[peripherals] adxl345_spi stuff

paparazzi · Feb 14, 2013 · a2387a8 · a2387a8
1 parent 1aae965
commit a2387a8
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Showing 2 changed files with 23 additions and 13 deletions.
diff --git a/sw/airborne/peripherals/adxl345.h b/sw/airborne/peripherals/adxl345.h
@@ -47,23 +47,29 @@ struct Adxl345Config {
   bool_t int_invert;        ///< Invert Interrupt FALSE: active high, TRUE: active low
   bool_t full_res;          ///< Full Resolution: FALSE: 10bit, TRUE: full with 4mg/LSB
   bool_t justify_msb;       ///< justify: FALSE: right with sign-extension, TRUE: MSB (left)
+  bool_t self_test;         ///< Enable self-test-force causing shift in output data.
+  bool_t spi_3_wire;        ///< Set 3-wire SPI mode, if FALSE: 4-wire SPI mode
   enum Adxl345Ranges range; ///< g Range
   enum Adxl345Rates rate;   ///< Data Output Rate
 };
 
 static inline void adxl345_set_default_config(struct Adxl345Config *c)
 {
-  c->rate = ADXL345_RATE_100HZ;
   c->drdy_int_enable = FALSE;
   c->int_invert = TRUE;
   c->full_res = TRUE;
   c->justify_msb = FALSE;
+  c->self_test = FALSE;
+  c->spi_3_wire = FALSE;
+
+  c->rate = ADXL345_RATE_100HZ;
   c->range = ADXL345_RANGE_16G;
 }
 
 static inline uint8_t adxl345_data_format(struct Adxl345Config *c)
 {
-  return ((c->int_invert << 5) | (c->full_res << 3) | (c->justify_msb << 2) | (c->range));
+  return ((c->self_test << 7) | (c->spi_3_wire << 6) | (c->int_invert << 5) |
+          (c->full_res << 3) | (c->justify_msb << 2) | (c->range));
 }
 
 #endif // ADXL345_H
diff --git a/sw/airborne/peripherals/adxl345_spi.c b/sw/airborne/peripherals/adxl345_spi.c
@@ -65,7 +65,8 @@ void adxl345_spi_init(struct Adxl345_Spi *adxl, struct spi_periph *spi_p, uint8_
 
 
 static void adxl345_spi_write_to_reg(struct Adxl345_Spi *adxl, uint8_t _reg, uint8_t _val) {
-  //adxl->spi_trans.output_length = 2;
+  adxl->spi_trans.output_length = 2;
+  adxl->spi_trans.input_length = 0;
   adxl->tx_buf[0] = _reg;
   adxl->tx_buf[1] = _val;
   spi_submit(adxl->spi_p, &(adxl->spi_trans));
@@ -114,8 +115,9 @@ void adxl345_spi_start_configure(struct Adxl345_Spi *adxl)
 void adxl345_spi_read(struct Adxl345_Spi *adxl)
 {
   if (adxl->initialized && adxl->spi_trans.status == SPITransDone) {
-    //adxl->spi_trans.output_length = 1;
-    //adxl->tx_buf[0] = ADXL345_REG_DATA_X0;
+    adxl->spi_trans.output_length = 1;
+    adxl->spi_trans.input_length = 7;
+    /* set read bit and multiple byte bit, then address */
     adxl->tx_buf[0] = (1<<7|1<<6|ADXL345_REG_DATA_X0);
     spi_submit(adxl->spi_p, &(adxl->spi_trans));
   }
@@ -139,14 +141,16 @@ void adxl345_spi_event(struct Adxl345_Spi *adxl)
     }
   }
   else if (adxl->init_status != ADXL_CONF_UNINIT) { // Configuring but not yet initialized
-    if (adxl->spi_trans.status == SPITransSuccess || adxl->spi_trans.status == SPITransDone) {
-      adxl->spi_trans.status = SPITransDone;
-      adxl345_spi_send_config(adxl);
-    }
-    if (adxl->spi_trans.status == SPITransFailed) {
-      adxl->init_status--;
-      adxl->spi_trans.status = SPITransDone;
-      adxl345_spi_send_config(adxl); // Retry config (TODO max retry)
+    switch (adxl->spi_trans.status) {
+      case SPITransFailed:
+        adxl->init_status--; // Retry config (TODO max retry)
+      case SPITransSuccess:
+      case SPITransDone:
+        adxl->spi_trans.status = SPITransDone;
+        adxl345_spi_send_config(adxl);
+        break;
+      default:
+        break;
     }
   }
 }