Kionix KXTF9 3-axis accelerometer.

This file contains functions for initializing and reading data from a Kionix KXTF9 3-axis accelerometer.

#include "kxtf9.h"

Data Structures
union	kxtf9_axis_t
	KXTF9 Axis Data Format. More...

Enumerations
enum	{ INDEX_2G, INDEX_4G, INDEX_8G }

enum	{ ODR_INDEX_13HZ, ODR_INDEX_25HZ, ODR_INDEX_50HZ, ODR_INDEX_100HZ, ODR_INDEX_200HZ, ODR_INDEX_400HZ, ODR_INDEX_800HZ }

Functions
static int16_t	kxtf9_axis_val (const kxtf9_axis_t axis)
	Construct a signed value from a raw axis sample. More...

static bool	kxtf9_device_id (sensor_hal_t hal, sensor_data_t data)
	Read accelerometer device ID and revision numbers. More...

static bool	kxtf9_event (sensor_t sensor, sensor_event_t sensor_event, sensor_event_callback_t callback, bool enable)
	Enable or disable KXTF9 sensor events. More...

static bool	kxtf9_get_accel (sensor_hal_t hal, sensor_data_t data)
	Get accelerometer data. More...

static bool	kxtf9_get_threshold (sensor_hal_t hal, sensor_threshold_desc_t threshold)
	Get event threshold value. More...

bool	kxtf9_init (sensor_t *sensor, int resvd)
	Kionix KXTF9 accelerometer driver initialization. More...

static bool	kxtf9_ioctl (sensor_t sensor, sensor_command_t cmd, void arg)
	KXTF9 ioctl control entry point. More...

static void	kxtf9_isr (volatile void *arg)
	Kionix KXTF9 driver interrupt service routine. More...

static bool	kxtf9_read (sensor_t sensor, sensor_read_t type, sensor_data_t data)
	Read sensor data. More...

static void	kxtf9_resume (sensor_hal_t *hal, uint8_t regval)
	Resume sensor standby/run mode. More...

static bool	kxtf9_set_bandwidth (sensor_hal_t *hal, int16_t index)
	Set the sample bandwidth for the accelerometer. More...

static bool	kxtf9_set_range (sensor_hal_t *hal, int16_t range)
	Set the g range for the accelerometer. More...

static bool	kxtf9_set_sample_rate (sensor_hal_t *hal, int16_t sr)
	Set the sample rate for the accelerometer. More...

static bool	kxtf9_set_state (sensor_hal_t *hal, sensor_state_t state)
	Set the accelerometer operation state. More...

static bool	kxtf9_set_tap (sensor_hal_t hal, sensor_tap_params_t params)
	Set tap detection parameters. More...

static bool	kxtf9_set_threshold (sensor_hal_t hal, sensor_threshold_desc_t threshold)
	Set event threshold value. More...

static uint8_t	kxtf9_standby (sensor_hal_t *hal)
	Put sensor in standby mode. More...

Variables
static const sensor_map_t	band_table []
	Kionix KXTF9 Bandwidth Table (hertz, register value) LPF bandwidth on the KXTF9 is 1/2 ODR. More...

static sensor_event_callback_t	event_cb [4]
	Sensor Event Callbacks (data=0, motion=1, tap=2, tilt=3) More...

static const sensor_map_t	range_table []
	Kionix KXTF9 Range Table (milli-g, register value) More...

anonymous enum

Enumerator
INDEX_2G
INDEX_4G
INDEX_8G

anonymous enum

Enumerator
ODR_INDEX_13HZ
ODR_INDEX_25HZ
ODR_INDEX_50HZ
ODR_INDEX_100HZ
ODR_INDEX_200HZ
ODR_INDEX_400HZ
ODR_INDEX_800HZ

static int16_t kxtf9_axis_val ( const kxtf9_axis_t axis )

inlinestatic

Construct a signed value from a raw axis sample.

The KXTF9 returns 2's-complement 12-bit axis values stored within a 16-bit word.

Parameters

axis	A kxtf9_axis_t type storing a raw sensor axis sample.

Returns: The sign extended axis sample value.

References kxtf9_axis_t::acc_lsb, kxtf9_axis_t::acc_msb, kxtf9_axis_t::field, and kxtf9_axis_t::word.

Referenced by kxtf9_get_accel().

static bool kxtf9_device_id	(	sensor_hal_t *	hal,
		sensor_data_t *	data
	)

static

Read accelerometer device ID and revision numbers.

