static int lis3dh_config(void *mlsl_handle,
struct ext_slave_descr *slave,
struct ext_slave_platform_data *pdata,
struct ext_slave_config *data)
{
struct lis3dh_private_data *private_data = pdata->private_data;
if (!data->data)
return INV_ERROR_INVALID_PARAMETER;
switch (data->key) {
case MPU_SLAVE_CONFIG_ODR_SUSPEND:
return lis3dh_set_odr(mlsl_handle, pdata,
&private_data->suspend,
data->apply, *((long *)data->data));
case MPU_SLAVE_CONFIG_ODR_RESUME:
return lis3dh_set_odr(mlsl_handle, pdata,
&private_data->resume,
data->apply, *((long *)data->data));
case MPU_SLAVE_CONFIG_FSR_SUSPEND:
return lis3dh_set_fsr(mlsl_handle, pdata,
&private_data->suspend,
data->apply, *((long *)data->data));
case MPU_SLAVE_CONFIG_FSR_RESUME:
return lis3dh_set_fsr(mlsl_handle, pdata,
&private_data->resume,
data->apply, *((long *)data->data));
case MPU_SLAVE_CONFIG_MOT_THS:
return lis3dh_set_ths(mlsl_handle, pdata,
&private_data->suspend,
data->apply, *((long *)data->data));
case MPU_SLAVE_CONFIG_NMOT_THS:
return lis3dh_set_ths(mlsl_handle, pdata,
&private_data->resume,
data->apply, *((long *)data->data));
case MPU_SLAVE_CONFIG_MOT_DUR:
return lis3dh_set_dur(mlsl_handle, pdata,
&private_data->suspend,
data->apply, *((long *)data->data));
case MPU_SLAVE_CONFIG_NMOT_DUR:
return lis3dh_set_dur(mlsl_handle, pdata,
&private_data->resume,
data->apply, *((long *)data->data));
case MPU_SLAVE_CONFIG_IRQ_SUSPEND:
return lis3dh_set_irq(mlsl_handle, pdata,
&private_data->suspend,
data->apply, *((long *)data->data));
case MPU_SLAVE_CONFIG_IRQ_RESUME:
return lis3dh_set_irq(mlsl_handle, pdata,
&private_data->resume,
data->apply, *((long *)data->data));
default:
return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
};
return INV_SUCCESS;
}
static int lis3dh_init(void *mlsl_handle,
struct ext_slave_descr *slave,
struct ext_slave_platform_data *pdata)
{
inv_error_t result;
long range;
struct lis3dh_private_data *private_data;
private_data = (struct lis3dh_private_data *)
inv_malloc(sizeof(struct lis3dh_private_data));
if (!private_data)
return INV_ERROR_MEMORY_EXAUSTED;
pdata->private_data = private_data;
private_data->resume.ctrl_reg1 = 0x67;
private_data->suspend.ctrl_reg1 = 0x18;
private_data->resume.mot_int1_cfg = 0x95;
private_data->suspend.mot_int1_cfg = 0x2a;
lis3dh_set_odr(mlsl_handle, pdata, &private_data->suspend, FALSE, 0);
lis3dh_set_odr(mlsl_handle, pdata, &private_data->resume,
FALSE, 200000);
range = RANGE_FIXEDPOINT_TO_LONG_MG(slave->range);
lis3dh_set_fsr(mlsl_handle, pdata, &private_data->suspend,
FALSE, range);
lis3dh_set_fsr(mlsl_handle, pdata, &private_data->resume,
FALSE, range);
lis3dh_set_ths(mlsl_handle, pdata, &private_data->suspend,
FALSE, 80);
lis3dh_set_ths(mlsl_handle, pdata, &private_data->resume,
FALSE, 40);
lis3dh_set_dur(mlsl_handle, pdata, &private_data->suspend,
FALSE, 1000);
lis3dh_set_dur(mlsl_handle, pdata, &private_data->resume,
FALSE, 2540);
lis3dh_set_irq(mlsl_handle, pdata, &private_data->suspend,
FALSE, MPU_SLAVE_IRQ_TYPE_NONE);
lis3dh_set_irq(mlsl_handle, pdata, &private_data->resume,
FALSE, MPU_SLAVE_IRQ_TYPE_NONE);
result = inv_serial_single_write(mlsl_handle, pdata->address,
