diff options
Diffstat (limited to 'sensorlib/lsm303dlhc_accel.c')
| -rw-r--r-- | sensorlib/lsm303dlhc_accel.c | 662 |
1 files changed, 662 insertions, 0 deletions
diff --git a/sensorlib/lsm303dlhc_accel.c b/sensorlib/lsm303dlhc_accel.c new file mode 100644 index 0000000..ad46b37 --- /dev/null +++ b/sensorlib/lsm303dlhc_accel.c @@ -0,0 +1,662 @@ +//*****************************************************************************
+//
+// lsm303dlhc.c - Driver for the ST LSM303DLHC accelerometer
+//
+// Copyright (c) 2013-2014 Texas Instruments Incorporated. All rights reserved.
+// Software License Agreement
+//
+// Texas Instruments (TI) is supplying this software for use solely and
+// exclusively on TI's microcontroller products. The software is owned by
+// TI and/or its suppliers, and is protected under applicable copyright
+// laws. You may not combine this software with "viral" open-source
+// software in order to form a larger program.
+//
+// THIS SOFTWARE IS PROVIDED "AS IS" AND WITH ALL FAULTS.
+// NO WARRANTIES, WHETHER EXPRESS, IMPLIED OR STATUTORY, INCLUDING, BUT
+// NOT LIMITED TO, IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE. TI SHALL NOT, UNDER ANY
+// CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR CONSEQUENTIAL
+// DAMAGES, FOR ANY REASON WHATSOEVER.
+//
+// This is part of revision 2.1.0.12573 of the Tiva Firmware Development Package.
+//
+//*****************************************************************************
+
+#include <stdint.h>
+#include "sensorlib/hw_lsm303dlhc.h"
+#include "sensorlib/i2cm_drv.h"
+#include "sensorlib/lsm303dlhc_accel.h"
+
+//*****************************************************************************
+//
+//! \addtogroup lsm303dlhc_api
+//! @{
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+// The states of the LSM303DLHC state machine.
+//
+//*****************************************************************************
+#define LSM303DLHC_STATE_IDLE 0 // State machine is idle
+#define LSM303DLHC_STATE_INIT 1 // Waiting for init
+#define LSM303DLHC_STATE_READ 2 // Waiting for read
+#define LSM303DLHC_STATE_WRITE 3 // Waiting for write
+#define LSM303DLHC_STATE_RMW 4 // Waiting for read-modify-write
+
+//*****************************************************************************
+//
+// The factors used to convert the acceleration readings from the LSM303DLHC
+// into floating point values in meters per second squared.
+//
+// Values are obtained by taking the g conversion factors from the data sheet
+// and multiplying by 9.81 (1 g = 9.81 m/s^2).
+//
+//*****************************************************************************
+static const float g_pfLSM303DLHCAccelFactors[] =
+{
+ 0.00059875, // Range = +/- 2 g (16384 lsb/g)
+ 0.00119751, // Range = +/- 4 g (8192 lsb/g)
+ 0.00239502, // Range = +/- 8 g (4096 lsb/g)
+ 0.00479004 // Range = +/- 16 g (2048 lsb/g)
+};
+
+//
+// Uninitialized values will default to zero which is what we want. 0x80 is
+// ORed into the register address so the writes auto-increment
+//
+static const uint8_t g_pui8ZeroCtrl1[8] =
+{
+ 0x80 | LSM303DLHC_O_CTRL1
+};
+static const uint8_t g_pui8ZeroFifoCtl[14] =
+{
+ 0x80 | LSM303DLHC_O_FIFO_CTRL
+};
+
+//*****************************************************************************
+//
+// The callback function that is called when I2C transations to/from the
+// LSM303DLHC have completed.
+//
+//*****************************************************************************
+static void
+LSM303DLHCCallback(void *pvCallbackData, uint_fast8_t ui8Status)
+{
+ tLSM303DLHCAccel *psInst;
+
+ //
+ // Convert the instance data into a pointer to a tLSM303DLHC structure.
