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nuttx/drivers/sensors/lis2dh.c

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/****************************************************************************
* drivers/sensors/lis2dh.c
* LIS2DH accelerometer driver
*
* Copyright (C) 2014-2017 Haltian Ltd. All rights reserved.
* Authors: Timo Voutilainen <timo.voutilainen@haltian.com>
* Jussi Kivilinna <jussi.kivilinna@haltian.com>
* Juha Niskanen <juha.niskanen@haltian.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <nuttx/arch.h>
#include <assert.h>
#include <stdlib.h>
#include <string.h>
#include <errno.h>
#include <poll.h>
#include <debug.h>
#include <nuttx/kmalloc.h>
#include <nuttx/signal.h>
#include <nuttx/random.h>
#include <nuttx/i2c/i2c_master.h>
#include <nuttx/sensors/lis2dh.h>
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#ifdef CONFIG_LIS2DH_DEBUG
# define lis2dh_dbg(x, ...) _info(x, ##__VA_ARGS__)
#else
# define lis2dh_dbg(x, ...) sninfo(x, ##__VA_ARGS__)
#endif
#ifndef CONFIG_LIS2DH_I2C_FREQUENCY
# define CONFIG_LIS2DH_I2C_FREQUENCY 400000
#endif
#ifdef CONFIG_LIS2DH_DRIVER_SELFTEST
# define LSB_AT_10BIT_RESOLUTION 4
# define LSB_AT_12BIT_RESOLUTION 1
# define SELFTEST_BUF_SIZE 5
# define SELFTEST_MAX_READ_ATTEMPTS 200
# define SELFTEST_ABS_DIFF_MIN_10BIT 17
# define SELFTEST_ABS_DIFF_MAX_10_BIT 360
# define SELFTEST_ABS_DIFF_MIN_12BIT (LSB_AT_10BIT_RESOLUTION * SELFTEST_ABS_DIFF_MIN_10BIT)
# define SELFTEST_ABS_DIFF_MAX_12BIT (LSB_AT_10BIT_RESOLUTION * SELFTEST_ABS_DIFF_MAX_10_BIT)
# define SELFTEST_0 0
# define SELFTEST_1 1
#endif
/* Miscellaneous macros */
#define LIS2DH_I2C_RETRIES 10
#define LIS2DH_COUNT_INTS
/****************************************************************************
* Private Data Types
****************************************************************************/
enum interrupts
{
LIS2DH_INT1 = 1,
LIS2DH_INT2 = 2
};
struct lis2dh_dev_s
{
FAR struct i2c_master_s *i2c; /* I2C interface */
uint8_t addr; /* I2C address */
FAR struct lis2dh_config_s *config; /* Platform specific configuration */
struct lis2dh_setup *setup; /* User defined device operation mode setup */
struct lis2dh_vector_s vector_data; /* Latest read data read from lis2dh */
int scale; /* Full scale in milliG */
sem_t devsem; /* Manages exclusive access to this structure */
bool fifo_used; /* LIS2DH configured to use FIFO */
bool fifo_stopped;/* FIFO got full and has stopped. */
#ifdef LIS2DH_COUNT_INTS
volatile int16_t int_pending; /* Interrupt received but data not read, yet */
#else
volatile bool int_pending; /* Interrupt received but data not read, yet */
#endif
#ifndef CONFIG_DISABLE_POLL
struct pollfd *fds[CONFIG_LIS2DH_NPOLLWAITERS];
#endif
};
/****************************************************************************
* Private Function prototypes
****************************************************************************/
static int lis2dh_open(FAR struct file *filep);
static int lis2dh_close(FAR struct file *filep);
static ssize_t lis2dh_read(FAR struct file *, FAR char *, size_t);
static ssize_t lis2dh_write(FAR struct file *filep,
FAR const char *buffer, size_t buflen);
static int lis2dh_ioctl(FAR struct file *filep, int cmd,
unsigned long arg);
static int lis2dh_access(FAR struct lis2dh_dev_s *dev,
uint8_t subaddr, FAR uint8_t *buf, int length);
static int lis2dh_get_reading(FAR struct lis2dh_dev_s *dev,
FAR struct lis2dh_vector_s *res, bool force_read);
static int lis2dh_powerdown(FAR struct lis2dh_dev_s *dev);
static int lis2dh_reboot(FAR struct lis2dh_dev_s *dev);
#ifndef CONFIG_DISABLE_POLL
static int lis2dh_poll(FAR struct file *filep,
FAR struct pollfd *fds, bool setup);
static void lis2dh_notify(FAR struct lis2dh_dev_s *priv);
#endif
static int lis2dh_int_handler(int irq, FAR void *context,
FAR void *arg);
static int lis2dh_setup(FAR struct lis2dh_dev_s *dev,
FAR struct lis2dh_setup *new_setup);
static inline int16_t lis2dh_raw_to_mg(uint8_t raw_hibyte,
uint8_t raw_lobyte, int scale);
static int lis2dh_read_temp(FAR struct lis2dh_dev_s *dev,
FAR int16_t *temper);
static int lis2dh_clear_interrupts(FAR struct lis2dh_dev_s *priv,
uint8_t interrupts);
static unsigned int lis2dh_get_fifo_readings(FAR struct lis2dh_dev_s *priv,
FAR struct lis2dh_result *res, unsigned int readcount,
FAR int *perr);
#ifdef CONFIG_LIS2DH_DRIVER_SELFTEST
static int lis2dh_handle_selftest(FAR struct lis2dh_dev_s *priv);
static int16_t lis2dh_raw_convert_to_12bit(uint8_t raw_hibyte,
uint8_t raw_lobyte);
static FAR const struct lis2dh_vector_s *
lis2dh_get_raw_readings(FAR struct lis2dh_dev_s *dev,
FAR int *err);
#endif
/****************************************************************************
* Private Data
****************************************************************************/
static const struct file_operations g_lis2dhops =
{
lis2dh_open, /* open */
lis2dh_close, /* close */
lis2dh_read, /* read */
lis2dh_write, /* write */
NULL, /* seek */
lis2dh_ioctl /* ioctl */
#ifndef CONFIG_DISABLE_POLL
, lis2dh_poll /* poll */
#endif
#ifndef CONFIG_DISABLE_PSEUDOFS_OPERATIONS
, NULL /* unlink */
#endif
};
/****************************************************************************
* Private Functions
****************************************************************************/
static int lis2dh_who_am_i(FAR struct lis2dh_dev_s *dev, uint8_t *id)
{
int ret;
ret = lis2dh_access(dev, ST_LIS2DH_WHOAMI_REG, id, 1);
if (ret < 0)
{
lis2dh_dbg("Cannot read who am i value\n");
return -EIO;
}
return ret;
}
/****************************************************************************
* Name: lis2dh_open
*
* Description:
* This function is called whenever the LIS2DH device is opened.