This function reads the accelerometer hardware identification registers and returns these values to the addresses specified in the function parameters.

Parameters

hal	Address of an initialized sensor hardware descriptor.
id	An address where the device ID is returned.
ver	An address where the device version is returned.

Returns: bool true if the call succeeds, else false is returned.

References sensor_data_t::device, KXTF9_WHO_AM_I, and sensor_bus_get.

Referenced by kxtf9_read().

static bool kxtf9_event	(	sensor_t *	sensor,
		sensor_event_t	sensor_event,
		sensor_event_callback_t *	callback,
		bool	enable
	)

static

Enable or disable KXTF9 sensor events.

Parameters

sensor	Address of an initialized sensor device descriptor
callback	Application-defined event callback handler descriptor
enable	Enable flag: true = enable event, false = disable event

Returns: bool true if the call succeeds, else false is returned

References CTRL_REG1_DRDYE, CTRL_REG1_TDTE, CTRL_REG1_TPE, CTRL_REG1_WUFE, sensor_desc::hal, INT_CTRL_REG1_IEA, INT_CTRL_REG1_IEL, INT_CTRL_REG1_IEN, KXTF9_CTRL_REG1, KXTF9_INT_CTRL_REG1, kxtf9_standby(), sensor_bus_put, SENSOR_EVENT_MOTION, SENSOR_EVENT_NEW_DATA, SENSOR_EVENT_TAP, SENSOR_EVENT_TILT, and status.

Referenced by kxtf9_init(), and kxtf9_ioctl().

static bool kxtf9_get_accel	(	sensor_hal_t *	hal,
		sensor_data_t *	data
	)

static

Get accelerometer data.

This function obtains accelerometer data for all three axes of the Kionix device. The data is read from six device registers using a multi-byte bus transfer. The 10-bit raw results are then assembled from the two register values for each axis, including extending the sign bit, to form a signed 32-bit value.

Parameters

hal	Address of an initialized sensor hardware descriptor.
data	The address of a vector storing sensor axis data.

Returns: bool true if the call succeeds, else false is returned.

References sensor_data_t::axis, sensor_axis_vec_t::axis, sensor_hal::burst_addr, kxtf9_axis_val(), sensor_hal::orientation, raw_to_scaled(), sensor_data_t::scaled, sensor_bus_read, sensor_axis_vec_t::sign, sensor_orient_t::x, sensor_orient_t::y, and sensor_orient_t::z.

Referenced by kxtf9_ioctl(), kxtf9_isr(), and kxtf9_read().

static bool kxtf9_get_threshold	(	sensor_hal_t *	hal,
		sensor_threshold_desc_t *	threshold
	)

static

Get event threshold value.

Parameters

hal	Address of an initialized sensor hardware descriptor.
threshold	Address of threshold descriptor.

Returns: bool true if the call succeeds, else false is returned.

References KXTF9_WUF_THRESH, sensor_bus_get, SENSOR_THRESHOLD_MOTION, sensor_threshold_desc_t::type, and sensor_threshold_desc_t::value.

Referenced by kxtf9_ioctl().

bool kxtf9_init	(	sensor_t *	sensor,
		int	resvd
	)

Kionix KXTF9 accelerometer driver initialization.

This is the main initialization function for the KXTF9 device.

Parameters

sensor	Address of a sensor device descriptor.
resvd	Reserved value.

Returns: bool true if the call succeeds, else false is returned.

