driver_l3gd20h_fifo.c

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#include "driver_l3gd20h_fifo.h"
 
static l3gd20h_handle_t gs_handle;                                     
static void (*a_callback)(float (*dps)[3], uint16_t len) = NULL;       
static int16_t gs_raw[32][3];                                          
static float gs_data[32][3];                                           

uint8_t l3gd20h_fifo_irq_handler(void)
{
    if (l3gd20h_irq_handler(&gs_handle, 2) != 0)
    {
        return 1;
    }
    else
    {
        return 0;
    }
}

static void a_l3gd20h_interface_receive_callback(uint8_t type)
{
    switch (type)
    {
        case L3GD20H_INTERRUPT2_FIFO_THRESHOLD :
        {
            uint8_t res;
            uint16_t len;
            
            len = 32;
            res = l3gd20h_read(&gs_handle, (int16_t (*)[3])(gs_raw), (float (*)[3])(gs_data), (uint16_t *)&len);
            if (res == 0)
            {
                if (a_callback != NULL)
                {
                    a_callback(gs_data, len);
                }
            }
            else
            {
                l3gd20h_interface_debug_print("l3gd20h: read failed.\n");
                
                return;
            }
            
            break;
        }
        case L3GD20H_INTERRUPT2_FIFO_OVERRRUN :
        {
            uint8_t res;
            uint16_t len;
            
            len = 32;
            res = l3gd20h_read(&gs_handle, (int16_t (*)[3])(gs_raw), (float (*)[3])(gs_data), (uint16_t *)&len);
            if (res != 0)
            {
                l3gd20h_interface_debug_print("l3gd20h: read failed.\n");
                
                return;
            }
            
            /* disable fifo */
            res = l3gd20h_set_fifo(&gs_handle, L3GD20H_BOOL_FALSE);
            if (res != 0)
            {
                l3gd20h_interface_debug_print("l3gd20h: set fifo failed.\n");
                
                return;
            }
            
            l3gd20h_interface_debug_print("l3gd20h: irq fifo overrun.\n");
            
            break;
        }
        case L3GD20H_INTERRUPT2_FIFO_EMPTY :
        {
            l3gd20h_interface_debug_print("l3gd20h: irq fifo empty.\n");
            
            break;
        }
        default :
        {
            break;
        }
    }
}

uint8_t l3gd20h_fifo_init(l3gd20h_interface_t interface, l3gd20h_address_t addr_pin,
                          void (*callback)(float (*dps)[3], uint16_t len))
{
    uint8_t res;
    uint16_t threshold;
 
    /* link interface function */
    DRIVER_L3GD20H_LINK_INIT(&gs_handle, l3gd20h_handle_t);
    DRIVER_L3GD20H_LINK_IIC_INIT(&gs_handle, l3gd20h_interface_iic_init);
    DRIVER_L3GD20H_LINK_IIC_DEINIT(&gs_handle, l3gd20h_interface_iic_deinit);
    DRIVER_L3GD20H_LINK_IIC_READ(&gs_handle, l3gd20h_interface_iic_read);
    DRIVER_L3GD20H_LINK_IIC_WRITE(&gs_handle, l3gd20h_interface_iic_write);
    DRIVER_L3GD20H_LINK_SPI_INIT(&gs_handle, l3gd20h_interface_spi_init);
    DRIVER_L3GD20H_LINK_SPI_DEINIT(&gs_handle, l3gd20h_interface_spi_deinit);
    DRIVER_L3GD20H_LINK_SPI_READ(&gs_handle, l3gd20h_interface_spi_read);
    DRIVER_L3GD20H_LINK_SPI_WRITE(&gs_handle, l3gd20h_interface_spi_write);
    DRIVER_L3GD20H_LINK_DELAY_MS(&gs_handle, l3gd20h_interface_delay_ms);
    DRIVER_L3GD20H_LINK_DEBUG_PRINT(&gs_handle, l3gd20h_interface_debug_print);
    DRIVER_L3GD20H_LINK_RECEIVE_CALLBACK(&gs_handle, a_l3gd20h_interface_receive_callback);
    
    /* set the interface */
    res = l3gd20h_set_interface(&gs_handle, interface);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set interface failed.\n");
       
        return 1;
    }
    
    /* set the address pin */
    res = l3gd20h_set_addr_pin(&gs_handle, addr_pin);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set addr pin failed.\n");
       
        return 1;
    }
    
    /* init the l3gd20h */
    res = l3gd20h_init(&gs_handle);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: init failed.\n");
       