*
****************************************************************************/
static int lis2dh_open(FAR struct file *filep)
{
FAR struct inode *inode = filep->f_inode;
FAR struct lis2dh_dev_s *priv = inode->i_private;
uint8_t regval;
int ret = OK;
/* Probe device */
if (lis2dh_access(priv, ST_LIS2DH_WHOAMI_REG, &regval, 1) > 0)
{
/* Check chip identification, in the future several more compatible parts
* may be added here.
*/
if (regval == ST_LIS2DH_WHOAMI_VALUE)
{
priv->config->irq_enable(priv->config, true);
/* Normal exit point */
ret = lis2dh_clear_interrupts(priv, LIS2DH_INT1 | LIS2DH_INT2);
return ret;
}
/* Otherwise, we mark an invalid device found at given address */
ret = -ENODEV;
}
else
{
/* No response at given address is marked as */
ret = -EFAULT;
}
/* Error exit */
return ret;
}
/****************************************************************************
* Name: lis2dh_close
*
* Description:
* This routine is called when the LIS2DH device is closed.
*
****************************************************************************/
static int lis2dh_close(FAR struct file *filep)
{
FAR struct inode *inode = filep->f_inode;
FAR struct lis2dh_dev_s *priv = inode->i_private;
priv->config->irq_enable(priv->config, false);
return lis2dh_powerdown(priv);
}
/****************************************************************************
* Name: lis2dh_fifo_start
*
* Description:
* This function restarts FIFO reading.
*
****************************************************************************/
static int lis2dh_fifo_start(FAR struct lis2dh_dev_s *priv)
{
uint8_t buf;
int ret = OK;
buf = 0x00 | priv->setup->trigger_selection |
priv->setup->fifo_trigger_threshold;
if (lis2dh_access(priv, ST_LIS2DH_FIFO_CTRL_REG, &buf, -1) != 1)
{
lis2dh_dbg("lis2dh: Failed to write FIFO control register\n");
ret = -EIO;
}
else
{
buf = priv->setup->fifo_mode | priv->setup->trigger_selection |
priv->setup->fifo_trigger_threshold;
if (lis2dh_access(priv, ST_LIS2DH_FIFO_CTRL_REG, &buf, -1) != 1)
{
lis2dh_dbg("lis2dh: Failed to write FIFO control register\n");
ret = -EIO;
}
else
{
priv->fifo_stopped = false;
lis2dh_dbg("lis2dh: FIFO restarted\n");
}
}
return ret;
}
/****************************************************************************
* Name: lis2dh_read
*
* Description:
* This routine is called when the LIS2DH device is read.
*
****************************************************************************/
static ssize_t lis2dh_read(FAR struct file *filep, FAR char *buffer,
size_t buflen)
{
FAR struct inode *inode = filep->f_inode;
FAR struct lis2dh_dev_s *priv = inode->i_private;
FAR struct lis2dh_result *ptr;
int readcount = (buflen - sizeof(struct lis2dh_res_header)) / sizeof(struct lis2dh_vector_s);
uint8_t buf;
uint8_t int1_src = 0;
uint8_t int2_src = 0;
irqstate_t flags;
int ret;
if (buflen < sizeof(struct lis2dh_result) ||
(buflen - sizeof(struct lis2dh_res_header)) % sizeof(struct lis2dh_vector_s) != 0)
{
lis2dh_dbg("lis2dh: Illegal amount of bytes to read: %d\n", buflen);
return -EINVAL;
}
ret = nxsem_wait(&priv->devsem);
if (ret < 0)
{
return ret;
}
/* Do not allow read() if no SNIOC_WRITESETUP first. */
if (!priv->setup)
{
lis2dh_dbg("lis2dh: Read from unconfigured device\n");
return -EINVAL;
}
flags = enter_critical_section();
#ifdef LIS2DH_COUNT_INTS
if (priv->int_pending > 0)
{
priv->int_pending--;
}
DEBUGASSERT(priv->int_pending >= 0 && priv->int_pending < 10);
#else
priv->int_pending = false;
#endif
leave_critical_section(flags);
/* Set pointer to first measurement data */
ptr = (FAR struct lis2dh_result *)buffer;
ptr->header.meas_count = 0;
if (!priv->fifo_used)
{
/* FIFO not used, read only one sample. */
if (readcount > 0)
{
ret = lis2dh_get_reading(priv, &ptr->measurements[0], true);
if (ret < 0)
{
lis2dh_dbg("lis2dh: Failed to read xyz\n");
}
else
{
ptr->header.meas_count = 1;
}
}
}
else /* FIFO modes */
{
uint8_t fifo_mode = priv->setup->fifo_mode & ST_LIS2DH_FIFOCR_MODE_MASK;
bool fifo_empty = false;
uint8_t fifo_num_samples;
ptr->header.meas_count = 0;
do
{
/* Check if FIFO needs to be restarted after being read empty.
* We need to read SRC_REG before reading measurement, as reading
* sample from FIFO clears OVRN_FIFO flag.
*/
if (lis2dh_access(priv, ST_LIS2DH_FIFO_SRC_REG, &buf, 1) != 1)
{
lis2dh_dbg("lis2dh: Failed to read FIFO source register\n");
return -EIO;
}
if (fifo_mode != LIS2DH_STREAM_MODE)
{
/* FIFO is full and has stopped. */
priv->fifo_stopped |= !!(buf & ST_LIS2DH_FIFOSR_OVRN_FIFO);
}
if (buf & ST_LIS2DH_FIFOSR_OVRN_FIFO)
{
lis2dh_dbg("lis2dh: FIFO overrun\n");
}
if (buf & ST_LIS2DH_FIFOSR_EMPTY)
{
lis2dh_dbg("lis2dh: FIFO empty\n");
fifo_empty = true;
if (fifo_mode != LIS2DH_STREAM_MODE)
{
priv->fifo_stopped = true;
}
/* FIFO is empty, skip reading. */
break;
}
/* How many samples available in FIFO? */
fifo_num_samples = (buf & ST_LIS2DH_FIFOSR_NUM_SAMP_MASK) + 1;
if (fifo_num_samples > (readcount - ptr->header.meas_count))
{
fifo_num_samples = (readcount - ptr->header.meas_count);
}
ptr->header.meas_count +=
lis2dh_get_fifo_readings(priv, ptr, fifo_num_samples, &ret);
}
while (!fifo_empty && ptr->header.meas_count < readcount);
if (!fifo_empty && fifo_mode != LIS2DH_TRIGGER_MODE)
{
/* FIFO was not read empty, more data available. */
flags = enter_critical_section();
#ifdef LIS2DH_COUNT_INTS
priv->int_pending++;
#else
priv->int_pending = true;
#endif
#ifndef CONFIG_DISABLE_POLL
lis2dh_notify(priv);
#endif
leave_critical_section(flags);
}
else if (fifo_mode != LIS2DH_STREAM_MODE && priv->fifo_stopped)
{
/* FIFO is empty and has stopped by overrun event. Reset FIFO for
* further reading.
*/
ret = lis2dh_fifo_start(priv);
}
}
/* Make sure interrupt will get cleared (by reading this register) in case of
* latched configuration.
