624 lines
18 KiB
C
624 lines
18 KiB
C
/****************************************************************************
|
|
* drivers/sensors/adxl362_uorb.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 <debug.h>
|
|
#include <stdio.h>
|
|
#include <string.h>
|
|
|
|
#include <sys/param.h>
|
|
|
|
#include <nuttx/kmalloc.h>
|
|
#include <nuttx/kthread.h>
|
|
#include <nuttx/signal.h>
|
|
#include <nuttx/sensors/adxl362.h>
|
|
|
|
#include <nuttx/sensors/sensor.h>
|
|
|
|
/****************************************************************************
|
|
* Pre-processor Definitions
|
|
****************************************************************************/
|
|
|
|
#define ADXL362_SPI_FREQUENCY 1000000
|
|
#define ADXL362_SPI_MODE SPIDEV_MODE0
|
|
|
|
#define ADXL362_WRITE 0x0a
|
|
#define ADXL362_READ 0x0b
|
|
#define ADXL362_FIFO 0x0d
|
|
|
|
#define ADXL362_DEVID_AD 0x00
|
|
# define ADXL362_DEVID_AD_VALUE 0xad
|
|
#define ADXL362_DEVID_MST 0x01
|
|
# define ADXL362_DEVID_MST_VALUE 0x1d
|
|
#define ADXL362_PARTID 0x02
|
|
# define ADXL362_PARTID_VALUE 0xf2
|
|
#define ADXL362_REVID 0x03
|
|
#define ADXL362_XDATA 0x08
|
|
#define ADXL362_YDATA 0x09
|
|
#define ADXL362_ZDATA 0x0a
|
|
#define ADXL362_STATUS 0x0b
|
|
#define ADXL362_FIFO_L 0x0c
|
|
#define ADXL362_FIFO_H 0x0d
|
|
#define ADXL362_XDATA_L 0x0e
|
|
#define ADXL362_XDATA_H 0x0f
|
|
#define ADXL362_YDATA_L 0x10
|
|
#define ADXL362_YDATA_H 0x11
|
|
#define ADXL362_ZDATA_L 0x12
|
|
#define ADXL362_ZDATA_H 0x13
|
|
#define ADXL362_TMEP_L 0x14
|
|
#define ADXL362_TEMP_H 0x15
|
|
#define ADXL362_SOFT_RESET 0x1f
|
|
#define ADXL362_THRESH_ACT_L 0x20
|
|
#define ADXL362_THRESH_ACT_H 0x21
|
|
#define ADXL362_TIME_ACT 0x22
|
|
#define ADXL362_THRESH_INACT_L 0x23
|
|
#define ADXL362_THRESH_INACT_H 0x24
|
|
#define ADXL362_TIME_INACT_L 0x25
|
|
#define ADXL362_TIME_INACT_H 0x26
|
|
#define ADXL362_ACT_INACT_CTL 0x27
|
|
#define ADXL362_FIFO_CONTROL 0x28
|
|
#define ADXL362_FIFO_SAMPLES 0x29
|
|
#define ADXL362_INTMAP1 0x2a
|
|
#define ADXL362_INTMAP2 0x2b
|
|
#define ADXL362_FILTER_CTL 0x2c
|
|
#define ADXL362_POWER_CTL 0x2d
|
|
# define ADXL362_LOW_NOISE (0 << 4)
|
|
# define ADXL362_ULTRALOW_NOISE (2 << 4)
|
|
# define ADXL362_POWER_MODE_STANDBY 0
|
|
# define ADXL362_POWER_MODE_MEASURE 2
|
|
#define ADXL362_SELF_TEST 0x2e
|
|
|
|
#define CONSTANTS_ONE_G 9.8f
|
|
#define ADXL362_TEMP_SCALE 0.065f
|
|
|
|
/****************************************************************************
|
|
* Private Types
|
|
****************************************************************************/
|
|
|
|
struct adxl362_sensor_s
|
|
{
|
|
struct sensor_lowerhalf_s lower;
|
|
FAR struct spi_dev_s *spi;
|
|
int devno;
|
|
float scale;
|
|
#ifdef CONFIG_SENSORS_ADXL362_POLL
|
|
bool enabled;
|
|
unsigned long interval;
|
|
sem_t run;
|
|
#endif
|
|
};
|
|
|
|
/****************************************************************************
|
|
* Private Function Prototypes
|
|
****************************************************************************/
|
|
|
|
static uint8_t adxl362_getreg8(FAR struct adxl362_sensor_s *priv,
|
|
uint8_t regaddr);
|
|
static void adxl362_putreg8(FAR struct adxl362_sensor_s *priv,
|
|
uint8_t regaddr, uint8_t regval);
|
|
static void adxl362_getregs(FAR struct adxl362_sensor_s *priv,
|
|
uint8_t regaddr, FAR uint8_t *regval, int len);
|
|
static int16_t adxl362_data(FAR uint8_t *data);