LIS3DH_CTRL_REG1, 0x07);
inv_sleep(6);
return INV_SUCCESS;
}
static int lis3dh_init(void *mlsl_handle,
struct ext_slave_descr *slave,
struct ext_slave_platform_data *pdata)
{
int result;
long range;
struct lis3dh_private_data *private_data;
private_data = (struct lis3dh_private_data *)
kzalloc(sizeof(struct lis3dh_private_data), GFP_KERNEL);
if (!private_data)
return INV_ERROR_MEMORY_EXAUSTED;
pdata->private_data = private_data;
private_data->resume.ctrl_reg1 = 0x67;
private_data->suspend.ctrl_reg1 = 0x18;
private_data->resume.mot_int1_cfg = 0x95;
private_data->suspend.mot_int1_cfg = 0x2a;
lis3dh_set_odr(mlsl_handle, pdata, &private_data->suspend, false, 0);
lis3dh_set_odr(mlsl_handle, pdata, &private_data->resume,
false, 200000L);
range = range_fixedpoint_to_long_mg(slave->range);
lis3dh_set_fsr(mlsl_handle, pdata, &private_data->suspend,
false, range);
lis3dh_set_fsr(mlsl_handle, pdata, &private_data->resume,
false, range);
lis3dh_set_ths(mlsl_handle, pdata, &private_data->suspend,
false, 80);
lis3dh_set_ths(mlsl_handle, pdata, &private_data->resume,
false, 40);
lis3dh_set_dur(mlsl_handle, pdata, &private_data->suspend,
false, 1000);
lis3dh_set_dur(mlsl_handle, pdata, &private_data->resume,
false, 2540);
lis3dh_set_irq(mlsl_handle, pdata, &private_data->suspend,
false, MPU_SLAVE_IRQ_TYPE_NONE);
lis3dh_set_irq(mlsl_handle, pdata, &private_data->resume,
false, MPU_SLAVE_IRQ_TYPE_NONE);
result = inv_serial_single_write(mlsl_handle, pdata->address,
LIS3DH_CTRL_REG1, 0x07);
msleep(6);
return INV_SUCCESS;
}
static int lis3dh_init(void *mlsl_handle,
struct ext_slave_descr *slave,
struct ext_slave_platform_data *pdata)
{
tMLError result;
struct lis3dh_private_data *private_data;
private_data = (struct lis3dh_private_data *)
MLOSMalloc(sizeof(struct lis3dh_private_data));
if (!private_data)
return ML_ERROR_MEMORY_EXAUSTED;
pdata->private_data = private_data;
private_data->resume.ctrl_reg1 = 0x67;
private_data->suspend.ctrl_reg1 = 0x18;
private_data->resume.mot_int1_cfg = 0x95;
private_data->suspend.mot_int1_cfg = 0x2a;
lis3dh_set_odr(mlsl_handle, pdata, &private_data->suspend,
FALSE, 0);
lis3dh_set_odr(mlsl_handle, pdata, &private_data->resume,
FALSE, 200000);
lis3dh_set_fsr(mlsl_handle, pdata, &private_data->suspend,
FALSE, 2048);
lis3dh_set_fsr(mlsl_handle, pdata, &private_data->resume,
FALSE, 2048);
lis3dh_set_ths(mlsl_handle, pdata, &private_data->suspend,
FALSE, 80);
lis3dh_set_ths(mlsl_handle, pdata, &private_data->resume,
FALSE, 40);
lis3dh_set_dur(mlsl_handle, pdata, &private_data->suspend,
FALSE, 1000);
lis3dh_set_dur(mlsl_handle, pdata, &private_data->resume,
FALSE, 2540);
lis3dh_set_irq(mlsl_handle, pdata, &private_data->suspend,
FALSE,
MPU_SLAVE_IRQ_TYPE_NONE);
lis3dh_set_irq(mlsl_handle, pdata, &private_data->resume,
FALSE,
MPU_SLAVE_IRQ_TYPE_NONE);
result = MLSLSerialWriteSingle(mlsl_handle, pdata->address,
LIS3DH_CTRL_REG1, 0x07);
MLOSSleep(6);
return ML_SUCCESS;
}
upm_result_t
lis3dh_devinit(const lis3dh_context dev, LIS3DH_ODR_T odr, LIS3DH_FS_T fs, bool high_res)
{
assert(dev != NULL);
// Set high resolution mode, ODR and FS using passed values.
