contiki/cpu/stm32w108/hal/micro/cortexm3/mems.c
2014-07-28 11:11:45 +02:00

248 lines
7.8 KiB
C

/** @file cpu/stm32w108/hal/micro/cortexm3/mems.c
* @brief MB851 MEMS drivers
*
*
* <!--(C) COPYRIGHT 2010 STMicroelectronics. All rights reserved. -->
*/
#include PLATFORM_HEADER
#include "hal/hal.h"
#include "hal/error.h"
#include "hal/micro/mems.h"
#define TIMEOUT 20000
#define SUCCESS 1
#define SEND_BYTE(data) do{ SC2_DATA=(data); SC2_TWICTRL1 |= SC_TWISEND; }while(0)
#define WAIT_CMD_FIN() do{}while((SC2_TWISTAT&SC_TWICMDFIN)!=SC_TWICMDFIN)
#define WAIT_TX_FIN() do{}while((SC2_TWISTAT&SC_TWITXFIN)!=SC_TWITXFIN)
#define WAIT_RX_FIN() do{}while((SC2_TWISTAT&SC_TWIRXFIN)!=SC_TWIRXFIN)
static uint8_t i2c_MEMS_Init (void);
static uint8_t i2c_MEMS_Read (t_mems_data *mems_data);
//extern void halInternalResetWatchDog(void);
static uint8_t i2c_Send_Frame (uint8_t DeviceAddress, uint8_t *pBuffer, uint8_t NoOfBytes);
static uint8_t i2c_Send_Frame (uint8_t DeviceAddress, uint8_t *pBuffer, uint8_t NoOfBytes);
uint8_t i2c_write_reg (uint8_t slave_addr, uint8_t reg_addr, uint8_t reg_value);
static uint8_t i2c_MEMS_Init (void);
static uint8_t i2c_MEMS_Read (t_mems_data *mems_data);
/* Functions -----------------------------------------------------------------*/
uint8_t mems_Init(void)
{
uint8_t ret = 0;
// GPIO assignments
// PA1: SC2SDA (Serial Data)
// PA2: SC2SCL (Serial Clock)
//-----SC2 I2C Master GPIO configuration
TIM2_CCER &= 0xFFFFEEEE;
SC2_MODE = SC2_MODE_I2C;
GPIO_PACFGL &= 0xFFFFF00F;
GPIO_PACFGL |= 0x00000DD0;
SC2_RATELIN = 14; // generates standard 100kbps or 400kbps
SC2_RATEEXP = 1; // 3 yields 100kbps; 1 yields 400kbps
SC2_TWICTRL1 = 0; // start from a clean state
SC2_TWICTRL2 = 0; // start from a clean state
ret = i2c_MEMS_Init();
//Add later if really needed
#ifdef ST_DBG
if (!ret)
i2c_DeInit(MEMS_I2C);
#endif
return ret;
}/* end mems_Init */
uint8_t mems_GetValue(t_mems_data *mems_data)
{
uint8_t i;
i = i2c_MEMS_Read(mems_data);
return i;
}/* end mems_GetValue() */
/* Private Functions ---------------------------------------------------------*/
/*******************************************************************************
* Function Name : i2c_Send_Frame
* Description : It sends I2C frame
* Input : DeviceAddress is the destination device address
* pBUffer is the buffer data
* NoOfBytes is the number of bytes
* Output : None
* Return : status
*******************************************************************************/
static uint8_t i2c_Send_Frame (uint8_t DeviceAddress, uint8_t *pBuffer, uint8_t NoOfBytes)
{
uint8_t i, data;
SC2_TWICTRL1 |= SC_TWISTART; // send start
WAIT_CMD_FIN();
SEND_BYTE(DeviceAddress); // send the address low byte
WAIT_TX_FIN();
// loop sending the data
for (i=0; i<NoOfBytes; i++) {
halInternalResetWatchDog();
data = *(pBuffer+i);
SEND_BYTE(data);
WAIT_TX_FIN();
}
SC2_TWICTRL1 |= SC_TWISTOP;
WAIT_CMD_FIN();
return SUCCESS;
}/* end i2c_Send_Frame() */
/*******************************************************************************
* Function Name : i2c_Receive_Frame
* Description : It receives an I2C frame and stores it in pBUffer parameter
* Input : slave_addr is the slave address
* reg_addr is the register address
* NoOfBytes is the numenr of bytes to read starting from reg_addr
* Output : buffer
* Return : status
*******************************************************************************/
static uint8_t i2c_Receive_Frame (uint8_t slave_addr, uint8_t reg_addr, uint8_t *pBuffer, uint8_t NoOfBytes)
{
uint8_t i, addr = reg_addr;
if (NoOfBytes > 1)
addr += REPETIR;
SC2_TWICTRL1 |= SC_TWISTART; // send start
WAIT_CMD_FIN();
SEND_BYTE(slave_addr | 0x00); // send the address low byte