*/
buf = 0;
if (lis2dh_access(priv, ST_LIS2DH_INT1_SRC_REG, &buf, 1) != 1)
{
lis2dh_dbg("lis2dh: Failed to read INT1_SRC_REG\n");
ret = -EIO;
}
if (buf & ST_LIS2DH_INT_SR_ACTIVE)
{
/* Interrupt has happened */
int1_src = buf;
ptr->header.int1_occurred = true;
}
else
{
ptr->header.int1_occurred = false;
}
/* Make sure interrupt will get cleared (by reading this register) in case of
* latched configuration.
*/
buf = 0;
if (lis2dh_access(priv, ST_LIS2DH_INT2_SRC_REG, &buf, 1) != 1)
{
lis2dh_dbg("lis2dh: Failed to read INT2_SRC_REG\n");
ret = -EIO;
}
if (buf & ST_LIS2DH_INT_SR_ACTIVE)
{
/* Interrupt has happened */
int2_src = buf;
ptr->header.int2_occurred = true;
}
else
{
ptr->header.int2_occurred = false;
}
ptr->header.int1_source = int1_src;
ptr->header.int2_source = int2_src;
nxsem_post(&priv->devsem);
/* 'ret' was just for debugging, we do return partial reads here. */
return sizeof(ptr->header) +
ptr->header.meas_count * sizeof(struct lis2dh_vector_s);
}
/****************************************************************************
* Name: lis2dh_write
* Description:
* This routine is called when the LIS2DH device is written to.
****************************************************************************/
static ssize_t lis2dh_write(FAR struct file *filep, FAR const char *buffer,
size_t buflen)
{
DEBUGASSERT(filep != NULL && buffer != NULL && buflen > 0);
return -ENOSYS;
}
/****************************************************************************
* Name: lis2dh_ioctl
*
* Description:
* This routine is called when ioctl function call
* for the LIS2DH device is done.
*
****************************************************************************/
static int lis2dh_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
{
FAR struct inode *inode;
FAR struct lis2dh_dev_s *priv;
int ret;
uint8_t buf;
DEBUGASSERT(filep);
inode = filep->f_inode;
DEBUGASSERT(inode && inode->i_private);
priv = (FAR struct lis2dh_dev_s *)inode->i_private;
ret = nxsem_wait(&priv->devsem);
if (ret < 0)
{
return ret;
}
switch (cmd)
{
case SNIOC_WRITESETUP:
{
/* Write to the configuration registers. */
ret = lis2dh_setup(priv, (struct lis2dh_setup *)arg);
lis2dh_dbg("lis2dh: conf: %p ret: %d\n", (struct lis2dh_setup *)arg, ret);
/* Make sure interrupt will get cleared in
* case of latched configuration.
*/
lis2dh_clear_interrupts(priv, LIS2DH_INT1 | LIS2DH_INT2);
}
break;
case SNIOC_WRITE_INT1THRESHOLD:
{
buf = (uint8_t)arg;
if (lis2dh_access(priv, ST_LIS2DH_INT1_THS_REG, &buf, -1) != 1)
{
lis2dh_dbg("lis2dh: Failed to write INT1_THS_REG\n");
ret = -EIO;
}
lis2dh_clear_interrupts(priv, LIS2DH_INT2);
}
break;
case SNIOC_WRITE_INT2THRESHOLD:
{
buf = (uint8_t)arg;
if (lis2dh_access(priv, ST_LIS2DH_INT2_THS_REG, &buf, -1) != 1)
{
lis2dh_dbg("lis2dh: Failed to write INT2_THS_REG\n");
ret = -EIO;
}
lis2dh_clear_interrupts(priv, LIS2DH_INT2);
}
break;
case SNIOC_RESET_HPFILTER:
{
/* Read reference register to reset/recalib DC offset for HP filter */
if (lis2dh_access(priv, ST_LIS2DH_REFERENCE_REG, &buf, 1) != 1)
{
lis2dh_dbg("lis2dh: Failed to write reference register\n");
ret = -EIO;
}
lis2dh_clear_interrupts(priv, LIS2DH_INT2);
}
break;
case SNIOC_START_SELFTEST:
#ifdef CONFIG_LIS2DH_DRIVER_SELFTEST
{
priv->config->irq_enable(priv->config, false);
lis2dh_clear_interrupts(priv, LIS2DH_INT1 | LIS2DH_INT2);
ret = lis2dh_handle_selftest(priv);
priv->config->irq_enable(priv->config, true);
}
#else
{
ret = -EINVAL;
}
#endif
break;
case SNIOC_READ_TEMP:
{
ret = lis2dh_read_temp(priv, (int16_t *)arg);
}
break;
case SNIOC_WHO_AM_I:
{
ret = lis2dh_who_am_i(priv, (uint8_t *)arg);
}
break;
default:
{
lis2dh_dbg("lis2dh: Unrecognized cmd: %d\n", cmd);
ret = -ENOTTY;
}
break;
}
nxsem_post(&priv->devsem);
return ret;
}
/****************************************************************************
* Name: lis2dh_poll
*
* Description:
* This routine is called during LIS2DH device poll
*
****************************************************************************/
#ifndef CONFIG_DISABLE_POLL
static int lis2dh_poll(FAR struct file *filep, FAR struct pollfd *fds,
bool setup)
{
FAR struct inode *inode;
FAR struct lis2dh_dev_s *priv;
int ret;
int i;
DEBUGASSERT(filep && fds);
inode = filep->f_inode;
DEBUGASSERT(inode && inode->i_private);
priv = (FAR struct lis2dh_dev_s *)inode->i_private;
ret = nxsem_wait(&priv->devsem);
if (ret < 0)
{
return ret;
}
if (setup)
{
/* Ignore waits that do not include POLLIN */
if ((fds->events & POLLIN) == 0)
{
ret = -EDEADLK;
goto out;
}
/* This is a request to set up the poll. Find an available
* slot for the poll structure reference
*/
for (i = 0; i < CONFIG_LIS2DH_NPOLLWAITERS; i++)
{
/* Find an available slot */
if (!priv->fds[i])
{
/* Bind the poll structure and this slot */
priv->fds[i] = fds;
fds->priv = &priv->fds[i];
break;
}
}
if (i >= CONFIG_LIS2DH_NPOLLWAITERS)
{
fds->priv = NULL;
ret = -EBUSY;
goto out;
}
if (priv->int_pending)
{
lis2dh_notify(priv);
}
}
else if (fds->priv)
{
/* This is a request to tear down the poll. */
struct pollfd **slot = (struct pollfd **)fds->priv;
DEBUGASSERT(slot != NULL);
/* Remove all memory of the poll setup */
*slot = NULL;
fds->priv = NULL;
}
out:
nxsem_post(&priv->devsem);
return ret;
}
static void lis2dh_notify(FAR struct lis2dh_dev_s *priv)
{
DEBUGASSERT(priv != NULL);
int i;
/* If there are threads waiting on poll() for LIS2DH data to become available,
* then wake them up now. NOTE: we wake up all waiting threads because we
* do not know that they are going to do. If they all try to read the data,
* then some make end up blocking after all.