// Also unconditionally enable X, Y and Z axes, temperature sensor (and ADC),
// BDU mode as well as disable output high-pass filter.
if (lis3dh_enable_lp_mode(dev, false) ||
lis3dh_enable_hr_mode(dev, high_res) ||
lis3dh_enable_axes(dev, true, true, true) ||
lis3dh_enable_bdu_mode(dev, true) ||
lis3dh_set_odr(dev, odr) ||
lis3dh_set_full_scale(dev, fs) ||
lis3dh_enable_hp_filtering(dev, false) ||
lis3dh_enable_temperature(dev, true)) {
printf("%s: failed to set configuration parameters\n", __FUNCTION__);
return UPM_ERROR_OPERATION_FAILED;
}
// Settle
upm_delay_ms(50);
return UPM_SUCCESS;
}
void auto_init_lis3dh(void)
{
assert(LIS3DH_NUM == LIS3DH_INFO_NUM);
for (unsigned int i = 0; i < LIS3DH_NUM; i++) {
LOG_DEBUG("[auto_init_saul] initializing lis3dh #%u\n", i);
if (lis3dh_init(&lis3dh_devs[i], &lis3dh_params[i]) < 0) {
LOG_ERROR("[auto_init_saul] error initializing lis3dh #%u\n", i);
continue;
}
if (lis3dh_set_odr(&lis3dh_devs[i], lis3dh_params[i].odr) < 0) {
LOG_ERROR("[auto_init_saul] error setting ODR for lis3dh #%u\n", i);
continue;
}
saul_entries[i].dev = &(lis3dh_devs[i]);
saul_entries[i].name = lis3dh_saul_info[i].name;
saul_entries[i].driver = &lis3dh_saul_driver;
saul_reg_add(&(saul_entries[i]));
}
}
int main(void)
{
lis3dh_t dev;
lis3dh_data_t acc_data;
int16_t temperature;
puts("LIS3DH accelerometer driver test application\n");
printf("Initializing SPI_%i... ", TEST_LIS3DH_SPI);
if (spi_init_master(TEST_LIS3DH_SPI, SPI_CONF_SECOND_FALLING, SPI_SPEED_10MHZ) == 0) {
puts("[OK]");
}
else {
puts("[Failed]\n");
return 1;
}
puts("Initializing LIS3DH sensor... ");
if (lis3dh_init(&dev, TEST_LIS3DH_SPI, TEST_LIS3DH_CS,
TEST_LIS3DH_INT1, TEST_LIS3DH_INT2, SCALE) == 0) {
puts("[OK]");
}
else {
puts("[Failed]\n");
return 1;
}
puts("Set ODR... ");
if (lis3dh_set_odr(&dev, ODR) == 0) {
puts("[OK]");
}
else {
puts("[Failed]\n");
return 1;
}
puts("Set scale... ");
if (lis3dh_set_scale(&dev, SCALE) == 0) {
puts("[OK]");
}
else {
puts("[Failed]\n");
return 1;
}
puts("Set axes XYZ... ");
if (lis3dh_set_axes(&dev, LIS3DH_AXES_XYZ) == 0) {
puts("[OK]");
}
else {
puts("[Failed]\n");
return 1;
}
puts("Disable FIFO mode... ");
if (lis3dh_set_fifo(&dev, 0) == 0) {
puts("[OK]");
}
else {
puts("[Failed]\n");
return 1;
}
puts("Enable temperature reading... ");
if (lis3dh_set_aux_adc(&dev, 1, 1) == 0) {
puts("[OK]");
}
else {
puts("[Failed]\n");
return 1;
}
puts("LIS3DH init done.\n");
while (1) {
lis3dh_read_xyz(&dev, &acc_data);
if (lis3dh_read_xyz(&dev, &acc_data) != 0) {