References ARRAYSIZE, band_table, sensor_hal::bandwidth, sensor_map_t::bandwidth_Hz, sensor_hal::burst_addr, sensor_hal::bus, CTRL_REG1_PC1, CTRL_REG1_RES, CTRL_REG3_OTDT_400HZ, CTRL_REG3_OTP_6_3HZ, CTRL_REG3_OWUF_50HZ, CTRL_REG3_SRST, DATA_CTRL_ODR_200HZ, delay_ms, sensor_desc::drv, sensor_device_t::func, sensor_desc::hal, INDEX_2G, INT_CTRL_REG1_IEA, INT_CTRL_REG1_IEL, INT_CTRL_REG1_IEN, KXTF9_CTRL_REG1, KXTF9_CTRL_REG3, KXTF9_DATA_CTRL_REG, KXTF9_DATA_RESOLUTION, kxtf9_event(), KXTF9_ID_VAL, KXTF9_INT_CTRL_REG1, KXTF9_INT_REL, kxtf9_ioctl(), kxtf9_isr(), kxtf9_read(), KXTF9_TILT_TIMER, KXTF9_WHO_AM_I, KXTF9_WUF_TIMER, KXTF9_XOUT_L, KXTI9_ID_VAL, sensor_hal::mcu_sigint, ODR_INDEX_50HZ, sensor_hal::range, range_table, sensor_map_t::range_units, sensor_funcs_t::read, RESET_DELAY_MSEC, sensor_hal::resolution, sensor_hal::sample_rate, sensor_bus_get, sensor_bus_put, SENSOR_CAPS_3_AXIS, SENSOR_CAPS_HI_G_EVENT, SENSOR_CAPS_LO_G_EVENT, SENSOR_CAPS_SELFTEST, SENSOR_CAPS_TAP_EVENT, SENSOR_CAPS_TILT_EVENT, sensor_irq_connect(), SENSOR_SCALE_milli, SENSOR_UNITS_g0, SENSOR_VENDOR_KIONIX, START_DELAY_MSEC, status, bus_desc_t::status, STATUS_OK, TILT_TIMER_INIT, and WUF_TIMER_INIT.

static bool kxtf9_ioctl	(	sensor_t *	sensor,
		sensor_command_t	cmd,
		void *	arg
	)

static

KXTF9 ioctl control entry point.

Parameters

hal	Address of an initialized sensor device descriptor.
cmd	Command to execute
arg	Argument for command (varies)

Returns: bool true if the call succeeds, else false is returned.

References sensor_data_t::axis, sensor_desc::err, sensor_desc::hal, kxtf9_event(), kxtf9_get_accel(), kxtf9_get_threshold(), kxtf9_set_bandwidth(), kxtf9_set_range(), kxtf9_set_sample_rate(), kxtf9_set_state(), kxtf9_set_tap(), kxtf9_set_threshold(), sensor_data_t::scaled, SENSOR_DISABLE_EVENT, SENSOR_ENABLE_EVENT, SENSOR_ERR_UNSUPPORTED, SENSOR_GET_THRESHOLD, SENSOR_READ_VECTOR, SENSOR_SET_BANDWIDTH, SENSOR_SET_RANGE, SENSOR_SET_SAMPLE_RATE, SENSOR_SET_STATE, SENSOR_SET_TAP, SENSOR_SET_THRESHOLD, vector3_t::x, vector3_t::y, and vector3_t::z.

Referenced by kxtf9_init().

static void kxtf9_isr ( volatile void * arg )

static

Kionix KXTF9 driver interrupt service routine.

This is the common interrupt service routine for all enabled KXTF9 interrupt events. Several different types of interrupts can be programmed. All interrupt criteria are combined and drive the interrupt pad with a Boolean OR condition.

This routine handles interrupts generated when motion, tap, double-tap, tilt, and new data criteria are satisfied and the corresponding event notification is enabled in the device.

Parameters

arg	The address of the driver sensor_hal_t hardware descriptor.

Returns: Nothing.

References sensor_hal::bus, sensor_event_data_t::data, sensor_event_data_t::event, sensor_event_callback_t::handler, INT_SRC_REG1_TDO, INT_SRC_REG1_TFD, INT_SRC_REG1_TFU, INT_SRC_REG1_TLE, INT_SRC_REG1_TRI, INT_SRC_REG1_TUP, INT_SRC_REG2_DRDY, INT_SRC_REG2_TD, INT_SRC_REG2_TD_DOUBLE, INT_SRC_REG2_TD_SINGLE, INT_SRC_REG2_TPS, INT_SRC_REG2_WUFS, kxtf9_get_accel(), KXTF9_INT_SRC_REG1, KXTF9_TILT_POS_CUR, bus_desc_t::no_wait, sensor_data_t::scaled, sensor_bus_get, sensor_bus_read, SENSOR_EVENT_MOTION, SENSOR_EVENT_NEW_DATA, SENSOR_EVENT_TAP, SENSOR_EVENT_TILT, SENSOR_EVENT_UNKNOWN, SENSOR_TAP_AXIS_UNKNOWN, SENSOR_TAP_AXIS_X, SENSOR_TAP_AXIS_Y, SENSOR_TAP_AXIS_Z, SENSOR_TAP_DIRECTION_NEG, SENSOR_TAP_DIRECTION_POS, SENSOR_TAP_DIRECTION_UNKNOWN, sensor_timestamp(), bus_desc_t::status, STATUS_INT, STATUS_OK, sensor_data_t::tap, sensor_data_t::timestamp, and sensor_data_t::value.

