rt-thread-official/bsp/efm32/dev_accel.c

/***************************************************************************//**
 * @file 	dev_accel.c
 * @brief 	Accelerometer driver of RT-Thread RTOS for EFM32
 * 	COPYRIGHT (C) 2011, RT-Thread Development Team
 * @author 	onelife
 * @version 0.4 beta
 *******************************************************************************
 * @section License
 * The license and distribution terms for this file may be found in the file 
 * LICENSE in this distribution or at http://www.rt-thread.org/license/LICENSE
 *******************************************************************************
 * @section Change Logs
 * Date			Author		Notes
 * 2011-07-13	onelife		Initial creation for using EFM32 ADC module to 
 *  interface the Freescale MMA7361L
 * 2011-08-02	onelife		Add digital interface support of using EFM32 IIC 
 *  module for the Freescale MMA7455L
 ******************************************************************************/

/***************************************************************************//**
 * @addtogroup efm32
 * @{
 ******************************************************************************/

/* Includes ------------------------------------------------------------------*/
#include "board.h"

#if defined(EFM32_USING_ACCEL)
#if (EFM32_USING_ACCEL == EFM32_INTERFACE_ADC)
#include "drv_adc.h"
#elif (EFM32_USING_ACCEL == EFM32_INTERFACE_IIC)
#include "drv_iic.h"
#include "hdl_interrupt.h"
#endif
#include "dev_accel.h"

/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
#ifdef EFM32_ACCEL_DEBUG
#define accel_debug(format,args...) 		rt_kprintf(format, ##args)
#else
#define accel_debug(format,args...)
#endif

/* Private constants ---------------------------------------------------------*/
static rt_device_t 						accel;
#if (EFM32_USING_ACCEL == EFM32_INTERFACE_ADC)
static struct efm32_adc_control_t 		control = \
	{ADC_MODE_SCAN, {3, ACCEL_USING_DMA}, {}};
static struct efm32_accel_result_t 		accelOffset = {0};
#elif (EFM32_USING_ACCEL == EFM32_INTERFACE_IIC)
static const struct efm32_iic_control_t	control = \
	{IIC_STATE_MASTER, 0x0000};
#endif
static rt_bool_t 						accelInTime = true;
static rt_uint32_t 						accelConfig = 0;

/* Private variables ---------------------------------------------------------*/
/* Private function prototypes -----------------------------------------------*/
/* Private functions ---------------------------------------------------------*/
/***************************************************************************//**
 * @brief
 *   Get accelerometer output
 *
 * @details
 *
 * @note
 *
 * @param[out] data
 *	Pointer to output buffer
 *
 * @param[in] lowResolution
 *	Resolution selection
 *
 * @return
 *	 Error code
 ******************************************************************************/
rt_err_t efm_accel_get_data(struct efm32_accel_result_t *data, 
	rt_bool_t lowResolution)
{
	RT_ASSERT(accel != RT_NULL);

	rt_err_t ret;

	if (data == RT_NULL)
	{
		return -RT_ERROR;
	}

	ret = RT_EOK;
	do 
	{
		/* --------- ADC interface --------- */
#if (EFM32_USING_ACCEL == EFM32_INTERFACE_ADC)
		struct efm32_adc_result_t result;

		result.mode = control.mode;
		result.buffer = (void *)data;
		if ((ret = accel->control(accel, RT_DEVICE_CTRL_RESUME, 
			(void *)&result)) != RT_EOK)
		{
			break;
		}
		if ((ret = accel->control(accel, RT_DEVICE_CTRL_ADC_RESULT, \
			(void *)&result)) != RT_EOK)
		{
			break;
		}

		data->x += accelOffset.x - 0x800;
		data->y += accelOffset.y - 0x800;
		data->z += accelOffset.z - 0x800;
		if (lowResolution)
		{
			data->x >>= 4;
			data->y >>= 4;
			data->z >>= 4;
		}