WAIT_TX_FIN();
SEND_BYTE(addr);
WAIT_TX_FIN();
SC2_TWICTRL1 |= SC_TWISTART; // send start
WAIT_CMD_FIN();
SEND_BYTE(slave_addr | 0x01); // send the address low byte
WAIT_TX_FIN();
// loop receiving the data
for (i=0;i<NoOfBytes;i++){
halInternalResetWatchDog();
if (i < (NoOfBytes - 1))
SC2_TWICTRL2 |= SC_TWIACK; // ack on receipt of data
else
SC2_TWICTRL2 &= ~SC_TWIACK; // don't ack if last one
SC2_TWICTRL1 |= SC_TWIRECV; // set to receive
WAIT_RX_FIN();
*(pBuffer+i) = SC2_DATA; // receive data
}
SC2_TWICTRL1 |= SC_TWISTOP; // send STOP
WAIT_CMD_FIN();
return SUCCESS;
}/* end i2c_Receive_Frame() */
/*******************************************************************************
* Function Name : i2c_write_reg
* Description : It writes a register on the I2C target
* Input : slave addr is the I2C target device
* reg_addr is the address of the register to be written
* reg_value is the value of the register to be written
* NoOfBytes is the numenr of bytes to read starting from reg_addr
* Output : None
* Return : I2C frame
*******************************************************************************/
uint8_t i2c_write_reg (uint8_t slave_addr, uint8_t reg_addr, uint8_t reg_value)
{
uint8_t i2c_buffer[2];
i2c_buffer[0] = reg_addr;
i2c_buffer[1] = reg_value;
return i2c_Send_Frame (slave_addr, i2c_buffer, 2);
}/* end i2c_write_reg() */
/*******************************************************************************
* Function Name : i2c_read_reg
* Description : It reads a register on the I2C target
* Input : slave addr is the I2C target device
* reg_addr is the address of the register to be read
* pBuffer is the storage destination for the read data
* NoOfBytes is the amount of data to read
* Output : None
* Return : I2C frame
*******************************************************************************/
uint8_t i2c_read_reg (uint8_t slave_addr, uint8_t reg_addr, uint8_t *pBuffer, uint8_t NoOfBytes)
{
return i2c_Receive_Frame (slave_addr, reg_addr, pBuffer, NoOfBytes);
}/* end i2c_read_reg() */
/*******************************************************************************
* Function Name : i2c_MEMS_Init
* Description : It performs basic MEMS register writes for initialization
* purposes
* Input : None
* Output : None
* Return : status
*******************************************************************************/
static uint8_t i2c_MEMS_Init (void)
{
uint8_t i = 0;
i += i2c_write_reg (kLIS3L02DQ_SLAVE_ADDR, STATUS_REG, 0x00); //no flag
i += i2c_write_reg (kLIS3L02DQ_SLAVE_ADDR, FF_WU_CFG, 0x00); // all off
i += i2c_write_reg (kLIS3L02DQ_SLAVE_ADDR, DD_CFG, 0x00); // all off
i += i2c_write_reg (kLIS3L02DQ_SLAVE_ADDR, CTRL_REG2, (0<<4) | (0<<1) | (0 << 0));
i += i2c_write_reg (kLIS3L02DQ_SLAVE_ADDR, CTRL_REG1, 0x47);
if (i != 5)
return 0;
return 1;
}/* end i2c_MEMS_Init() */
/*******************************************************************************
* Function Name : i2c_MEMS_Read
* Description : It reads 3 axes acceleration data from mems
* Input : None
* Output : mems_data
* Return : I2C frame
*******************************************************************************/
static uint8_t i2c_MEMS_Read (t_mems_data *mems_data)
{
uint8_t i, i2c_buffer[8];
/* Wait for new set of data to be available */
while (1) {
i = i2c_read_reg (kLIS3L02DQ_SLAVE_ADDR, STATUS_REG, i2c_buffer, 1);
if (i2c_buffer[0] & (1 << 3))
break;
}
i = i2c_read_reg (kLIS3L02DQ_SLAVE_ADDR, OUTX_L, i2c_buffer, 8);
mems_data->outx_h = i2c_buffer[0];
mems_data->outx_l = i2c_buffer[1];
mems_data->outy_h = i2c_buffer[2];
mems_data->outy_l = i2c_buffer[3];
mems_data->outz_h = i2c_buffer[4];
mems_data->outz_l = i2c_buffer[5];
return i;
}/* end i2c_MEMS_Read() */