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Merge pull request #4807 from gebart/pr/saul-lis3dh

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drivers/lis3dh: Add SAUL support
This commit is contained in:
Hauke Petersen 2016-03-02 13:23:29 +01:00
commit af48dadb26
10 changed files with 237 additions and 32 deletions
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4
boards/mulle/Makefile.dep
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@ -3,6 +3,10 @@ ifneq (,$(filter gnrc_netif_default,$(USEMODULE)))
USEMODULE += gnrc_nomac
endif
ifneq (,$(filter saul_default,$(USEMODULE)))
USEMODULE += lis3dh
endif
# The RTT clock drives the core clock in the default configuration
FEATURES_REQUIRED += periph_rtt

59
boards/mulle/include/lis3dh_params.h Normal file
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@ -0,0 +1,59 @@
/*
* Copyright (C) 2016 Eistec AB
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*/
/**
* @ingroup boards_mulle
* @{
*
* @file
* @brief LIS3DH board specific configuration
*
* @author Joakim Nohlgård <joakim.nohlgard@eistec.se>
*/
#ifndef LIS3DH_PARAMS_H
#define LIS3DH_PARAMS_H
#include "board.h"
#include "saul_reg.h"
#ifdef __cplusplus
extern "C" {
#endif
/**
* @brief LIS3DH configuration
*/
static const lis3dh_params_t lis3dh_params[] =
{
{
.spi = LIS3DH_SPI,
.cs = LIS3DH_CS,
.int1 = LIS3DH_INT1,
.int2 = LIS3DH_INT2,
.scale = 4,
.odr = LIS3DH_ODR_100Hz,
},
};
/**
* @brief Additional meta information to keep in the SAUL registry
*/
static const saul_reg_info_t lis3dh_saul_info[] =
{
{
.name = "lis3dh",
},
};
#ifdef __cplusplus
}
#endif
#endif /* LIS3DH_PARAMS_H */
/** @} */

28
drivers/include/lis3dh.h
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@ -387,16 +387,14 @@ typedef enum {
/** @} */
/**
* @name Scale parameters
*
* Use these names when calling lis3dh_set_scale()
* @name Scale register values symbolic names
*/
/** @{ */
#define LIS3DH_SCALE_2G (0) /**< Scale: +/- 2G */
#define LIS3DH_SCALE_4G (LIS3DH_CTRL_REG4_FS0_MASK) /**< Scale: +/- 4G */
#define LIS3DH_SCALE_8G (LIS3DH_CTRL_REG4_FS1_MASK) /**< Scale: +/- 8G */
#define LIS3DH_CTRL_REG4_SCALE_2G (0) /**< Scale: +/- 2G */
#define LIS3DH_CTRL_REG4_SCALE_4G (LIS3DH_CTRL_REG4_FS0_MASK) /**< Scale: +/- 4G */
#define LIS3DH_CTRL_REG4_SCALE_8G (LIS3DH_CTRL_REG4_FS1_MASK) /**< Scale: +/- 8G */
/** Scale: +/- 16G */
#define LIS3DH_SCALE_16G (LIS3DH_CTRL_REG4_FS1_MASK | LIS3DH_CTRL_REG4_FS0_MASK)
#define LIS3DH_CTRL_REG4_SCALE_16G (LIS3DH_CTRL_REG4_FS1_MASK | LIS3DH_CTRL_REG4_FS0_MASK)
/** @} */
/**
@ -686,6 +684,13 @@ typedef struct {
gpio_t cs; /**< Chip select pin */
gpio_t int1; /**< INT1 pin */
gpio_t int2; /**< INT2 (DRDY) pin */
uint8_t scale; /**< Default sensor scale: 2, 4, 8, or 16 (G) */
uint8_t odr; /**< Default sensor ODR setting: LIS3DH_ODR_xxxHz */
} lis3dh_params_t;
typedef struct {
spi_t spi; /**< SPI device the sensor is connected to */
gpio_t cs; /**< Chip select pin */
int16_t scale; /**< Current scale setting of the sensor */
} lis3dh_t;
@ -697,8 +702,7 @@ typedef struct __attribute__((packed))
int16_t acc_x; /**< Acceleration in the X direction in milli-G */
int16_t acc_y; /**< Acceleration in the Y direction in milli-G */
int16_t acc_z; /**< Acceleration in the Z direction in milli-G */
}
lis3dh_data_t;
} lis3dh_data_t;
/**
@ -707,14 +711,12 @@ lis3dh_data_t;
* @param[in] dev Device descriptor of sensor to initialize
* @param[in] spi SPI bus the accelerometer is connected to
* @param[in] cs_pin GPIO connected to the chip select pin of the accelerometer
* @param[in] int1_pin GPIO connected to the INT1 pin of the accelerometer
* @param[in] int2_pin GPIO connected to the INT2 pin of the accelerometer
* @param[in] scale Initial scale setting of the sensor
*
* @return 0 on success
* @return -1 on error
*/
int lis3dh_init(lis3dh_t *dev, spi_t spi, gpio_t cs_pin, gpio_t int1_pin, gpio_t int2_pin, uint8_t scale);
int lis3dh_init(lis3dh_t *dev, spi_t spi, gpio_t cs_pin, uint8_t scale);
/**
* @brief Read 3D acceleration data from the accelerometer
@ -819,7 +821,7 @@ int lis3dh_set_odr(lis3dh_t *dev, const uint8_t odr);
/**
* @brief Set the full scale range of the sensor.
*
* Valid values for scale is 2, 4, 8, 16 and represents the full range of the
* Valid values for scale are 2, 4, 8, 16 and represents the full range of the
* sensor.
*
* @param[in] dev Device descriptor of sensor

