diff options
Diffstat (limited to 'ChibiOS_20.3.2/os/ex/devices/ST/lis302dl.c')
| -rw-r--r-- | ChibiOS_20.3.2/os/ex/devices/ST/lis302dl.c | 554 |
1 files changed, 554 insertions, 0 deletions
diff --git a/ChibiOS_20.3.2/os/ex/devices/ST/lis302dl.c b/ChibiOS_20.3.2/os/ex/devices/ST/lis302dl.c new file mode 100644 index 0000000..099698d --- /dev/null +++ b/ChibiOS_20.3.2/os/ex/devices/ST/lis302dl.c @@ -0,0 +1,554 @@ +/*
+ ChibiOS - Copyright (C) 2016..2019 Rocco Marco Guglielmi
+
+ This file is part of ChibiOS.
+
+ ChibiOS is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
+/**
+ * @file lis302dl.c
+ * @brief LIS302DL MEMS interface module code.
+ *
+ * @addtogroup LIS302DL
+ * @ingroup EX_ST
+ * @{
+ */
+
+#include "hal.h"
+#include "lis302dl.h"
+
+/*===========================================================================*/
+/* Driver local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local variables and types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local functions. */
+/*===========================================================================*/
+
+#if (LIS302DL_USE_SPI) || defined(__DOXYGEN__)
+/**
+ * @brief Reads a generic register value using SPI.
+ * @pre The SPI interface must be initialized and the driver started.
+ *
+ * @param[in] spip pointer to the SPI interface
+ * @param[in] reg starting register address
+ * @param[in] n number of adjacent registers to write
+ * @param[in] b pointer to a buffer.
+ */
+static void lis302dlSPIReadRegister(SPIDriver *spip, uint8_t reg, size_t n,
+ uint8_t* b) {
+ uint8_t cmd;
+ (n == 1) ? (cmd = reg | LIS302DL_RW) : (cmd = reg | LIS302DL_RW | LIS302DL_MS);
+ spiSelect(spip);
+ spiSend(spip, 1, &cmd);
+ spiReceive(spip, n, b);
+ spiUnselect(spip);
+}
+
+/**
+ * @brief Writes a value into a generic register using SPI.
+ * @pre The SPI interface must be initialized and the driver started.
+ *
+ * @param[in] spip pointer to the SPI interface
+ * @param[in] reg starting register address
+ * @param[in] n number of adjacent registers to write
+ * @param[in] b pointer to a buffer of values.
+ */
+static void lis302dlSPIWriteRegister(SPIDriver *spip, uint8_t reg, size_t n,
+ uint8_t* b) {
+ uint8_t cmd;
+ (n == 1) ? (cmd = reg) : (cmd = reg | LIS302DL_MS);
+ spiSelect(spip);
+ spiSend(spip, 1, &cmd);
+ spiSend(spip, n, b);
+ spiUnselect(spip);
+}
+#endif /* LIS302DL_USE_SPI */
+
+/**
+ * @brief Return the number of axes of the BaseAccelerometer.
+ *
+ * @param[in] ip pointer to @p BaseAccelerometer interface.
+ *
+ * @return the number of axes.
+ */
+static size_t acc_get_axes_number(void *ip) {
+ (void)ip;
+
+ return LIS302DL_ACC_NUMBER_OF_AXES;
+}
+
+/**
+ * @brief Retrieves raw data from the BaseAccelerometer.
+ * @note This data is retrieved from MEMS register without any algebraical
+ * manipulation.
+ * @note The axes array must be at least the same size of the
+ * BaseAccelerometer axes number.
+ *
+ * @param[in] ip pointer to @p BaseAccelerometer interface.
+ * @param[out] axes a buffer which would be filled with raw data.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET if one or more I2C errors occurred, the errors can
+ * be retrieved using @p i2cGetErrors().
+ * @retval MSG_TIMEOUT if a timeout occurred before operation end.
+ */
+static msg_t acc_read_raw(void *ip, int32_t axes[]) {
+ LIS302DLDriver* devp;
+ uint8_t i, tmp;
+ msg_t msg = MSG_OK;
+
+ osalDbgCheck((ip != NULL) && (axes != NULL));
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LIS302DLDriver*, (BaseAccelerometer*)ip);
+
+ osalDbgAssert((devp->state == LIS302DL_READY),
+ "acc_read_raw(), invalid state");
+
+#if LIS302DL_USE_SPI
+#if LIS302DL_SHARED_SPI
+ osalDbgAssert((devp->config->spip->state == SPI_READY),
+ "acc_read_raw(), channel not ready");
+
+ spiAcquireBus(devp->config->spip);
+ spiStart(devp->config->spip,
+ devp->config->spicfg);
+#endif /* LIS302DL_SHARED_SPI */
+
+ for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++) {
+ lis302dlSPIReadRegister(devp->config->spip,
+ LIS302DL_AD_OUT_X + (i * 2), 1, &tmp);
+ axes[i] = (int32_t)((int8_t)tmp);
+ }
+
+#if LIS302DL_SHARED_SPI
+ spiReleaseBus(devp->config->spip);
+#endif /* LIS302DL_SHARED_SPI */
+#endif /* LIS302DL_USE_SPI */
+ return msg;
+}
+
+/**
+ * @brief Retrieves cooked data from the BaseAccelerometer.