*/
for (i = 0; i < CONFIG_LIS2DH_NPOLLWAITERS; i++)
{
struct pollfd *fds = priv->fds[i];
if (fds)
{
fds->revents |= POLLIN;
lis2dh_dbg("lis2dh: Report events: %02x\n", fds->revents);
nxsem_post(fds->sem);
}
}
}
#endif /* !CONFIG_DISABLE_POLL */
/****************************************************************************
* Name: lis2dh_callback
*
* Description:
* lis2dh interrupt handler
*
****************************************************************************/
static int lis2dh_int_handler(int irq, FAR void *context, FAR void *arg)
{
FAR struct lis2dh_dev_s *priv = (FAR struct lis2dh_dev_s *)arg;
irqstate_t flags;
DEBUGASSERT(priv != NULL);
flags = enter_critical_section();
#ifdef LIS2DH_COUNT_INTS
priv->int_pending++;
#else
priv->int_pending = true;
#endif
#ifndef CONFIG_DISABLE_POLL
lis2dh_notify(priv);
#endif
leave_critical_section(flags);
return OK;
}
#ifdef CONFIG_LIS2DH_DRIVER_SELFTEST
/****************************************************************************
* Name: lis2dh_clear_registers
*
* Description:
* Clear lis2dh registers
*
* Input Parameters:
* priv - pointer to LIS2DH Private Structure
*
* Returned Value:
* Returns OK in case of success, otherwise ERROR
*
****************************************************************************/
static int lis2dh_clear_registers(FAR struct lis2dh_dev_s *priv)
{
uint8_t i, buf = 0;
DEBUGASSERT(priv);
for (i = ST_LIS2DH_TEMP_CFG_REG; i <= ST_LIS2DH_ACT_DUR_REG; i++)
{
/* Skip read only registers */
if ((i <= 0x1e) || (i >= 0x27 && i <= 0x2d) || (i == 0x2f) || (i == 0x31))
{
continue;
}
if (lis2dh_access(priv, i, &buf, -1) != 1)
{
lis2dh_dbg("lis2dh: Failed to clear register 0x%02x\n", i);
return ERROR;
}
}
return OK;
}
/****************************************************************************
* Name: lis2dh_write_register
*
* Description:
* Clear lis2dh registers
*
* Input Parameters:
* priv - pointer to LIS2DH Private Structure
* reg - target register
* value - value to write
*
* Returned Value:
* Returns OK in case of success, otherwise ERROR
*
****************************************************************************/
static int lis2dh_write_register(FAR struct lis2dh_dev_s *priv, uint8_t reg,
uint8_t value)
{
DEBUGASSERT(priv);
if (lis2dh_access(priv, reg, &value, -1) != 1)
{
lis2dh_dbg("lis2dh: Failed to write %d to register 0x%02x\n",
value, reg);
return ERROR;
}
return OK;
}
/****************************************************************************
* Name: lis2dh_read_register
*
* Description:
* read lis2dh register
*
* Input Parameters:
* priv - pointer to LIS2DH Private Structure
* reg - register to read
*
* Returned Value:
* Returns positive register value in case of success, otherwise ERROR ( < 0)
****************************************************************************/
static int lis2dh_read_register(FAR struct lis2dh_dev_s *priv, uint8_t reg)
{
uint8_t buf;
DEBUGASSERT(priv);
if (lis2dh_access(priv, reg, &buf, sizeof(buf)) == sizeof(buf))
{
return buf;
}
return ERROR;
}
/****************************************************************************
* Name: lis2dh_handle_selftest
*
* Description:
* Handle selftest. Note, that after running selftest lis2dh is left in
* shutdown mode without valid setup. Therefore SNIOC_WRITESETUP must be
* sent again to proceed with normal operations.
*
****************************************************************************/
static int lis2dh_handle_selftest(FAR struct lis2dh_dev_s *priv)
{
const struct lis2dh_vector_s *results;
uint8_t i;
uint8_t j;
uint8_t buf;
int16_t avg_x_no_st = 0;
int16_t avg_y_no_st = 0;
int16_t avg_z_no_st = 0;
int16_t avg_x_with_st = 0;
int16_t avg_y_with_st = 0;
int16_t avg_z_with_st = 0;
int16_t abs_st_x_value;
int16_t abs_st_y_value;
int16_t abs_st_z_value;
int ret = OK;
int err = OK;
DEBUGASSERT(priv);
lis2dh_powerdown(priv);
if (lis2dh_clear_registers(priv) != OK)
{
ret = -EIO;
goto out;
}
/* Set the control register (23h) to ±2g FS, normal mode with BDU (Block
* Data Update) and HR (High Resolution) bits enabled.
*/
if (lis2dh_write_register(priv, ST_LIS2DH_CTRL_REG4, 0x88) != OK)
{
lis2dh_dbg("lis2dh: Failed to write CTRL4 REG for selftest\n");
ret = -EIO;
goto out;
}
/* Set the control register (20h) to 50Hz ODR (Output Data Rate) with
* X/Y/Z axis enabled.