		/* --------- IIC interface --------- */
#elif (EFM32_USING_ACCEL == EFM32_INTERFACE_IIC)
		if (lowResolution || \
			((accelConfig & ACCEL_MASK_RANGE) != MCTL_RANGE_8G))
		{
			rt_int8_t buf[3];

			buf[0] = XOUT8;
			if (accel->read(accel, ACCEL_IIC_SLAVE_ADDRESS, (void *)buf, \
				sizeof(buf)) == 0)
			{
				ret = -RT_ERROR;
				break;
			}
			data->x = buf[0];
			data->y = buf[1];
			data->z = buf[2];
		}
		else
		{
			rt_uint8_t buf[6];
			rt_uint16_t *temp = (rt_uint16_t *)&buf;

			buf[0] = XOUTL;
			if (accel->read(accel, ACCEL_IIC_SLAVE_ADDRESS, (void *)buf, \
				sizeof(buf)) == 0)
			{
				ret = -RT_ERROR;
				break;
			}
			data->x = (*temp & 0x200) ? ((rt_uint32_t)*temp | ~0x3FF) : \
				((rt_uint32_t)*temp & 0x3FF);
			data->y = (*++temp & 0x200) ? ((rt_uint32_t)*temp | ~0x3FF) : \
				((rt_uint32_t)*temp & 0x3FF);
			data->z = (*++temp & 0x200) ? ((rt_uint32_t)*temp | ~0x3FF) : \
				((rt_uint32_t)*temp & 0x3FF);
		}
#endif
		return RT_EOK;
	} while (0);

	accel_debug("Accel err: Get data failed!\n");
	return ret;
}

/***************************************************************************//**
 * @brief
 *   Accelerometer timeout interrupt handler
 *
 * @details
 *
 * @note
 *
 * @param[in] parameter
 *	Parameter
 ******************************************************************************/
static void efm_accel_timer(void* parameter)
{
	accelInTime = false;
}

#if (EFM32_USING_ACCEL == EFM32_INTERFACE_IIC)
/***************************************************************************//**
 * @brief
 *	Accelerometer level and pulse detection interrupts handler
 *
 * @details
 *
 * @note
 *
 * @param[in] device
 *	Pointer to device descriptor
 ******************************************************************************/
static void efm_accel_isr(rt_device_t device)
{
	rt_uint8_t buf[2];

	if ((accelConfig & ACCEL_MASK_MODE) != ACCEL_MODE_MEASUREMENT)
	{
		/* Read detection source */
		buf[0] = DETSRC;
		if (accel->read(accel, ACCEL_IIC_SLAVE_ADDRESS, (void *)buf, 1) != 1)
		{
			accel_debug("Accel: read error\n");
			return;
		}
		accel_debug("Accel: DETSRC %x\n", buf[0]);

		/* Reset the interrupt flags: Part 1 */
		buf[0] = INTRST;
		buf[1] = INTRST_INT_1 | INTRST_INT_2;
		accel->write(accel, ACCEL_IIC_SLAVE_ADDRESS, (void *)buf, 2);

		/* Read status to waste some time */
		buf[0] = STATUS;
		if (accel->read(accel, ACCEL_IIC_SLAVE_ADDRESS, (void *)buf, 1) != 1)
		{
			accel_debug("Accel: read error\n");
			return;
		}
		accel_debug("Accel: STATUS %x\n", buf[0]);

		/* Reset the interrupt flags: Part 2 */
		buf[0] = INTRST;
		buf[1] = 0x00;
		accel->write(accel, ACCEL_IIC_SLAVE_ADDRESS, (void *)buf, 2);
	}
}

/***************************************************************************//**
 * @brief
 *	Accelerometer configuration function
 *
 * @details
 *
 * @note
 *
 * @param[in] config
 *	Configuration options
 *
 * @param[in] level_threshold
 *	Level detection threshold
 *
 * @param[in] pulse_threshold
 *	Pulse detection threshold
 *
 * @param[in] pulse_duration
 *	Time window for 1st pulse
 *
 * @param[in] pulse_latency
 *	Pulse latency Time
 *
 * @param[in] pulse_duration2
 *	Time window for 2nd pulse
 *
 * @return
 *	 Error code
 ******************************************************************************/
rt_err_t efm_accel_config(rt_uint32_t config,
	rt_uint8_t level_threshold,
	rt_uint8_t pulse_threshold,
	rt_uint8_t pulse_duration,
	rt_uint8_t pulse_latency,
	rt_uint8_t pulse_duration2)
{
	rt_err_t ret;
	rt_uint8_t buf[2];
	rt_uint8_t mode, mctl_reg, ctl1_reg, ctl2_reg;

	ret = RT_EOK;
	mctl_reg = 0;
	ctl1_reg = 0;
	ctl2_reg = 0;