        return 1;
    }
   
    /* set boot */
    res = l3gd20h_set_boot(&gs_handle, L3GD20H_FIFO_DEFAULT_BOOT);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set boot failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set x axis*/
    res = l3gd20h_set_axis(&gs_handle, L3GD20H_AXIS_X, L3GD20H_FIFO_DEFAULT_AXIS_X);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set axis failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set y axis*/
    res = l3gd20h_set_axis(&gs_handle, L3GD20H_AXIS_Y, L3GD20H_FIFO_DEFAULT_AXIS_Y);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set axis failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set z axis*/
    res = l3gd20h_set_axis(&gs_handle, L3GD20H_AXIS_Z, L3GD20H_FIFO_DEFAULT_AXIS_Z);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set axis failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set rate bandwidth */
    res = l3gd20h_set_rate_bandwidth(&gs_handle, L3GD20H_FIFO_DEFAULT_RATE_BANDWIDTH);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set rate bandwidth failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set edge trigger */
    res = l3gd20h_set_edge_trigger(&gs_handle, L3GD20H_FIFO_DEFAULT_EDGE_TRIGGER);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set edge trigger failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set level trigger */
    res = l3gd20h_set_level_trigger(&gs_handle, L3GD20H_FIFO_DEFAULT_LEVEL_TRIGGER);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set level trigger failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set latched */
    res = l3gd20h_set_level_sensitive_latched(&gs_handle, L3GD20H_FIFO_DEFAULT_LEVEL_SENSITIVE_LATCHED);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set level sensitive latched failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set self test */
    res = l3gd20h_set_self_test(&gs_handle, L3GD20H_FIFO_DEFAULT_SELF_TEST);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set self test failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set high pass filter mode */
    res = l3gd20h_set_high_pass_filter_mode(&gs_handle, L3GD20H_FIFO_DEFAULT_HIGH_PASS_FILTER_MODE);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set high pass filter normal mode failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set high pass filter cut off */
    res = l3gd20h_set_high_pass_filter_cut_off_frequency(&gs_handle, L3GD20H_FIFO_DEFAULT_HIGH_PASS_FILTER_CUT_OFF);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set high pass filter cut off frequency failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set high pass filter */
    res = l3gd20h_set_high_pass_filter(&gs_handle, L3GD20H_FIFO_DEFAULT_HIGH_PASS_FILTER);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set high pass filter failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set block data update */
    res = l3gd20h_set_block_data_update(&gs_handle, L3GD20H_FIFO_DEFAULT_BLOCK_DATA_UPDATE);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set block data update failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set out selection */
    res = l3gd20h_set_out_selection(&gs_handle, L3GD20H_FIFO_DEFAULT_OUT_SELECTION);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set out selection failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set interrupt selection */
    res = l3gd20h_set_interrupt_selection(&gs_handle, L3GD20H_FIFO_DEFAULT_INTERRUPT_SELECTION);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set interrupt selection failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set high pass filter reference */
    res = l3gd20h_set_high_pass_filter_reference(&gs_handle, L3GD20H_FIFO_DEFAULT_HIGH_PASS_FILTER_REFERENCE);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set high pass filter reference failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set fifo mode */
    res = l3gd20h_set_fifo_mode(&gs_handle, L3GD20H_FIFO_MODE_FIFO);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set fifo mode failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set interrupt 1*/
    res = l3gd20h_set_interrupt1(&gs_handle, L3GD20H_FIFO_DEFAULT_INTERRUPT1);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set interrupt1 failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set boot on interrupt 1*/
    res = l3gd20h_set_boot_on_interrupt1(&gs_handle, L3GD20H_FIFO_DEFAULT_BOOT_ON_INTERRUPT1);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set boot on interrupt1 failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set active level */
    res = l3gd20h_set_interrupt_active_level(&gs_handle, L3GD20H_FIFO_DEFAULT_INTERRUPT_ACTIVE_LEVEL);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set interrupt active level failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set interrupt pin type */
    res = l3gd20h_set_interrupt_pin_type(&gs_handle, L3GD20H_FIFO_DEFAULT_INTERRUPT_PIN_TYPE);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set interrupt pin type failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set data ready on interrupt2 */
    res = l3gd20h_set_data_ready_on_interrupt2(&gs_handle, L3GD20H_FIFO_DEFAULT_DATA_READY_ON_INTERRUPT2);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set data ready on interrupt2 failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set fifo threshold on interrupt2 */
    res = l3gd20h_set_fifo_threshold_on_interrupt2(&gs_handle, L3GD20H_BOOL_TRUE);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set fifo threshold on interrupt2 failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set fifo overrun on interrupt2 */
    res = l3gd20h_set_fifo_overrun_on_interrupt2(&gs_handle, L3GD20H_BOOL_TRUE);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set fifo overrun on interrupt2 failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set fifo empty on interrupt2 */
    res = l3gd20h_set_fifo_empty_on_interrupt2(&gs_handle, L3GD20H_FIFO_DEFAULT_FIFO_EMPTY_ON_INTERRUPT2);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set fifo empty on interrupt2 failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set L3GD20H_INTERRUPT_EVENT_AND_OR_COMBINATION */
