1586 lines
62 KiB
C
1586 lines
62 KiB
C
/****************************************************************************
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* drivers/sensors/lsm9ds1.c
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*
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* Copyright (C) 2016 Omni Hoverboards Inc. All rights reserved.
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* Author: Paul Alexander Patience <paul-a.patience@polymtl.ca>
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*
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* Copyright (C) 2016 Gregory Nutt. All rights reserved.
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* Author: Gregory Nutt <gnutt@nuttx.org>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name NuttX nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <errno.h>
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#include <debug.h>
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#include <stdlib.h>
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#include <nuttx/kmalloc.h>
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#include <nuttx/random.h>
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#include <nuttx/fs/fs.h>
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#include <nuttx/i2c/i2c_master.h>
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#include <nuttx/sensors/lsm9ds1.h>
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#if defined(CONFIG_I2C) && defined(CONFIG_SENSORS_LSM9DS1)
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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#ifndef CONFIG_LSM9DS1_I2C_FREQUENCY
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# define CONFIG_LSM9DS1_I2C_FREQUENCY 400000
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#endif
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/* Register Addresses *******************************************************/
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/* Accelerometer and gyroscope registers */
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#define LSM9DS1_ACT_THS 0x04 /* Inactivity threshold */
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#define LSM9DS1_ACT_DUR 0x05 /* Inactivity duration */
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#define LSM9DS1_INT_GEN_CFG_XL 0x06 /* Accelerometer interrupt configuration */
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#define LSM9DS1_INT_GEN_THS_X_XL 0x07 /* Accelerometer X interrupt threshold */
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#define LSM9DS1_INT_GEN_THS_Y_XL 0x08 /* Accelerometer Y interrupt threshold */
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#define LSM9DS1_INT_GEN_THS_Z_XL 0x09 /* Accelerometer Z interrupt threshold */
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#define LSM9DS1_INT_GEN_DUR_XL 0x0a /* Accelerometer interrupt duration */
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#define LSM9DS1_REFERENCE_G 0x0b /* Gyroscope reference value for high-pass filter */
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#define LSM9DS1_INT1_CTRL 0x0c /* INT1_A/G pin control */
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#define LSM9DS1_INT2_CTRL 0x0d /* INT2_A/G pin control */
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#define LSM9DS1_WHO_AM_I 0x0f /* Accelerometer and gyroscope device identification */
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#define LSM9DS1_CTRL_REG1_G 0x10 /* Gyroscope control register 1 */
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#define LSM9DS1_CTRL_REG2_G 0x11 /* Gyroscope control register 2 */
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#define LSM9DS1_CTRL_REG3_G 0x12 /* Gyroscope control register 3 */
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#define LSM9DS1_ORIENT_CFG_G 0x13 /* Gyroscope sign and orientation */
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#define LSM9DS1_INT_GEN_SRC_G 0x14 /* Gyroscope interrupt source */
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#define LSM9DS1_OUT_TEMP_L 0x15 /* Temperature low byte */
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#define LSM9DS1_OUT_TEMP_H 0x16 /* Temperature high byte */
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#define LSM9DS1_STATUS_REG 0x17 /* Status register */
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#define LSM9DS1_OUT_X_L_G 0x18 /* Gyroscope pitch (X) low byte */
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#define LSM9DS1_OUT_X_H_G 0x19 /* Gyroscope pitch (X) high byte */
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#define LSM9DS1_OUT_Y_L_G 0x1a /* Gyroscope roll (Y) low byte */
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#define LSM9DS1_OUT_Y_H_G 0x1b /* Gyroscope roll (Y) high byte */
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#define LSM9DS1_OUT_Z_L_G 0x1c /* Gyroscope yaw (Z) low byte */
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#define LSM9DS1_OUT_Z_H_G 0x1d /* Gyroscope yaw (Z) high byte */
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#define LSM9DS1_CTRL_REG4 0x1e /* Control register 4 */
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#define LSM9DS1_CTRL_REG5_XL 0x1f /* Accelerometer control register 5 */
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#define LSM9DS1_CTRL_REG6_XL 0x20 /* Accelerometer control register 6 */
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#define LSM9DS1_CTRL_REG7_XL 0x21 /* Accelerometer control register 7 */
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#define LSM9DS1_CTRL_REG8 0x22 /* Control register 8 */
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#define LSM9DS1_CTRL_REG9 0x23 /* Control register 9 */
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#define LSM9DS1_CTRL_REG10 0x24 /* Control register 10 */
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#define LSM9DS1_INT_GEN_SRC_XL 0x26 /* Accelerometer interrupt source */
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#define LSM9DS1_STATUS_REG2 0x27 /* Status register 2 */
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#define LSM9DS1_OUT_X_L_XL 0x28 /* Accelerometer X low byte */
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#define LSM9DS1_OUT_X_H_XL 0x29 /* Accelerometer X high byte */
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#define LSM9DS1_OUT_Y_L_XL 0x2a /* Accelerometer Y low byte */
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#define LSM9DS1_OUT_Y_H_XL 0x2b /* Accelerometer Y high byte */
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#define LSM9DS1_OUT_Z_L_XL 0x2c /* Accelerometer Z low byte */
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#define LSM9DS1_OUT_Z_H_XL 0x2d /* Accelerometer Z high byte */
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#define LSM9DS1_FIFO_CTRL 0x2e /* FIFO control register */
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#define LSM9DS1_FIFO_SRC 0x2f /* FIFO status control register */
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#define LSM9DS1_INT_GEN_CFG_G 0x30 /* Gyroscope interrupt configuration */
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#define LSM9DS1_INT_GEN_THS_XH_G 0x31 /* Gyroscope pitch (X) interrupt threshold high byte */
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#define LSM9DS1_INT_GEN_THS_XL_G 0x32 /* Gyroscope pitch (X) interrupt threshold low byte */
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#define LSM9DS1_INT_GEN_THS_YH_G 0x33 /* Gyroscope roll (Y) interrupt threshold high byte */
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#define LSM9DS1_INT_GEN_THS_YL_G 0x34 /* Gyroscope roll (Y) interrupt threshold low byte */
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#define LSM9DS1_INT_GEN_THS_ZH_G 0x35 /* Gyroscope yaw (Z) interrupt threshold high byte */
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#define LSM9DS1_INT_GEN_THS_ZL_G 0x36 /* Gyroscope yaw (Z) interrupt threshold low byte */
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#define LSM9DS1_INT_GEN_DUR_G 0x37 /* Gyroscope interrupt duration */
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/* Magnetometer registers */
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#define LSM9DS1_OFFSET_X_REG_L_M 0x05 /* X low byte offset */
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#define LSM9DS1_OFFSET_X_REG_H_M 0x06 /* X high byte offset */
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#define LSM9DS1_OFFSET_Y_REG_L_M 0x07 /* Y low byte offset */
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#define LSM9DS1_OFFSET_Y_REG_H_M 0x08 /* Y high byte offset */
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#define LSM9DS1_OFFSET_Z_REG_L_M 0x09 /* Z low byte offset */
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#define LSM9DS1_OFFSET_Z_REG_H_M 0x0a /* Z high byte offset */
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#define LSM9DS1_WHO_AM_I_M 0x0f /* Device identification */
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#define LSM9DS1_CTRL_REG1_M 0x20 /* Control register 1 */
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#define LSM9DS1_CTRL_REG2_M 0x21 /* Control register 2 */
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#define LSM9DS1_CTRL_REG3_M 0x22 /* Control register 3 */
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#define LSM9DS1_CTRL_REG4_M 0x23 /* Control register 4 */
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#define LSM9DS1_CTRL_REG5_M 0x24 /* Control register 5 */
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#define LSM9DS1_STATUS_REG_M 0x27 /* Status register */
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#define LSM9DS1_OUT_X_L_M 0x28 /* X low byte */
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#define LSM9DS1_OUT_X_H_M 0x29 /* X high byte */
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#define LSM9DS1_OUT_Y_L_M 0x2a /* Y low byte */
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#define LSM9DS1_OUT_Y_H_M 0x2b /* Y high byte */
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#define LSM9DS1_OUT_Z_L_M 0x2c /* Z low byte */
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#define LSM9DS1_OUT_Z_H_M 0x2d /* Z high byte */
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#define LSM9DS1_INT_CFG_M 0x30 /* Interrupt configuration */
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#define LSM9DS1_INT_SRC_M 0x31 /* Interrupt source */
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#define LSM9DS1_INT_THS_L_M 0x32 /* Interrupt threshold low byte */
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#define LSM9DS1_INT_THS_H_M 0x33 /* Interrupt threshold high byte */
