl);
ctl &= ~(MSA301_CTL_RANGE_MASK);
ctl |= (range << MSA301_CTL_RANGE_SHIFT);
msa301_writereg8(priv, MSA301_REG_RESRANGE, ctl);
priv->range = range;
return OK;
}
static int msa301_set_rate(FAR struct msa301_dev_s *priv, msa301_rate_t rate)
{
uint8_t ctl;
msa301_readreg8(priv, MSA301_REG_ODR, &ctl);
ctl &= ~(MSA301_CTL_RATE_MASK);
ctl |= (rate << MSA301_CTL_RATE_SHIFT);
msa301_writereg8(priv, MSA301_REG_ODR, ctl);
return OK;
}
static int msa301_set_powermode(FAR struct msa301_dev_s *priv,
msa301_powermode_t mode)
{
uint8_t ctl;
msa301_readreg8(priv, MSA301_REG_POWERMODE, &ctl);
ctl &= ~(MSA301_CTL_POWERMODE_MASK);
ctl |= (mode << MSA301_CTL_POWERMODE_SHIFT);
msa301_writereg8(priv, MSA301_REG_POWERMODE, ctl);
return OK;
}
static int msa301_set_resolution(FAR struct msa301_dev_s *priv,
msa301_resolution_t resolution)
{
uint8_t ctl;
msa301_readreg8(priv, MSA301_REG_RESRANGE, &ctl);
ctl &= ~(MSA301_CTL_RESOLUTION_MASK);
ctl |= (resolution << MSA301_CTL_RESOLUTION_SHIFT);
msa301_writereg8(priv, MSA301_REG_RESRANGE, ctl);
return OK;
}
static int msa301_set_axis(FAR struct msa301_dev_s *priv, uint8_t enable)
{
uint8_t ctl;
msa301_readreg8(priv, MSA301_REG_ODR, &ctl);
ctl &= ~(MSA301_CTL_AXIS_MASK);
if (enable)
{
ctl |= (MSA301_ENABLE_AXIS << MSA301_CTL_AXIS_SHIFT);
}
else
{
ctl |= (MSA301_DISABLE_AXIS << MSA301_CTL_AXIS_SHIFT);
}
msa301_writereg8(priv, MSA301_REG_ODR, ctl);
return OK;
}
static int msa301_sensor_config(FAR struct msa301_dev_s *priv)
{
/* Sanity check */
DEBUGASSERT(priv != NULL);
msa301_set_resolution(priv, MSA301_RESOLUTION_14);
msa301_set_rate(priv, MSA301_RATE_500_HZ);
msa301_set_range(priv, MSA301_RANGE_4_G);
msa301_set_powermode(priv, MSA301_SUSPENDMODE);
return OK;
}
/****************************************************************************
* Name: msa301_sensor_start
*
* Description:
* Start the accelerometer.
*
****************************************************************************/
static int msa301_sensor_start(FAR struct msa301_dev_s *priv)
{
/* Sanity check */
DEBUGASSERT(priv != NULL);
/* Power normal */
msa301_set_powermode(priv, MSA301_NORMALMODE);
/* Enable the accelerometer */
msa301_set_axis(priv, 1);
up_mdelay(5);
sninfo("Starting....");
return OK;
}
/****************************************************************************
* Name: msa301_sensor_stop
*
* Description:
* Stop the accelerometer.
*
****************************************************************************/
static int msa301_sensor_stop(FAR struct msa301_dev_s *priv)
{
/* Sanity check */
DEBUGASSERT(priv != NULL);
/* Disable the accelerometer */
msa301_set_axis(priv, 0);
/* Power suspend */
msa301_set_powermode(priv, MSA301_SUSPENDMODE);
sninfo("Stopping....");
return OK;
}
/****************************************************************************
* Name: msa301_sensor_read
*
* Description:
* Read the sensor.
