accelerometer.cpp File Reference

Enumerations
enum	AccelType_t {   ACCEL_UNK = 0 , ACCEL_LIS2DW12 , ACCEL_LIS2DH12 , ACCEL_LIS302DL ,   ACCEL_LIS3DSH }

Functions
void	initAccelerometer ()

Variables
static SPIConfig	accelerometerSpiCfg
OutputPin	accelerometerChipSelect
static LIS2DW12Config	lis2dw12cfg
static LIS2DW12Driver	LIS2DW12
static LSM303AGRConfig	lis2dh12cfg
static LSM303AGRDriver	LIS2DH12
static LIS302DLConfig	lis302dlcfg
static LIS302DLDriver	LIS302DL
static LIS3DSHConfig	lis3dshcfg
static LIS3DSHDriver	LIS3DSH
static AccelType_t	AccelType = ACCEL_UNK
static AccelController	instance

Enumeration Type Documentation

AccelType_t

enum AccelType_t

Enumerator
ACCEL_UNK
ACCEL_LIS2DW12
ACCEL_LIS2DH12
ACCEL_LIS302DL
ACCEL_LIS3DSH

Definition at line 170 of file accelerometer.cpp.

                 {
    ACCEL_UNK = 0,
    ACCEL_LIS2DW12,
    ACCEL_LIS2DH12, // Same as LSM303
    ACCEL_LIS302DL, // STM32F4DISCOVERY (old?)
    ACCEL_LIS3DSH,  // STM32F4DISCOVERY
};

Function Documentation

initAccelerometer()

void initAccelerometer

(

)

Definition at line 222 of file accelerometer.cpp.

                         {
#if HAL_USE_SPI
    static SPIDriver *bus;
    msg_t ret = MSG_RESET;
 
    if (!isBrainPinValid(engineConfiguration->accelerometerCsPin))
        return; // not used
 
    bus = getSpiDevice(engineConfiguration->accelerometerSpiDevice);
    if (bus == nullptr) {
        // error already reported
        return;
    }
 
    /* so far only Hellen boards share SPI device for SD card and accelerometer
     * thus need to make sure CS pin is in a well known proper state */
  if (!accelerometerChipSelect.isInitialized()) {
        accelerometerChipSelect.initPin("SPI Acc", engineConfiguration->accelerometerCsPin);
    }
    accelerometerSpiCfg.ssport = getHwPort("SPI Acc", engineConfiguration->accelerometerCsPin);
    accelerometerSpiCfg.sspad = getHwPin("SPI Acc", engineConfiguration->accelerometerCsPin);
 
    /* Try to detect any of enabled accels */
    /* Hope all device drivers know how to detect correct chip */
#if (EFI_ONBOARD_MEMS_LIS2DW12 == TRUE)
    if (ret != MSG_OK) {
        lis2dw12cfg.spip = bus;
 
        /* LIS2DW12 Object Initialization.*/
        lis2dw12ObjectInit(&LIS2DW12);
 
        /* Activates the LIS2DW12 driver.*/
        ret = lis2dw12Start(&LIS2DW12, &lis2dw12cfg);
        if (ret == MSG_OK) {
            AccelType = ACCEL_LIS2DW12;
        }
    }
#endif //EFI_ONBOARD_MEMS_LIS2DW12 == TRUE
#if (EFI_ONBOARD_MEMS_LIS2DH12 == TRUE)
    if (ret != MSG_OK) {
        lis2dh12cfg.spip = bus;
 
        /* LIS2DH12 Object Initialization.*/
        lsm303agrObjectInit(&LIS2DH12);
 
        /* Activates the LIS2DH12 driver.*/
        ret = lsm303agrStart(&LIS2DH12, &lis2dh12cfg);
        if (ret == MSG_OK) {
            AccelType = ACCEL_LIS2DH12;
        }
    }
#endif //EFI_ONBOARD_MEMS_LIS2DH12 == TRUE
#if (EFI_ONBOARD_MEMS_LIS302DL == TRUE)
    if (ret != MSG_OK) {
        lis302dlcfg.spip = bus;
 
        /* LIS302DL Object Initialization.*/
        lis302dlObjectInit(&LIS302DL);
 
        /* Activates the LIS302DL driver.*/
        ret = lis302dlStart(&LIS302DL, &lis302dlcfg);
        if (ret == MSG_OK) {
            AccelType = ACCEL_LIS302DL;
        }
    }
#endif //EFI_ONBOARD_MEMS_LIS302DL == TRUE
#if (EFI_ONBOARD_MEMS_LIS3DSH == TRUE)
    if (ret != MSG_OK) {
        lis3dshcfg.spip = bus;
 
        /* LIS3DSH Object Initialization.*/
        lis3dshObjectInit(&LIS3DSH);
 
        /* Activates the LIS3DSH driver.*/
        ret = lis3dshStart(&LIS3DSH, &lis3dshcfg);
        if (ret == MSG_OK) {
            AccelType = ACCEL_LIS3DSH;
        }
    }
#endif //EFI_ONBOARD_MEMS_LIS3DSH == TRUE
 
    if (ret == MSG_OK) {
        /* 50 Hz */
        instance.setPeriod(20 /*ms*/);
        instance.start();
        efiPrintf("accelerometer init OK");
    } else {
        efiPrintf("accelerometer init failed %d", (int)ret);
    }
#endif /* HAL_USE_SPI */
}

Referenced by initHardware().