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/* Register Bit Definitions *************************************************/
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/* Inactivity threshold register */
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#define LSM9DS1_ACT_THS_ACT_THS_SHIFT 0 /* Inactivity threshold */
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#define LSM9DS1_ACT_THS_ACT_THS_MASK (127 << LSM9DS1_ACT_THS_ACT_THS_SHIFT)
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#define LSM9DS1_ACT_THS_SLEEP_ON_INACT_EN (1 << 7) /* Gyroscope operating mode during inactivity */
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/* Accelerometer interrupt configuration register */
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#define LSM9DS1_INT_GEN_CFG_XL_XLIE_XL (1 << 0) /* X-axis low byte interrupt enable */
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#define LSM9DS1_INT_GEN_CFG_XL_XHIE_XL (1 << 1) /* X-axis high byte interrupt enable */
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#define LSM9DS1_INT_GEN_CFG_XL_YLIE_XL (1 << 2) /* Y-axis low byte interrupt enable */
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#define LSM9DS1_INT_GEN_CFG_XL_YHIE_XL (1 << 3) /* Y-axis high byte interrupt enable */
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#define LSM9DS1_INT_GEN_CFG_XL_ZLIE_XL (1 << 4) /* Z-axis low byte interrupt enable */
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#define LSM9DS1_INT_GEN_CFG_XL_ZHIE_XL (1 << 5) /* Z-axis high byte interrupt enable */
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#define LSM9DS1_INT_GEN_CFG_XL_6D (1 << 6) /* 6-direction detection function for interrupt */
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#define LSM9DS1_INT_GEN_CFG_XL_AOI_XL (1 << 7) /* AND/OR combination of interrupt events */
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/* Accelerometer interrupt duration register */
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#define LSM9DS1_INT_GEN_DUR_XL_DUR_XL_SHIFT 0 /* Enter/exit interrupt duration */
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#define LSM9DS1_INT_GEN_DUR_XL_DUR_XL_MASK (127 << LSM9DS1_INT_GEN_DUR_XL_DUR_XL_SHIFT)
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#define LSM9DS1_INT_GEN_DUR_XL_WAIT_XL (1 << 7) /* Wait function enabled on duration counter */
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/* INT1_A/G pin control register */
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#define LSM9DS1_INT1_CTRL_INT1_DRDY_XL (1 << 0) /* Accelerometer data ready */
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#define LSM9DS1_INT1_CTRL_INT1_DRDY_G (1 << 1) /* Gyroscope data ready */
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#define LSM9DS1_INT1_CTRL_INT1_BOOT (1 << 2) /* Boot status available */
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#define LSM9DS1_INT1_CTRL_INT1_FTH (1 << 3) /* FIFO threshold interrupt */
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#define LSM9DS1_INT1_CTRL_INT1_OVR (1 << 4) /* Overrun interrupt */
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#define LSM9DS1_INT1_CTRL_INT1_FSS5 (1 << 5) /* FSS5 interrupt */
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#define LSM9DS1_INT1_CTRL_INT1_IG_XL (1 << 6) /* Accelerometer interrupt enable */
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#define LSM9DS1_INT1_CTRL_INT1_IG_G (1 << 7) /* Gyroscope interrupt enable */
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/* INT2_A/G pin control register */
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#define LSM9DS1_INT2_CTRL_INT2_DRDY_XL (1 << 0) /* Accelerometer data ready */
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#define LSM9DS1_INT2_CTRL_INT2_DRDY_G (1 << 1) /* Gyroscope data ready */
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#define LSM9DS1_INT2_CTRL_INT2_DRDY_TEMP (1 << 2) /* Temperature data ready */
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#define LSM9DS1_INT2_CTRL_INT2_FTH (1 << 3) /* FIFO threshold interrupt */
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#define LSM9DS1_INT2_CTRL_INT2_OVR (1 << 4) /* Overrun interrupt */
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#define LSM9DS1_INT2_CTRL_INT2_FSS5 (1 << 5) /* FSS5 interrupt */
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#define LSM9DS1_INT2_CTRL_INT2_INACT (1 << 7) /* Inactivity interrupt output signal */
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/* Device identification register */
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#define LSM9DS1_WHO_AM_I_VALUE 0x68
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/* Gyroscope control register 1 */
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#define LSM9DS1_CTRL_REG1_G_BW_G_SHIFT 0 /* Gyroscope bandwidth selection */
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#define LSM9DS1_CTRL_REG1_G_BW_G_MASK (3 << LSM9DS1_CTRL_REG1_G_BW_G_SHIFT)
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#define LSM9DS1_CTRL_REG1_G_FS_G_SHIFT 3 /* Gyroscope full-scale selection */
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#define LSM9DS1_CTRL_REG1_G_FS_G_MASK (3 << LSM9DS1_CTRL_REG1_G_FS_G_SHIFT)
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# define LSM9DS1_CTRL_REG1_G_FS_G_245DPS (0 << LSM9DS1_CTRL_REG1_G_FS_G_SHIFT) /* 245 dps */
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# define LSM9DS1_CTRL_REG1_G_FS_G_500DPS (1 << LSM9DS1_CTRL_REG1_G_FS_G_SHIFT) /* 500 dps */
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# define LSM9DS1_CTRL_REG1_G_FS_G_2000DPS (3 << LSM9DS1_CTRL_REG1_G_FS_G_SHIFT) /* 2000 dps */
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#define LSM9DS1_CTRL_REG1_G_ODR_G_SHIFT 5 /* Gyroscope bandwidth selection */
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#define LSM9DS1_CTRL_REG1_G_ODR_G_MASK (7 << LSM9DS1_CTRL_REG1_G_ODR_G_SHIFT)
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# define LSM9DS1_CTRL_REG1_G_ODR_G_POWERDOWN (0 << LSM9DS1_CTRL_REG1_G_ODR_G_SHIFT) /* Power-down mode */
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# define LSM9DS1_CTRL_REG1_G_ODR_G_14p9HZ (1 << LSM9DS1_CTRL_REG1_G_ODR_G_SHIFT) /* 14.9 Hz */
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# define LSM9DS1_CTRL_REG1_G_ODR_G_59p5HZ (2 << LSM9DS1_CTRL_REG1_G_ODR_G_SHIFT) /* 59.5 Hz */
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# define LSM9DS1_CTRL_REG1_G_ODR_G_119HZ (3 << LSM9DS1_CTRL_REG1_G_ODR_G_SHIFT) /* 119 Hz */
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# define LSM9DS1_CTRL_REG1_G_ODR_G_238HZ (4 << LSM9DS1_CTRL_REG1_G_ODR_G_SHIFT) /* 238 Hz */
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# define LSM9DS1_CTRL_REG1_G_ODR_G_476HZ (5 << LSM9DS1_CTRL_REG1_G_ODR_G_SHIFT) /* 476 Hz */
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# define LSM9DS1_CTRL_REG1_G_ODR_G_952HZ (6 << LSM9DS1_CTRL_REG1_G_ODR_G_SHIFT) /* 952 Hz */
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/* Gyroscope control register 2 */
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#define LSM9DS1_CTRL_REG2_G_OUT_SEL_SHIFT 0 /* Out selection configuration */
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#define LSM9DS1_CTRL_REG2_G_OUT_SEL_MASK (3 << LSM9DS1_CTRL_REG2_G_OUT_SEL_SHIFT)
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#define LSM9DS1_CTRL_REG2_G_INT_SEL_SHIFT 2 /* INT selection configuration */
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#define LSM9DS1_CTRL_REG2_G_INT_SEL_MASK (3 << LSM9DS1_CTRL_REG2_G_INT_SEL_SHIFT)
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/* Gyroscope control register 3 */
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#define LSM9DS1_CTRL_REG3_G_HPCF_G_SHIFT 0 /* Gyroscope high-pass filter cutoff frequency selection */
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#define LSM9DS1_CTRL_REG3_G_HPCF_G_MASK (15 << LSM9DS1_CTRL_REG3_G_HPCF_G_SHIFT)
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#define LSM9DS1_CTRL_REG3_G_HP_EN (1 << 6) /* High-pass filter enable */
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#define LSM9DS1_CTRL_REG3_G_LP_MODE (1 << 7) /* Low-power mode enable */
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/* Gyroscope sign and orientation register */
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#define LSM9DS1_ORIENT_CFG_G_ORIENT_SHIFT 0 /* Directional user orientation selection */
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#define LSM9DS1_ORIENT_CFG_G_ORIENT_MASK (3 << LSM9DS1_ORIENT_CFG_G_ORIENT_SHIFT)
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#define LSM9DS1_ORIENT_CFG_G_SIGNZ_G (1 << 3) /* Yaw axis (Z) angular rate sign */
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#define LSM9DS1_ORIENT_CFG_G_SIGNY_G (1 << 4) /* Roll axis (Y) angular rate sign */
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#define LSM9DS1_ORIENT_CFG_G_SIGNX_G (1 << 5) /* Pitch axis (X) angular rate sign */
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/* Gyroscope interrupt source register */
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#define LSM9DS1_INT_GEN_SRC_G_XL_G (1 << 0) /* Pitch (X) low */
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#define LSM9DS1_INT_GEN_SRC_G_XH_G (1 << 1) /* Pitch (X) high */
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#define LSM9DS1_INT_GEN_SRC_G_YL_G (1 << 2) /* Roll (Y) low */
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#define LSM9DS1_INT_GEN_SRC_G_YH_G (1 << 3) /* Roll (Y) high */
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#define LSM9DS1_INT_GEN_SRC_G_ZL_G (1 << 4) /* Yaw (Z) low */
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#define LSM9DS1_INT_GEN_SRC_G_ZH_G (1 << 5) /* Yaw (Z) high */
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#define LSM9DS1_INT_GEN_SRC_G_IA_G (1 << 6) /* Interrupt active */
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/* Status register */
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#define LSM9DS1_STATUS_REG_XLDA (1 << 0) /* Accelerometer new data available */
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#define LSM9DS1_STATUS_REG_GDA (1 << 1) /* Gyroscope new data available */
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#define LSM9DS1_STATUS_REG_TDA (1 << 2) /* Temperature sensor new data available */
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#define LSM9DS1_STATUS_REG_BOOT_STATUS (1 << 3) /* Boot running flag signal */
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#define LSM9DS1_STATUS_REG_INACT (1 << 4) /* Inactivity interrupt output signal */
