429 lines
12 KiB
C
429 lines
12 KiB
C
/****************************************************************************
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* drivers/sensors/lsm9ds1.c
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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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 "lsm9ds1_base.h"
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#if defined(CONFIG_I2C) && defined(CONFIG_SENSORS_LSM9DS1)
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/****************************************************************************
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* Private Function Prototypes
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****************************************************************************/
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/* Character Driver Methods */
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static ssize_t lsm9ds1_read(FAR struct file *filep, FAR char *buffer,
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size_t buflen);
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static ssize_t lsm9ds1_write(FAR struct file *filep, FAR const char *buffer,
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size_t buflen);
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static int lsm9ds1_ioctl(FAR struct file *filep, int cmd,
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unsigned long arg);
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/* Common Register Function */
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static int lsm9ds1_register(FAR const char *devpath,
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FAR struct i2c_master_s *i2c, uint8_t addr,
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FAR const struct lsm9ds1_ops_s *ops,
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uint8_t datareg);
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/****************************************************************************
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* Private Data
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****************************************************************************/
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static const struct file_operations g_fops =
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{
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NULL, /* open */
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NULL, /* close */
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lsm9ds1_read, /* read */
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lsm9ds1_write, /* write */
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NULL, /* seek */
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lsm9ds1_ioctl, /* ioctl */
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};
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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/****************************************************************************
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* Name: lsm9ds1_read
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*
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* Description:
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* The standard read method.
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*
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****************************************************************************/
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static ssize_t lsm9ds1_read(FAR struct file *filep, FAR char *buffer,
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size_t buflen)
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{
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FAR struct inode *inode;
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FAR struct lsm9ds1_dev_s *priv;
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int ret;
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size_t i;
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size_t j;
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size_t samplesize;
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size_t nsamples;
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uint16_t data;
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FAR int16_t *ptr;
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uint8_t regaddr;
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uint8_t lo;
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uint8_t hi;
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uint32_t merge = 0;
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/* Sanity check */
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inode = filep->f_inode;
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priv = inode->i_private;
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DEBUGASSERT(priv != NULL);
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DEBUGASSERT(priv->datareg == LSM9DS1_OUT_X_L_G ||
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priv->datareg == LSM9DS1_OUT_X_L_XL ||
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priv->datareg == LSM9DS1_OUT_X_L_M);
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DEBUGASSERT(buffer != NULL);
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samplesize = 3 * sizeof(*ptr);
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nsamples = buflen / samplesize;
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ptr = (FAR int16_t *)buffer;
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/* Get the requested number of samples */
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for (i = 0; i < nsamples; i++)
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{
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/* Reset the register address to the X low byte register */
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regaddr = priv->datareg;
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/* Read the X, Y and Z data */
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for (j = 0; j < 3; j++)
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{
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/* Read the low byte */
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ret = lsm9ds1_readreg8(priv, regaddr, &lo);
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if (ret < 0)
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{
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snerr("ERROR: lsm9ds1_readreg8 failed: %d\n", ret);
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return (ssize_t)ret;
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}
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regaddr++;
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/* Read the high byte */
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ret = lsm9ds1_readreg8(priv, regaddr, &hi);
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if (ret < 0)
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{
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snerr("ERROR: lsm9ds1_readreg8 failed: %d\n", ret);
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return (ssize_t)ret;
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}
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regaddr++;
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/* The data is 16 bits in two's complement representation */
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data = ((uint16_t)hi << 8) | (uint16_t)lo;
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/* Collect entropy */
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merge += data ^ (merge >> 16);
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/* The value is positive */
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if (data < 0x8000)
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{
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ptr[j] = (int16_t)data;
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}
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/* The value is negative, so find its absolute value by taking the
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* two's complement
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*/
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else if (data > 0x8000)
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{
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data = ~data + 1;
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ptr[j] = -(int16_t)data;
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}
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/* The value is negative and can't be represented as a positive
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* int16_t value
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*/
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else
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{
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ptr[j] = (int16_t)(-32768);
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}
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}
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}
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/* Feed sensor data to entropy pool */
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add_sensor_randomness(merge);
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return nsamples * samplesize;
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}
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/****************************************************************************
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* Name: lsm9ds1_write
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*
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* Description:
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* A dummy write method.
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*
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****************************************************************************/
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static ssize_t lsm9ds1_write(FAR struct file *filep, FAR const char *buffer,
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size_t buflen)
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{
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return -ENOSYS;
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}
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/****************************************************************************
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* Name: lsm9ds1_ioctl
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*
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* Description:
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* The standard ioctl method.
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*
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****************************************************************************/
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static int lsm9ds1_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
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{
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FAR struct inode *inode;
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FAR struct lsm9ds1_dev_s *priv;
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int ret;
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/* Sanity check */
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inode = filep->f_inode;
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priv = inode->i_private;
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DEBUGASSERT(priv != NULL);
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/* Handle ioctl commands */
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switch (cmd)
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{
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/* Start converting. Arg: None. */
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case SNIOC_START:
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ret = priv->ops->start(priv);
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break;
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/* Stop converting. Arg: None. */
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case SNIOC_STOP:
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ret = priv->ops->stop(priv);
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break;
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/* Set the sample rate. Arg: uint32_t value. */
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case SNIOC_SETSAMPLERATE:
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ret = priv->ops->setsamplerate(priv, (uint32_t)arg);
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sninfo("sample rate: %08" PRId32 " ret: %d\n",
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(uint32_t)arg, ret);
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break;
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/* Set the full-scale range. Arg: uint32_t value. */
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case SNIOC_SETFULLSCALE:
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ret = priv->ops->setfullscale(priv, (uint32_t)arg);
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sninfo("full-scale range: %08" PRId32 " ret: %d\n",
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(uint32_t)arg, ret);
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break;
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/* Unrecognized commands */
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default:
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snerr("ERROR: Unrecognized cmd: %d arg: %lu\n", cmd, arg);
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ret = -ENOTTY;
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break;
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}
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return ret;
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}
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/****************************************************************************
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* Name: lsm9ds1_register
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*
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* Description:
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* Register the LSM9DS1 accelerometer, gyroscope or magnetometer character
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* device as 'devpath'.