|
|
static int adxl362_checkid(FAR struct adxl362_sensor_s *priv);
|
|
static void adxl362_start(FAR struct adxl362_sensor_s *priv);
|
|
static void adxl362_stop(FAR struct adxl362_sensor_s *priv);
|
|
|
|
/* Sensor ops functions */
|
|
|
|
static int adxl362_activate(FAR struct sensor_lowerhalf_s *lower,
|
|
FAR struct file *filep,
|
|
bool enable);
|
|
static int adxl362_set_interval(FAR struct sensor_lowerhalf_s *lower,
|
|
FAR struct file *filep,
|
|
FAR unsigned long *period_us);
|
|
#ifndef CONFIG_SENSORS_ADXL362_POLL
|
|
static int adxl362_fetch(FAR struct sensor_lowerhalf_s *lower,
|
|
FAR struct file *filep,
|
|
FAR char *buffer, size_t buflen);
|
|
#endif
|
|
|
|
/****************************************************************************
|
|
* Private Data
|
|
****************************************************************************/
|
|
|
|
static const struct sensor_ops_s g_adxl362_accel_ops =
|
|
{
|
|
NULL, /* open */
|
|
NULL, /* close */
|
|
adxl362_activate,
|
|
adxl362_set_interval,
|
|
NULL, /* batch */
|
|
#ifdef CONFIG_SENSORS_ADXL362_POLL
|
|
NULL, /* fetch */
|
|
#else
|
|
adxl362_fetch,
|
|
#endif
|
|
NULL, /* selftest */
|
|
NULL, /* set_calibvalue */
|
|
NULL, /* calibrate */
|
|
NULL, /* control */
|
|
};
|
|
|
|
/****************************************************************************
|
|
* Private Functions
|
|
****************************************************************************/
|
|
|
|
/****************************************************************************
|
|
* Name: adxl362_getreg8
|
|
*
|
|
* Description:
|
|
* Read from an 8-bit ADXL362 register
|
|
*
|
|
****************************************************************************/
|
|
|
|
static uint8_t adxl362_getreg8(FAR struct adxl362_sensor_s *priv,
|
|
uint8_t regaddr)
|
|
{
|
|
uint8_t regval = 0;
|
|
|
|
SPI_LOCK(priv->spi, true);
|
|
|
|
SPI_SETFREQUENCY(priv->spi, ADXL362_SPI_FREQUENCY);
|
|
SPI_SETMODE(priv->spi, ADXL362_SPI_MODE);
|
|
|
|
/* Select the ADXL362 */
|
|
|
|
SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(priv->devno), true);
|
|
|
|
/* Send register to read and get the next byte */
|
|
|
|
SPI_SEND(priv->spi, ADXL362_READ);
|
|
SPI_SEND(priv->spi, regaddr);
|
|
SPI_RECVBLOCK(priv->spi, ®val, 1);
|
|
|
|
/* Deselect the ADXL362 */
|
|
|
|
SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(priv->devno), false);
|
|
|
|
/* Unlock bus */
|
|
|
|
SPI_LOCK(priv->spi, false);
|
|
|
|
return regval;
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: adxl362_putreg8
|
|
*
|
|
* Description:
|
|
* Write a value to an 8-bit ADXL362 register
|
|
*
|
|
****************************************************************************/
|
|
|
|
static void adxl362_putreg8(FAR struct adxl362_sensor_s *priv,
|
|
uint8_t regaddr, uint8_t regval)
|
|
{
|
|
SPI_LOCK(priv->spi, true);
|
|
|
|
SPI_SETFREQUENCY(priv->spi, ADXL362_SPI_FREQUENCY);
|
|
SPI_SETMODE(priv->spi, ADXL362_SPI_MODE);
|
|
|
|
/* Select the ADXL362 */
|
|
|
|
SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(priv->devno), true);
|
|
|
|
/* Send register address and set the value */
|
|
|
|
SPI_SEND(priv->spi, ADXL362_WRITE);
|
|
SPI_SEND(priv->spi, regaddr);
|
|
SPI_SEND(priv->spi, regval);
|
|
|
|
/* Deselect the ADXL362 */
|
|
|
|
SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(priv->devno), false);
|
|
|
|
/* Unlock bus */