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#define LSM9DS1_STATUS_REG_IG_G (1 << 5) /* Gyroscope interrupt output signal */
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#define LSM9DS1_STATUS_REG_IG_XL (1 << 6) /* Accelerometer interrupt output signal */
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/* Control register 4 */
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#define LSM9DS1_CTRL_REG4_4D_XL1 (1 << 0) /* 4D option enabled on interrupt */
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#define LSM9DS1_CTRL_REG4_LIR_XL1 (1 << 1) /* Latched interrupt */
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#define LSM9DS1_CTRL_REG4_XEN_G (1 << 3) /* Gyroscope's pitch axis (X) output enable */
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#define LSM9DS1_CTRL_REG4_YEN_G (1 << 4) /* Gyroscope's roll axis (Y) output enable */
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#define LSM9DS1_CTRL_REG4_ZEN_G (1 << 5) /* Gyroscope's yaw axis (Z) output enable */
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/* Accelerometer control register 5 */
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#define LSM9DS1_CTRL_REG5_XL_XEN_XL (1 << 3) /* Accelerometer's X-axis output enable */
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#define LSM9DS1_CTRL_REG5_XL_YEN_XL (1 << 4) /* Accelerometer's Y-axis output enable */
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#define LSM9DS1_CTRL_REG5_XL_ZEN_XL (1 << 5) /* Accelerometer's Z-axis output enable */
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#define LSM9DS1_CTRL_REG5_XL_DEC_SHIFT 6 /* Decimation of acceleration data on OUT REG and FIFO */
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#define LSM9DS1_CTRL_REG5_XL_DEC_MASK (3 << LSM9DS1_CTRL_REG5_XL_DEC_SHIFT)
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# define LSM9DS1_CTRL_REG5_XL_DEC_NODEC (0 << LSM9DS1_CTRL_REG5_XL_DEC_SHIFT) /* No decimation */
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# define LSM9DS1_CTRL_REG5_XL_DEC_2SAMPLES (1 << LSM9DS1_CTRL_REG5_XL_DEC_SHIFT) /* Update every 2 samples */
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# define LSM9DS1_CTRL_REG5_XL_DEC_4SAMPLES (2 << LSM9DS1_CTRL_REG5_XL_DEC_SHIFT) /* Update every 4 samples */
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# define LSM9DS1_CTRL_REG5_XL_DEC_8SAMPLES (3 << LSM9DS1_CTRL_REG5_XL_DEC_SHIFT) /* Update every 8 samples */
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/* Accelerometer control register 6 */
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#define LSM9DS1_CTRL_REG6_XL_BW_XL_SHIFT 0 /* Anti-aliasing filter bandwidth selection */
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#define LSM9DS1_CTRL_REG6_XL_BW_XL_MASK (3 << LSM9DS1_CTRL_REG6_XL_BW_XL_SHIFT)
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# define LSM9DS1_CTRL_REG6_XL_BW_XL_408HZ (0 << LSM9DS1_CTRL_REG6_XL_BW_XL_SHIFT) /* 408 Hz */
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# define LSM9DS1_CTRL_REG6_XL_BW_XL_211HZ (1 << LSM9DS1_CTRL_REG6_XL_BW_XL_SHIFT) /* 211 Hz */
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# define LSM9DS1_CTRL_REG6_XL_BW_XL_105HZ (2 << LSM9DS1_CTRL_REG6_XL_BW_XL_SHIFT) /* 105 Hz */
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# define LSM9DS1_CTRL_REG6_XL_BW_XL_50HZ (3 << LSM9DS1_CTRL_REG6_XL_BW_XL_SHIFT) /* 50 Hz */
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#define LSM9DS1_CTRL_REG6_XL_BW_SCAL_ODR (1 << 2) /* Bandwidth selection */
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#define LSM9DS1_CTRL_REG6_XL_FS_XL_SHIFT 3 /* Accelerometer full-scale selection */
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#define LSM9DS1_CTRL_REG6_XL_FS_XL_MASK (3 << LSM9DS1_CTRL_REG6_XL_FS_XL_SHIFT)
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# define LSM9DS1_CTRL_REG6_XL_FS_XL_2G (0 << LSM9DS1_CTRL_REG6_XL_FS_XL_SHIFT) /* +/- 2 g */
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# define LSM9DS1_CTRL_REG6_XL_FS_XL_16G (1 << LSM9DS1_CTRL_REG6_XL_FS_XL_SHIFT) /* +/- 16 g */
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# define LSM9DS1_CTRL_REG6_XL_FS_XL_4G (2 << LSM9DS1_CTRL_REG6_XL_FS_XL_SHIFT) /* +/- 4 g */
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# define LSM9DS1_CTRL_REG6_XL_FS_XL_8G (3 << LSM9DS1_CTRL_REG6_XL_FS_XL_SHIFT) /* +/- 8 g */
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#define LSM9DS1_CTRL_REG6_XL_ODR_XL_SHIFT 5 /* Output data rate and power mode selection */
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#define LSM9DS1_CTRL_REG6_XL_ODR_XL_MASK (7 << LSM9DS1_CTRL_REG6_XL_ODR_XL_SHIFT)
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# define LSM9DS1_CTRL_REG6_XL_ODR_XL_POWERDOWN (0 << LSM9DS1_CTRL_REG6_XL_ODR_XL_SHIFT) /* Power-down mode */
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# define LSM9DS1_CTRL_REG6_XL_ODR_XL_10HZ (1 << LSM9DS1_CTRL_REG6_XL_ODR_XL_SHIFT) /* 10 Hz */
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# define LSM9DS1_CTRL_REG6_XL_ODR_XL_50HZ (2 << LSM9DS1_CTRL_REG6_XL_ODR_XL_SHIFT) /* 50 Hz */
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# define LSM9DS1_CTRL_REG6_XL_ODR_XL_119HZ (3 << LSM9DS1_CTRL_REG6_XL_ODR_XL_SHIFT) /* 119 Hz */
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# define LSM9DS1_CTRL_REG6_XL_ODR_XL_238HZ (4 << LSM9DS1_CTRL_REG6_XL_ODR_XL_SHIFT) /* 238 Hz */
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# define LSM9DS1_CTRL_REG6_XL_ODR_XL_476HZ (5 << LSM9DS1_CTRL_REG6_XL_ODR_XL_SHIFT) /* 476 Hz */
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# define LSM9DS1_CTRL_REG6_XL_ODR_XL_952HZ (6 << LSM9DS1_CTRL_REG6_XL_ODR_XL_SHIFT) /* 952 Hz */
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/* Accelerometer control register 7 */
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#define LSM9DS1_CTRL_REG7_XL_HPIS1 (1 << 0) /* High-pass filter enabled */
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#define LSM9DS1_CTRL_REG7_XL_FDS (1 << 2) /* Filtered data selection */
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#define LSM9DS1_CTRL_REG7_XL_DCF_SHIFT 5 /* Accelerometer digital filter cutoff frequency selection */
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#define LSM9DS1_CTRL_REG7_XL_DCF_MASK (3 << LSM9DS1_CTRL_REG7_XL_DCF_SHIFT)
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# define LSM9DS1_CTRL_REG7_XL_DCF_ODR_DIV50 (0 << LSM9DS1_CTRL_REG7_XL_DCF_SHIFT)
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# define LSM9DS1_CTRL_REG7_XL_DCF_ODR_DIV100 (1 << LSM9DS1_CTRL_REG7_XL_DCF_SHIFT)
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# define LSM9DS1_CTRL_REG7_XL_DCF_ODR_DIV9 (2 << LSM9DS1_CTRL_REG7_XL_DCF_SHIFT)
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# define LSM9DS1_CTRL_REG7_XL_DCF_ODR_DIV400 (3 << LSM9DS1_CTRL_REG7_XL_DCF_SHIFT)
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#define LSM9DS1_CTRL_REG7_XL_HR (1 << 7) /* High resolution mode enable */
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/* Control register 8 */
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#define LSM9DS1_CTRL_REG8_SW_RESET (1 << 0) /* Software reset */
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#define LSM9DS1_CTRL_REG8_BLE (1 << 1) /* Big/little endian data selection */
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#define LSM9DS1_CTRL_REG8_IF_ADD_INC (1 << 2) /* Register address automatically incremented during a multibyte access */
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#define LSM9DS1_CTRL_REG8_SIM (1 << 3) /* SPI serial interface mode selection */
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#define LSM9DS1_CTRL_REG8_PP_OD (1 << 4) /* Push-pull/open-drain selection on the INT1_A/G and INT2_A/G pins */
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#define LSM9DS1_CTRL_REG8_H_LACTIVE (1 << 5) /* Interrupt activation level */
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#define LSM9DS1_CTRL_REG8_BDU (1 << 6) /* Block data update */
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#define LSM9DS1_CTRL_REG8_BOOT (1 << 7) /* Reboot memory content */
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/* Control register 9 */
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#define LSM9DS1_CTRL_REG9_STOP_ON_FTH (1 << 0) /* Enable FIFO threshold level use */
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#define LSM9DS1_CTRL_REG9_FIFO_EN (1 << 1) /* FIFO memory enable */
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#define LSM9DS1_CTRL_REG9_I2C_DISABLE (1 << 2) /* Disable I2C interface */
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#define LSM9DS1_CTRL_REG9_DRDY_MASK_BIT (1 << 3) /* Data available enable bit */
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#define LSM9DS1_CTRL_REG9_FIFO_TEMP_EN (1 << 4) /* Temperature data storage in FIFO enable */
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#define LSM9DS1_CTRL_REG9_SLEEP_G (1 << 6) /* Gyroscope sleep mode enable */
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/* Control register 10 */
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#define LSM9DS1_CTRL_REG10_ST_XL (1 << 0) /* Linear acceleration sensor self-test enable */
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#define LSM9DS1_CTRL_REG10_ST_G (1 << 2) /* Angular rate sensor self-test enable */
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/* Accelerometer interrupt source register */
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#define LSM9DS1_INT_GEN_SRC_XL_XL_XL (1 << 0) /* Accelerometer's X low event */
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#define LSM9DS1_INT_GEN_SRC_XL_XH_XL (1 << 1) /* Accelerometer's X high event */
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#define LSM9DS1_INT_GEN_SRC_XL_YL_XL (1 << 2) /* Accelerometer's Y low event */
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#define LSM9DS1_INT_GEN_SRC_XL_YH_XL (1 << 3) /* Accelerometer's Y high event */
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#define LSM9DS1_INT_GEN_SRC_XL_ZL_XL (1 << 4) /* Accelerometer's Z low event */
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#define LSM9DS1_INT_GEN_SRC_XL_ZH_XL (1 << 5) /* Accelerometer's Z high event */
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#define LSM9DS1_INT_GEN_SRC_XL_IA_XL (1 << 6) /* Interrupt active */
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/* Status register 2 */
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#define LSM9DS1_STATUS_REG2_XLDA (1 << 0) /* Accelerometer new data available */
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#define LSM9DS1_STATUS_REG2_GDA (1 << 1) /* Gyroscope new data available */