	/* Modify MCTL */
	mode = config & ACCEL_MASK_MODE;
	switch (mode)
	{
	case ACCEL_MODE_STANDBY:
		mctl_reg |= MCTL_MODE_STANDBY;
		break;
	case ACCEL_MODE_MEASUREMENT:
		mctl_reg |= MCTL_MODE_MEASUREMENT;
		break;
	case ACCEL_MODE_LEVEL:
		mctl_reg |= MCTL_MODE_LEVEL;
		break;
	case ACCEL_MODE_PULSE:
		mctl_reg |= MCTL_MODE_PULSE;
		break;
	default:
		return -RT_ERROR;
	}

	switch (config & ACCEL_MASK_RANGE)
	{
	case ACCEL_RANGE_8G:
		mctl_reg |= MCTL_RANGE_8G;
		break;
	case ACCEL_RANGE_4G:
		mctl_reg |= MCTL_RANGE_4G;
		break;
	case ACCEL_RANGE_2G:
		mctl_reg |= MCTL_RANGE_2G;
		break;
	default:
		return -RT_ERROR;
	}

	if ((mode == ACCEL_MODE_LEVEL) || (mode == ACCEL_MODE_PULSE))
	{
		mctl_reg |= MCTL_PIN_INT1;
	}
	
	/* Modify CTL1 */
	if (config & ACCEL_INTPIN_INVERSE)
	{
		ctl1_reg |= CTL1_INTPIN_INVERSE;
	}

	switch (config & ACCEL_MASK_INT)
	{
	case ACCEL_INT_LEVEL_PULSE:
		ctl1_reg |= CTL1_INT_LEVEL_PULSE;
		break;
	case ACCEL_INT_PULSE_LEVEL:
		ctl1_reg |= CTL1_INT_PULSE_LEVEL;
		break;
	case ACCEL_INT_SINGLE_DOUBLE:
		ctl1_reg |= CTL1_INT_SINGLE_DOUBLE;
		break;
	default:
		break;
	}

	switch (config & ACCEL_MASK_DISABLE)
	{
	case ACCEL_DISABLE_X:
		ctl1_reg |= CTL1_X_DISABLE;
		break;
	case ACCEL_DISABLE_Y:
		ctl1_reg |= CTL1_Y_DISABLE;
		break;
	case ACCEL_DISABLE_Z:
		ctl1_reg |= CTL1_Z_DISABLE;
		break;
	default:
		break;
	}	

	if (config & ACCEL_THRESHOLD_INTEGER)
	{
		ctl1_reg |= CTL1_THRESHOLD_INTEGER;
	}

	if (config & ACCEL_BANDWIDTH_125HZ)
	{
		ctl1_reg |= CTL1_BANDWIDTH_125HZ;
	}

	/* Modify CTL2 */
	if (config & ACCEL_LEVEL_AND)
	{
		ctl2_reg |= CTL2_LEVEL_AND;
	}
	if (config & ACCEL_PULSE_AND)
	{
		ctl2_reg |= CTL2_PULSE_AND;
	}
	if (config & ACCEL_DRIVE_STRONG)
	{
		ctl2_reg |= CTL2_DRIVE_STRONG;
	}

	do
	{
		/* Write registers */
		buf[0] = MCTL;
		buf[1] = mctl_reg;
		if (accel->write(accel, ACCEL_IIC_SLAVE_ADDRESS, (void *)buf, 2) == 0)
		{
			ret = -RT_ERROR;
			break;
		}
		accel_debug("Accel: MCTL %x\n", mctl_reg);

		buf[0] = CTL1;
		buf[1] = ctl1_reg;
		if (accel->write(accel, ACCEL_IIC_SLAVE_ADDRESS, (void *)buf, 2) == 0)
		{
			ret = -RT_ERROR;
			break;
		}
		accel_debug("Accel: CTL1 %x\n", ctl1_reg);

		buf[0] = CTL2;
		buf[1] = ctl2_reg;
		if (accel->write(accel, ACCEL_IIC_SLAVE_ADDRESS, (void *)buf, 2) == 0)
		{
			ret = -RT_ERROR;
			break;
		}
		accel_debug("Accel: CTL2 %x\n", ctl2_reg);
		accelConfig = config;