+ //
+ psInst = pvCallbackData;
+
+ //
+ // If the I2C master driver encountered a failure, force the state machine
+ // to the idle state (which will also result in a callback to propagate the
+ // error).
+ //
+ if(ui8Status != I2CM_STATUS_SUCCESS)
+ {
+ psInst->ui8State = LSM303DLHC_STATE_IDLE;
+ }
+
+ //
+ // Determine the current state of the LSM303DLHC state machine.
+ //
+ switch(psInst->ui8State)
+ {
+ //
+ // All states that trivially transition to IDLE, and all unknown
+ // states.
+ //
+ case LSM303DLHC_STATE_READ:
+ default:
+ {
+ //
+ // The state machine is now idle.
+ //
+ psInst->ui8State = LSM303DLHC_STATE_IDLE;
+
+ //
+ // Done.
+ //
+ break;
+ }
+
+ case LSM303DLHC_STATE_INIT:
+ {
+ psInst->ui8State = LSM303DLHC_STATE_IDLE;
+ I2CMWrite(psInst->psI2CInst, psInst->ui8Addr, g_pui8ZeroFifoCtl,
+ 14, LSM303DLHCCallback, pvCallbackData);
+
+ //
+ // Done.
+ //
+ break;
+ }
+
+ //
+ // A write just completed
+ //
+ case LSM303DLHC_STATE_WRITE:
+ {
+ //
+ // Set the accelerometer ranges to the new values. If the register
+ // was not modified, the values will be the same so this has no
+ // effect.
+ //
+ psInst->ui8AccelAfsSel = psInst->ui8NewAccelAfsSel;
+
+ //
+ // The state machine is now idle.
+ //
+ psInst->ui8State = LSM303DLHC_STATE_IDLE;
+
+ //
+ // Done.
+ //
+ break;
+ }
+
+ //
+ // A read-modify-write just completed
+ //
+ case LSM303DLHC_STATE_RMW:
+ {
+ //
+ // See if the ACCEL_CONFIG register was just modified.
+ //
+ if(psInst->uCommand.sReadModifyWriteState.pui8Buffer[0] ==
+ LSM303DLHC_O_CTRL4)
+ {
+ //
+ // Extract the FS_SEL from the ACCEL_CONFIG register value.
+ //
+ psInst->ui8AccelAfsSel =
+ ((psInst->uCommand.sReadModifyWriteState.pui8Buffer[1] &
+ LSM303DLHC_CTRL4_FS_M) >> LSM303DLHC_CTRL4_FS_S);
+ }
+
+ //
+ // The state machine is now idle.
+ //
+ psInst->ui8State = LSM303DLHC_STATE_IDLE;
+
+ //
+ // Done.
+ //
+ break;
+ }
+ }
+
+ //
+ // See if the state machine is now idle and there is a callback function.
+ //
+ if((psInst->ui8State == LSM303DLHC_STATE_IDLE) && psInst->pfnCallback)
+ {
+ //
+ // Call the application-supplied callback function.
+ //
+ psInst->pfnCallback(psInst->pvCallbackData, ui8Status);
+ }
+}
+
+//*****************************************************************************
+//
+//! Initializes the LSM303DLHC driver.
+//!
+//! \param psInst is a pointer to the LSM303DLHC instance data.
+//! \param psI2CInst is a pointer to the I2C master driver instance data.
+//! \param ui8I2CAddr is the I2C address of the LSM303DLHC device.
+//! \param pfnCallback is the function to be called when the initialization has
+//! completed (can be \b NULL if a callback is not required).
+//! \param pvCallbackData is a pointer that is passed to the callback function.
+//!
+//! This function initializes the LSM303DLHC driver, preparing it for
+//! operation.
+//!
+//! \return Returns 1 if the LSM303DLHC driver was successfully initialized and
+//! 0 if it was not.