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#define LSM9DS1_STATUS_REG2_TDA (1 << 2) /* Temperature sensor new data available */
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#define LSM9DS1_STATUS_REG2_BOOT_STATUS (1 << 3) /* Boot running flag signal */
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#define LSM9DS1_STATUS_REG2_INACT (1 << 4) /* Inactivity interrupt output signal */
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#define LSM9DS1_STATUS_REG2_IG_G (1 << 5) /* Gyroscope interrupt output signal */
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#define LSM9DS1_STATUS_REG2_IG_XL (1 << 6) /* Accelerometer interrupt output signal */
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/* FIFO control register */
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#define LSM9DS1_FIFO_CTRL_FTH_SHIFT 0 /* FIFO threshold level setting */
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#define LSM9DS1_FIFO_CTRL_FTH_MASK (31 << LSM9DS1_FIFO_CTRL_FTH_SHIFT)
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#define LSM9DS1_FIFO_CTRL_FMODE_SHIFT 5 /* FIFO mode selection bits */
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#define LSM9DS1_FIFO_CTRL_FMODE_MASK (7 << LSM9DS1_FIFO_CTRL_FMODE_SHIFT)
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# define LSM9DS1_FIFO_CTRL_FMODE_BYPASS (0 << LSM9DS1_FIFO_CTRL_FMODE_SHIFT) /* Bypass mode */
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# define LSM9DS1_FIFO_CTRL_FMODE_FIFO (1 << LSM9DS1_FIFO_CTRL_FMODE_SHIFT) /* FIFO mode */
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# define LSM9DS1_FIFO_CTRL_FMODE_CONT_FIFO (3 << LSM9DS1_FIFO_CTRL_FMODE_SHIFT) /* Continuous-to-FIFO mode */
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# define LSM9DS1_FIFO_CTRL_FMODE_BYPASS_CONT (4 << LSM9DS1_FIFO_CTRL_FMODE_SHIFT) /* Bypass-to-continuous mode */
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# define LSM9DS1_FIFO_CTRL_FMODE_CONT (5 << LSM9DS1_FIFO_CTRL_FMODE_SHIFT) /* Continuous mode */
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/* FIFO status control register */
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#define LSM9DS1_FIFO_SRC_FSS_SHIFT 0 /* Number of unread samples stored into FIFO */
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#define LSM9DS1_FIFO_SRC_FSS_MASK (63 << LSM9DS1_FIFO_SRC_FSS_SHIFT)
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#define LSM9DS1_FIFO_SRC_OVRN (1 << 6) /* FIFO overrun status */
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#define LSM9DS1_FIFO_SRC_FTH (1 << 7) /* FIFO threshold status */
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/* Gyroscope interrupt configuration register */
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#define LSM9DS1_INT_GEN_CFG_G_XLIE_G (1 << 0) /* Pitch (X) axis low event interrupt enable */
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#define LSM9DS1_INT_GEN_CFG_G_XHIE_G (1 << 1) /* Pitch (X) axis high event interrupt enable */
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#define LSM9DS1_INT_GEN_CFG_G_YLIE_G (1 << 2) /* Roll (Y) axis low event interrupt enable */
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#define LSM9DS1_INT_GEN_CFG_G_YHIE_G (1 << 3) /* Roll (Y) axis high event interrupt enable */
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#define LSM9DS1_INT_GEN_CFG_G_ZLIE_G (1 << 4) /* Yaw (Z) axis low event interrupt enable */
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#define LSM9DS1_INT_GEN_CFG_G_ZHIE_G (1 << 5) /* Yaw (Z) axis high event interrupt enable */
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#define LSM9DS1_INT_GEN_CFG_G_LIR_G (1 << 6) /* Latch interrupt request */
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#define LSM9DS1_INT_GEN_CFG_G_AOI_G (1 << 7) /* AND/OR combination of interrupt events */
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/* Gyroscope interrupt threshold registers */
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#define LSM9DS1_INT_GEN_THS_XH_G_THS_XH_G_SHIFT 0 /* X interrupt threshold high byte */
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#define LSM9DS1_INT_GEN_THS_XH_G_THS_XH_G_MASK (127 << LSM9DS1_INT_GEN_THS_XH_G_THS_XH_G_SHIFT)
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#define LSM9DS1_INT_GEN_THS_XH_G_DCRM_G (1 << 7) /* Decrement or reset counter mode selection */
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/* Gyroscope interrupt duration register */
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#define LSM9DS1_INT_GEN_DUR_G_DUR_G_SHIFT 0 /* Enter/exit interrupt duration */
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#define LSM9DS1_INT_GEN_DUR_G_DUR_G_MASK (127 << LSM9DS1_INT_GEN_DUR_G_DUR_G_SHIFT)
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#define LSM9DS1_INT_GEN_DUR_G_WAIT_G (1 << 7) /* Exit from interrupt wait function enable */
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/* Device identification register */
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#define LSM9DS1_WHO_AM_I_M_VALUE 0x3d
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/* Magnetometer control register 1 */
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#define LSM9DS1_CTRL_REG1_M_ST (1 << 0) /* Self-test enable */
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#define LSM9DS1_CTRL_REG1_M_FAST_ODR (1 << 1) /* Enable data rates higher than 80 Hz */
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#define LSM9DS1_CTRL_REG1_M_DO_SHIFT 2 /* Output data rate selection */
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#define LSM9DS1_CTRL_REG1_M_DO_MASK (7 << LSM9DS1_CTRL_REG1_M_DO_SHIFT)
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# define LSM9DS1_CTRL_REG1_M_DO_0p625HZ (0 << LSM9DS1_CTRL_REG1_M_DO_SHIFT) /* 0.625 Hz */
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# define LSM9DS1_CTRL_REG1_M_DO_1p25HZ (1 << LSM9DS1_CTRL_REG1_M_DO_SHIFT) /* 1.25 Hz */
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# define LSM9DS1_CTRL_REG1_M_DO_2p5HZ (2 << LSM9DS1_CTRL_REG1_M_DO_SHIFT) /* 2.5 Hz */
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# define LSM9DS1_CTRL_REG1_M_DO_5HZ (3 << LSM9DS1_CTRL_REG1_M_DO_SHIFT) /* 5 Hz */
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# define LSM9DS1_CTRL_REG1_M_DO_10HZ (4 << LSM9DS1_CTRL_REG1_M_DO_SHIFT) /* 10 Hz */
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# define LSM9DS1_CTRL_REG1_M_DO_20HZ (5 << LSM9DS1_CTRL_REG1_M_DO_SHIFT) /* 20 Hz */
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# define LSM9DS1_CTRL_REG1_M_DO_40HZ (6 << LSM9DS1_CTRL_REG1_M_DO_SHIFT) /* 40 Hz */
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# define LSM9DS1_CTRL_REG1_M_DO_80HZ (7 << LSM9DS1_CTRL_REG1_M_DO_SHIFT) /* 80 Hz */
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#define LSM9DS1_CTRL_REG1_M_OM_SHIFT 5 /* X and Y axes operative mode selection */
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#define LSM9DS1_CTRL_REG1_M_OM_MASK (3 << LSM9DS1_CTRL_REG1_M_OM_SHIFT)
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# define LSM9DS1_CTRL_REG1_M_OM_LOW (0 << LSM9DS1_CTRL_REG1_M_OM_SHIFT) /* Low-power mode */
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# define LSM9DS1_CTRL_REG1_M_OM_MEDIUM (1 << LSM9DS1_CTRL_REG1_M_OM_SHIFT) /* Medium-performance mode */
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# define LSM9DS1_CTRL_REG1_M_OM_HIGH (2 << LSM9DS1_CTRL_REG1_M_OM_SHIFT) /* High-performance mode */
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# define LSM9DS1_CTRL_REG1_M_OM_ULTRAHIGH (3 << LSM9DS1_CTRL_REG1_M_OM_SHIFT) /* Ultra-high performance mode */
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#define LSM9DS1_CTRL_REG1_M_TEMP_COMP (1 << 7) /* Temperature compensation enable */
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/* Magnetometer control register 2 */
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#define LSM9DS1_CTRL_REG2_M_SOFT_RST (1 << 2) /* Configuration register and user register reset */
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#define LSM9DS1_CTRL_REG2_M_REBOOT (1 << 3) /* Reboot memory content */
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#define LSM9DS1_CTRL_REG2_M_FS_SHIFT 5 /* Full-scale configuration */
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#define LSM9DS1_CTRL_REG2_M_FS_MASK (3 << LSM9DS1_CTRL_REG2_M_FS_SHIFT)
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# define LSM9DS1_CTRL_REG2_M_FS_4GAUSS (0 << LSM9DS1_CTRL_REG2_M_FS_SHIFT) /* +/- 4 gauss */
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# define LSM9DS1_CTRL_REG2_M_FS_8GAUSS (1 << LSM9DS1_CTRL_REG2_M_FS_SHIFT) /* +/- 8 gauss */
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# define LSM9DS1_CTRL_REG2_M_FS_12GAUSS (2 << LSM9DS1_CTRL_REG2_M_FS_SHIFT) /* +/- 12 gauss */
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# define LSM9DS1_CTRL_REG2_M_FS_16GAUSS (3 << LSM9DS1_CTRL_REG2_M_FS_SHIFT) /* +/- 16 gauss */
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/* Magnetometer control register 3 */
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#define LSM9DS1_CTRL_REG3_M_MD_SHIFT 0 /* Operating mode selection */
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#define LSM9DS1_CTRL_REG3_M_MD_MASK (3 << LSM9DS1_CTRL_REG3_M_MD_SHIFT)
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# define LSM9DS1_CTRL_REG3_M_MD_CONT (0 << LSM9DS1_CTRL_REG3_M_MD_SHIFT) /* Continuous-conversion mode */
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# define LSM9DS1_CTRL_REG3_M_MD_SINGLE (1 << LSM9DS1_CTRL_REG3_M_MD_SHIFT) /* Single-conversion mode */
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# define LSM9DS1_CTRL_REG3_M_MD_POWERDOWN (2 << LSM9DS1_CTRL_REG3_M_MD_SHIFT) /* Power-down mode */
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# define LSM9DS1_CTRL_REG3_M_MD_POWERDOWN2 (3 << LSM9DS1_CTRL_REG3_M_MD_SHIFT) /* Power-down mode */
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#define LSM9DS1_CTRL_REG3_M_SIM (1 << 2) /* SPI serial interface mode selection */
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#define LSM9DS1_CTRL_REG3_M_LP (1 << 5) /* Low-power mode configuration */
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#define LSM9DS1_CTRL_REG3_M_I2C_DISABLE (1 << 7) /* Disable I2C interface */
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/* Magnetometer control register 4 */
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#define LSM9DS1_CTRL_REG4_M_BLE (1 << 1) /* Big/little endian data selection */
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#define LSM9DS1_CTRL_REG4_M_OMZ_SHIFT 2 /* Z-axis operative mode selection */