		if (mode == ACCEL_MODE_PULSE)
		{
			buf[0] = PDTH;
			buf[1] = pulse_threshold;
			if (accel->write(accel, ACCEL_IIC_SLAVE_ADDRESS, (void *)buf, 2) == 0)
			{
				ret = -RT_ERROR;
				break;
			}
			accel_debug("Accel: PDTH %x\n", buf[1]);

			buf[0] = PW;
			buf[1] = pulse_duration;
			if (accel->write(accel, ACCEL_IIC_SLAVE_ADDRESS, (void *)buf, 2) == 0)
			{
				ret = -RT_ERROR;
				break;
			}
			accel_debug("Accel: PW %x\n", buf[1]);

			buf[0] = LT;
			buf[1] = pulse_latency;
			if (accel->write(accel, ACCEL_IIC_SLAVE_ADDRESS, (void *)buf, 2) == 0)
			{
				ret = -RT_ERROR;
				break;
			}
			accel_debug("Accel: LT %x\n", buf[1]);

			buf[0] = TW;
			buf[1] = pulse_duration2;
			if (accel->write(accel, ACCEL_IIC_SLAVE_ADDRESS, (void *)buf, 2) == 0)
			{
				ret = -RT_ERROR;
				break;
			}
			accel_debug("Accel: TW %x\n", buf[1]);
		}

		if ((mode == ACCEL_MODE_LEVEL) || (mode == ACCEL_MODE_PULSE))
		{
			efm32_irq_hook_init_t hook;

			/* Reset the interrupt flags: Part 1 */
			buf[0] = INTRST;
			buf[1] = INTRST_INT_1 | INTRST_INT_2;
			if (accel->write(accel, ACCEL_IIC_SLAVE_ADDRESS, (void *)buf, 2) == 0)
			{
				ret = -RT_ERROR;
				break;
			}

			/* Set level detection threshold */
			buf[0] = LDTH;
			if (config & ACCEL_THRESHOLD_INTEGER)
			{
				buf[1] = level_threshold;
			}
			else
			{
				buf[1] = level_threshold & 0x7f;
			}
			if (accel->write(accel, ACCEL_IIC_SLAVE_ADDRESS, (void *)buf, 2) == 0)
			{
				ret = -RT_ERROR;
				break;
			}
			accel_debug("Accel: LDTH %x\n", buf[1]);

			/* Config interrupt */
			hook.type		= efm32_irq_type_gpio;
			hook.unit		= ACCEL_INT1_PIN;
			hook.cbFunc 	= efm_accel_isr;
			hook.userPtr	= RT_NULL;
			efm32_irq_hook_register(&hook);
			hook.unit		= ACCEL_INT2_PIN;
			efm32_irq_hook_register(&hook);
			/* Clear pending interrupt */
			BITBAND_Peripheral(&(GPIO->IFC), ACCEL_INT1_PIN, 0x1UL);
			BITBAND_Peripheral(&(GPIO->IFC), ACCEL_INT2_PIN, 0x1UL);
			/* Set raising edge interrupt and clear/enable it */
			GPIO_IntConfig(
				ACCEL_INT1_PORT, 
				ACCEL_INT1_PIN, 
				true, 
				false, 
				true);
			GPIO_IntConfig(
				ACCEL_INT2_PORT, 
				ACCEL_INT2_PIN, 
				true, 
				false, 
				true);
			if (((rt_uint8_t)ACCEL_INT1_PORT % 2) || \
				((rt_uint8_t)ACCEL_INT2_PORT % 2))
			{
				NVIC_ClearPendingIRQ(GPIO_ODD_IRQn);
				NVIC_SetPriority(GPIO_ODD_IRQn, EFM32_IRQ_PRI_DEFAULT);
				NVIC_EnableIRQ(GPIO_ODD_IRQn);
			}
			if (!((rt_uint8_t)ACCEL_INT1_PORT % 2) || \
				!((rt_uint8_t)ACCEL_INT2_PORT % 2))
			{
				NVIC_ClearPendingIRQ(GPIO_EVEN_IRQn);
				NVIC_SetPriority(GPIO_EVEN_IRQn, EFM32_IRQ_PRI_DEFAULT);
				NVIC_EnableIRQ(GPIO_EVEN_IRQn);
			}