+//
+//*****************************************************************************
+uint_fast8_t
+LSM303DLHCAccelInit(tLSM303DLHCAccel *psInst, tI2CMInstance *psI2CInst,
+ uint_fast8_t ui8I2CAddr, tSensorCallback *pfnCallback,
+ void *pvCallbackData)
+{
+ //
+ // Initialize the LSM303DLHC instance structure.
+ //
+ psInst->psI2CInst = psI2CInst;
+ psInst->ui8Addr = ui8I2CAddr;
+
+ //
+ // Save the callback information.
+ //
+ psInst->pfnCallback = pfnCallback;
+ psInst->pvCallbackData = pvCallbackData;
+
+ //
+ // Default range setting is +/- 2 g
+ //
+ psInst->ui8AccelAfsSel = (LSM303DLHC_CTRL4_FS_2G >> LSM303DLHC_CTRL4_FS_S);
+ psInst->ui8NewAccelAfsSel = (LSM303DLHC_CTRL4_FS_2G >> LSM303DLHC_CTRL4_FS_S);
+
+ //
+ // There is no soft reset on the LSM303. Force registers back to their
+ // spec'ed POR defaults.
+ //
+ psInst->ui8State = LSM303DLHC_STATE_INIT;
+ if(I2CMWrite(psInst->psI2CInst, psInst->ui8Addr, g_pui8ZeroCtrl1, 7,
+ LSM303DLHCCallback, (void *)psInst) == 0)
+ {
+ psInst->ui8State = LSM303DLHC_STATE_IDLE;
+ return(0);
+ }
+
+ //
+ // Success
+ //
+ return(1);
+}
+
+//*****************************************************************************
+//
+//! Reads data from LSM303DLHC registers.
+//!
+//! \param psInst is a pointer to the LSM303DLHC instance data.
+//! \param ui8Reg is the first register to read.
+//! \param pui8Data is a pointer to the location to store the data that is
+//! read.
+//! \param ui16Count is the number of data bytes to read.
+//! \param pfnCallback is the function to be called when the data has been read
+//! (can be \b NULL if a callback is not required).
+//! \param pvCallbackData is a pointer that is passed to the callback function.
+//!
+//! This function reads a sequence of data values from consecutive registers in
+//! the LSM303DLHC.
+//!
+//! \return Returns 1 if the write was successfully started and 0 if it was
+//! not.
+//
+//*****************************************************************************
+uint_fast8_t
+LSM303DLHCAccelRead(tLSM303DLHCAccel *psInst, uint_fast8_t ui8Reg,
+ uint8_t *pui8Data, uint_fast16_t ui16Count,
+ tSensorCallback *pfnCallback, void *pvCallbackData)
+{
+ //
+ // Return a failure if the LSM303DLHC driver is not idle (in other words,
+ // there is already an outstanding request to the LSM303DLHC).
+ //
+ if(psInst->ui8State != LSM303DLHC_STATE_IDLE)
+ {
+ return(0);
+ }
+
+ //
+ // Save the callback information.
+ //
+ psInst->pfnCallback = pfnCallback;
+ psInst->pvCallbackData = pvCallbackData;
+
+ //
+ // Move the state machine to the wait for read state.
+ //
+ psInst->ui8State = LSM303DLHC_STATE_READ;
+
+ //
+ // Read the requested registers from the LSM303DLHC.
+ //
+ psInst->uCommand.pui8Buffer[0] = ui8Reg;
+ if(I2CMRead(psInst->psI2CInst, psInst->ui8Addr,
+ psInst->uCommand.pui8Buffer, 1, pui8Data, ui16Count,
+ LSM303DLHCCallback, psInst) == 0)
+ {
+ //
+ // The I2C write failed, so move to the idle state and return a
+ // failure.
+ //
+ psInst->ui8State = LSM303DLHC_STATE_IDLE;
+ return(0);
+ }
+
+ //
+ // Success.
+ //
+ return(1);
+}
+
+//*****************************************************************************
+//
+//! Writes data to LSM303DLHC registers.
+//!
+//! \param psInst is a pointer to the LSM303DLHC instance data.