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#define LSM9DS1_CTRL_REG4_M_OMZ_MASK (3 << LSM9DS1_CTRL_REG4_M_OMZ_SHIFT)
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# define LSM9DS1_CTRL_REG4_M_OMZ_LOW (0 << LSM9DS1_CTRL_REG4_M_OMZ_SHIFT) /* Low-power mode */
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# define LSM9DS1_CTRL_REG4_M_OMZ_MEDIUM (1 << LSM9DS1_CTRL_REG4_M_OMZ_SHIFT) /* Medium-performance mode */
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# define LSM9DS1_CTRL_REG4_M_OMZ_HIGH (2 << LSM9DS1_CTRL_REG4_M_OMZ_SHIFT) /* High-performance mode */
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# define LSM9DS1_CTRL_REG4_M_OMZ_ULTRAHIGH (3 << LSM9DS1_CTRL_REG4_M_OMZ_SHIFT) /* Ultra-high performance mode */
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/* Magnetometer control register 5 */
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#define LSM9DS1_CTRL_REG5_M_BDU (1 << 6) /* Block data update */
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#define LSM9DS1_CTRL_REG5_M_FAST_READ (1 << 7) /* Fast read enable */
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/* Magnetometer status register */
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#define LSM9DS1_STATUS_REG_M_XDA (1 << 0) /* X-axis new data available */
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#define LSM9DS1_STATUS_REG_M_YDA (1 << 1) /* Y-axis new data available */
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#define LSM9DS1_STATUS_REG_M_ZDA (1 << 2) /* Z-axis new data available */
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#define LSM9DS1_STATUS_REG_M_ZYXDA (1 << 3) /* X, Y and Z-axis new data available */
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#define LSM9DS1_STATUS_REG_M_XOR (1 << 4) /* X-axis data overrun */
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#define LSM9DS1_STATUS_REG_M_YOR (1 << 5) /* Y-axis data overrun */
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#define LSM9DS1_STATUS_REG_M_ZOR (1 << 6) /* Z-axis data overrun */
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#define LSM9DS1_STATUS_REG_M_ZYXOR (1 << 7) /* X, Y and Z-axis data overrun */
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/* Magnetometer interrupt configuration register */
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#define LSM9DS1_INT_CFG_M_IEN (1 << 0) /* Interrupt enable on the INT_M pin */
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#define LSM9DS1_INT_CFG_M_IEL (1 << 1) /* Latch interrupt request */
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#define LSM9DS1_INT_CFG_M_IEA (1 << 2) /* Interrupt active configuration on INT_MAG */
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#define LSM9DS1_INT_CFG_M_ZIEN (1 << 5) /* Z-axis interrupt enable */
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#define LSM9DS1_INT_CFG_M_YIEN (1 << 6) /* Y-axis interrupt enable */
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#define LSM9DS1_INT_CFG_M_XIEN (1 << 7) /* X-axis interrupt enable */
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/* Magnetometer interrupt source register */
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#define LSM9DS1_INT_SRC_M_INT (1 << 0) /* Interrupt occurred */
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#define LSM9DS1_INT_SRC_M_MROI (1 << 1) /* Internal measurement range overflow */
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#define LSM9DS1_INT_SRC_M_NTH_Z (1 << 2) /* Value on Z-axis exceeds threshold on negative side */
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#define LSM9DS1_INT_SRC_M_NTH_Y (1 << 3) /* Value on Y-axis exceeds threshold on negative side */
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#define LSM9DS1_INT_SRC_M_NTH_X (1 << 4) /* Value on X-axis exceeds threshold on negative side */
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#define LSM9DS1_INT_SRC_M_PTH_Z (1 << 5) /* Value on Z-axis exceeds threshold on positive side */
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#define LSM9DS1_INT_SRC_M_PTH_Y (1 << 6) /* Value on Y-axis exceeds threshold on positive side */
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#define LSM9DS1_INT_SRC_M_PTH_X (1 << 7) /* Value on X-axis exceeds threshold on positive side */
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/****************************************************************************
|
|
* Private Types
|
|
****************************************************************************/
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|
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struct lsm9ds1_dev_s;
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struct lsm9ds1_ops_s
|
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{
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CODE int (*config)(FAR struct lsm9ds1_dev_s *priv);
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CODE int (*start)(FAR struct lsm9ds1_dev_s *priv);
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CODE int (*stop)(FAR struct lsm9ds1_dev_s *priv);
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CODE int (*setsamplerate)(FAR struct lsm9ds1_dev_s *priv,
|
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uint32_t samplerate);
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CODE int (*setfullscale)(FAR struct lsm9ds1_dev_s *priv,
|
|
uint32_t fullscale);
|
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};
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|
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struct lsm9ds1_dev_s
|
|
{
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FAR struct i2c_master_s *i2c; /* I2C interface */
|
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uint8_t addr; /* I2C address */
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|
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FAR const struct lsm9ds1_ops_s *ops;
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|
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uint32_t samplerate; /* Output data rate */
|
|
uint8_t datareg; /* Output data register of X low byte */
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};
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|
|
/****************************************************************************
|
|
* Private Function Prototypes
|
|
****************************************************************************/
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|
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/* I2C Helpers */
|
|
|
|
static int lsm9ds1_readreg8(FAR struct lsm9ds1_dev_s *priv, uint8_t regaddr,
|
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FAR uint8_t *regval);
|
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static int lsm9ds1_writereg8(FAR struct lsm9ds1_dev_s *priv, uint8_t regaddr,
|
|
uint8_t regval);
|
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static int lsm9ds1_modifyreg8(FAR struct lsm9ds1_dev_s *priv,
|
|
uint8_t regaddr, uint8_t clearbits,
|
|
uint8_t setbits);
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|
|
|
/* Other Helpers */
|
|
|
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static uint32_t lsm9ds1_midpoint(uint32_t a, uint32_t b);
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|
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/* Accelerometer Operations */
|
|
|
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static int lsm9ds1accelgyro_config(FAR struct lsm9ds1_dev_s *priv);
|
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static int lsm9ds1accel_start(FAR struct lsm9ds1_dev_s *priv);
|
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static int lsm9ds1accel_stop(FAR struct lsm9ds1_dev_s *priv);
|
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static int lsm9ds1accelgyro_setsamplerate(FAR struct lsm9ds1_dev_s *priv,
|
|
uint32_t samplerate);
|
|
static int lsm9ds1accel_setfullscale(FAR struct lsm9ds1_dev_s *priv,
|
|
uint32_t fullscale);
|
|
|
|
/* Gyroscope Operations */
|
|
|
|
static int lsm9ds1gyro_start(FAR struct lsm9ds1_dev_s *priv);
|
|
static int lsm9ds1gyro_stop(FAR struct lsm9ds1_dev_s *priv);
|
|
static int lsm9ds1gyro_setfullscale(FAR struct lsm9ds1_dev_s *priv,
|
|
uint32_t fullscale);
|
|
|
|
/* Magnetometer Operations */
|
|
|
|
static int lsm9ds1mag_config(FAR struct lsm9ds1_dev_s *priv);
|
|
static int lsm9ds1mag_start(FAR struct lsm9ds1_dev_s *priv);
|
|
static int lsm9ds1mag_stop(FAR struct lsm9ds1_dev_s *priv);
|
|
static int lsm9ds1mag_setfullscale(FAR struct lsm9ds1_dev_s *priv,
|
|
uint32_t fullscale);
|
|
static int lsm9ds1mag_setsamplerate(FAR struct lsm9ds1_dev_s *priv,
|
|
uint32_t samplerate);
|
|
|
|
/* Character Driver Methods */
|
|
|
|
static int lsm9ds1_open(FAR struct file *filep);
|
|
static int lsm9ds1_close(FAR struct file *filep);
|
|
static ssize_t lsm9ds1_read(FAR struct file *filep, FAR char *buffer,
|
|
size_t buflen);
|
|
static ssize_t lsm9ds1_write(FAR struct file *filep, FAR const char *buffer,
|
|
size_t buflen);
|
|
static int lsm9ds1_ioctl(FAR struct file *filep, int cmd,
|
|
unsigned long arg);
|
|
|
|
/* Common Register Function */
|
|
|
|
static int lsm9ds1_register(FAR const char *devpath,
|
|
FAR struct i2c_master_s *i2c, uint8_t addr,
|
|
FAR const struct lsm9ds1_ops_s *ops,
|
|
uint8_t datareg);
|
|
|
|
/****************************************************************************
|
|
* Private Data
|
|
****************************************************************************/
|
|
|
|
static const struct file_operations g_fops =
|
|
{
|
|
lsm9ds1_open,
|
|
lsm9ds1_close,
|
|
lsm9ds1_read,
|
|
lsm9ds1_write,
|
|
NULL,
|
|
lsm9ds1_ioctl,
|
|
NULL,
|
|
#ifndef CONFIG_DISABLE_PSEUDOFS_OPERATIONS
|
|
NULL,
|
|
#endif
|
|
};
|
|
|
|
static const struct lsm9ds1_ops_s g_lsm9ds1accel_ops =
|
|
{
|
|
lsm9ds1accelgyro_config,
|
|
lsm9ds1accel_start,
|
|
lsm9ds1accel_stop,
|
|
lsm9ds1accelgyro_setsamplerate,
|
|
lsm9ds1accel_setfullscale,
|
|
};
|
|
|
|
static const struct lsm9ds1_ops_s g_lsm9ds1gyro_ops =
|
|
{
|
|
lsm9ds1accelgyro_config,
|
|
lsm9ds1gyro_start,
|
|
lsm9ds1gyro_stop,
|
|
lsm9ds1accelgyro_setsamplerate,
|
|
lsm9ds1gyro_setfullscale,
|
|
};
|
|
|
|
static const struct lsm9ds1_ops_s g_lsm9ds1mag_ops =
|
|
{
|
|
lsm9ds1mag_config,
|
|
lsm9ds1mag_start,
|
|
lsm9ds1mag_stop,
|
|
lsm9ds1mag_setsamplerate,
|
|
lsm9ds1mag_setfullscale,
|
|
};
|
|
|
|
/****************************************************************************
|
|
* Private Functions
|
|
****************************************************************************/
|
|
|
|
/****************************************************************************
|
|
* Name: lsm9ds1_readreg8
|
|
*
|
|
* Description:
|
|
* Read from an 8-bit register.