Referenced by kxtf9_init().

static bool kxtf9_read	(	sensor_t *	sensor,
		sensor_read_t	type,
		sensor_data_t *	data
	)

static

Read sensor data.

This routine calls the appropriate internal data function to obtain the specified type of data from the sensor device.

Parameters

sensor	Address of an initialized sensor device descriptor.
type	Type of sensor data to read.
data	The address where data values are returned.

Returns: bool true if the call succeeds, else false is returned.

References sensor_desc::err, sensor_desc::hal, kxtf9_device_id(), kxtf9_get_accel(), SENSOR_ERR_FUNCTION, SENSOR_READ_ACCELERATION, and SENSOR_READ_ID.

Referenced by kxtf9_init().

static void kxtf9_resume	(	sensor_hal_t *	hal,
		uint8_t	regval
	)

static

Resume sensor standby/run mode.

This function restores the KXTF9 device to standby or normal mode, based on the register value parameter. This can be used to restore the mode to the state previously saved during a kxtf9_standby() call.

Parameters

hal	Address of an initialized sensor hardware descriptor.

Returns: uint8_t Previous contents of CTRL_REG1 register

References KXTF9_CTRL_REG1, and sensor_bus_put.

Referenced by kxtf9_set_bandwidth(), kxtf9_set_tap(), and kxtf9_set_threshold().

static bool kxtf9_set_bandwidth	(	sensor_hal_t *	hal,
		int16_t	index
	)

static

Set the sample bandwidth for the accelerometer.

Parameters

hal	Address of an initialized sensor hardware descriptor.
index	The index of a driver-specific bandwidth table entry.

Returns: bool true if the call succeeds, else false is returned.

References sensor_hal::bandwidth, sensor_map_t::bandwidth_Hz, DATA_CTRL_ODR, KXTF9_DATA_CTRL_REG, kxtf9_resume(), kxtf9_standby(), sensor_hal::sample_rate, sensor_bus_get, and sensor_bus_put.

Referenced by kxtf9_ioctl(), and kxtf9_set_sample_rate().

static bool kxtf9_set_range	(	sensor_hal_t *	hal,
		int16_t	range
	)

static

Set the g range for the accelerometer.

Parameters

hal	Address of an initialized sensor hardware descriptor.
range	The index of a driver-specific range table entry.

Returns: bool true if the call succeeds, else false is returned.

References CTRL_REG1_GSEL, KXTF9_CTRL_REG1, kxtf9_standby(), and sensor_bus_put.

Referenced by kxtf9_ioctl().

static bool kxtf9_set_sample_rate	(	sensor_hal_t *	hal,
		int16_t	sr
	)

static

Set the sample rate for the accelerometer.

Parameters

hal	Address of an initialized sensor hardware descriptor.
sr	the sample rate desired in HZ

Returns: bool true if the call succeeds, else false is returned.

References ARRAYSIZE, and kxtf9_set_bandwidth().

Referenced by kxtf9_ioctl().

static bool kxtf9_set_state	(	sensor_hal_t *	hal,
		sensor_state_t	state
	)

static

Set the accelerometer operation state.

Parameters

hal	Address of an initialized sensor hardware descriptor.
@return	bool true if the call succeeds, else false is returned.

References CTRL_REG1_PC1, CTRL_REG3_SRST, delay_ms, KXTF9_CTRL_REG1, KXTF9_CTRL_REG3, kxtf9_standby(), RESET_DELAY_MSEC, sensor_bus_get, sensor_reg_bitset, SENSOR_STATE_HIGH_POWER, SENSOR_STATE_HIGHEST_POWER, SENSOR_STATE_LOWEST_POWER, SENSOR_STATE_NORMAL, SENSOR_STATE_POWER_DOWN, SENSOR_STATE_RESET, SENSOR_STATE_SLEEP, and SENSOR_STATE_SUSPEND.

Referenced by kxtf9_ioctl().

static bool kxtf9_set_tap	(	sensor_hal_t *	hal,
		sensor_tap_params_t *	params
	)

static

Set tap detection parameters.