			/* Reset the interrupt flags: Part 2 */
			buf[0] = INTRST;
			buf[1] = 0x00;
			if (accel->write(accel, ACCEL_IIC_SLAVE_ADDRESS, (void *)buf, 2) == 0)
			{
				ret = -RT_ERROR;
				break;
			}
		}
	} while (0);

	return ret;
}

#endif

/***************************************************************************//**
 * @brief
 *   Accelerometer auto-zero calibration function
 *
 * @details
 *
 * @note
 *
 * @param[in] mode
 *	0, simple mode (assuming the device is placed on flat surface)
 *	1, interaction method
 *
 * @param[in] period
 *	Time period to perform auto-zero calibration
 *
 * @return
 *	 Error code
 ******************************************************************************/
rt_err_t efm_accel_auto_zero(rt_uint8_t mode, rt_tick_t period)
{
	RT_ASSERT(accel != RT_NULL);

	rt_timer_t calTimer;
	struct efm32_accel_result_t min = {0, 0, 0};
	struct efm32_accel_result_t max = {0, 0, 0};
	struct efm32_accel_result_t temp, sum;
	rt_int32_t simpleOffset[] = ACCEL_CAL_1G_VALUE;
	rt_uint8_t cmd[7] = {0};
	rt_uint8_t i, j;

	/* Reset offset */
#if (EFM32_USING_ACCEL == EFM32_INTERFACE_ADC)
	accelOffset.x = 0;
	accelOffset.y = 0;
	accelOffset.z = 0;

#elif (EFM32_USING_ACCEL == EFM32_INTERFACE_IIC)
	cmd[0] = XOFFL;
	if (accel->write(accel, ACCEL_IIC_SLAVE_ADDRESS, cmd, sizeof(cmd)) == 0)
	{
		return -RT_ERROR;
	}
#endif

	if (mode == ACCEL_CAL_SIMPLE)
	{
		/* Simple mode */
		for (j = 0; j < ACCEL_CAL_ROUND; j++)
		{
			sum.x = 0x0;
			sum.y = 0x0;
			sum.z = 0x0;

			for (i = 0; i < ACCEL_CAL_SAMPLES; i++)
			{
#if (EFM32_USING_ACCEL == EFM32_INTERFACE_IIC)
				/* Waiting for data ready */
				while(!GPIO_PinInGet(ACCEL_INT1_PORT, ACCEL_INT1_PIN));
#endif
				if (efm_accel_get_data(&temp, false) != RT_EOK)
				{
					return -RT_ERROR;
				}
				sum.x += temp.x;
				sum.y += temp.y;
				sum.z += temp.z;
			}

#if (EFM32_USING_ACCEL == EFM32_INTERFACE_ADC)
			temp.x = sum.x / ACCEL_CAL_SAMPLES;
			temp.y = sum.y / ACCEL_CAL_SAMPLES;
			temp.z = sum.z / ACCEL_CAL_SAMPLES - simpleOffset[ACCEL_G_SELECT];
			if ((temp.x == 0) && (temp.y == 0) && \
				(temp.z == 0))
			{
				accel_debug("Accel: Offset %+d %+d %+d\n", 
					accelOffset.x, accelOffset.y, accelOffset.z);
				break;
			}
			accelOffset.x -= temp.x;
			accelOffset.y -= temp.y;
			accelOffset.z -= temp.z;

#elif (EFM32_USING_ACCEL == EFM32_INTERFACE_IIC)
			temp.x = sum.x / (ACCEL_CAL_SAMPLES >> 1);
			temp.y = sum.y / (ACCEL_CAL_SAMPLES >> 1);
			temp.z = sum.z / (ACCEL_CAL_SAMPLES >> 1) \
				- (simpleOffset[ACCEL_G_SELECT] << 1);
			if ((temp.x == 0) && (temp.y == 0) && \
				(temp.z == 0))
			{
				break;
			}
			