|
|
|
|
SPI_LOCK(priv->spi, false);
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: adxl362_getregs
|
|
*
|
|
* Description:
|
|
* Read bytes from specified regaddr
|
|
*
|
|
****************************************************************************/
|
|
|
|
static void adxl362_getregs(FAR struct adxl362_sensor_s *priv,
|
|
uint8_t regaddr, FAR uint8_t *regval, int len)
|
|
{
|
|
/* If SPI bus is shared then lock and configure it */
|
|
|
|
SPI_LOCK(priv->spi, true);
|
|
|
|
SPI_SETFREQUENCY(priv->spi, ADXL362_SPI_FREQUENCY);
|
|
SPI_SETMODE(priv->spi, ADXL362_SPI_MODE);
|
|
|
|
/* Select the ADXL362 */
|
|
|
|
SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(priv->devno), true);
|
|
|
|
/* Send register to read and get the next 2 bytes */
|
|
|
|
SPI_SEND(priv->spi, ADXL362_READ);
|
|
SPI_SEND(priv->spi, regaddr);
|
|
SPI_RECVBLOCK(priv->spi, regval, len);
|
|
|
|
/* Deselect the ADXL362 */
|
|
|
|
SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(priv->devno), false);
|
|
|
|
/* Unlock bus */
|
|
|
|
SPI_LOCK(priv->spi, false);
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: adxl362_data
|
|
****************************************************************************/
|
|
|
|
static int16_t adxl362_data(FAR uint8_t *data)
|
|
{
|
|
return (int16_t)(data[0] | (data[1]) << 8);
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: adxl362_checkid
|
|
*
|
|
* Description:
|
|
* Read and verify the ADXL362 chip ID
|
|
*
|
|
****************************************************************************/
|
|
|
|
static int adxl362_checkid(FAR struct adxl362_sensor_s *priv)
|
|
{
|
|
uint8_t id = 0;
|
|
|
|
id = adxl362_getreg8(priv, ADXL362_DEVID_AD);
|
|
if (id != ADXL362_DEVID_AD_VALUE)
|
|
{
|
|
snerr("Wrong AD! %02x\n", id);
|
|
return -ENODEV;
|
|
}
|
|
|
|
id = adxl362_getreg8(priv, ADXL362_DEVID_MST);
|
|
if (id != ADXL362_DEVID_MST_VALUE)
|
|
{
|
|
snerr("Wrong MST! %02x\n", id);
|
|
return -ENODEV;
|
|
}
|
|
|
|
id = adxl362_getreg8(priv, ADXL362_PARTID);
|
|
if (id != ADXL362_PARTID_VALUE)
|
|
{
|
|
snerr("Wrong PARTID! %02x\n", id);
|
|
return -ENODEV;
|
|
}
|
|
|
|
return OK;
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: adxl362_start
|
|
****************************************************************************/
|
|
|
|
static void adxl362_start(FAR struct adxl362_sensor_s *priv)
|
|
{
|
|
adxl362_putreg8(priv, ADXL362_POWER_CTL, ADXL362_POWER_MODE_MEASURE);
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: adxl362_stop
|
|
****************************************************************************/
|
|
|
|
static void adxl362_stop(FAR struct adxl362_sensor_s *priv)
|
|
{
|
|
adxl362_putreg8(priv, ADXL362_POWER_CTL, 0);
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: adxl362_activate
|
|
*
|
|
* Description:
|
|
* Enable or disable sensor device. when enable sensor, sensor will
|
|
* work in current mode(if not set, use default mode). when disable
|
|
* sensor, it will disable sense path and stop convert.
|
|
*
|
|
* Input Parameters:
|
|
* lower - The instance of lower half sensor driver.
|
|
* filep - The pointer of file, represents each user using the sensor.
|
|
* enable - true(enable) and false(disable).
|
|
*
|
|
* Returned Value:
|
|
* Return 0 if the driver was success; A negated errno
|
|
* value is returned on any failure.
|
|
*
|
|
* Assumptions/Limitations:
|
|
* none.