+//! \param ui8Reg is the first register to write.
+//! \param pui8Data is a pointer to the data to write.
+//! \param ui16Count is the number of data bytes to write.
+//! \param pfnCallback is the function to be called when the data has been
+//! written (can be \b NULL if a callback is not required).
+//! \param pvCallbackData is a pointer that is passed to the callback function.
+//!
+//! This function writes a sequence of data values to consecutive registers in
+//! the LSM303DLHC. The first byte of the \e pui8Data buffer contains the
+//! value to be written into the \e ui8Reg register, the second value contains
+//! the data to be written into the next register, and so on.
+//!
+//! \return Returns 1 if the write was successfully started and 0 if it was
+//! not.
+//
+//*****************************************************************************
+uint_fast8_t
+LSM303DLHCAccelWrite(tLSM303DLHCAccel *psInst, uint_fast8_t ui8Reg,
+ const uint8_t *pui8Data, uint_fast16_t ui16Count,
+ tSensorCallback *pfnCallback, void *pvCallbackData)
+{
+ //
+ // Return a failure if the LSM303DLHC driver is not idle (in other words,
+ // there is already an outstanding request to the LSM303DLHC).
+ //
+ if(psInst->ui8State != LSM303DLHC_STATE_IDLE)
+ {
+ return(0);
+ }
+
+ //
+ // Save the callback information.
+ //
+ psInst->pfnCallback = pfnCallback;
+ psInst->pvCallbackData = pvCallbackData;
+
+ //
+ // See if they're rebooting via CTRL5
+ //
+ if((ui8Reg <= LSM303DLHC_O_CTRL5) &&
+ ((ui8Reg + ui16Count) > LSM303DLHC_O_CTRL5))
+ {
+ //
+ // See if a soft reset is being requested.
+ //
+ if(pui8Data[ui8Reg - LSM303DLHC_O_CTRL5] & LSM303DLHC_CTRL5_REBOOTCTL_M)
+ {
+ //
+ // Default range setting is +/- 2 g.
+ //
+ psInst->ui8NewAccelAfsSel = 0;
+ }
+ }
+
+ //
+ // See if the ACCEL_CONFIG register is being written.
+ //
+ if((ui8Reg <= LSM303DLHC_O_CTRL4) &&
+ ((ui8Reg + ui16Count) > LSM303DLHC_O_CTRL4))
+ {
+ //
+ // Extract the AFS_SEL from the ACCEL_CONFIG register value.
+ //
+ psInst->ui8NewAccelAfsSel =
+ ((pui8Data[ui8Reg - LSM303DLHC_O_CTRL4] &
+ LSM303DLHC_CTRL4_FS_M) >> LSM303DLHC_CTRL4_FS_S);
+ }
+
+ //
+ // Move the state machine to the wait for write state.
+ //
+ psInst->ui8State = LSM303DLHC_STATE_WRITE;
+
+ //
+ // Write the requested registers to the LSM303DLHC.
+ //
+ if(I2CMWrite8(&(psInst->uCommand.sWriteState), psInst->psI2CInst,
+ psInst->ui8Addr, ui8Reg, pui8Data, ui16Count,
+ LSM303DLHCCallback, psInst) == 0)
+ {
+ //
+ // The I2C write failed, so move to the idle state and return a
+ // failure.
+ //
+ psInst->ui8State = LSM303DLHC_STATE_IDLE;
+ return(0);
+ }
+
+ //
+ // Success.
+ //
+ return(1);
+}
+
+//*****************************************************************************
+//
+//! Performs a read-modify-write of a LSM303DLHC register.
+//!
+//! \param psInst is a pointer to the LSM303DLHC instance data.
+//! \param ui8Reg is the register to modify.
+//! \param ui8Mask is the bit mask that is ANDed with the current register
+//! value.
+//! \param ui8Value is the bit mask that is ORed with the result of the AND
+//! operation.
+//! \param pfnCallback is the function to be called when the data has been
+//! changed (can be \b NULL if a callback is not required).