			/* Set offset drift registers */
			max.x -= temp.x;
			max.y -= temp.y;
			max.z -= temp.z;
			*(rt_int16_t *)&cmd[1] = (rt_int16_t)max.x;
			*(rt_int16_t *)&cmd[3] = (rt_int16_t)max.y;
			*(rt_int16_t *)&cmd[5] = (rt_int16_t)max.z;
			if (accel->write(accel, ACCEL_IIC_SLAVE_ADDRESS, cmd, sizeof(cmd)) == 0)
			{
				return -RT_ERROR;
			}
			accel_debug("Accel: Offset %+d %+d %+d\n", *(rt_int16_t *)&cmd[1], \
				*(rt_int16_t *)&cmd[3], *(rt_int16_t *)&cmd[5]);
#endif
			rt_thread_sleep(1);
		}
	}
	else
	{
		/* Interact mode */
		if ((calTimer = rt_timer_create(
			"cal_tmr",
			efm_accel_timer,
			RT_NULL,
			period, 
			RT_TIMER_FLAG_ONE_SHOT)) == RT_NULL)
		{
			accel_debug("Accel err: Create timer failed!\n");
			return -RT_ERROR;
		}

		accelInTime = true;
		rt_timer_start(calTimer);
		do
		{
			sum.x = 0x0;
			sum.y = 0x0;
			sum.z = 0x0;

			for (i = 0; i < ACCEL_CAL_SAMPLES; i++)
			{
#if (EFM32_USING_ACCEL == EFM32_INTERFACE_IIC)
				/* Waiting for data ready */
				while(!GPIO_PinInGet(ACCEL_INT1_PORT, ACCEL_INT1_PIN));
#endif
				if (efm_accel_get_data(&temp, false) != RT_EOK)
				{
					return -RT_ERROR;
				}
				sum.x += temp.x;
				sum.y += temp.y;
				sum.z += temp.z;
			}
			sum.x /= ACCEL_CAL_SAMPLES;
			sum.y /= ACCEL_CAL_SAMPLES;
			sum.z /= ACCEL_CAL_SAMPLES;
			if (sum.x < min.x)
			{
				min.x = sum.x;
			}
			if (sum.y < min.y)
			{
				min.y = sum.y;
			}
			if (sum.z < min.z)
			{
				min.z = sum.z;
			}
			if (sum.x > max.x)
			{
				max.x = sum.x;
			}
			if (sum.y > max.y)
			{
				max.y = sum.y;
			}
			if (sum.z > max.z)
			{
				max.z = sum.z;
			}
			rt_thread_sleep(1);
		} while (accelInTime);

		accel_debug("Accel: Min %+d %+d %+d, max %+d %+d %+d\n", 
			min.x, min.y, min.z, max.x, max.y, max.z);

#if (EFM32_USING_ACCEL == EFM32_INTERFACE_ADC)
		accelOffset.x = -((min.x + max.x) >> 1);
		accelOffset.y = -((min.y + max.y) >> 1);
		accelOffset.z = -((min.z + max.z) >> 1);

	accel_debug("Accel: Offset %+d %+d %+d\n", 
		accelOffset.x, accelOffset.y, accelOffset.z);

#elif (EFM32_USING_ACCEL == EFM32_INTERFACE_IIC)
		/* Set offset drift registers */
		*(rt_int16_t *)&cmd[1] = (rt_int16_t)-(min.x + max.x);
		*(rt_int16_t *)&cmd[3] = (rt_int16_t)-(min.y + max.y);
		*(rt_int16_t *)&cmd[5] = (rt_int16_t)-(min.z + max.z);
		if (accel->write(accel, ACCEL_IIC_SLAVE_ADDRESS, cmd, sizeof(cmd)) == 0)
		{
			return -RT_ERROR;
		}

	accel_debug("Accel: Offset %+d %+d %+d\n", 
		*(rt_int16_t *)&cmd[1], *(rt_int16_t *)&cmd[3], *(rt_int16_t *)&cmd[5]);
#endif

		rt_timer_delete(calTimer);
	}

	return RT_EOK;
}

/***************************************************************************//**
 * @brief
 *   Initialize the accelerometer
 *
 * @details
 *
 * @note
 *
 * @return
 *	 Error code
 ******************************************************************************/
rt_err_t efm_accel_init(void)
{
	rt_err_t ret;

	ret = RT_EOK;
	do
	{
		/* Find ADC device */
		accel = rt_device_find(ACCEL_USING_DEVICE_NAME);
		if (accel == RT_NULL)
		{
			accel_debug("Accel err: Can't find device: %s!\n", ACCEL_USING_DEVICE_NAME);
			ret = -RT_ERROR;
			break;
		}
		accel_debug("Accel: Find device %s\n", ACCEL_USING_DEVICE_NAME);

		/* --------- ADC interface --------- */
#if (EFM32_USING_ACCEL == EFM32_INTERFACE_ADC)
		ADC_InitScan_TypeDef scanInit = ADC_INITSCAN_DEFAULT;