*/
if (lis2dh_write_register(priv, ST_LIS2DH_CTRL_REG1, 0x47) != OK)
{
lis2dh_dbg("lis2dh: Failed to write CTRL1 REG for selftest\n");
ret = -EIO;
goto out;
}
/* Dummy reads so that values have stabilized */
for (i = 0; i < 20; i++)
{
if (lis2dh_get_raw_readings(priv, &err) == NULL)
{
ret = -EIO;
goto out;
}
}
for (i = 0; i < SELFTEST_BUF_SIZE; i++)
{
results = lis2dh_get_raw_readings(priv, &err);
if (results == NULL)
{
ret = -EIO;
goto out;
}
avg_x_no_st += results->x;
avg_y_no_st += results->y;
avg_z_no_st += results->z;
}
avg_x_no_st = avg_x_no_st / SELFTEST_BUF_SIZE;
avg_y_no_st = avg_y_no_st / SELFTEST_BUF_SIZE;
avg_z_no_st = avg_z_no_st / SELFTEST_BUF_SIZE;
for (i = SELFTEST_0; i <= SELFTEST_1; i++)
{
avg_x_with_st = 0;
avg_y_with_st = 0;
avg_z_with_st = 0;
/* Enable self-test 0 or 1 at +/-2g FS with BDU and HR bits enabled. */
buf = (i == SELFTEST_0) ? 0x8a : 0x8c;
if (lis2dh_write_register(priv, ST_LIS2DH_CTRL_REG4, buf) != OK)
{
lis2dh_dbg("lis2dh: Failed to write CTRL4 REG for selftest\n");
ret = -EIO;
goto out;
}
/* Dummy reads so that values have stabilized */
for (i = 0; i < 10; i++)
{
if (lis2dh_get_raw_readings(priv, &err) == NULL)
{
ret = -EIO;
goto out;
}
}
for (j = 0; j < SELFTEST_BUF_SIZE; j++)
{
results = lis2dh_get_raw_readings(priv, &err);
if (results == NULL)
{
ret = -EIO;
goto out;
}
avg_x_with_st += results->x;
avg_y_with_st += results->y;
avg_z_with_st += results->z;
}
avg_x_with_st = avg_x_with_st / SELFTEST_BUF_SIZE;
avg_y_with_st = avg_y_with_st / SELFTEST_BUF_SIZE;
avg_z_with_st = avg_z_with_st / SELFTEST_BUF_SIZE;
abs_st_x_value = abs(avg_x_with_st - avg_x_no_st);
abs_st_y_value = abs(avg_y_with_st - avg_y_no_st);
abs_st_z_value = abs(avg_z_with_st - avg_z_no_st);
syslog(LOG_NOTICE, "ST %d, ABSX: %d, ABSY: %d, ABSZ: %d\n",
i, abs_st_x_value, abs_st_y_value, abs_st_z_value);
if (abs_st_x_value < SELFTEST_ABS_DIFF_MIN_12BIT ||
abs_st_x_value > SELFTEST_ABS_DIFF_MAX_12BIT ||
abs_st_y_value < SELFTEST_ABS_DIFF_MIN_12BIT ||
abs_st_y_value > SELFTEST_ABS_DIFF_MAX_12BIT ||
abs_st_z_value < SELFTEST_ABS_DIFF_MIN_12BIT ||
abs_st_z_value > SELFTEST_ABS_DIFF_MAX_12BIT)
{
syslog(LOG_NOTICE, "Selftest %d fail! Limits (%d <= value <= %d). "
"Results: x: %d, y: %d, z: %d ",
i,
SELFTEST_ABS_DIFF_MIN_12BIT, SELFTEST_ABS_DIFF_MAX_12BIT,
abs_st_x_value, abs_st_y_value, abs_st_z_value);
ret = -ERANGE;
goto out;
}
}
/* Verify INT1 and INT2 lines */
if (lis2dh_clear_registers(priv) != OK)
{
ret = -EIO;
goto out;
}
/* Both INT lines should be low */
if (priv->config->read_int1_pin != NULL)
{
if (priv->config->read_int1_pin() != 0)
{
syslog(LOG_NOTICE, "INT1 line is HIGH - expected LOW\n");
ret = -ENXIO;
goto out;
}
}
if (priv->config->read_int2_pin)
{
if (priv->config->read_int2_pin() != 0)
{
syslog(LOG_NOTICE, "INT2 line is HIGH - expected LOW\n");
ret = -ENODEV;
goto out;
}
}
/* 400Hz ODR all axes enabled
FIFO overrun & DATA READY on INT1
FIFO enabled and INT1 & INT2 latched
FIFO mode, INT1 , THS 0
OR combination, all events enabled */
if ((lis2dh_write_register(priv, ST_LIS2DH_CTRL_REG1, 0x77) != OK) ||
(lis2dh_write_register(priv, ST_LIS2DH_CTRL_REG3, 0x12) != OK) ||
(lis2dh_write_register(priv, ST_LIS2DH_CTRL_REG5, 0x4a) != OK) ||
(lis2dh_write_register(priv, ST_LIS2DH_FIFO_CTRL_REG, 0x40) != OK) ||
(lis2dh_write_register(priv, ST_LIS2DH_INT1_CFG_REG, 0x3f) != OK))
{
syslog(LOG_NOTICE, "Writing registers for INT line check failed\n");
ret = -EIO;
goto out;
}
/* Clear INT1 & INT2 */
if ((lis2dh_read_register(priv, ST_LIS2DH_INT1_SRC_REG) == ERROR) ||
(lis2dh_read_register(priv, ST_LIS2DH_INT2_SRC_REG) == ERROR))
{
syslog(LOG_NOTICE, "Failed to clear INT1 / INT2 registers\n");
ret = -EIO;
goto out;
}
nxsig_usleep(20000);
/* Now INT1 should have been latched high and INT2 should be still low */
if (priv->config->read_int1_pin)
{
if (priv->config->read_int1_pin() != 1)
{
syslog(LOG_NOTICE, "INT1 line is LOW - expected HIGH\n");
ret = -ENXIO;
goto out;
}
}
if (priv->config->read_int2_pin != NULL)
{
if (priv->config->read_int2_pin() != 0)
{
syslog(LOG_NOTICE, "INT2 line is HIGH - expected LOW\n");
ret = -ENODEV;
goto out;
}
/* Enable interupt 1 on INT2 pin */
if (lis2dh_write_register(priv, ST_LIS2DH_CTRL_REG6, 0x40) != OK)
{
syslog(LOG_NOTICE, "Failed to enable interrupt 1 on INT2 pin");
ret = -EIO;
goto out;
}
nxsig_usleep(20000);
if (priv->config->read_int2_pin() != 1)
{
syslog(LOG_NOTICE, "INT2 line is LOW - expected HIGH\n");
ret = -ENODEV;
goto out;
}
}
out:
(void)lis2dh_clear_registers(priv);
lis2dh_powerdown(priv);
return ret;
}
/****************************************************************************
* Name: lis2dh_raw_to_mg
*
* Description:
* Convert raw acceleration value to mg
*
* Input Parameters:
* raw_hibyte - Hi byte of raw data
* raw_lobyte - Lo byte of raw data
*
* Returned Value:
* Returns acceleration value in mg
****************************************************************************/
static int16_t lis2dh_raw_convert_to_12bit(uint8_t raw_hibyte,
uint8_t raw_lobyte)
{
int16_t value;
value = (raw_hibyte << 8) | raw_lobyte;
value = value >> 4;
value &= 0xfff;
if (value & 0x800)
{
value = ~value;
value &= 0xfff;
value += 1;
value = -value;
}
return value;
}
/****************************************************************************
* Name: lis2dh_data_available
*
* Description:
* Check if new data is available to read
*
* Input Parameters:
* dev - pointer to LIS2DH Private Structure
*
* Returned Value:
* Return true if new data is available. Otherwise returns false
*
****************************************************************************/
static bool lis2dh_data_available(FAR struct lis2dh_dev_s *dev)
{
uint8_t retval;
DEBUGASSERT(dev);
if (lis2dh_access(dev, ST_LIS2DH_STATUS_REG, &retval,
sizeof(retval)) == sizeof(retval))
{
return ((retval & ST_LIS2DH_SR_ZYXDA) != 0);
}
return false;
}
/****************************************************************************
* Name: lis2dh_get_raw_readings
*
* Description:
* Read X, Y, Z - acceleration values from chip
*
* Input Parameters:
* dev - pointer to LIS2DH Private Structure
*
* Returned Value:
* Returns acceleration vectors (High resolution = 12bit values) on
* success, NULL otherwise.
