185 lines
6.3 KiB
C
185 lines
6.3 KiB
C
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/*
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Pretty LAYer for ChibiOS/RT - Copyright (C) 2015 Rocco Marco Guglielmi
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This file is part of PLAY for ChibiOS/RT.
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PLAY is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 3 of the License, or
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(at your option) any later version.
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PLAY is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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Special thanks to Giovanni Di Sirio for teachings, his moral support and
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friendship. Note that some or every piece of this file could be part of
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the ChibiOS project that is intellectual property of Giovanni Di Sirio.
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Please refer to ChibiOS/RT license before use this file.
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For suggestion or Bug report - roccomarco.guglielmi@playembedded.org
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*/
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/**
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* @file lsm6ds0.c
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* @brief LSM6DS0 MEMS interface module through I2C code.
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*
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* @addtogroup lsm6ds0
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* @{
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*/
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#include "ch.h"
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#include "hal.h"
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#include "lsm6ds0.h"
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/*===========================================================================*/
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/* Driver local definitions. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver exported variables. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver local variables and types. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver local functions. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver exported functions. */
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/*===========================================================================*/
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/**
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* @brief Reads a generic sub-register value.
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* @pre The I2C interface must be initialized and the driver started.
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*
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* @param[in] i2cp pointer to the I2C interface
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* @param[in] sad slave address without R bit
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* @param[in] sub sub-register address
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* @param[in] message pointer to message
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* @return register value.
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*/
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uint8_t lsm6ds0ReadRegister(I2CDriver *i2cp, uint8_t sad, uint8_t sub,
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msg_t* message) {
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uint8_t txbuf, rxbuf[2];
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#if defined(STM32F103_MCUCONF)
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txbuf = LSM303DLHC_SUB_MSB | sub;
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if(message != NULL){
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*message = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 2,
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TIME_INFINITE);
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}
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else{
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i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 2, TIME_INFINITE);
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}
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return rxbuf[0];
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#else
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txbuf = sub;
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if(message != NULL){
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*message = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 1,
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TIME_INFINITE);
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}
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else{
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i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 1, TIME_INFINITE);
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}
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return rxbuf[0];
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#endif
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}
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/**
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* @brief Writes a value into a register.
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* @pre The I2C interface must be initialized and the driver started.
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*
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* @param[in] i2cp pointer to the I2C interface
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* @param[in] sad slave address without R bit
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* @param[in] sub sub-register address
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* @param[in] value the value to be written
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* @param[out] message pointer to message
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*/
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void lsm6ds0WriteRegister(I2CDriver *i2cp, uint8_t sad, uint8_t sub,
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uint8_t value, msg_t* message) {
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uint8_t txbuf[2];
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uint8_t rxbuf;
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switch (sub) {
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default:
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/* Reserved register must not be written, according to the datasheet
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* this could permanently damage the device.
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*/
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chDbgAssert(FALSE, "lsm6ds0WriteRegister(), reserved register");
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case LSM6DS0_SUB_WHO_AM_I:
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case LSM6DS0_SUB_INT_GEN_SRC_G:
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case LSM6DS0_SUB_OUT_TEMP_L:
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case LSM6DS0_SUB_OUT_TEMP_H:
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case LSM6DS0_SUB_STATUS_REG1:
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case LSM6DS0_SUB_OUT_X_L_G:
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case LSM6DS0_SUB_OUT_X_H_G:
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case LSM6DS0_SUB_OUT_Y_L_G:
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case LSM6DS0_SUB_OUT_Y_H_G:
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case LSM6DS0_SUB_OUT_Z_L_G:
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case LSM6DS0_SUB_OUT_Z_H_G:
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case LSM6DS0_SUB_INT_GEN_SRC_XL:
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case LSM6DS0_SUB_STATUS_REG2:
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case LSM6DS0_SUB_OUT_X_L_XL:
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case LSM6DS0_SUB_OUT_X_H_XL:
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case LSM6DS0_SUB_OUT_Y_L_XL:
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case LSM6DS0_SUB_OUT_Y_H_XL:
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case LSM6DS0_SUB_OUT_Z_L_XL:
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case LSM6DS0_SUB_OUT_Z_H_XL:
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case LSM6DS0_SUB_FIFO_SRC:
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/* Read only registers cannot be written, the command is ignored.*/
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return;
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case LSM6DS0_SUB_ACT_THS:
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case LSM6DS0_SUB_ACT_DUR:
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case LSM6DS0_SUB_INT_GEN_CFG_XL:
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case LSM6DS0_SUB_INT_GEN_THS_X_XL:
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case LSM6DS0_SUB_INT_GEN_THS_Y_XL:
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case LSM6DS0_SUB_INT_GEN_THS_Z_XL:
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case LSM6DS0_SUB_INT_GEN_DUR_XL:
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case LSM6DS0_SUB_REFERENCE_G:
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case LSM6DS0_SUB_INT_CTRL:
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case LSM6DS0_SUB_CTRL_REG1_G:
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case LSM6DS0_SUB_CTRL_REG2_G:
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case LSM6DS0_SUB_CTRL_REG3_G:
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case LSM6DS0_SUB_ORIENT_CFG_G:
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case LSM6DS0_SUB_CTRL_REG4:
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case LSM6DS0_SUB_CTRL_REG5_XL:
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case LSM6DS0_SUB_CTRL_REG6_XL:
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case LSM6DS0_SUB_CTRL_REG7_XL:
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case LSM6DS0_SUB_CTRL_REG8:
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case LSM6DS0_SUB_CTRL_REG9:
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case LSM6DS0_SUB_CTRL_REG10:
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case LSM6DS0_SUB_FIFO_CTRL:
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case LSM6DS0_SUB_INT_GEN_CFG_G:
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case LSM6DS0_SUB_INT_GEN_THS_XH_G:
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case LSM6DS0_SUB_INT_GEN_THS_XL_G:
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case LSM6DS0_SUB_INT_GEN_THS_YH_G:
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case LSM6DS0_SUB_INT_GEN_THS_YL_G:
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case LSM6DS0_SUB_INT_GEN_THS_ZH_G:
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case LSM6DS0_SUB_INT_GEN_THS_ZL_G:
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case LSM6DS0_SUB_INT_GEN_DUR_G:
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txbuf[0] = sub;
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txbuf[1] = value;
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if(message != NULL){
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*message = i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0,
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TIME_INFINITE);
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}
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else{
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i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0, TIME_INFINITE);
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}
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break;
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}
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}
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/** @} */
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