+ * @note This data is manipulated according to the formula
+ * cooked = (raw * sensitivity) - bias.
+ * @note Final data is expressed as milli-G.
+ * @note The axes array must be at least the same size of the
+ * BaseAccelerometer axes number.
+ *
+ * @param[in] ip pointer to @p BaseAccelerometer interface.
+ * @param[out] axes a buffer which would be filled with cooked data.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET if one or more I2C errors occurred, the errors can
+ * be retrieved using @p i2cGetErrors().
+ * @retval MSG_TIMEOUT if a timeout occurred before operation end.
+ */
+static msg_t acc_read_cooked(void *ip, float axes[]) {
+ LIS302DLDriver* devp;
+ uint32_t i;
+ int32_t raw[LIS302DL_ACC_NUMBER_OF_AXES];
+ msg_t msg;
+
+ osalDbgCheck((ip != NULL) && (axes != NULL));
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LIS302DLDriver*, (BaseAccelerometer*)ip);
+
+ osalDbgAssert((devp->state == LIS302DL_READY),
+ "acc_read_cooked(), invalid state");
+
+ msg = acc_read_raw(ip, raw);
+ for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++) {
+ axes[i] = (raw[i] * devp->accsensitivity[i]) - devp->accbias[i];
+ }
+ return msg;
+}
+
+/**
+ * @brief Set bias values for the BaseAccelerometer.
+ * @note Bias must be expressed as milli-G.
+ * @note The bias buffer must be at least the same size of the
+ * BaseAccelerometer axes number.
+ *
+ * @param[in] ip pointer to @p BaseAccelerometer interface.
+ * @param[in] bp a buffer which contains biases.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ */
+static msg_t acc_set_bias(void *ip, float *bp) {
+ LIS302DLDriver* devp;
+ uint32_t i;
+ msg_t msg = MSG_OK;
+
+ osalDbgCheck((ip != NULL) && (bp != NULL));
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LIS302DLDriver*, (BaseAccelerometer*)ip);
+
+ osalDbgAssert((devp->state == LIS302DL_READY),
+ "acc_set_bias(), invalid state");
+
+ for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++) {
+ devp->accbias[i] = bp[i];
+ }
+ return msg;
+}
+
+/**
+ * @brief Reset bias values for the BaseAccelerometer.
+ * @note Default biases value are obtained from device datasheet when
+ * available otherwise they are considered zero.
+ *
+ * @param[in] ip pointer to @p BaseAccelerometer interface.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ */
+static msg_t acc_reset_bias(void *ip) {
+ LIS302DLDriver* devp;
+ uint32_t i;
+ msg_t msg = MSG_OK;
+
+ osalDbgCheck(ip != NULL);
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LIS302DLDriver*, (BaseAccelerometer*)ip);
+
+ osalDbgAssert((devp->state == LIS302DL_READY),
+ "acc_reset_bias(), invalid state");
+
+ for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++)
+ devp->accbias[i] = LIS302DL_ACC_BIAS;
+ return msg;
+}
+
+/**
+ * @brief Set sensitivity values for the BaseAccelerometer.
+ * @note Sensitivity must be expressed as milli-G/LSB.
+ * @note The sensitivity buffer must be at least the same size of the
+ * BaseAccelerometer axes number.
+ *
+ * @param[in] ip pointer to @p BaseAccelerometer interface.
+ * @param[in] sp a buffer which contains sensitivities.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ */
+static msg_t acc_set_sensivity(void *ip, float *sp) {
+ LIS302DLDriver* devp;
+ uint32_t i;
+ msg_t msg = MSG_OK;
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LIS302DLDriver*, (BaseAccelerometer*)ip);
+
+ osalDbgCheck((ip != NULL) && (sp != NULL));
+
+ osalDbgAssert((devp->state == LIS302DL_READY),
+ "acc_set_sensivity(), invalid state");
+
+ for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++) {
+ devp->accsensitivity[i] = sp[i];
+ }
+ return msg;
+}
+
+/**
+ * @brief Reset sensitivity values for the BaseAccelerometer.
+ * @note Default sensitivities value are obtained from device datasheet.
+ *
+ * @param[in] ip pointer to @p BaseAccelerometer interface.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET otherwise.