|
|
*
|
|
****************************************************************************/
|
|
|
|
static int lsm9ds1_readreg8(FAR struct lsm9ds1_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_LSM9DS1_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: lsm9ds1_writereg8
|
|
*
|
|
* Description:
|
|
* Write to an 8-bit register.
|
|
*
|
|
****************************************************************************/
|
|
|
|
static int lsm9ds1_writereg8(FAR struct lsm9ds1_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_LSM9DS1_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;
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: lsm9ds1_modifyreg8
|
|
*
|
|
* Description:
|
|
* Modify an 8-bit register.
|
|
*
|
|
****************************************************************************/
|
|
|
|
static int lsm9ds1_modifyreg8(FAR struct lsm9ds1_dev_s *priv, uint8_t regaddr,
|
|
uint8_t clearbits, uint8_t setbits)
|
|
{
|
|
int ret;
|
|
uint8_t regval;
|
|
|
|
/* Sanity check */
|
|
|
|
DEBUGASSERT(priv != NULL);
|
|
|
|
ret = lsm9ds1_readreg8(priv, regaddr, ®val);
|
|
if (ret < 0)
|
|
{
|
|
snerr("ERROR: lsm9ds1_readreg8 failed: %d\n", ret);
|
|
return ret;
|
|
}
|
|
|
|
regval &= ~clearbits;
|
|
regval |= setbits;
|
|
|
|
ret = lsm9ds1_writereg8(priv, regaddr, regval);
|
|
if (ret < 0)
|
|
{
|
|
snerr("ERROR: lsm9ds1_writereg8 failed: %d\n", ret);
|
|
return ret;
|
|
}
|
|
|
|
return OK;
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: lsm9ds1_midpoint
|
|
*
|
|
* Description:
|
|
* Find the midpoint between two numbers.
|
|
*
|
|
****************************************************************************/
|
|
|
|
static uint32_t lsm9ds1_midpoint(uint32_t a, uint32_t b)
|
|
{
|
|
return (uint32_t)(((uint64_t)a + (uint64_t)b + (uint64_t)1) / (uint64_t)2);
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: lsm9ds1accelgyro_config
|
|
*
|
|
* Description:
|
|
* Configure the accelerometer and gyroscope.
|
|
*
|
|
****************************************************************************/
|
|
|
|
static int lsm9ds1accelgyro_config(FAR struct lsm9ds1_dev_s *priv)
|
|
{
|
|
int ret;
|
|
uint8_t regval;
|
|
|
|
/* Sanity check */
|
|
|
|
DEBUGASSERT(priv != NULL);
|
|
|
|
/* Get the device identification */
|
|
|
|
ret = lsm9ds1_readreg8(priv, LSM9DS1_WHO_AM_I, ®val);
|
|
if (ret < 0)
|
|
{
|
|
snerr("ERROR: lsm9ds1_readreg8 failed: %d\n", ret);
|
|
return ret;
|
|
}
|
|
|
|
if (regval != LSM9DS1_WHO_AM_I_VALUE)
|
|
{
|
|
snerr("ERROR: Invalid device identification %02x\n", regval);
|
|
return -ENODEV;
|
|
}
|
|
|
|
return OK;
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: lsm9ds1accel_start
|
|
*
|
|
* Description:
|
|
* Start the accelerometer.
|
|
*
|
|
****************************************************************************/
|
|
|
|
static int lsm9ds1accel_start(FAR struct lsm9ds1_dev_s *priv)
|
|
{
|
|
uint8_t setbits;
|
|
|
|
/* Sanity check */
|
|
|
|
DEBUGASSERT(priv != NULL);
|
|
|
|
if (priv->samplerate < lsm9ds1_midpoint(10, 50))
|
|
{
|
|
setbits = LSM9DS1_CTRL_REG6_XL_ODR_XL_10HZ;
|
|
}
|
|
else if (priv->samplerate < lsm9ds1_midpoint(50, 119))
|
|
{
|
|
setbits = LSM9DS1_CTRL_REG6_XL_ODR_XL_50HZ;
|
|
}
|
|
else if (priv->samplerate < lsm9ds1_midpoint(119, 238))
|
|
{
|
|
setbits = LSM9DS1_CTRL_REG6_XL_ODR_XL_119HZ;
|
|
}
|
|
else if (priv->samplerate < lsm9ds1_midpoint(238, 476))
|
|
{
|
|
setbits = LSM9DS1_CTRL_REG6_XL_ODR_XL_238HZ;
|
|
}
|
|
else if (priv->samplerate < lsm9ds1_midpoint(476, 952))
|
|
{
|
|
setbits = LSM9DS1_CTRL_REG6_XL_ODR_XL_476HZ;
|
|
}
|
|
else
|
|
{
|
|
setbits = LSM9DS1_CTRL_REG6_XL_ODR_XL_952HZ;
|
|
}
|
|
|
|
return lsm9ds1_modifyreg8(priv, LSM9DS1_CTRL_REG6_XL,
|
|
LSM9DS1_CTRL_REG6_XL_ODR_XL_MASK, setbits);
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: lsm9ds1accel_stop
|
|
*
|
|
* Description:
|
|
* Stop the accelerometer.
|
|
*
|
|
****************************************************************************/
|
|
|
|
static int lsm9ds1accel_stop(FAR struct lsm9ds1_dev_s *priv)
|
|
{
|
|
/* Sanity check */
|
|
|
|
DEBUGASSERT(priv != NULL);
|
|
|
|
return lsm9ds1_modifyreg8(priv, LSM9DS1_CTRL_REG6_XL,
|
|
LSM9DS1_CTRL_REG6_XL_ODR_XL_MASK,
|
|
LSM9DS1_CTRL_REG6_XL_ODR_XL_POWERDOWN);
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: lsm9ds1accelgyro_setsamplerate
|
|
*
|
|
* Description:
|
|
* Set the accelerometer or gyroscope's sample rate.
|
|
*
|
|
****************************************************************************/
|
|
|
|
static int lsm9ds1accelgyro_setsamplerate(FAR struct lsm9ds1_dev_s *priv,
|
|
uint32_t samplerate)
|
|
{
|
|
/* Sanity check */
|
|
|
|
DEBUGASSERT(priv != NULL);
|
|
|
|
priv->samplerate = samplerate;
|
|
return OK;
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: lsm9ds1accel_setfullscale
|
|
*
|
|
* Description:
|
|
* Set the accelerometer's full-scale range.
|
|
*
|
|
****************************************************************************/
|
|
|
|
static int lsm9ds1accel_setfullscale(FAR struct lsm9ds1_dev_s *priv,
|
|
uint32_t fullscale)
|
|
{
|
|
uint8_t setbits;
|
|
|
|
/* Sanity check */
|
|
|
|
DEBUGASSERT(priv != NULL);
|
|
|
|
if (fullscale < lsm9ds1_midpoint(2, 4))
|
|
{
|
|
setbits = LSM9DS1_CTRL_REG6_XL_FS_XL_2G;
|
|
}
|
|
else if (fullscale < lsm9ds1_midpoint(4, 8))
|
|
{
|
|
setbits = LSM9DS1_CTRL_REG6_XL_FS_XL_4G;
|
|
}
|
|
else if (fullscale < lsm9ds1_midpoint(8, 16))
|
|
{
|
|
setbits = LSM9DS1_CTRL_REG6_XL_FS_XL_8G;
|
|
}
|
|
else
|
|
{
|
|
setbits = LSM9DS1_CTRL_REG6_XL_FS_XL_16G;
|
|
}
|
|
|
|
return lsm9ds1_modifyreg8(priv, LSM9DS1_CTRL_REG6_XL,
|
|
LSM9DS1_CTRL_REG6_XL_FS_XL_MASK, setbits);
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: lsm9ds1gyro_start
|
|
*
|
|
* Description:
|
|
* Start the gyroscope.
|
|
*
|
|
****************************************************************************/
|
|
|
|
static int lsm9ds1gyro_start(FAR struct lsm9ds1_dev_s *priv)
|
|
{
|
|
uint8_t setbits;
|
|
|
|
/* Sanity check */
|
|
|
|
DEBUGASSERT(priv != NULL);
|
|
|
|
if (priv->samplerate < lsm9ds1_midpoint(14, 59))
|
|
{
|
|
setbits = LSM9DS1_CTRL_REG1_G_ODR_G_14p9HZ;
|
|
}
|
|
else if (priv->samplerate < lsm9ds1_midpoint(59, 119))
|
|
{
|
|
setbits = LSM9DS1_CTRL_REG1_G_ODR_G_59p5HZ;
|
|
}
|
|
else if (priv->samplerate < lsm9ds1_midpoint(119, 238))
|
|
{
|
|
setbits = LSM9DS1_CTRL_REG1_G_ODR_G_119HZ;
|
|
}
|
|
else if (priv->samplerate < lsm9ds1_midpoint(238, 476))
|
|
{
|
|
setbits = LSM9DS1_CTRL_REG1_G_ODR_G_238HZ;
|
|
}
|
|
else if (priv->samplerate < lsm9ds1_midpoint(476, 952))
|
|
{
|
|
setbits = LSM9DS1_CTRL_REG1_G_ODR_G_476HZ;
|
|
}
|
|
else
|
|
{
|
|
setbits = LSM9DS1_CTRL_REG1_G_ODR_G_952HZ;
|
|
}
|
|
|
|
return lsm9ds1_modifyreg8(priv, LSM9DS1_CTRL_REG1_G,
|
|
LSM9DS1_CTRL_REG1_G_ODR_G_MASK, setbits);
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: lsm9ds1gyro_stop
|
|
*
|
|
* Description:
|
|
* Stop the gyroscope.