+//! \param pvCallbackData is a pointer that is passed to the callback function.
+//!
+//! This function changes the value of a register in the LSM303DLHC via a
+//! read-modify-write operation, allowing one of the fields to be changed
+//! without disturbing the other fields. The \e ui8Reg register is read, ANDed
+//! with \e ui8Mask, ORed with \e ui8Value, and then written back to the
+//! LSM303DLHC.
+//!
+//! \return Returns 1 if the read-modify-write was successfully started and 0
+//! if it was not.
+//
+//*****************************************************************************
+uint_fast8_t
+LSM303DLHCAccelReadModifyWrite(tLSM303DLHCAccel *psInst, uint_fast8_t ui8Reg,
+ uint_fast8_t ui8Mask, uint_fast8_t ui8Value,
+ tSensorCallback *pfnCallback,
+ void *pvCallbackData)
+{
+ //
+ // Return a failure if the LSM303DLHC driver is not idle (in other words,
+ // there is already an outstanding request to the LSM303DLHC).
+ //
+ if(psInst->ui8State != LSM303DLHC_STATE_IDLE)
+ {
+ return(0);
+ }
+
+ //
+ // Save the callback information.
+ //
+ psInst->pfnCallback = pfnCallback;
+ psInst->pvCallbackData = pvCallbackData;
+
+ //
+ // Move the state machine to the wait for read-modify-write state.
+ //
+ psInst->ui8State = LSM303DLHC_STATE_RMW;
+
+ //
+ // Submit the read-modify-write request to the LSM303DLHC.
+ //
+ if(I2CMReadModifyWrite8(&(psInst->uCommand.sReadModifyWriteState),
+ psInst->psI2CInst, psInst->ui8Addr, ui8Reg,
+ ui8Mask, ui8Value, LSM303DLHCCallback,
+ psInst) == 0)
+ {
+ //
+ // The I2C read-modify-write failed, so move to the idle state and
+ // return a failure.
+ //
+ psInst->ui8State = LSM303DLHC_STATE_IDLE;
+ return(0);
+ }
+
+ //
+ // Success.
+ //
+ return(1);
+}
+
+//*****************************************************************************
+//
+//! Reads the accelerometer data from the LSM303DLHC.
+//!
+//! \param psInst is a pointer to the LSM303DLHC instance data.
+//! \param pfnCallback is the function to be called when the data has been read
+//! (can be \b NULL if a callback is not required).
+//! \param pvCallbackData is a pointer that is passed to the callback function.
+//!
+//! This function initiates a read of the LSM303DLHC data registers. When the
+//! read has completed (as indicated by calling the callback function), the new
+//! readings can be obtained via:
+//!
+//! - LSM303DLHCDataAccelGetRaw()
+//! - LSM303DLHCDataAccelGetFloat()
+//!
+//! \return Returns 1 if the read was successfully started and 0 if it was not.
+//
+//*****************************************************************************
+uint_fast8_t
+LSM303DLHCAccelDataRead(tLSM303DLHCAccel *psInst, tSensorCallback *pfnCallback,
+ void *pvCallbackData)
+{
+ //
+ // Return a failure if the LSM303DLHC driver is not idle (in other words,
+ // there is already an outstanding request to the LSM303DLHC).
+ //
+ if(psInst->ui8State != LSM303DLHC_STATE_IDLE)
+ {
+ return(0);
+ }
+
+ //
+ // Save the callback information.
+ //
+ psInst->pfnCallback = pfnCallback;
+ psInst->pvCallbackData = pvCallbackData;
+
+ //
+ // Move the state machine to the wait for data read state.
+ //
+ psInst->ui8State = LSM303DLHC_STATE_READ;
+
+ //
+ // Read the data registers from the LSM303DLHC.
+ //
+ psInst->pui8Data[0] = LSM303DLHC_O_OUT_X_LSB | 0x80;
+ if(I2CMRead(psInst->psI2CInst, psInst->ui8Addr, psInst->pui8Data, 1,
+ psInst->pui8Data, 6, LSM303DLHCCallback, psInst) == 0)
+ {
+ //
+ // The I2C read failed, so move to the idle state and return a failure.