 #if defined(EFM32_G290_DK)
		/* Enable accelerometer */
		DVK_enablePeripheral(DVK_ACCEL);
			/* Select g-range */
  #if (ACCEL_G_SELECT == 0)
		DVK_disablePeripheral(DVK_ACCEL_GSEL);
  #elif (ACCEL_G_SELECT == 1)
		DVK_enablePeripheral(DVK_ACCEL_GSEL);
  #else
  #error "Wrong value for ACCEL_G_SELECT"
  #endif
 #endif
		/* Init ADC for scan mode */
		scanInit.reference = adcRefVDD;
		scanInit.input = ACCEL_X_ADC_CH | ACCEL_Y_ADC_CH | ACCEL_Z_ADC_CH;

		control.scan.init = &scanInit;
		if ((ret = accel->control(accel, RT_DEVICE_CTRL_ADC_MODE, \
			(void *)&control)) != RT_EOK)
		{
			break;
		}

		/* --------- IIC interface --------- */
#elif (EFM32_USING_ACCEL == EFM32_INTERFACE_IIC)
		rt_uint8_t cmd[2];

		/* Initialize */
		if ((ret = accel->control(accel, RT_DEVICE_CTRL_IIC_SETTING, \
			(void *)&control)) != RT_EOK)
		{
			break;
		}

		if (efm_accel_config(
			ACCEL_MODE_MEASUREMENT | ACCEL_RANGE_2G, 
			EFM32_NO_DATA, 
			EFM32_NO_DATA, 
			EFM32_NO_DATA, 
			EFM32_NO_DATA, 
			EFM32_NO_DATA) != RT_EOK)
		{
			break;
		}

		/* Config interrupt pin1 */
		GPIO_PinModeSet(ACCEL_INT1_PORT, ACCEL_INT1_PIN, gpioModeInput, 0);
		/* Config interrupt pin2 */
		GPIO_PinModeSet(ACCEL_INT2_PORT, ACCEL_INT2_PIN, gpioModeInput, 0);
#endif

		accel_debug("Accel: Init OK\n");
		return RT_EOK;
	} while (0);

	accel_debug("Accel err: Init failed!\n");
	return -RT_ERROR;
}

/*******************************************************************************
 * 	Export to FINSH
 ******************************************************************************/
#ifdef RT_USING_FINSH
#include <finsh.h>

void accel_cal(rt_uint8_t mode, rt_uint32_t second)
{
	if (efm_accel_auto_zero(mode, RT_TICK_PER_SECOND * second) != RT_EOK)
	{
		rt_kprintf("Error occurred.");
		return;
	}

	rt_kprintf("Calibration done.\n");
}
FINSH_FUNCTION_EXPORT(accel_cal, auto-zero calibration.)

void list_accel(void)
{
	struct efm32_accel_result_t data;

	efm_accel_get_data(&data, false);
	rt_kprintf("X: %d, Y: %d, Z: %d\n", data.x, data.y, data.z);
}
FINSH_FUNCTION_EXPORT(list_accel, list accelerometer info.)

void test_accel(rt_uint8_t mode)
{
	if (mode == 0)
	{
		if (efm_accel_config(
			ACCEL_MODE_LEVEL | ACCEL_RANGE_8G | ACCEL_INT_LEVEL_PULSE | \
			ACCEL_SOURCE_LEVEL_X | ACCEL_SOURCE_LEVEL_Y, 
			0x1f, 
			EFM32_NO_DATA, 
			EFM32_NO_DATA, 
			EFM32_NO_DATA, 
			EFM32_NO_DATA) != RT_EOK)
		{
			rt_kprintf("efm_accel_config(): error\n");
			return;
		}
	}
	else
	{
		if (efm_accel_config(
			ACCEL_MODE_PULSE | ACCEL_RANGE_8G | ACCEL_INT_SINGLE_DOUBLE | \
			ACCEL_SOURCE_PULSE_X | ACCEL_SOURCE_PULSE_Y, 
			0x1f, 
			0x1f, 
			200, 
			255, 
			255) != RT_EOK)
		{
			rt_kprintf("efm_accel_config(): error\n");
			return;
		}
	}
}
FINSH_FUNCTION_EXPORT(test_accel, list accelerometer info.)
#endif

#endif
/***************************************************************************//**
 * @}
 ******************************************************************************/