diff options
Diffstat (limited to 'src/sensor_lis2dw.c')
| -rw-r--r-- | src/sensor_lis2dw.c | 153 |
1 files changed, 130 insertions, 23 deletions
diff --git a/src/sensor_lis2dw.c b/src/sensor_lis2dw.c index 83922003..8a4a6a66 100644 --- a/src/sensor_lis2dw.c +++ b/src/sensor_lis2dw.c @@ -6,6 +6,8 @@ // This file may be distributed under the terms of the GNU GPLv3 license. #include <string.h> // memcpy +#include "autoconf.h" // CONFIG_HAVE_GPIO_SPI +#include "board/gpio.h" // irq_disable #include "board/irq.h" // irq_disable #include "board/misc.h" // timer_read_time #include "basecmd.h" // oid_alloc @@ -13,9 +15,12 @@ #include "sched.h" // DECL_TASK #include "sensor_bulk.h" // sensor_bulk_report #include "spicmds.h" // spidev_transfer +#include "i2ccmds.h" // i2cdev_s #define LIS_AR_DATAX0 0x28 #define LIS_AM_READ 0x80 +#define LIS_MS_SPI 0x40 +#define LIS_MS_I2C 0x80 #define LIS_FIFO_SAMPLES 0x2F #define BYTES_PER_SAMPLE 6 @@ -23,8 +28,13 @@ struct lis2dw { struct timer timer; uint32_t rest_ticks; - struct spidev_s *spi; + union { + struct spidev_s *spi; + struct i2cdev_s *i2c; + }; + uint8_t bus_type; uint8_t flags; + uint8_t model; struct sensor_bulk sb; }; @@ -32,6 +42,20 @@ enum { LIS_PENDING = 1<<0, }; +enum { + SPI_SERIAL, I2C_SERIAL, +}; + +DECL_ENUMERATION("bus_oid_type", "spi", SPI_SERIAL); +DECL_ENUMERATION("bus_oid_type", "i2c", I2C_SERIAL); + +enum { + LIS2DW, LIS3DH, +}; + +DECL_ENUMERATION("lis_chip_type", "LIS2DW", LIS2DW); +DECL_ENUMERATION("lis_chip_type", "LIS3DH", LIS3DH); + static struct task_wake lis2dw_wake; // Event handler that wakes lis2dw_task() periodically @@ -50,9 +74,39 @@ command_config_lis2dw(uint32_t *args) struct lis2dw *ax = oid_alloc(args[0], command_config_lis2dw , sizeof(*ax)); ax->timer.func = lis2dw_event; - ax->spi = spidev_oid_lookup(args[1]); + + switch (args[2]) { + case SPI_SERIAL: + if (CONFIG_HAVE_GPIO_SPI) { + ax->spi = spidev_oid_lookup(args[1]); + ax->bus_type = SPI_SERIAL; + break; + } else { + shutdown("bus_type spi unsupported"); + } + case I2C_SERIAL: + if (CONFIG_HAVE_GPIO_I2C) { + ax->i2c = i2cdev_oid_lookup(args[1]); + ax->bus_type = I2C_SERIAL; + break; + } else { + shutdown("bus_type i2c unsupported"); + } + default: + shutdown("bus_type invalid"); + } + + switch (args[3]) { + case LIS2DW: + case LIS3DH: + ax->model = args[3]; + break; + default: + shutdown("model type invalid"); + } } -DECL_COMMAND(command_config_lis2dw, "config_lis2dw oid=%c spi_oid=%c"); +DECL_COMMAND(command_config_lis2dw, "config_lis2dw oid=%c" + " bus_oid=%c bus_oid_type=%c lis_chip_type=%c"); // Helper code to reschedule the lis2dw_event() timer static void @@ -68,25 +122,58 @@ lis2dw_reschedule_timer(struct lis2dw *ax) static void lis2dw_query(struct lis2dw *ax, uint8_t oid) { - uint8_t msg[7] = {0}; - uint8_t fifo[2] = {LIS_FIFO_SAMPLES| LIS_AM_READ , 0}; - uint8_t fifo_empty,fifo_ovrn = 0; - - msg[0] = LIS_AR_DATAX0 | LIS_AM_READ ; + uint8_t