|
|
*
|
|
****************************************************************************/
|
|
|
|
static int lsm9ds1gyro_stop(FAR struct lsm9ds1_dev_s *priv)
|
|
{
|
|
/* Sanity check */
|
|
|
|
DEBUGASSERT(priv != NULL);
|
|
|
|
return lsm9ds1_modifyreg8(priv, LSM9DS1_CTRL_REG1_G,
|
|
LSM9DS1_CTRL_REG1_G_ODR_G_MASK,
|
|
LSM9DS1_CTRL_REG1_G_ODR_G_POWERDOWN);
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: lsm9ds1gyro_setfullscale
|
|
*
|
|
* Description:
|
|
* Set the gyroscope's full-scale range.
|
|
*
|
|
****************************************************************************/
|
|
|
|
static int lsm9ds1gyro_setfullscale(FAR struct lsm9ds1_dev_s *priv,
|
|
uint32_t fullscale)
|
|
{
|
|
uint8_t setbits;
|
|
|
|
/* Sanity check */
|
|
|
|
DEBUGASSERT(priv != NULL);
|
|
|
|
if (fullscale < lsm9ds1_midpoint(245, 500))
|
|
{
|
|
setbits = LSM9DS1_CTRL_REG1_G_FS_G_245DPS;
|
|
}
|
|
else if (fullscale < lsm9ds1_midpoint(500, 2000))
|
|
{
|
|
setbits = LSM9DS1_CTRL_REG1_G_FS_G_500DPS;
|
|
}
|
|
else
|
|
{
|
|
setbits = LSM9DS1_CTRL_REG1_G_FS_G_2000DPS;
|
|
}
|
|
|
|
return lsm9ds1_modifyreg8(priv, LSM9DS1_CTRL_REG1_G,
|
|
LSM9DS1_CTRL_REG1_G_FS_G_MASK, setbits);
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: lsm9ds1mag_config
|
|
*
|
|
* Description:
|
|
* Configure the magnetometer.
|
|
*
|
|
****************************************************************************/
|
|
|
|
static int lsm9ds1mag_config(FAR struct lsm9ds1_dev_s *priv)
|
|
{
|
|
int ret;
|
|
uint8_t regval;
|
|
|
|
/* Sanity check */
|
|
|
|
DEBUGASSERT(priv != NULL);
|
|
|
|
/* Get the device identification */
|
|
|
|
ret = lsm9ds1_readreg8(priv, LSM9DS1_WHO_AM_I_M, ®val);
|
|
if (ret < 0)
|
|
{
|
|
snerr("ERROR: lsm9ds1_readreg8 failed: %d\n", ret);
|
|
return ret;
|
|
}
|
|
|
|
if (regval != LSM9DS1_WHO_AM_I_M_VALUE)
|
|
{
|
|
snerr("ERROR: Invalid device identification %02x\n", regval);
|
|
return -ENODEV;
|
|
}
|
|
|
|
return OK;
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: lsm9ds1mag_start
|
|
*
|
|
* Description:
|
|
* Start the magnetometer.
|
|
*
|
|
****************************************************************************/
|
|
|
|
static int lsm9ds1mag_start(FAR struct lsm9ds1_dev_s *priv)
|
|
{
|
|
/* Sanity check */
|
|
|
|
DEBUGASSERT(priv != NULL);
|
|
|
|
return lsm9ds1_modifyreg8(priv, LSM9DS1_CTRL_REG3_M,
|
|
LSM9DS1_CTRL_REG3_M_MD_MASK,
|
|
LSM9DS1_CTRL_REG3_M_MD_CONT);
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: lsm9ds1mag_stop
|
|
*
|
|
* Description:
|
|
* Stop the magnetometer.
|
|
*
|
|
****************************************************************************/
|
|
|
|
static int lsm9ds1mag_stop(FAR struct lsm9ds1_dev_s *priv)
|
|
{
|
|
/* Sanity check */
|
|
|
|
DEBUGASSERT(priv != NULL);
|
|
|
|
return lsm9ds1_modifyreg8(priv, LSM9DS1_CTRL_REG3_M,
|
|
LSM9DS1_CTRL_REG3_M_MD_MASK,
|
|
LSM9DS1_CTRL_REG3_M_MD_POWERDOWN2);
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: lsm9ds1mag_setfullscale
|
|
*
|
|
* Description:
|
|
* Set the magnetometer's full-scale range.
|
|
*
|
|
****************************************************************************/
|
|
|
|
static int lsm9ds1mag_setfullscale(FAR struct lsm9ds1_dev_s *priv,
|
|
uint32_t fullscale)
|
|
{
|
|
uint8_t setbits;
|
|
|
|
/* Sanity check */
|
|
|
|
DEBUGASSERT(priv != NULL);
|
|
|
|
if (fullscale < lsm9ds1_midpoint(4, 8))
|
|
{
|
|
setbits = LSM9DS1_CTRL_REG2_M_FS_4GAUSS;
|
|
}
|
|
else if (fullscale < lsm9ds1_midpoint(8, 12))
|
|
{
|
|
setbits = LSM9DS1_CTRL_REG2_M_FS_8GAUSS;
|
|
}
|
|
else if (fullscale < lsm9ds1_midpoint(12, 16))
|
|
{
|
|
setbits = LSM9DS1_CTRL_REG2_M_FS_12GAUSS;
|
|
}
|
|
else
|
|
{
|
|
setbits = LSM9DS1_CTRL_REG2_M_FS_16GAUSS;
|
|
}
|
|
|
|
return lsm9ds1_modifyreg8(priv, LSM9DS1_CTRL_REG2_M,
|
|
LSM9DS1_CTRL_REG2_M_FS_MASK, setbits);
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: lsm9ds1mag_setsamplerate
|
|
*
|
|
* Description:
|
|
* Set the magnetometer's sample rate.
|
|
*
|
|
****************************************************************************/
|
|
|
|
static int lsm9ds1mag_setsamplerate(FAR struct lsm9ds1_dev_s *priv,
|
|
uint32_t samplerate)
|
|
{
|
|
uint8_t setbits;
|
|
|
|
/* Sanity check */
|
|
|
|
DEBUGASSERT(priv != NULL);
|
|
|
|
/* The magnetometer can change its sample rate without exiting
|
|
* power-down mode, so we don't need to save the value for later,
|
|
* unlike the accelerometer and gyroscope.
|
|
*/
|
|
|
|
if (samplerate < lsm9ds1_midpoint(0, 1))
|
|
{
|
|
setbits = LSM9DS1_CTRL_REG1_M_DO_0p625HZ;
|
|
}
|
|
else if (samplerate < lsm9ds1_midpoint(1, 2))
|
|
{
|
|
setbits = LSM9DS1_CTRL_REG1_M_DO_1p25HZ;
|
|
}
|
|
else if (samplerate < lsm9ds1_midpoint(2, 5))
|
|
{
|
|
setbits = LSM9DS1_CTRL_REG1_M_DO_2p5HZ;
|
|
}
|
|
else if (samplerate < lsm9ds1_midpoint(5, 10))
|
|
{
|
|
setbits = LSM9DS1_CTRL_REG1_M_DO_5HZ;
|
|
}
|
|
else if (samplerate < lsm9ds1_midpoint(10, 20))
|
|
{
|
|
setbits = LSM9DS1_CTRL_REG1_M_DO_10HZ;
|
|
}
|
|
else if (samplerate < lsm9ds1_midpoint(20, 40))
|
|
{
|
|
setbits = LSM9DS1_CTRL_REG1_M_DO_20HZ;
|
|
}
|
|
else if (samplerate < lsm9ds1_midpoint(40, 80))
|
|
{
|
|
setbits = LSM9DS1_CTRL_REG1_M_DO_40HZ;
|
|
}
|
|
else
|
|
{
|
|
setbits = LSM9DS1_CTRL_REG1_M_DO_80HZ;
|
|
}
|
|
|
|
return lsm9ds1_modifyreg8(priv, LSM9DS1_CTRL_REG1_M,
|
|
LSM9DS1_CTRL_REG1_M_DO_MASK, setbits);
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: lsm9ds1_open
|
|
*
|
|
* Description:
|
|
* This method is called when the device is opened.
|
|
*
|
|
****************************************************************************/
|
|
|
|
static int lsm9ds1_open(FAR struct file *filep)
|
|
{
|
|
return OK;
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: lsm9ds1_close
|
|
*
|
|
* Description:
|
|
* This method is called when the device is closed.
|
|
*
|
|
****************************************************************************/
|
|
|
|
static int lsm9ds1_close(FAR struct file *filep)
|
|
{
|
|
return OK;
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: lsm9ds1_read
|
|
*
|
|
* Description:
|
|
* The standard read method.