23
drivers/lis3dh/lis3dh.c
View File

@ -30,14 +30,12 @@ static int lis3dh_read_regs(const lis3dh_t *dev, const lis3dh_reg_t reg, const u
uint8_t *buf);
int lis3dh_init(lis3dh_t *dev, spi_t spi, gpio_t cs_pin, gpio_t int1_pin, gpio_t int2_pin, uint8_t scale)
int lis3dh_init(lis3dh_t *dev, spi_t spi, gpio_t cs_pin, uint8_t scale)
{
uint8_t in;
dev->spi = spi;
dev->cs = cs_pin;
dev->int1 = int1_pin;
dev->int2 = int2_pin;
dev->scale = 0;
/* CS */
@ -73,10 +71,6 @@ int lis3dh_init(lis3dh_t *dev, spi_t spi, gpio_t cs_pin, gpio_t int1_pin, gpio_t
/* Configure scale */
lis3dh_set_scale(dev, scale);
/* Initialize the interrupt pins */
gpio_init(dev->int1, GPIO_DIR_IN, GPIO_NOPULL);
gpio_init(dev->int2, GPIO_DIR_IN, GPIO_NOPULL);
return 0;
}
@ -172,27 +166,32 @@ int lis3dh_set_odr(lis3dh_t *dev, const uint8_t odr)
int lis3dh_set_scale(lis3dh_t *dev, const uint8_t scale)
{
uint8_t scale_reg;
/* Sensor full range is -32768 -- +32767 (measurements are left adjusted) */
/* => Scale factor is scale/32768 */
switch (scale)
{
case LIS3DH_SCALE_2G:
case 2:
dev->scale = 2000;
scale_reg = LIS3DH_CTRL_REG4_SCALE_2G;
break;
case LIS3DH_SCALE_4G:
case 4:
dev->scale = 4000;
scale_reg = LIS3DH_CTRL_REG4_SCALE_4G;
break;
case LIS3DH_SCALE_8G:
case 8:
dev->scale = 8000;
scale_reg = LIS3DH_CTRL_REG4_SCALE_8G;
break;
case LIS3DH_SCALE_16G:
case 16:
dev->scale = 16000;
scale_reg = LIS3DH_CTRL_REG4_SCALE_16G;
break;
default:
return -1;
}
return lis3dh_write_bits(dev, LIS3DH_REG_CTRL_REG4, LIS3DH_CTRL_REG4_FS_MASK,
scale);
scale_reg);
}
int lis3dh_set_int1(lis3dh_t *dev, const uint8_t mode)

59
drivers/lis3dh/lis3dh_saul.c Normal file
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@ -0,0 +1,59 @@
/*
* Copyright (C) 2016 Eistec AB
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*/
/**
* @ingroup driver_lis3dh
* @{
*
* @file
* @brief LIS3DH adaption to the RIOT actuator/sensor interface
*
* @author Joakim Nohlgård <joakim.nohlgard@eistec.se>
*
* @}
*/
#include <string.h>
#include <stdio.h>
#include "saul.h"
#include "lis3dh.h"
static int read_acc(void *dev, phydat_t *res)
{
lis3dh_data_t xyz;
lis3dh_t *d = (lis3dh_t *)dev;
int err = lis3dh_read_xyz(d, &xyz);
if (err != 0) {
/* Something went wrong in the LIS3DH driver */
return -ECANCELED;
}
res->val[0] = xyz.acc_x;
res->val[1] = xyz.acc_y;
res->val[2] = xyz.acc_z;
/* unit: milli-G */
res->scale = -3;
res->unit = UNIT_G;
return 3;
}
static int write(void *dev, phydat_t *state)
{
(void) dev;
(void) state;
return -ENOTSUP;
}
const saul_driver_t lis3dh_saul_driver = {
.read = read_acc,
.write = write,
.type = SAUL_SENSE_ACCEL,
};