*
****************************************************************************/
static FAR const struct lis2dh_vector_s *
lis2dh_get_raw_readings(FAR struct lis2dh_dev_s *dev, int *err)
{
uint8_t retval[6];
uint8_t retries_left = SELFTEST_MAX_READ_ATTEMPTS;
DEBUGASSERT(dev);
*err = 0;
while (--retries_left > 0)
{
nxsig_usleep(20000);
if (lis2dh_data_available(dev))
{
if (lis2dh_access(dev, ST_LIS2DH_OUT_X_L_REG, retval,
sizeof(retval)) == sizeof(retval))
{
dev->vector_data.x = lis2dh_raw_convert_to_12bit(retval[1], retval[0]);
dev->vector_data.y = lis2dh_raw_convert_to_12bit(retval[3], retval[2]);
dev->vector_data.z = lis2dh_raw_convert_to_12bit(retval[5], retval[4]);
return &dev->vector_data;
}
return NULL;
}
}
return NULL;
}
#endif /* CONFIG_LIS2DH_DRIVER_SELFTEST */
/****************************************************************************
* Name: lis2dh_clear_interrupts
*
* Description:
* Clear interrupts from LIS2DH chip
*
****************************************************************************/
static int lis2dh_clear_interrupts(FAR struct lis2dh_dev_s *priv,
uint8_t interrupts)
{
uint8_t buf;
int ret = OK;
if (interrupts & LIS2DH_INT1)
{
/* Make sure interrupt will get cleared (by reading this register) in
* case of latched configuration.
*/
if (lis2dh_access(priv, ST_LIS2DH_INT1_SRC_REG, &buf, 1) != 1)
{
lis2dh_dbg("lis2dh: Failed to read INT1_SRC_REG\n");
ret = -EIO;
}
}
if (interrupts & LIS2DH_INT2)
{
/* Make sure interrupt will get cleared (by reading this register) in
* case of latched configuration.
*/
if (lis2dh_access(priv, ST_LIS2DH_INT2_SRC_REG, &buf, 1) != 1)
{
lis2dh_dbg("lis2dh: Failed to read INT2_SRC_REG\n");
ret = -EIO;
}
}
return ret;
}
/****************************************************************************
* Name: lis2dh_get_reading
*
* Description:
* Read X, Y, Z - acceleration value from chip
*
* Input Parameters:
* dev - pointer to LIS2DH Private Structure
* force_read - Read even if new data is not available (old data)
*
* Returned Value:
* Returns OK if success, negative error code otherwise
*
****************************************************************************/
static int lis2dh_get_reading(FAR struct lis2dh_dev_s *dev,
FAR struct lis2dh_vector_s *res,
bool force_read)
{
int scale = dev->scale;
uint8_t retval[7];
int16_t x;
int16_t y;
int16_t z;
if (lis2dh_access(dev, ST_LIS2DH_STATUS_REG, retval, 7) == 7)
{
/* If result is not yet ready, return NULL */
if (!force_read && !(retval[0] & ST_LIS2DH_SR_ZYXDA))
{
lis2dh_dbg("lis2dh: Results were not ready\n");
return -EAGAIN;
}
/* Add something to entropy pool. */
add_sensor_randomness((((uint32_t)retval[6] << 25) |
((uint32_t)retval[6] >> 7)) ^
((uint32_t)retval[5] << 20) ^
((uint32_t)retval[4] << 15) ^
((uint32_t)retval[3] << 10) ^
((uint32_t)retval[2] << 5) ^
((uint32_t)retval[1] << 0));
x = lis2dh_raw_to_mg(retval[2], retval[1], scale);
y = lis2dh_raw_to_mg(retval[4], retval[3], scale);
z = lis2dh_raw_to_mg(retval[6], retval[5], scale);
if (dev->setup->xy_axis_fixup)
{
res->x = y;
res->y = -x;
}
else
{
res->x = x;
res->y = y;
}
res->z = z;
return OK;
}
return -EIO;
}
/****************************************************************************
* Name: lis2dh_get_fifo_readings
*
* Description:
* Bulk read from FIFO
*
****************************************************************************/
static unsigned int lis2dh_get_fifo_readings(FAR struct lis2dh_dev_s *priv,
FAR struct lis2dh_result *res,
unsigned int readcount,
FAR int *perr)
{
int scale = priv->scale;
union
{
uint8_t raw[6];
struct lis2dh_vector_s sample;
} *buf = (void *)&res->measurements[res->header.meas_count];
bool xy_axis_fixup = priv->setup->xy_axis_fixup;
size_t buflen = readcount * 6;
int16_t x;
int16_t y;
int16_t z;
unsigned int i;
if (readcount == 0)
{
return 0;
}
if (lis2dh_access(priv, ST_LIS2DH_OUT_X_L_REG, (void *)buf, buflen) != buflen)
{
lis2dh_dbg("lis2dh: Failed to read FIFO (%d bytes, %d samples)\n",
buflen, readcount);
*perr = -EIO;
return 0;
}
/* Add something to entropy pool. */
up_rngaddentropy(RND_SRC_SENSOR, (void *)buf, buflen / 4);
/* Convert raw values to mG */
for (i = 0; i < readcount; i++)
{
x = lis2dh_raw_to_mg(buf[i].raw[1], buf[i].raw[0], scale);
y = lis2dh_raw_to_mg(buf[i].raw[3], buf[i].raw[2], scale);
z = lis2dh_raw_to_mg(buf[i].raw[5], buf[i].raw[4], scale);
if (xy_axis_fixup)
{
buf[i].sample.x = y;
buf[i].sample.y = -x;
}
else
{
buf[i].sample.x = x;
buf[i].sample.y = y;
}
buf[i].sample.z = z;
}
return readcount;
}
/****************************************************************************
* Name: lis2dh_raw_to_mg
*
* Description:
* Convert raw acceleration value to mg
*
* Input Parameters:
* raw_hibyte - Hi byte of raw data
* raw_lobyte - Lo byte of raw data
* scale - full scale in milliG
*
* Returned Value:
* Returns acceleration value in mg
*
****************************************************************************/
static inline int16_t lis2dh_raw_to_mg(uint8_t raw_hibyte, uint8_t raw_lobyte,
int scale)
{
int16_t value;
/* Value is signed integer, range INT16_MIN..INT16_MAX. */
value = (raw_hibyte << 8) | raw_lobyte;
/* Scale to mg, INT16_MIN..INT16_MAX => -scale..scale */
return (int32_t)value * scale / INT16_MAX;
}
/****************************************************************************
* Name: lis2dh_read_temp
*
* Description:
*
* Input Parameters:
*
* Returned Value:
*
****************************************************************************/
static int lis2dh_read_temp(FAR struct lis2dh_dev_s *dev, FAR int16_t *temper)
{
int ret;
uint8_t buf[2] = { 0 };
ret = lis2dh_access(dev, ST_LIS2DH_OUT_TEMP_L_REG, buf, 2);
if (ret < 0)
{
lis2dh_dbg("Cannot read temperature\n");
return -EIO;
}
*temper = buf[0] | ((int16_t)buf[1] << 8);
return OK;
}
/****************************************************************************
* LIS2DH Access with range check
*
* Description:
* Read or write data via I2C
*
* Input Parameters:
* dev LIS2DH Private Structure
* subaddr LIS2DH Sub Address
* buf Pointer to buffer, either for read or write access
* length When >0 it denotes read access, when <0 it denotes write access
* of -length
*
* Returned Value:
* Returns actual length of data on success or negated errno.