|
|
*
|
|
****************************************************************************/
|
|
|
|
static ssize_t lsm9ds1_read(FAR struct file *filep, FAR char *buffer,
|
|
size_t buflen)
|
|
{
|
|
FAR struct inode *inode;
|
|
FAR struct lsm9ds1_dev_s *priv;
|
|
int ret;
|
|
size_t i;
|
|
size_t j;
|
|
size_t samplesize;
|
|
size_t nsamples;
|
|
uint16_t data;
|
|
FAR int16_t *ptr;
|
|
uint8_t regaddr;
|
|
uint8_t lo;
|
|
uint8_t hi;
|
|
uint32_t merge = 0;
|
|
|
|
/* Sanity check */
|
|
|
|
DEBUGASSERT(filep != NULL);
|
|
inode = filep->f_inode;
|
|
|
|
DEBUGASSERT(inode != NULL);
|
|
priv = (FAR struct lsm9ds1_dev_s *)inode->i_private;
|
|
|
|
DEBUGASSERT(priv != NULL);
|
|
DEBUGASSERT(priv->datareg == LSM9DS1_OUT_X_L_G ||
|
|
priv->datareg == LSM9DS1_OUT_X_L_XL ||
|
|
priv->datareg == LSM9DS1_OUT_X_L_M);
|
|
DEBUGASSERT(buffer != NULL);
|
|
|
|
samplesize = 3 * sizeof(*ptr);
|
|
nsamples = buflen / samplesize;
|
|
ptr = (FAR int16_t *)buffer;
|
|
|
|
/* Get the requested number of samples */
|
|
|
|
for (i = 0; i < nsamples; i++)
|
|
{
|
|
/* Reset the register address to the X low byte register */
|
|
|
|
regaddr = priv->datareg;
|
|
|
|
/* Read the X, Y and Z data */
|
|
|
|
for (j = 0; j < 3; j++)
|
|
{
|
|
/* Read the low byte */
|
|
|
|
ret = lsm9ds1_readreg8(priv, regaddr, &lo);
|
|
if (ret < 0)
|
|
{
|
|
snerr("ERROR: lsm9ds1_readreg8 failed: %d\n", ret);
|
|
return (ssize_t)ret;
|
|
}
|
|
|
|
regaddr++;
|
|
|
|
/* Read the high byte */
|
|
|
|
ret = lsm9ds1_readreg8(priv, regaddr, &hi);
|
|
if (ret < 0)
|
|
{
|
|
snerr("ERROR: lsm9ds1_readreg8 failed: %d\n", ret);
|
|
return (ssize_t)ret;
|
|
}
|
|
|
|
regaddr++;
|
|
|
|
/* The data is 16 bits in two's complement representation */
|
|
|
|
data = ((uint16_t)hi << 8) | (uint16_t)lo;
|
|
|
|
/* Collect entropy */
|
|
|
|
merge += data ^ (merge >> 16);
|
|
|
|
/* The value is positive */
|
|
|
|
if (data < 0x8000)
|
|
{
|
|
ptr[j] = (int16_t)data;
|
|
}
|
|
|
|
/* The value is negative, so find its absolute value by taking the
|
|
* two's complement
|
|
*/
|
|
|
|
else if (data > 0x8000)
|
|
{
|
|
data = ~data + 1;
|
|
ptr[j] = -(int16_t)data;
|
|
}
|
|
|
|
/* The value is negative and can't be represented as a positive
|
|
* int16_t value
|
|
*/
|
|
|
|
else
|
|
{
|
|
ptr[j] = (int16_t)(-32768);
|
|
}
|
|
}
|
|
}
|
|
|
|
/* Feed sensor data to entropy pool */
|
|
|
|
add_sensor_randomness(merge);
|
|
|
|
return nsamples * samplesize;
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: lsm9ds1_write
|
|
*
|
|
* Description:
|
|
* A dummy write method.
|
|
*
|
|
****************************************************************************/
|
|
|
|
static ssize_t lsm9ds1_write(FAR struct file *filep, FAR const char *buffer,
|
|
size_t buflen)
|
|
{
|
|
return -ENOSYS;
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: lsm9ds1_ioctl
|
|
*
|
|
* Description:
|
|
* The standard ioctl method.
|
|
*
|
|
****************************************************************************/
|
|
|
|
static int lsm9ds1_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
|
|
{
|
|
FAR struct inode *inode;
|
|
FAR struct lsm9ds1_dev_s *priv;
|
|
int ret;
|
|
|
|
/* Sanity check */
|
|
|
|
DEBUGASSERT(filep != NULL);
|
|
inode = filep->f_inode;
|
|
|
|
DEBUGASSERT(inode != NULL);
|
|
priv = (FAR struct lsm9ds1_dev_s *)inode->i_private;
|
|
|
|
DEBUGASSERT(priv != NULL);
|
|
|
|
/* Handle ioctl commands */
|
|
|
|
switch (cmd)
|
|
{
|
|
/* Start converting. Arg: None. */
|
|
|
|
case SNIOC_START:
|
|
ret = priv->ops->start(priv);
|
|
break;
|
|
|
|
/* Stop converting. Arg: None. */
|
|
|
|
case SNIOC_STOP:
|
|
ret = priv->ops->stop(priv);
|
|
break;
|
|
|
|
/* Set the sample rate. Arg: uint32_t value. */
|
|
|
|
case SNIOC_SETSAMPLERATE:
|
|
ret = priv->ops->setsamplerate(priv, (uint32_t)arg);
|
|
sninfo("sample rate: %08x ret: %d\n", (uint32_t)arg, ret);
|
|
break;
|
|
|
|
/* Set the full-scale range. Arg: uint32_t value. */
|
|
|
|
case SNIOC_SETFULLSCALE:
|
|
ret = priv->ops->setfullscale(priv, (uint32_t)arg);
|
|
sninfo("full-scale range: %08x ret: %d\n", (uint32_t)arg, ret);
|
|
break;
|
|
|
|
/* Unrecognized commands */
|
|
|
|
default:
|
|
snerr("ERROR: Unrecognized cmd: %d arg: %lu\n", cmd, arg);
|
|
ret = -ENOTTY;
|
|
break;
|
|
}
|
|
|
|
return ret;
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: lsm9ds1_register
|
|
*
|
|
* Description:
|
|
* Register the LSM9DS1 accelerometer, gyroscope or magnetometer character
|
|
* device as 'devpath'.
|
|
*
|
|
* Input Parameters:
|
|
* devpath - The full path to the driver to register, e.g., "/dev/accel0",
|
|
* "/dev/gyro0" or "/dev/mag0".
|
|
* i2c - An I2C driver instance.
|
|
* addr - The I2C address of the LSM9DS1 accelerometer, gyroscope or
|
|
* magnetometer.
|
|
* ops - The device operations structure.
|
|
* datareg - The register address of the low byte of the X-coordinate data.
|
|
*
|
|
* Returned Value:
|
|
* Zero (OK) on success; a negated errno value on failure.
|
|
*
|
|
****************************************************************************/
|
|
|
|
static int lsm9ds1_register(FAR const char *devpath,
|
|
FAR struct i2c_master_s *i2c, uint8_t addr,
|
|
FAR const struct lsm9ds1_ops_s *ops,
|
|
uint8_t datareg)
|
|
{
|
|
FAR struct lsm9ds1_dev_s *priv;
|
|
int ret;
|
|
|
|
/* Sanity check */
|
|
|
|
DEBUGASSERT(devpath != NULL);
|
|
DEBUGASSERT(i2c != NULL);
|
|
DEBUGASSERT(datareg == LSM9DS1_OUT_X_L_XL ||
|
|
datareg == LSM9DS1_OUT_X_L_G ||
|
|
datareg == LSM9DS1_OUT_X_L_M);
|
|
|
|
/* Initialize the device's structure */
|
|
|
|
priv = (FAR struct lsm9ds1_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;
|
|
priv->samplerate = 0;
|
|
priv->datareg = datareg;
|
|
|
|
/* 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;
|
|
}
|
|
|
|
/* Register the character driver */
|
|
|
|
ret = register_driver(devpath, &g_fops, 0666, priv);
|
|
if (ret < 0)
|
|
{
|
|
snerr("ERROR: Failed to register driver: %d\n", ret);
|
|
kmm_free(priv);
|
|
return ret;
|
|
}
|
|
|
|
return OK;
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Public Functions
|
|
****************************************************************************/
|
|
|
|
/****************************************************************************
|
|
* Name: lsm9ds1accel_register
|
|
*
|
|
* Description:
|
|
* Register the LSM9DS1 accelerometer character device as 'devpath'.
|
|
*
|
|
* Input Parameters:
|
|
* devpath - The full path to the driver to register, e.g., "/dev/accel0".
|
|
* i2c - An I2C driver instance.
|
|
* addr - The I2C address of the LSM9DS1 accelerometer.
|
|
*
|
|
* Returned Value:
|
|
* Zero (OK) on success; a negated errno value on failure.
|
|
*
|
|
****************************************************************************/
|
|
|
|
int lsm9ds1accel_register(FAR const char *devpath, FAR struct i2c_master_s *i2c,
|
|
uint8_t addr)
|
|
{
|
|
/* Sanity check */
|
|
|
|
DEBUGASSERT(addr == LSM9DS1ACCEL_ADDR0 || addr == LSM9DS1ACCEL_ADDR1);
|
|
|
|
return lsm9ds1_register(devpath, i2c, addr, &g_lsm9ds1accel_ops,
|
|
LSM9DS1_OUT_X_L_XL);
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: lsm9ds1gyro_register
|
|
*
|
|
* Description:
|
|
* Register the LSM9DS1 gyroscope character device as 'devpath'.
|
|
*
|
|
* Input Parameters:
|
|
* devpath - The full path to the driver to register, e.g., "/dev/gyro0".
|
|
* i2c - An I2C driver instance.
|
|
* addr - The I2C address of the LSM9DS1 gyroscope.
|
|
*
|
|
* Returned Value:
|
|
* Zero (OK) on success; a negated errno value on failure.
|
|
*
|
|
****************************************************************************/
|
|
|
|
int lsm9ds1gyro_register(FAR const char *devpath, FAR struct i2c_master_s *i2c,
|
|
uint8_t addr)
|
|
{
|
|
/* Sanity check */
|
|
|
|
DEBUGASSERT(addr == LSM9DS1GYRO_ADDR0 || addr == LSM9DS1GYRO_ADDR1);
|
|
|
|
return lsm9ds1_register(devpath, i2c, addr, &g_lsm9ds1gyro_ops,
|
|
LSM9DS1_OUT_X_L_G);
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: lsm9ds1mag_register
|
|
*
|
|
* Description:
|
|
* Register the LSM9DS1 magnetometer character device as 'devpath'.
|
|
*
|
|
* Input Parameters:
|
|
* devpath - The full path to the driver to register, e.g., "/dev/mag0".
|
|
* i2c - An I2C driver instance.
|
|
* addr - The I2C address of the LSM9DS1 magnetometer.
|
|
*
|
|
* Returned Value:
|
|
* Zero (OK) on success; a negated errno value on failure.
|
|
*
|
|
****************************************************************************/
|
|
|
|
int lsm9ds1mag_register(FAR const char *devpath, FAR struct i2c_master_s *i2c,
|
|
uint8_t addr)
|
|
{
|
|
/* Sanity check */
|
|
|
|
DEBUGASSERT(addr == LSM9DS1MAG_ADDR0 || addr == LSM9DS1MAG_ADDR1);
|
|
|
|
return lsm9ds1_register(devpath, i2c, addr, &g_lsm9ds1mag_ops,
|
|
LSM9DS1_OUT_X_L_M);
|
|
}
|
|
|
|
#endif /* CONFIG_I2C && CONFIG_SENSORS_LSM9DS1 */
|