* A sensor in a steady state on a horizontal surface will
* measure 0 g on both the X-axis and Y-axis, whereas the Z-axis will
* measure 1 g. The X- and Y-axis have an offset
* of 40 mg/LSB
*
****************************************************************************/
static int msa301_sensor_read(FAR struct msa301_dev_s *priv)
{
uint8_t xyz_value[6];
float scale = 1;
DEBUGASSERT(priv != NULL);
if (msa301_readreg(priv, MSA301_REG_OUT_X_L, xyz_value, 6) < 0)
{
return -EIO;
}
priv->sensor_data.x_data = xyz_value[1] << 8 | xyz_value[0];
priv->sensor_data.y_data = xyz_value[3] << 8 | xyz_value[2];
priv->sensor_data.z_data = xyz_value[5] << 8 | xyz_value[4];
/* 14 bit resolution */
priv->sensor_data.x_data >>= 2;
priv->sensor_data.y_data >>= 2;
priv->sensor_data.z_data >>= 2;
if (priv->range == MSA301_RANGE_2_G)
{
scale = 4096;
}
else if (priv->range == MSA301_RANGE_4_G)
{
scale = 2048;
}
else if (priv->range == MSA301_RANGE_8_G)
{
scale = 1024;
}
else if (priv->range == MSA301_RANGE_16_G)
{
scale = 512;
}
priv->sensor_data.x_acc = (float)priv->sensor_data.x_data / scale;
priv->sensor_data.y_acc = (float)priv->sensor_data.y_data / scale;
priv->sensor_data.z_acc = (float)priv->sensor_data.z_data / scale;
return OK;
}
/****************************************************************************
* Name: msa301_open
*
* Description:
* This method is called when the device is opened.
*
****************************************************************************/
static int msa301_open(FAR struct file *filep)
{
FAR struct inode * inode;
FAR struct msa301_dev_s *priv;
DEBUGASSERT(filep != NULL);
inode = filep->f_inode;
DEBUGASSERT(inode != NULL);
priv = (FAR struct msa301_dev_s *)inode->i_private;
DEBUGASSERT(priv != NULL);
nxsem_wait(&priv->exclsem);
priv->ops->start(priv);
return OK;
}
/****************************************************************************
* Name: msa301_close
*
* Description:
* This method is called when the device is closed.
*
****************************************************************************/
static int msa301_close(FAR struct file *filep)
{
FAR struct inode * inode;
FAR struct msa301_dev_s *priv;
DEBUGASSERT(filep != NULL);
inode = filep->f_inode;
DEBUGASSERT(inode != NULL);
priv = (FAR struct msa301_dev_s *)inode->i_private;
DEBUGASSERT(priv != NULL);
priv->ops->stop(priv);
nxsem_post(&priv->exclsem);
return OK;
}
/****************************************************************************
* Name: msa301_read
*
* Description:
* The standard read method.
*
****************************************************************************/
static ssize_t msa301_read(FAR struct file *filep,
FAR char *buffer, size_t buflen)
{
FAR struct inode * inode;
FAR struct msa301_dev_s *priv;
int datalen = sizeof(struct msa301_sensor_data_s);
/* Sanity check */
DEBUGASSERT(filep != NULL);
inode = filep->f_inode;
DEBUGASSERT(inode != NULL);
priv = (FAR struct msa301_dev_s *)inode->i_private;
DEBUGASSERT(priv != NULL);
DEBUGASSERT(buffer != NULL);
if (buflen < sizeof(struct msa301_sensor_data_s))
{
return -ENOMEM;
}
if (priv->ops->sensor_read(priv) < 0)
{
return -EIO;
}
memcpy(buffer, &priv->sensor_data, datalen);
return datalen;
}
/****************************************************************************
* Name: msa301_write
*
* Description:
* A dummy write method.