|
|
*
|
|
****************************************************************************/
|
|
|
|
static int adxl362_activate(FAR struct sensor_lowerhalf_s *lower,
|
|
FAR struct file *filep,
|
|
bool enable)
|
|
{
|
|
FAR struct adxl362_sensor_s *priv = (FAR struct adxl362_sensor_s *)lower;
|
|
#ifdef CONFIG_SENSORS_ADXL362_POLL
|
|
bool start_thread = false;
|
|
#endif
|
|
|
|
if (enable)
|
|
{
|
|
#ifdef CONFIG_SENSORS_ADXL362_POLL
|
|
if (!priv->enabled)
|
|
{
|
|
start_thread = true;
|
|
}
|
|
#endif
|
|
|
|
adxl362_start(priv);
|
|
}
|
|
else
|
|
{
|
|
adxl362_stop(priv);
|
|
}
|
|
|
|
#ifdef CONFIG_SENSORS_ADXL362_POLL
|
|
priv->enabled = enable;
|
|
|
|
if (start_thread)
|
|
{
|
|
/* Wake up the thread */
|
|
|
|
nxsem_post(&priv->run);
|
|
}
|
|
#endif
|
|
|
|
return OK;
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: adxl362_set_interval
|
|
*
|
|
* Description:
|
|
* Set the sensor output data period in microseconds for a given sensor.
|
|
* If *period_us > max_delay it will be truncated to max_delay and if
|
|
* *period_us < min_delay it will be replaced by min_delay.
|
|
*
|
|
* Input Parameters:
|
|
* lower - The instance of lower half sensor driver.
|
|
* filep - The pointer of file, represents each user using the sensor.
|
|
* period_us - The time between report data, in us. It may by overwrite
|
|
* by lower half driver.
|
|
*
|
|
* Returned Value:
|
|
* Return 0 if the driver was success; A negated errno
|
|
* value is returned on any failure.
|
|
*
|
|
* Assumptions/Limitations:
|
|
* none.
|
|
*
|
|
****************************************************************************/
|
|
|
|
static int adxl362_set_interval(FAR struct sensor_lowerhalf_s *lower,
|
|
FAR struct file *filep,
|
|
FAR unsigned long *period_us)
|
|
{
|
|
#ifdef CONFIG_SENSORS_ADXL362_POLL
|
|
FAR struct adxl362_sensor_s *priv = (FAR struct adxl362_sensor_s *)lower;
|
|
|
|
priv->interval = *period_us;
|
|
#endif
|
|
|
|
return OK;
|
|
}
|
|
|
|
#ifndef CONFIG_SENSORS_ADXL362_POLL
|
|
/****************************************************************************
|
|
* Name: adxl362_set_interval
|
|
****************************************************************************/
|
|
|
|
static int adxl362_fetch(FAR struct sensor_lowerhalf_s *lower,
|
|
FAR struct file *filep, FAR char *buffer,
|
|
size_t buflen)
|
|
{
|
|
FAR struct adxl362_sensor_s *priv = (FAR struct adxl362_sensor_s *)lower;
|
|
struct sensor_accel accel;
|
|
uint8_t data[8];
|
|
|
|
/* Wait for data ready */
|
|
|
|
while (!(adxl362_getreg8(priv, ADXL362_STATUS) & 0x01));
|
|
|
|
/* Get data */
|
|
|
|
adxl362_getregs(priv, ADXL362_XDATA_L, (FAR uint8_t *)data, 8);
|
|
|
|
accel.timestamp = sensor_get_timestamp();
|
|
accel.x = (float)adxl362_data(&data[0]) * priv->scale;
|
|
accel.y = (float)adxl362_data(&data[1]) * priv->scale;
|
|
accel.z = (float)adxl362_data(&data[2]) * priv->scale;
|
|
accel.temperature = (float)adxl362_data(&data[6]) * ADXL362_TEMP_SCALE;
|
|
|
|
memcpy(buffer, &accel, sizeof(accel));
|
|
|
|
return sizeof(accel);
|
|
}
|
|
#endif
|
|
|
|
#ifdef CONFIG_SENSORS_ADXL362_POLL
|
|
/****************************************************************************
|
|
* Name: adxl362_thread
|
|
*
|
|
* Description: Thread for performing interval measurement cycle and data
|
|
* read.