Parameters

hal	Address of an initialized sensor hardware descriptor.
params	Address of an initialized tap parameter structure

Returns: bool true if the call succeeds, else false is returned.

References sensor_tap_params_t::axes, sensor_tap_params_t::between_time, sensor_tap_params_t::ignore_time, INT_CTRL_REG3_TDOM, INT_CTRL_REG3_TFDM, INT_CTRL_REG3_TFUM, INT_CTRL_REG3_TLEM, INT_CTRL_REG3_TRIM, INT_CTRL_REG3_TUPM, KXTF9_INT_CTRL_REG3, kxtf9_resume(), kxtf9_standby(), KXTF9_TDT_TIMER, scaled_to_raw(), sensor_bus_put, sensor_bus_write, SENSOR_TAP_AXIS_X, SENSOR_TAP_AXIS_Y, SENSOR_TAP_AXIS_Z, TAP_TDT_LATENCY_TIMER_DEFAULT, TAP_TDT_TAP_TIMER_MAX_DEFAULT, TAP_TDT_TAP_TIMER_MIN_DEFAULT, TAP_TDT_TIMER_DEFAULT, TAP_TDT_TOTAL_TIMER_DEFAULT, TAP_TDT_WINDOW_TIMER_DEFAULT, TAP_THRESH_MAX_DEFAULT, TAP_THRESH_MIN_DEFAULT, sensor_tap_params_t::tap_time_max, sensor_tap_params_t::tap_time_min, TAP_TIMER_HZ, TDT_L_THRESH, sensor_tap_params_t::threshold_max, sensor_tap_params_t::threshold_min, and sensor_tap_params_t::total_time.

Referenced by kxtf9_ioctl().

static bool kxtf9_set_threshold	(	sensor_hal_t *	hal,
		sensor_threshold_desc_t *	threshold
	)

static

Set event threshold value.

Parameters

hal	Address of an initialized sensor hardware descriptor.
threshold	Type of threshold to be set

Returns: bool true if the call succeeds, else false is returned.

References kxtf9_resume(), kxtf9_standby(), KXTF9_WUF_THRESH, sensor_bus_put, SENSOR_THRESHOLD_MOTION, sensor_threshold_desc_t::type, and sensor_threshold_desc_t::value.

Referenced by kxtf9_ioctl().

static uint8_t kxtf9_standby ( sensor_hal_t * hal )

static

Put sensor in standby mode.

This function places the KXTF9 device in standby mode. This can be done to save power, or to allow modification of various control registers. This function will return the value of the CTRL_REG1 register prior to entering standby mode, so that it can be restored.

Parameters

hal	Address of an initialized sensor hardware descriptor.

Returns: uint8_t Previous contents of CTRL_REG1 register

References CTRL_REG1_PC1, KXTF9_CTRL_REG1, sensor_bus_get, and sensor_bus_put.

Referenced by kxtf9_event(), kxtf9_set_bandwidth(), kxtf9_set_range(), kxtf9_set_state(), kxtf9_set_tap(), and kxtf9_set_threshold().

const sensor_map_t band_table[]

static

Initial value:

= {
    {{6}, DATA_CTRL_ODR_12_5HZ},     
    {{12}, DATA_CTRL_ODR_25HZ},      
    {{25}, DATA_CTRL_ODR_50HZ},
    {{50}, DATA_CTRL_ODR_100HZ},
    {{100}, DATA_CTRL_ODR_200HZ},
    {{200}, DATA_CTRL_ODR_400HZ},
    {{400}, DATA_CTRL_ODR_800HZ}
}

Kionix KXTF9 Bandwidth Table (hertz, register value) LPF bandwidth on the KXTF9 is 1/2 ODR.

Referenced by kxtf9_init().

sensor_event_callback_t event_cb[4]

static

Initial value:

= {
    {.handler = default_event_handler},
    {.handler = default_event_handler},
    {.handler = default_event_handler},
    {.handler = default_event_handler}
}

Sensor Event Callbacks (data=0, motion=1, tap=2, tilt=3)

const sensor_map_t range_table[]

static

Initial value:

= {
    {{2000}, CTRL_REG1_GSEL_2G},
    {{4000}, CTRL_REG1_GSEL_4G},
    {{8000}, CTRL_REG1_GSEL_8G}
}

Kionix KXTF9 Range Table (milli-g, register value)

Referenced by kxtf9_init().

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Data Structures

Enumerations

Functions

Variables