puts("Reading acceleration data... ");
puts("[Failed]\n");
return 1;
}
if (lis3dh_read_aux_adc3(&dev, &temperature) != 0) {
puts("Reading temperature data... ");
puts("[Failed]\n");
return 1;
}
printf("Sensor data - X: %6i Y: %6i Z: %6i Temp: %6i\n",
acc_data.acc_x, acc_data.acc_y, acc_data.acc_z, temperature);
vtimer_usleep(SLEEP);
}
return 0;
}
int main(void)
{
lis3dh_t dev;
lis3dh_data_t acc_data;
puts("LIS3DH accelerometer driver test application\n");
printf("Initializing SPI_%i... ", TEST_LIS3DH_SPI);
if (spi_init_master(TEST_LIS3DH_SPI, SPI_CONF, SPI_SPEED) == 0) {
puts("[OK]");
}
else {
puts("[Failed]\n");
return 1;
}
puts("Initializing LIS3DH sensor... ");
if (lis3dh_init(&dev, TEST_LIS3DH_SPI, TEST_LIS3DH_CS, SCALE) == 0) {
puts("[OK]");
}
else {
puts("[Failed]\n");
return 1;
}
puts("Set ODR... ");
if (lis3dh_set_odr(&dev, ODR) == 0) {
puts("[OK]");
}
else {
puts("[Failed]\n");
return 1;
}
puts("Set scale... ");
if (lis3dh_set_scale(&dev, SCALE) == 0) {
puts("[OK]");
}
else {
puts("[Failed]\n");
return 1;
}
puts("Set axes XYZ... ");
if (lis3dh_set_axes(&dev, LIS3DH_AXES_XYZ) == 0) {
puts("[OK]");
}
else {
puts("[Failed]\n");
return 1;
}
puts("Enable streaming FIFO mode... ");
if (lis3dh_set_fifo(&dev, LIS3DH_FIFO_MODE_STREAM, WATERMARK_LEVEL) == 0) {
puts("[OK]");
}
else {
puts("[Failed]\n");
return 1;
}
puts("Enable temperature reading... ");
if (lis3dh_set_aux_adc(&dev, 1, 1) == 0) {
puts("[OK]");
}
else {
puts("[Failed]\n");
return 1;
}
puts("Set INT1 watermark function... ");
if (lis3dh_set_int1(&dev, LIS3DH_CTRL_REG3_I1_WTM_MASK) == 0) {
puts("[OK]");
}
else {
puts("[Failed]\n");
return 1;
}
puts("Set INT1 callback");
if (gpio_init_int(TEST_LIS3DH_INT1, GPIO_IN, GPIO_RISING, test_int1, (void*)&int1_count) == 0) {
puts("[OK]");
}
else {
puts("[Failed]\n");
return 1;
}
puts("LIS3DH init done.\n");
while (1) {
int fifo_level;
fifo_level = lis3dh_get_fifo_level(&dev);
printf("int1_count = %d\n", int1_count);
printf("Reading %d measurements\n", fifo_level);
while (fifo_level > 0) {
int16_t temperature;
int int1;
if (lis3dh_read_xyz(&dev, &acc_data) != 0) {
puts("Reading acceleration data... ");
puts("[Failed]\n");
}
if (lis3dh_read_aux_adc3(&dev, &temperature) != 0) {
puts("Reading temperature data... ");
puts("[Failed]\n");
return 1;
}
int1 = gpio_read(TEST_LIS3DH_INT1);
printf("X: %6d Y: %6d Z: %6d Temp: %6d, INT1: %08x\n",
acc_data.acc_x, acc_data.acc_y, acc_data.acc_z, temperature, int1);
--fifo_level;
}
xtimer_usleep(SLEEP);
}
return 0;
}