fifo_empty = 0; + uint8_t fifo_ovrn = 0; uint8_t *d = &ax->sb.data[ax->sb.data_count]; - spidev_transfer(ax->spi, 1, sizeof(msg), msg); + if (CONFIG_HAVE_GPIO_SPI && ax->bus_type == SPI_SERIAL) { + uint8_t msg[7] = {0}; + uint8_t fifo[2] = {LIS_FIFO_SAMPLES | LIS_AM_READ , 0}; + + msg[0] = LIS_AR_DATAX0 | LIS_AM_READ; + if (ax->model == LIS3DH) + msg[0] |= LIS_MS_SPI; + + spidev_transfer(ax->spi, 1, sizeof(msg), msg); - spidev_transfer(ax->spi, 1, sizeof(fifo), fifo); - fifo_empty = fifo[1]&0x3F; - fifo_ovrn = fifo[1]&0x40; + spidev_transfer(ax->spi, 1, sizeof(fifo), fifo); - d[0] = msg[1]; // x low bits - d[1] = msg[2]; // x high bits - d[2] = msg[3]; // y low bits - d[3] = msg[4]; // y high bits - d[4] = msg[5]; // z low bits - d[5] = msg[6]; // z high bits + if (ax->model == LIS3DH) + fifo_empty = fifo[1] & 0x20; + else + fifo_empty = fifo[1] & 0x3F; + + fifo_ovrn = fifo[1] & 0x40; + + for (uint32_t i = 0; i < BYTES_PER_SAMPLE; i++) + d[i] = msg[i + 1]; + } else if (CONFIG_HAVE_GPIO_I2C && ax->bus_type == I2C_SERIAL) { + uint8_t msg_reg[] = {LIS_AR_DATAX0}; + if (ax->model == LIS3DH) + msg_reg[0] |= LIS_MS_I2C; + uint8_t msg[6]; + uint8_t fifo_reg[1] = {LIS_FIFO_SAMPLES}; + uint8_t fifo[1]; + + int ret; + ret = i2c_dev_read(ax->i2c, sizeof(msg_reg), msg_reg + , sizeof(msg), msg); + i2c_shutdown_on_err(ret); + + ret = i2c_dev_read(ax->i2c, sizeof(fifo_reg), fifo_reg + , sizeof(fifo), fifo); + i2c_shutdown_on_err(ret); + + if (ax->model == LIS3DH) + fifo_empty = fifo[0] & 0x20; + else + fifo_empty = fifo[0] & 0x3F; + + fifo_ovrn = fifo[0] & 0x40; + + for (uint32_t i = 0; i < BYTES_PER_SAMPLE; i++) + d[i] = msg[i]; + } ax->sb.data_count += BYTES_PER_SAMPLE; if (ax->sb.data_count + BYTES_PER_SAMPLE > ARRAY_SIZE(ax->sb.data)) @@ -129,12 +216,32 @@ void command_query_lis2dw_status(uint32_t *args) { struct lis2dw *ax = oid_lookup(args[0], command_config_lis2dw); - uint8_t msg[2] = { LIS_FIFO_SAMPLES | LIS_AM_READ, 0x00 }; - uint32_t time1 = timer_read_time(); - spidev_transfer(ax->spi, 1, sizeof(msg), msg); - uint32_t time2 = timer_read_time(); + uint32_t time1 = 0; + uint32_t time2 = 0; + uint8_t status = 0; + + if (CONFIG_HAVE_GPIO_SPI && ax->bus_type == SPI_SERIAL) { + uint8_t msg[2] = { LIS_FIFO_SAMPLES | LIS_AM_READ, 0x00 }; + time1 = timer_read_time(); + spidev_transfer(ax->spi, 1, sizeof(msg), msg); + time2 = timer_read_time(); + status = msg[1]; + } else if (CONFIG_HAVE_GPIO_I2C && ax->bus_type == I2C_SERIAL) { + uint8_t fifo_reg[1] = {LIS_FIFO_SAMPLES}; + uint8_t fifo[1]; + + time1 = timer_read_time(); + int ret = i2c_dev_read(ax->i2c, sizeof(fifo_reg), fifo_reg + , sizeof(fifo), fifo); + time2 = timer_read_time(); + + i2c_shutdown_on_err(ret); + + status = fifo[0]; + } + sensor_bulk_status(&ax->sb, args[0], time1, time2-time1 - , (msg[1] & 0x1f) * BYTES_PER_SAMPLE); + , (status & 0x1f) * BYTES_PER_SAMPLE); } DECL_COMMAND(command_query_lis2dw_status, "query_lis2dw_status oid=%c"); |