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Variable Documentation

accelerometerChipSelect

OutputPin accelerometerChipSelect

We need to make sure that accelerometer device which physically exists does not conflict with SD card in case of shared SPI. We reply on specific order of execution here: 1) accelerometer pre-initialization into safe CS pin state 2) SD card initialization 3) accelerometer main initialization if accelerometer feature is desired

Definition at line 70 of file accelerometer.cpp.

Referenced by hellenMegaAccelerometerPreInitCS2Pin(), and initAccelerometer().

accelerometerSpiCfg

SPIConfig accelerometerSpiCfg

static

Initial value:

= {
#if SPI_SUPPORTS_CIRCULAR == TRUE
    .circular = false,
#endif
#ifdef _CHIBIOS_RT_CONF_VER_6_1_
    .end_cb = NULL,
#else
    .slave = false,
    .data_cb = NULL,
    .error_cb = NULL,
#endif
    
    .ssport = NULL,
    .sspad = 0,
#ifdef STM32H7XX
    .cfg1 = SPI_CFG1_8BIT_MODE | SPI_CFG1_MBR_0 | SPI_CFG1_MBR_1,
    .cfg2 = SPI_CFG2_8BIT_MODE | SPI_CFG2_CPOL | SPI_CFG2_CPHA
#else
    .cr1 = SPI_CR1_BR_0 | SPI_CR1_BR_1 | SPI_CR1_CPOL | SPI_CR1_CPHA |
        SPI_CR1_8BIT_MODE,
    .cr2 = SPI_CR2_8BIT_MODE
#endif
}

Definition at line 46 of file accelerometer.cpp.

                                       {
#if SPI_SUPPORTS_CIRCULAR == TRUE
    .circular = false,
#endif
#ifdef _CHIBIOS_RT_CONF_VER_6_1_
    .end_cb = NULL,
#else
    .slave = false,
    .data_cb = NULL,
    .error_cb = NULL,
#endif
    /* HW dependent part.*/
    .ssport = NULL,
    .sspad = 0,
#ifdef STM32H7XX
    .cfg1 = SPI_CFG1_8BIT_MODE | SPI_CFG1_MBR_0 | SPI_CFG1_MBR_1,
    .cfg2 = SPI_CFG2_8BIT_MODE | SPI_CFG2_CPOL | SPI_CFG2_CPHA
#else
    .cr1 = SPI_CR1_BR_0 | SPI_CR1_BR_1 | SPI_CR1_CPOL | SPI_CR1_CPHA |
        SPI_CR1_8BIT_MODE,
    .cr2 = SPI_CR2_8BIT_MODE
#endif
};

Referenced by initAccelerometer().

AccelType

AccelType_t AccelType = ACCEL_UNK

static

Definition at line 178 of file accelerometer.cpp.

Referenced by initAccelerometer().

instance

AccelController instance

static

Definition at line 220 of file accelerometer.cpp.

Referenced by initAccelerometer().

LIS2DH12

LSM303AGRDriver LIS2DH12

static

Definition at line 123 of file accelerometer.cpp.

Referenced by initAccelerometer().

lis2dh12cfg

LSM303AGRConfig lis2dh12cfg

static

Initial value:

= {
#if LSM303AGR_USE_SPI
    .spip = NULL,
    .spicfg = &accelerometerSpiCfg,
#endif
    .accsensitivity = NULL,
    .accbias = NULL,
    .accfullscale = LSM303AGR_ACC_FS_4G,
    .accodr = LSM303AGR_ACC_ODR_50Hz,
#if LSM303AGR_USE_ADVANCED
    .accmode = LSM303AGR_ACC_MODE_HRES,
    .accblockdataupdate = LSM303AGR_ACC_BDU_CONT,
    .accendianess = LSM303AGR_ACC_END_LITTLE,
#endif
    
    .compsensitivity = NULL,
    .compbias = NULL,
    .compodr = LSM303AGR_COMP_ODR_50HZ,
#if LSM303AGR_USE_ADVANCED
    .compmode = LSM303AGR_COMP_MODE_NORM,
    .complp = LSM303AGR_COMP_LPOW_EN
#endif
}

Definition at line 98 of file accelerometer.cpp.