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*
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* Input Parameters:
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* devpath - The full path to the driver to register, e.g., "/dev/accel0",
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* "/dev/gyro0" or "/dev/mag0".
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* i2c - An I2C driver instance.
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* addr - The I2C address of the LSM9DS1 accelerometer, gyroscope or
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* magnetometer.
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* ops - The device operations structure.
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* datareg - The register address of the low byte of the X-coordinate data.
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*
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* Returned Value:
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* Zero (OK) on success; a negated errno value on failure.
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*
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****************************************************************************/
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static int lsm9ds1_register(FAR const char *devpath,
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FAR struct i2c_master_s *i2c, uint8_t addr,
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FAR const struct lsm9ds1_ops_s *ops,
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uint8_t datareg)
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{
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FAR struct lsm9ds1_dev_s *priv;
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int ret;
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/* Sanity check */
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DEBUGASSERT(devpath != NULL);
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DEBUGASSERT(i2c != NULL);
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DEBUGASSERT(datareg == LSM9DS1_OUT_X_L_XL ||
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datareg == LSM9DS1_OUT_X_L_G ||
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datareg == LSM9DS1_OUT_X_L_M);
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/* Initialize the device's structure */
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priv = kmm_malloc(sizeof(*priv));
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if (priv == NULL)
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{
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snerr("ERROR: Failed to allocate instance\n");
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return -ENOMEM;
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}
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priv->i2c = i2c;
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priv->addr = addr;
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priv->ops = ops;
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priv->samplerate = 0;
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priv->datareg = datareg;
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/* Configure the device */
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ret = priv->ops->config(priv);
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if (ret < 0)
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{
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snerr("ERROR: Failed to configure device: %d\n", ret);
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kmm_free(priv);
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return ret;
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}
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/* Register the character driver */
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ret = register_driver(devpath, &g_fops, 0666, priv);
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if (ret < 0)
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{
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snerr("ERROR: Failed to register driver: %d\n", ret);
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kmm_free(priv);
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return ret;
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}
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return OK;
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}
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: lsm9ds1accel_register
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*
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* Description:
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* Register the LSM9DS1 accelerometer character device as 'devpath'.
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*
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* Input Parameters:
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* devpath - The full path to the driver to register, e.g., "/dev/accel0".
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* i2c - An I2C driver instance.
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* addr - The I2C address of the LSM9DS1 accelerometer.
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*
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* Returned Value:
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* Zero (OK) on success; a negated errno value on failure.
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*
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****************************************************************************/
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int lsm9ds1accel_register(FAR const char *devpath,
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FAR struct i2c_master_s *i2c,
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uint8_t addr)
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{
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/* Sanity check */
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DEBUGASSERT(addr == LSM9DS1ACCEL_ADDR0 || addr == LSM9DS1ACCEL_ADDR1);
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return lsm9ds1_register(devpath, i2c, addr, &g_lsm9ds1accel_ops,
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LSM9DS1_OUT_X_L_XL);
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}
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/****************************************************************************
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* Name: lsm9ds1gyro_register
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*
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* Description:
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* Register the LSM9DS1 gyroscope character device as 'devpath'.
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*
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* Input Parameters:
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* devpath - The full path to the driver to register, e.g., "/dev/gyro0".
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* i2c - An I2C driver instance.
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* addr - The I2C address of the LSM9DS1 gyroscope.
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*
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* Returned Value:
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* Zero (OK) on success; a negated errno value on failure.
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*
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****************************************************************************/
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int lsm9ds1gyro_register(FAR const char *devpath,
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FAR struct i2c_master_s *i2c,
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uint8_t addr)
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{
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/* Sanity check */
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DEBUGASSERT(addr == LSM9DS1GYRO_ADDR0 || addr == LSM9DS1GYRO_ADDR1);
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return lsm9ds1_register(devpath, i2c, addr, &g_lsm9ds1gyro_ops,
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LSM9DS1_OUT_X_L_G);
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}
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/****************************************************************************
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* Name: lsm9ds1mag_register
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*
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* Description:
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* Register the LSM9DS1 magnetometer character device as 'devpath'.
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*
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* Input Parameters:
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* devpath - The full path to the driver to register, e.g., "/dev/mag0".
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* i2c - An I2C driver instance.
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* addr - The I2C address of the LSM9DS1 magnetometer.
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*
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* Returned Value:
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* Zero (OK) on success; a negated errno value on failure.
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*
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****************************************************************************/
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int lsm9ds1mag_register(FAR const char *devpath,
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FAR struct i2c_master_s *i2c,
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uint8_t addr)
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{
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/* Sanity check */
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DEBUGASSERT(addr == LSM9DS1MAG_ADDR0 || addr == LSM9DS1MAG_ADDR1);
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return lsm9ds1_register(devpath, i2c, addr, &g_lsm9ds1mag_ops,
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LSM9DS1_OUT_X_L_M);
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}
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#endif /* CONFIG_I2C && CONFIG_SENSORS_LSM9DS1 */
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