|
|
*
|
|
* Parameter:
|
|
* argc - Number opf arguments
|
|
* argv - Pointer to argument list
|
|
*
|
|
****************************************************************************/
|
|
|
|
static int adxl362_thread(int argc, FAR char **argv)
|
|
{
|
|
FAR struct adxl362_sensor_s *priv
|
|
= (FAR struct adxl362_sensor_s *)((uintptr_t)strtoul(argv[1], NULL,
|
|
16));
|
|
struct sensor_accel accel;
|
|
uint8_t data[8];
|
|
int ret;
|
|
|
|
while (true)
|
|
{
|
|
if ((!priv->enabled))
|
|
{
|
|
/* Waiting to be woken up */
|
|
|
|
ret = nxsem_wait(&priv->run);
|
|
if (ret < 0)
|
|
{
|
|
continue;
|
|
}
|
|
}
|
|
|
|
/* Read accel */
|
|
|
|
if (priv->enabled)
|
|
{
|
|
adxl362_getregs(priv, ADXL362_XDATA_L, (FAR uint8_t *)data, 8);
|
|
|
|
accel.timestamp = sensor_get_timestamp();
|
|
accel.x = (float)adxl362_data(&data[0]) * priv->scale;
|
|
accel.y = (float)adxl362_data(&data[2]) * priv->scale;
|
|
accel.z = (float)adxl362_data(&data[4]) * priv->scale;
|
|
accel.temperature =
|
|
(float)adxl362_data(&data[6]) * ADXL362_TEMP_SCALE;
|
|
|
|
priv->lower.push_event(priv->lower.priv, &accel, sizeof(accel));
|
|
}
|
|
|
|
/* Sleeping thread before fetching the next sensor data */
|
|
|
|
nxsig_usleep(priv->interval);
|
|
}
|
|
|
|
return OK;
|
|
}
|
|
#endif
|
|
|
|
/****************************************************************************
|
|
* Public Functions
|
|
****************************************************************************/
|
|
|
|
/****************************************************************************
|
|
* Name: adxl362_register
|
|
*
|
|
* Description:
|
|
* Register the ADXL362 character device as 'devpath'
|
|
*
|
|
* Input Parameters:
|
|
* devno - Sensor device number.
|
|
* dev - An instance of the SPI or I2C interface to use to communicate
|
|
* with ADXL362
|
|
*
|
|
* Returned Value:
|
|
* Zero (OK) on success; a negated errno value on failure.
|
|
*
|
|
****************************************************************************/
|
|
|
|
int adxl362_register(int devno, FAR struct spi_dev_s *spi)
|
|
{
|
|
FAR struct adxl362_sensor_s *priv;
|
|
int ret;
|
|
#ifdef CONFIG_SENSORS_ADXL362_POLL
|
|
FAR char *argv[2];
|
|
char arg1[32];
|
|
#endif
|
|
|
|
/* Sanity check */
|
|
|
|
DEBUGASSERT(spi != NULL);
|
|
|
|
/* Initialize the ADXL362 device structure */
|
|
|
|
priv = kmm_zalloc(sizeof(struct adxl362_sensor_s));
|
|
if (priv == NULL)
|
|
{
|
|
return -ENOMEM;
|
|
}
|
|
|
|
priv->spi = spi;
|
|
priv->lower.ops = &g_adxl362_accel_ops;
|
|
priv->lower.type = SENSOR_TYPE_ACCELEROMETER;
|
|
priv->lower.nbuffer = 1;
|
|
priv->scale = (CONSTANTS_ONE_G / 1000.0f);
|
|
priv->devno = devno;
|
|
#ifdef CONFIG_SENSORS_ADXL362_POLL
|
|
priv->enabled = false;
|
|
priv->interval = CONFIG_SENSORS_ADXL362_POLL_INTERVAL;
|
|
|
|
nxsem_init(&priv->run, 0, 0);
|
|
#endif
|
|
|
|
/* Read and verify the deviceid */
|
|
|
|
ret = adxl362_checkid(priv);
|
|
if (ret < 0)
|
|
{
|
|
snerr("Wrong Device ID!\n");
|
|
kmm_free(priv);
|
|
return ret;
|
|
}
|
|
|
|
/* Register the character driver */
|
|
|
|
ret = sensor_register(&priv->lower, devno);
|
|
if (ret < 0)
|
|
{
|
|
snerr("Failed to register accel driver: %d\n", ret);
|
|
kmm_free(priv);
|
|
}
|
|
|
|
#ifdef CONFIG_SENSORS_ADXL362_POLL
|
|
/* Create thread for polling sensor data */
|
|
|
|
snprintf(arg1, 16, "%p", priv);
|
|
argv[0] = arg1;
|
|
argv[1] = NULL;
|
|
|
|
ret = kthread_create("adxl362_thread", SCHED_PRIORITY_DEFAULT,
|
|
CONFIG_SENSORS_ADXL362_THREAD_STACKSIZE,
|
|
adxl362_thread,
|
|
argv);
|
|
if (ret < 0)
|
|
{
|
|
kmm_free(priv);
|
|
}
|
|
#endif
|
|
|
|
return ret;
|
|
}
|