*
****************************************************************************/
static ssize_t msa301_write(FAR struct file *filep,
FAR const char *buffer, size_t buflen)
{
return -ENOSYS;
}
/****************************************************************************
* Name: msa301_ioctl
*
* Description:
* The standard ioctl method.
*
****************************************************************************/
static int msa301_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
{
FAR struct inode * inode;
FAR struct msa301_dev_s *priv;
int ret;
/* Sanity check */
DEBUGASSERT(filep != NULL);
inode = filep->f_inode;
DEBUGASSERT(inode != NULL);
priv = (FAR struct msa301_dev_s *)inode->i_private;
DEBUGASSERT(priv != NULL);
/* Handle ioctl commands */
switch (cmd)
{
case SNIOC_MSA301_START:
ret = priv->ops->start(priv);
break;
case SNIOC_MSA301_STOP:
ret = priv->ops->stop(priv);
break;
case SNIOC_MSA301_SET_RANGE:
ret = msa301_set_range(priv, arg);
break;
case SNIOC_MSA301_SET_RATE:
ret = msa301_set_rate(priv, arg);
break;
/* Unrecognized commands */
default:
snerr("ERROR: Unrecognized cmd: %d arg: %lu\n", cmd, arg);
ret = -ENOTTY;
break;
}
return ret;
}
/****************************************************************************
* Name: msa301_register
*
* Description:
* Register the msa301 accelerometer, gyroscope device as 'devpath'.
*
* Input Parameters:
* devpath - The full path to the driver to register, e.g.
* "/dev/msa301".
* i2c - An I2C driver instance.
* addr - The I2C address of the msa301 accelerometer, gyroscope or
* magnetometer.
* ops - The device operations structure.
*
* Returned Value:
* Zero (OK) on success; a negated errno value on failure.
*
****************************************************************************/
static int msa301_register(FAR const char * devpath,
FAR struct i2c_master_s * i2c,
uint8_t addr,
FAR const struct msa301_ops_s *ops)
{
FAR struct msa301_dev_s *priv;
int ret;
uint8_t id = 0;
/* Sanity check */
DEBUGASSERT(devpath != NULL);
DEBUGASSERT(i2c != NULL);
/* Initialize the device's structure */
priv = (FAR struct msa301_dev_s *)kmm_malloc(sizeof(*priv));
if (priv == NULL)
{
snerr("ERROR: Failed to allocate instance\n");
return -ENOMEM;
}
priv->i2c = i2c;
priv->addr = addr;
priv->ops = ops;
/* ID check */
msa301_readreg8(priv, MSA301_REG_PARTID, &id);
if (id != 0x13)
{
snerr("ERROR: Failed to read msa301 id\n");
kmm_free(priv);
return -EIO;
}
/* Configure the device */
ret = priv->ops->config(priv);
if (ret < 0)
{
snerr("ERROR: Failed to configure device: %d\n", ret);
kmm_free(priv);
return ret;
}
nxsem_init(&priv->exclsem, 0, 1);
/* Register the character driver */
ret = register_driver(devpath, &g_fops, 0666, priv);
if (ret < 0)
{
snerr("ERROR: Failed to register driver: %d\n", ret);
nxsem_destroy(&priv->exclsem);
kmm_free(priv);
return ret;
}
return OK;
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: msa301_sensor_register
*
* Description:
* Register the msa301 accelerometer character device as 'devpath'.
*
* Input Parameters:
* devpath - The full path to the driver to register,
* e.g. "/dev/msa301".
* i2c - An I2C driver instance.
* addr - The I2C address of the msa301 accelerometer.
*
* Returned Value:
* Zero (OK) on success; a negated errno value on failure.
*
****************************************************************************/
int msa301_sensor_register(FAR const char * devpath,
FAR struct i2c_master_s *i2c)
{
return msa301_register(devpath, i2c,
MSA301_ACCEL_ADDR0, &g_msa301_sensor_ops);
}
#endif /* CONFIG_I2C && CONFIG_SENSORS_MSA301 */