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rt-thread/bsp/efm32/dev_accel.c

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/*
* Copyright (c) 2006-2022, RT-Thread Development Team
*
* SPDX-License-Identifier: Apache-2.0
*
* 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_GXXX_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
/***************************************************************************//**
* @}
******************************************************************************/
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