    res = l3gd20h_set_interrupt_event(&gs_handle, L3GD20H_INTERRUPT_EVENT_AND_OR_COMBINATION, 
                                      L3GD20H_FIFO_DEFAULT_INTERRUPT_EVENT_AND_OR_COMBINATION);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set interrupt event failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set L3GD20H_INTERRUPT_EVENT_LATCH */
    res = l3gd20h_set_interrupt_event(&gs_handle, L3GD20H_INTERRUPT_EVENT_LATCH, 
                                      L3GD20H_FIFO_DEFAULT_INTERRUPT_EVENT_LATCH);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set interrupt event failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set L3GD20H_INTERRUPT_EVENT_Z_HIGH_EVENT */
    res = l3gd20h_set_interrupt_event(&gs_handle, L3GD20H_INTERRUPT_EVENT_Z_HIGH_EVENT, 
                                      L3GD20H_FIFO_DEFAULT_INTERRUPT_EVENT_Z_HIGH_EVENT);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set interrupt event failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set L3GD20H_INTERRUPT_EVENT_Z_LOW_EVENT */
    res = l3gd20h_set_interrupt_event(&gs_handle, L3GD20H_INTERRUPT_EVENT_Z_LOW_EVENT, 
                                      L3GD20H_FIFO_DEFAULT_INTERRUPT_EVENT_Z_LOW_EVENT);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set interrupt event failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set L3GD20H_INTERRUPT_EVENT_Y_HIGH_EVENT */
    res = l3gd20h_set_interrupt_event(&gs_handle, L3GD20H_INTERRUPT_EVENT_Y_HIGH_EVENT, 
                                      L3GD20H_FIFO_DEFAULT_INTERRUPT_EVENT_Y_HIGH_EVENT);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set interrupt event failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set L3GD20H_INTERRUPT_EVENT_Y_LOW_EVENT */
    res = l3gd20h_set_interrupt_event(&gs_handle, L3GD20H_INTERRUPT_EVENT_Y_LOW_EVENT, 
                                      L3GD20H_FIFO_DEFAULT_INTERRUPT_EVENT_Y_LOW_EVENT);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set interrupt event failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set L3GD20H_INTERRUPT_EVENT_X_HIGH_EVENT */
    res = l3gd20h_set_interrupt_event(&gs_handle, L3GD20H_INTERRUPT_EVENT_X_HIGH_EVENT, 
                                      L3GD20H_FIFO_DEFAULT_INTERRUPT_EVENT_X_HIGH_EVENT);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set interrupt event failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set L3GD20H_INTERRUPT_EVENT_X_LOW_EVENT */
    res = l3gd20h_set_interrupt_event(&gs_handle, L3GD20H_INTERRUPT_EVENT_X_LOW_EVENT, 
                                      L3GD20H_FIFO_DEFAULT_INTERRUPT_EVENT_X_LOW_EVENT);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set interrupt event failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* convert the threshold */
    res = l3gd20h_interrupt_threshold_convert_to_register(&gs_handle, L3GD20H_FIFO_DEFAULT_INTERRUPT_THRESHOLD, 
                                                         (uint16_t *)&threshold);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: convert to register failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set x interrupt threshold */
    res = l3gd20h_set_x_interrupt_threshold(&gs_handle, threshold);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set x interrupt threshold failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set y interrupt threshold */
    res = l3gd20h_set_y_interrupt_threshold(&gs_handle, threshold);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set y interrupt threshold failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set z interrupt threshold */
    res = l3gd20h_set_z_interrupt_threshold(&gs_handle, threshold);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set z interrupt threshold failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set counter mode */
    res = l3gd20h_set_counter_mode(&gs_handle, L3GD20H_FIFO_DEFAULT_COUNTER_MODE);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set counter mode failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set wait */
    res = l3gd20h_set_wait(&gs_handle, L3GD20H_FIFO_DEFAULT_WAIT);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set wait failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set duration */
    res = l3gd20h_set_duration(&gs_handle, L3GD20H_FIFO_DEFAULT_DURATION);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set duration failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set data ready active level */
    res = l3gd20h_set_data_ready_active_level(&gs_handle, L3GD20H_FIFO_DEFAULT_DATA_READY_ACTIVE_LEVEL);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set data ready active level failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* enable fifo */
    res = l3gd20h_set_fifo(&gs_handle, L3GD20H_BOOL_TRUE);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set fifo failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set stop on fifo threshold */
    res = l3gd20h_set_stop_on_fifo_threshold(&gs_handle, L3GD20H_FIFO_DEFAULT_STOP_ON_FIFO_THRESHOLD);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set stop on fifo threshold failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set fifo threshold */
    res = l3gd20h_set_fifo_threshold(&gs_handle, L3GD20H_FIFO_DEFAULT_FIFO_THRESHOLD);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set fifo threshold failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set endian */
    res = l3gd20h_set_data_format(&gs_handle, L3GD20H_FIFO_DEFAULT_DATA_FORMAT);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set data format failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set full scale */
    res = l3gd20h_set_full_scale(&gs_handle, L3GD20H_FIFO_DEFAULT_FULL_SCALE);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set full scale failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* normal mode */
    res = l3gd20h_set_mode(&gs_handle, L3GD20H_MODE_NORMAL);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set mode failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    a_callback = callback;
    
    /* success return 0 */
    return 0;
}

uint8_t l3gd20h_fifo_deinit(void)
{
    if (l3gd20h_deinit(&gs_handle) != 0)
    {
        return 1;
    }
    else
    {
        return 0;
    }
}