+ //
+ psInst->ui8State = LSM303DLHC_STATE_IDLE;
+ return(0);
+ }
+
+ //
+ // Success.
+ //
+ return(1);
+}
+
+//*****************************************************************************
+//
+//! Gets the raw accelerometer data from the most recent data read.
+//!
+//! \param psInst is a pointer to the LSM303DLHC instance data.
+//! \param pui16AccelX is a pointer to the value into which the raw X-axis
+//! accelerometer data is stored.
+//! \param pui16AccelY is a pointer to the value into which the raw Y-axis
+//! accelerometer data is stored.
+//! \param pui16AccelZ is a pointer to the value into which the raw Z-axis
+//! accelerometer data is stored.
+//!
+//! This function returns the raw accelerometer data from the most recent data
+//! read. The data is not manipulated in any way by the driver. If any of the
+//! output data pointers are \b NULL, the corresponding data is not provided.
+//!
+//! \return None.
+//
+//*****************************************************************************
+void
+LSM303DLHCAccelDataAccelGetRaw(tLSM303DLHCAccel *psInst,
+ uint_fast16_t *pui16AccelX,
+ uint_fast16_t *pui16AccelY,
+ uint_fast16_t *pui16AccelZ)
+{
+ //
+ // Return the raw accelerometer values.
+ //
+ if(pui16AccelX)
+ {
+ *pui16AccelX = (psInst->pui8Data[1] << 8) | psInst->pui8Data[0];
+ }
+ if(pui16AccelY)
+ {
+ *pui16AccelY = (psInst->pui8Data[3] << 8) | psInst->pui8Data[2];
+ }
+ if(pui16AccelZ)
+ {
+ *pui16AccelZ = (psInst->pui8Data[5] << 8) | psInst->pui8Data[4];
+ }
+}
+
+//*****************************************************************************
+//
+//! Gets the accelerometer data from the most recent data read.
+//!
+//! \param psInst is a pointer to the LSM303DLHC instance data.
+//! \param pfAccelX is a pointer to the value into which the X-axis
+//! accelerometer data is stored.
+//! \param pfAccelY is a pointer to the value into which the Y-axis
+//! accelerometer data is stored.
+//! \param pfAccelZ is a pointer to the value into which the Z-axis
+//! accelerometer data is stored.
+//!
+//! This function returns the accelerometer data from the most recent data
+//! read, converted into meters per second squared (m/s^2). If any of the
+//! output data pointers are \b NULL, the corresponding data is not provided.
+//!
+//! \return None.
+//
+//*****************************************************************************
+void
+LSM303DLHCAccelDataAccelGetFloat(tLSM303DLHCAccel *psInst, float *pfAccelX,
+ float *pfAccelY, float *pfAccelZ)
+{
+ float fFactor;
+
+ //
+ // Get the acceleration conversion factor for the current data format.
+ //
+ fFactor = g_pfLSM303DLHCAccelFactors[psInst->ui8AccelAfsSel];
+
+ //
+ // Convert the Accelerometer values into floating-point gravity values.
+ //
+ if(pfAccelX)
+ {
+ *pfAccelX = (float)(((int16_t)((psInst->pui8Data[1] << 8) |
+ psInst->pui8Data[0])) * fFactor);
+ }
+ if(pfAccelY)
+ {
+ *pfAccelY = (float)(((int16_t)((psInst->pui8Data[3] << 8) |
+ psInst->pui8Data[2])) * fFactor);
+ }
+ if(pfAccelZ)
+ {
+ *pfAccelZ = (float)(((int16_t)((psInst->pui8Data[5] << 8) |
+ psInst->pui8Data[4])) * fFactor);
+ }
+}
+
+//*****************************************************************************
+//
+// Close the Doxygen group.
+//! @}
+//
+//*****************************************************************************
|