*
****************************************************************************/
static int lis2dh_access(FAR struct lis2dh_dev_s *dev, uint8_t subaddr,
FAR uint8_t *buf, int length)
{
uint16_t flags = 0;
int retval;
int retries;
DEBUGASSERT(dev != NULL && buf != NULL && length != 0);
if (length > 0)
{
flags = I2C_M_READ;
}
else
{
flags = I2C_M_NORESTART;
length = -length;
}
/* Check valid address ranges and set auto address increment flag */
if (subaddr == ST_LIS2DH_STATUS_AUX_REG)
{
if (length > 1)
{
length = 1;
}
}
else if (subaddr >= ST_LIS2DH_OUT_TEMP_L_REG && subaddr < 0x10)
{
if (length > (0x10 - subaddr))
{
length = 0x10 - subaddr;
}
}
else if (subaddr >= ST_LIS2DH_TEMP_CFG_REG && subaddr <= ST_LIS2DH_ACT_DUR_REG)
{
if (subaddr == ST_LIS2DH_OUT_X_L_REG)
{
/* FIFO bulk read, length maximum 6*32 = 192 bytes. */
if (length > 6 * 32)
{
length = 6 * 32;
}
}
else
{
if (length > (ST_LIS2DH_ACT_DUR_REG + 1 - subaddr))
{
length = ST_LIS2DH_ACT_DUR_REG + 1 - subaddr;
}
}
}
else
{
return -EFAULT;
}
if (length > 1)
{
subaddr |= 0x80;
}
for (retries = 0; retries < LIS2DH_I2C_RETRIES; retries++)
{
/* Create message and send */
struct i2c_msg_s msgv[2] =
{
{
.frequency = CONFIG_LIS2DH_I2C_FREQUENCY,
.addr = dev->addr,
.flags = 0,
.buffer = &subaddr,
.length = 1
},
{
.frequency = CONFIG_LIS2DH_I2C_FREQUENCY,
.addr = dev->addr,
.flags = flags,
.buffer = buf,
.length = length
}
};
retval = I2C_TRANSFER(dev->i2c, msgv, 2);
if (retval >= 0)
{
return length;
}
else
{
/* Some error. Try to reset I2C bus and keep trying. */
#ifdef CONFIG_I2C_RESET
int ret = I2C_RESET(dev->i2c);
if (ret < 0)
{
lis2dh_dbg("I2C_RESET failed: %d\n", ret);
return ret;
}
#endif
continue;
}
}
lis2dh_dbg("failed, error: %d\n", retval);
return retval;
}
/****************************************************************************
* Name: lis2dh_reboot
*
* Description:
*
* Input Parameters:
*
* Returned Value:
*
****************************************************************************/
static int lis2dh_reboot(FAR struct lis2dh_dev_s *dev)
{
struct timespec start, curr;
int32_t diff_msec;
uint8_t value;
/* Prefer monotonic for timeout calculation when enabled. */
#ifdef CONFIG_CLOCK_MONOTONIC
(void)clock_gettime(CLOCK_MONOTONIC, &start);
#else
(void)clock_gettime(CLOCK_REALTIME, &start);
#endif
/* Reboot to reset chip. */
value = ST_LIS2DH_CR5_BOOT;
if (lis2dh_access(dev, ST_LIS2DH_CTRL_REG5, &value, -1) != 1)
{
return -EIO;
}
/* Reboot is completed when reboot bit is cleared. */
do
{
value = 0;
if (lis2dh_access(dev, ST_LIS2DH_CTRL_REG5, &value, 1) != 1)
{
return -EIO;
}
if (!(value & ST_LIS2DH_CR5_BOOT))
{
break;
}
#ifdef CONFIG_CLOCK_MONOTONIC
(void)clock_gettime(CLOCK_MONOTONIC, &curr);
#else
(void)clock_gettime(CLOCK_REALTIME, &curr);
#endif
diff_msec = (curr.tv_sec - start.tv_sec) * 1000;
diff_msec += (curr.tv_nsec - start.tv_nsec) / (1000 * 1000);
if (diff_msec > 100)
{
return -ETIMEDOUT;
}
nxsig_usleep(1);
}
while (true);
/* Reboot completed, chip is now in power-down state. */
return OK;
}
/****************************************************************************
* Name: lis2dh_powerdown
*
* Description:
*
* Input Parameters:
*
* Returned Value:
*
****************************************************************************/
static int lis2dh_powerdown(FAR struct lis2dh_dev_s * dev)
{
uint8_t buf = 0;
int ret = OK;
if (lis2dh_access(dev, ST_LIS2DH_CTRL_REG1, &buf, -1) != 1)
{
lis2dh_dbg("Failed to clear CTRL_REG1\n");
ret = -EIO;
}
return ret;
}
/****************************************************************************
* LIS2DH Setup
*
* Description:
* Apply new register setup
*
* Input Parameters:
* dev - pointer to LIS2DH Private Structure
* new_setup - pointer to new setup data to be configured
*
* Returned Value:
* Returns OK on success, ERROR otherwise.