2
drivers/saul/gpio_saul.c
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@ -6,7 +6,7 @@
* directory for more details.
*/
/*
/**
* @ingroup drivers_saul
* @{
*

4
sys/auto_init/auto_init.c
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@ -230,6 +230,10 @@ void auto_init(void)
extern void auto_init_l3g4200d(void);
auto_init_l3g4200d();
#endif
#ifdef MODULE_LIS3DH
extern void auto_init_lis3dh(void);
auto_init_lis3dh();
#endif
#endif /* MODULE_AUTO_INIT_SAUL */
}

79
sys/auto_init/saul/auto_init_lis3dh.c Normal file
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@ -0,0 +1,79 @@
/*
* Copyright (C) 2016 Eistec AB
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*
*/
/**
* @ingroup auto_init_saul
* @{
*
* @file
* @brief Auto initialization of LIS3DH accelerometers
*
* @author Joakim Nohlgård <joakim.nohlgard@eistec.se>
*
* @}
*/
#ifdef MODULE_LIS3DH
#include "saul_reg.h"
#include "lis3dh.h"
#include "lis3dh_params.h"
#define ENABLE_DEBUG (0)
#include "debug.h"
/**
* @brief Define the number of configured sensors
*/
#define LIS3DH_NUM (sizeof(lis3dh_params)/sizeof(lis3dh_params[0]))
/**
* @brief Allocate memory for the device descriptors
*/
static lis3dh_t lis3dh_devs[LIS3DH_NUM];
/**
* @brief Memory for the SAUL registry entries
*/
static saul_reg_t saul_entries[LIS3DH_NUM];
/**
* @brief Reference the driver struct
*/
extern saul_driver_t lis3dh_saul_driver;
void auto_init_lis3dh(void)
{
for (int i = 0; i < LIS3DH_NUM; i++) {
const lis3dh_params_t *p = &lis3dh_params[i];
int res;
DEBUG("[auto_init_saul] initializing lis3dh accelerometer\n");
res = lis3dh_init(&lis3dh_devs[i], p->spi, p->cs, p->scale);
if (res < 0) {
DEBUG("[auto_init_saul] error during lis3dh_init\n");
continue;
}
res = lis3dh_set_odr(&lis3dh_devs[i], p->odr);
if (res < 0) {
DEBUG("[auto_init_saul] error during lis3dh_set_odr\n");
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]));
}
}
#else
typedef int dont_be_pedantic;
#endif /* MODULE_LIS3DH */

2
sys/shell/commands/sc_saul_reg.c
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@ -7,7 +7,7 @@
*
*/
/*
/**
* @ingroup sys_shell_commands
* @{
*

9
tests/driver_lis3dh/main.c
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@ -57,7 +57,7 @@
#endif
#define SCALE LIS3DH_SCALE_4G
#define SCALE 4
#define ODR LIS3DH_ODR_100Hz
#define SLEEP (100 * 1000U)
#define SPI_CONF (SPI_CONF_SECOND_FALLING)
@ -89,8 +89,7 @@ int main(void)
}
puts("Initializing LIS3DH sensor... ");
if (lis3dh_init(&dev, TEST_LIS3DH_SPI, TEST_LIS3DH_CS,
TEST_LIS3DH_INT1, TEST_LIS3DH_INT2, SCALE) == 0) {
if (lis3dh_init(&dev, TEST_LIS3DH_SPI, TEST_LIS3DH_CS, SCALE) == 0) {
puts("[OK]");
}
else {
@ -153,7 +152,7 @@ int main(void)
}
puts("Set INT1 callback");
if (gpio_init_int(dev.int1, GPIO_NOPULL, GPIO_RISING, test_int1, (void*)&int1_count) == 0) {
if (gpio_init_int(TEST_LIS3DH_INT1, GPIO_NOPULL, GPIO_RISING, test_int1, (void*)&int1_count) == 0) {
puts("[OK]");
}
else {
@ -181,7 +180,7 @@ int main(void)
puts("[Failed]\n");
return 1;
}
int1 = gpio_read(dev.int1);
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;