+ */
+static msg_t acc_reset_sensivity(void *ip) {
+ LIS302DLDriver* devp;
+ uint32_t i;
+ msg_t msg = MSG_OK;
+
+ osalDbgCheck(ip != NULL);
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LIS302DLDriver*, (BaseAccelerometer*)ip);
+
+ osalDbgAssert((devp->state == LIS302DL_READY),
+ "acc_reset_sensivity(), invalid state");
+
+ if(devp->config->accfullscale == LIS302DL_ACC_FS_2G)
+ for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = LIS302DL_ACC_SENS_2G;
+ else if(devp->config->accfullscale == LIS302DL_ACC_FS_8G)
+ for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = LIS302DL_ACC_SENS_8G;
+ else {
+ osalDbgAssert(FALSE,
+ "acc_reset_sensivity(), accelerometer full scale issue");
+ return MSG_RESET;
+ }
+ return msg;
+}
+
+/**
+ * @brief Changes the LIS302DLDriver accelerometer fullscale value.
+ * @note This function also rescale sensitivities and biases based on
+ * previous and next fullscale value.
+ * @note A recalibration is highly suggested after calling this function.
+ *
+ * @param[in] devp pointer to @p LIS302DLDriver interface.
+ * @param[in] fs new fullscale value.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET otherwise.
+ */
+static msg_t acc_set_full_scale(LIS302DLDriver *devp, lis302dl_acc_fs_t fs) {
+ float newfs, scale;
+ uint8_t i, cr;
+ msg_t msg;
+
+ osalDbgCheck(devp != NULL);
+
+ osalDbgAssert((devp->state == LIS302DL_READY),
+ "acc_set_full_scale(), invalid state");
+ osalDbgAssert((devp->config->spip->state == SPI_READY),
+ "acc_set_full_scale(), channel not ready");
+
+ /* Computing new fullscale value.*/
+ if(fs == LIS302DL_ACC_FS_2G) {
+ newfs = LIS302DL_ACC_2G;
+ }
+ else if(fs == LIS302DL_ACC_FS_8G) {
+ newfs = LIS302DL_ACC_8G;
+ }
+ else {
+ msg = MSG_RESET;
+ return msg;
+ }
+
+ if(newfs != devp->accfullscale) {
+ /* Computing scale value.*/
+ scale = newfs / devp->accfullscale;
+ devp->accfullscale = newfs;
+
+#if LIS302DL_USE_SPI
+#if LIS302DL_SHARED_SPI
+ spiAcquireBus(devp->config->spip);
+ spiStart(devp->config->spip,
+ devp->config->spicfg);
+#endif /* LIS302DL_SHARED_SPI */
+
+ /* Getting data from register.*/
+ lis302dlSPIReadRegister(devp->config->spip, LIS302DL_AD_CTRL_REG1, 1, &cr);
+
+#if LIS302DL_SHARED_SPI
+ spiReleaseBus(devp->config->spip);
+#endif /* LIS302DL_SHARED_SPI */
+#endif /* LIS302DL_USE_SPI */
+
+ cr &= ~(LIS302DL_CTRL_REG1_FS_MASK);
+ cr |= fs;
+
+#if LIS302DL_USE_SPI
+#if LIS302DL_SHARED_SPI
+ spiAcquireBus(devp->config->spip);
+ spiStart(devp->config->spip,
+ devp->config->spicfg);
+#endif /* LIS302DL_SHARED_SPI */
+
+ /* Getting data from register.*/
+ lis302dlSPIWriteRegister(devp->config->spip, LIS302DL_AD_CTRL_REG1, 1, &cr);
+
+#if LIS302DL_SHARED_SPI
+ spiReleaseBus(devp->config->spip);
+#endif /* LIS302DL_SHARED_SPI */
+#endif /* LIS302DL_USE_SPI */
+
+ /* Scaling sensitivity and bias. Re-calibration is suggested anyway. */
+ for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++) {
+ devp->accsensitivity[i] *= scale;
+ devp->accbias[i] *= scale;
+ }
+ }
+ return msg;
+}
+
+static const struct LIS302DLVMT vmt_device = {
+ (size_t)0,
+ acc_set_full_scale
+};
+
+static const struct BaseAccelerometerVMT vmt_accelerometer = {
+ sizeof(struct LIS302DLVMT*),
+ acc_get_axes_number, acc_read_raw, acc_read_cooked,
+ acc_set_bias, acc_reset_bias, acc_set_sensivity, acc_reset_sensivity
+};
+
+/*===========================================================================*/
+/* Driver exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Initializes an instance.
+ *
+ * @param[out] devp pointer to the @p LIS302DLDriver object
+ *
+ * @init
+ */
+void lis302dlObjectInit(LIS302DLDriver *devp) {
+ devp->vmt = &vmt_device;
+ devp->acc_if.vmt = &vmt_accelerometer;
+
+ devp->config = NULL;
+
+ devp->accaxes = LIS302DL_ACC_NUMBER_OF_AXES;
+
+ devp->state = LIS302DL_STOP;
+}
+
+/**
+ * @brief Configures and activates LIS302DL Complex Driver peripheral.