                                     {
#if LSM303AGR_USE_SPI
    .spip = NULL,
    .spicfg = &accelerometerSpiCfg,
#endif
    .accsensitivity = NULL,
    .accbias = NULL,
    .accfullscale = LSM303AGR_ACC_FS_4G,
    .accodr = LSM303AGR_ACC_ODR_50Hz,
#if LSM303AGR_USE_ADVANCED
    .accmode = LSM303AGR_ACC_MODE_HRES,
    .accblockdataupdate = LSM303AGR_ACC_BDU_CONT,
    .accendianess = LSM303AGR_ACC_END_LITTLE,
#endif
    /* LIS2DW12 is Accelerometer only, ignore following */
    .compsensitivity = NULL,
    .compbias = NULL,
    .compodr = LSM303AGR_COMP_ODR_50HZ,
#if LSM303AGR_USE_ADVANCED
    .compmode = LSM303AGR_COMP_MODE_NORM,
    .complp = LSM303AGR_COMP_LPOW_EN
#endif
};

Referenced by initAccelerometer().

LIS2DW12

LIS2DW12Driver LIS2DW12

static

Definition at line 92 of file accelerometer.cpp.

Referenced by initAccelerometer().

lis2dw12cfg

LIS2DW12Config lis2dw12cfg

static

Initial value:

= {
#if LIS2DW12_USE_SPI
    .spip = NULL,
    .spicfg = &accelerometerSpiCfg,
#endif
#ifdef LIS2DW12_USE_I2C
    
#endif
    .accsensitivity = NULL,
    .accbias = NULL,
    .accodr = LIS2DW12_ACC_ODR_25HZ,
    .accoutputresolution = LIS2DW12_ACC_OR_HP,
    .acclowpowermode = LIS2DW12_ACC_LP_MODE2,
    .accbadwidthselect = LIS2DW12_ACC_BW_ODR4,
    .accfullscale = LIS2DW12_ACC_FS_4G,
}

Definition at line 74 of file accelerometer.cpp.

                                    {
#if LIS2DW12_USE_SPI
    .spip = NULL,
    .spicfg = &accelerometerSpiCfg,
#endif
#ifdef LIS2DW12_USE_I2C
    /* TODO: */
#endif
    .accsensitivity = NULL,
    .accbias = NULL,
    .accodr = LIS2DW12_ACC_ODR_25HZ,
    .accoutputresolution = LIS2DW12_ACC_OR_HP,
    .acclowpowermode = LIS2DW12_ACC_LP_MODE2,
    .accbadwidthselect = LIS2DW12_ACC_BW_ODR4,
    .accfullscale = LIS2DW12_ACC_FS_4G,
};

Referenced by initAccelerometer().

LIS302DL

LIS302DLDriver LIS302DL

static

Definition at line 145 of file accelerometer.cpp.

Referenced by initAccelerometer().

lis302dlcfg

LIS302DLConfig lis302dlcfg

static

Initial value:

={
#if LIS302DL_USE_SPI
    .spip = NULL,
    .spicfg = &accelerometerSpiCfg,
#endif
#if LIS302DL_USE_I2C
    
#endif
    .accsensitivity = NULL,
    .accbias = NULL,
    .accfullscale = LIS302DL_ACC_FS_8G,
    .accodr = LIS302DL_ACC_ODR_100HZ,
#if LIS302DL_USE_ADVANCED
    .acchighpass = LIS302DL_ACC_HP_0,
#endif
}

Definition at line 128 of file accelerometer.cpp.

                                   {
#if LIS302DL_USE_SPI
    .spip = NULL,
    .spicfg = &accelerometerSpiCfg,
#endif
#if LIS302DL_USE_I2C
    /* TODO: */
#endif
    .accsensitivity = NULL,
    .accbias = NULL,
    .accfullscale = LIS302DL_ACC_FS_8G,
    .accodr = LIS302DL_ACC_ODR_100HZ,
#if LIS302DL_USE_ADVANCED
    .acchighpass = LIS302DL_ACC_HP_0,
#endif
};

Referenced by initAccelerometer().

LIS3DSH

LIS3DSHDriver LIS3DSH

static

Definition at line 166 of file accelerometer.cpp.

Referenced by initAccelerometer().

lis3dshcfg

LIS3DSHConfig lis3dshcfg

static

Initial value:

={
#if LIS3DSH_USE_SPI
    .spip = NULL,
    .spicfg = &accelerometerSpiCfg,
#endif
    .accsensitivity = NULL,
    .accbias = NULL,
    .accfullscale = LIS3DSH_ACC_FS_4G,
    .accodr = LIS3DSH_ACC_ODR_50HZ,
#if LIS3DSH_USE_ADVANCED
    .accantialiasing = LIS3DSH_ACC_BW_50HZ,
    .accblockdataupdate = LIS3DSH_ACC_BDU_CONTINUOUS,
#endif
}

Definition at line 151 of file accelerometer.cpp.

                                 {
#if LIS3DSH_USE_SPI
    .spip = NULL,
    .spicfg = &accelerometerSpiCfg,
#endif
    .accsensitivity = NULL,
    .accbias = NULL,
    .accfullscale = LIS3DSH_ACC_FS_4G,
    .accodr = LIS3DSH_ACC_ODR_50HZ,
#if LIS3DSH_USE_ADVANCED
    .accantialiasing = LIS3DSH_ACC_BW_50HZ,
    .accblockdataupdate = LIS3DSH_ACC_BDU_CONTINUOUS,
#endif
};

Referenced by initAccelerometer().

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