*
****************************************************************************/
static int lis2dh_setup(FAR struct lis2dh_dev_s * dev,
FAR struct lis2dh_setup *new_setup)
{
uint8_t value;
dev->setup = new_setup;
/* Clear old configuration. On first boot after power-loss, reboot bit does
* not get cleared, and lis2dh_reboot() times out. Anyway, chip accepts
* new configuration and functions correctly. */
(void)lis2dh_reboot(dev);
/* TEMP_CFG_REG */
value = dev->setup->temp_enable ? (0x3 << 6): 0;
if (lis2dh_access(dev, ST_LIS2DH_TEMP_CFG_REG, &value, -1) != 1)
{
goto error;
}
/* CTRL_REG2 */
value = dev->setup->hpmode | dev->setup->hpcf | dev->setup->fds |
dev->setup->hpclick | dev->setup->hpis2 | dev->setup->hpis1;
if (lis2dh_access(dev, ST_LIS2DH_CTRL_REG2, &value, -1) != 1)
{
goto error;
}
/* CTRL_REG3 */
value = dev->setup->int1_click_enable | dev->setup->int1_aoi_enable |
dev->setup->int2_aoi_enable | dev->setup->int1_drdy_enable |
dev->setup->int2_drdy_enable | dev->setup->int_wtm_enable |
dev->setup->int_overrun_enable;
if (lis2dh_access(dev, ST_LIS2DH_CTRL_REG3, &value, -1) != 1)
{
goto error;
}
/* CTRL_REG4 */
value = dev->setup->bdu | dev->setup->endian | dev->setup->fullscale |
dev->setup->high_resolution_enable | dev->setup->selftest |
dev->setup->spi_mode;
if (lis2dh_access(dev, ST_LIS2DH_CTRL_REG4, &value, -1) != 1)
{
goto error;
}
/* CTRL_REG5 */
value = dev->setup->reboot | dev->setup->fifo_enable | dev->setup->int1_latch |
dev->setup->int1_4d_enable | dev->setup->int2_latch |
dev->setup->int2_4d_enable;
if (lis2dh_access(dev, ST_LIS2DH_CTRL_REG5, &value, -1) != 1)
{
goto error;
}
/* CTRL_REG6 */
value = dev->setup->int2_click_enable | dev->setup->int_enable |
dev->setup->boot_int1_enable | dev->setup->high_low_active;
if (lis2dh_access(dev, ST_LIS2DH_CTRL_REG6, &value, -1) != 1)
{
goto error;
}
/* REFERENCE */
value = dev->setup->reference;
if (lis2dh_access(dev, ST_LIS2DH_REFERENCE_REG, &value, -1) != 1)
{
goto error;
}
/* FIFO_CTRL_REG */
value = dev->setup->fifo_mode | dev->setup->trigger_selection |
dev->setup->fifo_trigger_threshold;
if (lis2dh_access(dev, ST_LIS2DH_FIFO_CTRL_REG, &value, -1) != 1)
{
goto error;
}
/* INT1_CFG */
value = dev->setup->int1_interrupt_mode | dev->setup->int1_enable_6d | dev->setup->int1_int_z_high_enable |
dev->setup->int1_int_z_low_enable | dev->setup->int1_int_y_high_enable |
dev->setup->int1_int_y_low_enable | dev->setup->int1_int_x_high_enable |
dev->setup->int1_int_x_low_enable;
if (lis2dh_access(dev, ST_LIS2DH_INT1_CFG_REG, &value, -1) != 1)
{
goto error;
}
/* INT1_THS */
value = dev->setup->int1_int_threshold;
if (lis2dh_access(dev, ST_LIS2DH_INT1_THS_REG, &value, -1) != 1)
{
goto error;
}
/* INT1_DURATION */
value = dev->setup->int1_int_duration;
if (lis2dh_access(dev, ST_LIS2DH_INT1_DUR_REG, &value, -1) != 1)
{
goto error;
}
/* INT2_CFG */
value = dev->setup->int2_interrupt_mode | dev->setup->int2_enable_6d | dev->setup->int2_int_z_high_enable |
dev->setup->int2_int_z_low_enable | dev->setup->int2_int_y_high_enable |
dev->setup->int2_int_y_low_enable | dev->setup->int2_int_x_high_enable |
dev->setup->int2_int_x_low_enable;
if (lis2dh_access(dev, ST_LIS2DH_INT2_CFG_REG, &value, -1) != 1)
{
goto error;
}
/* INT2_THS */
value = dev->setup->int2_int_threshold;
if (lis2dh_access(dev, ST_LIS2DH_INT2_THS_REG, &value, -1) != 1)
{
goto error;
}
/* INT2_DURATION */
value = dev->setup->int2_int_duration;
if (lis2dh_access(dev, ST_LIS2DH_INT2_DUR_REG, &value, -1) != 1)
{
goto error;
}
/* CLICK_CFG */
value = dev->setup->z_double_click_enable | dev->setup->z_single_click_enable |
dev->setup->y_double_click_enable | dev->setup->y_single_click_enable |
dev->setup->x_double_click_enable | dev->setup->x_single_click_enable;
if (lis2dh_access(dev, ST_LIS2DH_CLICK_CFG_REG, &value, -1) != 1)
{
goto error;
}
/* CLICK_THS */
value = dev->setup->click_threshold;
if (lis2dh_access(dev, ST_LIS2DH_CLICK_THS_REG, &value, -1) != 1)
{
goto error;
}
/* TIME_LIMIT */
value = dev->setup->click_time_limit;
if (lis2dh_access(dev, ST_LIS2DH_TIME_LIMIT_REG, &value, -1) != 1)
{
goto error;
}
/* TIME_LATENCY */
value = dev->setup->click_time_latency;
if (lis2dh_access(dev, ST_LIS2DH_TIME_LATENCY_REG, &value, -1) != 1)
{
goto error;
}
/* TIME_WINDOW */
value = dev->setup->click_time_window;
if (lis2dh_access(dev, ST_LIS2DH_TIME_WINDOW_REG, &value, -1) != 1)
{
goto error;
}
/* CTRL_REG1 */
value = dev->setup->data_rate | dev->setup->low_power_mode_enable |
dev->setup->zen | dev->setup->yen | dev->setup->xen;
if (lis2dh_access(dev, ST_LIS2DH_CTRL_REG1, &value, -1) != 1)
{
goto error;
}
switch (dev->setup->fullscale & 0x30)
{
default:
case ST_LIS2DH_CR4_FULL_SCALE_2G:
dev->scale = 2000;
break;
case ST_LIS2DH_CR4_FULL_SCALE_4G:
dev->scale = 4000;
break;
case ST_LIS2DH_CR4_FULL_SCALE_8G:
dev->scale = 8000;
break;
case ST_LIS2DH_CR4_FULL_SCALE_16G:
dev->scale = 16000;
break;
}
if (dev->setup->fifo_enable)
{
dev->fifo_used = true;
if (lis2dh_fifo_start(dev) < 0)
{
goto error;
}
}
else
{
dev->fifo_used = false;
}
return OK;
error:
/* Setup failed - power down */
lis2dh_powerdown(dev);
return -EIO;
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: lis2dh_register
*
* Description:
* Register the LIS2DH character device as 'devpath'
*
* Input Parameters:
* devpath - The full path to the driver to register. E.g., "/dev/acc0"
* i2c - An instance of the I2C interface to use to communicate with LIS2DH
* addr - The I2C address of the LIS2DH. The base I2C address of the LIS2DH
* is 0x18. Bit 0 can be controlled via SA0 pad - when connected to
* voltage supply the address is 0x19.
* config - Pointer to LIS2DH configuration
*
* Returned Value:
* Zero (OK) on success; a negated errno value on failure.
*
****************************************************************************/
int lis2dh_register(FAR const char *devpath, FAR struct i2c_master_s *i2c,
uint8_t addr, FAR struct lis2dh_config_s *config)
{
FAR struct lis2dh_dev_s *priv;
int ret;
DEBUGASSERT(devpath != NULL && i2c != NULL && config != NULL);
priv = (FAR struct lis2dh_dev_s *)kmm_zalloc(sizeof(struct lis2dh_dev_s));
if (!priv)
{
lis2dh_dbg("lis2dh: Failed to allocate instance\n");
return -ENOMEM;
}
nxsem_init(&priv->devsem, 0, 1);
priv->fifo_used = false;
#ifdef LIS2DH_COUNT_INTS
priv->int_pending = 0;
#else
priv->int_pending = false;
#endif
priv->i2c = i2c;
priv->addr = addr;
priv->config = config;
ret = register_driver(devpath, &g_lis2dhops, 0666, priv);
if (ret < 0)
{
lis2dh_dbg("lis2dh: Failed to register driver: %d\n", ret);
goto errout_with_priv;
}
if (priv->config->irq_clear)
{
priv->config->irq_clear(config);
}
priv->config->irq_attach(config, lis2dh_int_handler, priv);
priv->config->irq_enable(config, false);
return OK;
errout_with_priv:
nxsem_destroy(&priv->devsem);
kmm_free(priv);
return ret;
}
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