+ *
+ * @param[in] devp pointer to the @p LIS302DLDriver object
+ * @param[in] config pointer to the @p LIS302DLConfig object
+ *
+ * @api
+ */
+void lis302dlStart(LIS302DLDriver *devp, const LIS302DLConfig *config) {
+ uint32_t i;
+ uint8_t cr[2] = {0, 0};
+ osalDbgCheck((devp != NULL) && (config != NULL));
+
+ osalDbgAssert((devp->state == LIS302DL_STOP) || (devp->state == LIS302DL_READY),
+ "lis302dlStart(), invalid state");
+
+ devp->config = config;
+
+ /* Control register 1 configuration block.*/
+ {
+ cr[0] = LIS302DL_CTRL_REG1_XEN | LIS302DL_CTRL_REG1_YEN |
+ LIS302DL_CTRL_REG1_ZEN | LIS302DL_CTRL_REG1_PD |
+ devp->config->accoutputdatarate |
+ devp->config->accfullscale;
+ }
+
+ /* Control register 2 configuration block.*/
+ {
+#if LIS302DL_USE_ADVANCED || defined(__DOXYGEN__)
+ if(devp->config->hpmode != LIS302DL_HPM_BYPASSED)
+ cr[1] = devp->config->acchighpass;
+#endif
+ }
+
+#if LIS302DL_USE_SPI
+#if LIS302DL_SHARED_SPI
+ spiAcquireBus((devp)->config->spip);
+#endif /* LIS302DL_SHARED_SPI */
+ spiStart((devp)->config->spip, (devp)->config->spicfg);
+
+ lis302dlSPIWriteRegister(devp->config->spip, LIS302DL_AD_CTRL_REG1,
+ 2, cr);
+
+#if LIS302DL_SHARED_SPI
+ spiReleaseBus((devp)->config->spip);
+#endif /* LIS302DL_SHARED_SPI */
+#endif /* LIS302DL_USE_SPI */
+
+ /* Storing sensitivity information according to full scale value */
+ if(devp->config->accfullscale == LIS302DL_ACC_FS_2G) {
+ devp->accfullscale = LIS302DL_ACC_2G;
+ if(devp->config->accsensitivity == NULL)
+ for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = LIS302DL_ACC_SENS_2G;
+ else
+ for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = devp->config->accsensitivity[i];
+ }
+ else if(devp->config->accfullscale == LIS302DL_ACC_FS_8G) {
+ devp->accfullscale = LIS302DL_ACC_8G;
+ if(devp->config->accsensitivity == NULL)
+ for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = LIS302DL_ACC_SENS_8G;
+ else
+ for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = devp->config->accsensitivity[i];
+ }
+ else {
+ osalDbgAssert(FALSE, "lis302dlStart(), accelerometer full scale issue");
+ }
+
+ /* Storing bias information according to user setting */
+ if(devp->config->accbias != NULL)
+ for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++)
+ devp->accbias[i] = devp->config->accbias[i];
+ else
+ for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++)
+ devp->accbias[i] = LIS302DL_ACC_BIAS;
+
+ /* This is the Accelerometer transient recovery time */
+ osalThreadSleepMilliseconds(10);
+
+ devp->state = LIS302DL_READY;
+}
+
+/**
+ * @brief Deactivates the LIS302DL Complex Driver peripheral.
+ *
+ * @param[in] devp pointer to the @p LIS302DLDriver object
+ *
+ * @api
+ */
+void lis302dlStop(LIS302DLDriver *devp) {
+ uint8_t cr1;
+ osalDbgCheck(devp != NULL);
+
+ osalDbgAssert((devp->state == LIS302DL_STOP) ||
+ (devp->state == LIS302DL_READY),
+ "lis302dlStop(), invalid state");
+
+ if (devp->state == LIS302DL_READY) {
+#if LIS302DL_USE_SPI
+#if LIS302DL_SHARED_SPI
+ spiAcquireBus((devp)->config->spip);
+ spiStart((devp)->config->spip,
+ (devp)->config->spicfg);
+#endif /* LIS302DL_SHARED_SPI */
+ /* Disabling all axes and enabling power down mode.*/
+ cr1 = 0;
+ lis302dlSPIWriteRegister(devp->config->spip, LIS302DL_AD_CTRL_REG1, 1, &cr1);
+ spiStop((devp)->config->spip);
+#if LIS302DL_SHARED_SPI
+ spiReleaseBus((devp)->config->spip);
+#endif /* LIS302DL_SHARED_SPI */
+#endif /* LIS302DL_USE_SPI */
+ }
+ devp->state = LIS302DL_STOP;
+}
+/** @} */
|