From 48026bb824fd2d9cfb00ecd040db6ef3a416bae9 Mon Sep 17 00:00:00 2001 From: Clyne Sullivan Date: Fri, 22 Jan 2021 21:43:36 -0500 Subject: upload initial port --- ChibiOS_20.3.2/os/ex/devices/ST/l3gd20.c | 642 +++++++++++++++++++++++++++++++ 1 file changed, 642 insertions(+) create mode 100644 ChibiOS_20.3.2/os/ex/devices/ST/l3gd20.c (limited to 'ChibiOS_20.3.2/os/ex/devices/ST/l3gd20.c') diff --git a/ChibiOS_20.3.2/os/ex/devices/ST/l3gd20.c b/ChibiOS_20.3.2/os/ex/devices/ST/l3gd20.c new file mode 100644 index 0000000..7ac57aa --- /dev/null +++ b/ChibiOS_20.3.2/os/ex/devices/ST/l3gd20.c @@ -0,0 +1,642 @@ +/* + 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 . + +*/ + +/** + * @file l3gd20.c + * @brief L3GD20 MEMS interface module code. + * + * @addtogroup L3GD20 + * @ingroup EX_ST + * @{ + */ + +#include "hal.h" +#include "l3gd20.h" + +/*===========================================================================*/ +/* Driver local definitions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver exported variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local variables and types. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local functions. */ +/*===========================================================================*/ + +#if (L3GD20_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 consecutive registers to read + * @param[in] b pointer to an output buffer. + */ +static void l3gd20SPIReadRegister(SPIDriver *spip, uint8_t reg, size_t n, + uint8_t* b) { + uint8_t cmd; + (n == 1) ? (cmd = reg | L3GD20_RW) : (cmd = reg | L3GD20_RW | L3GD20_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 l3gd20SPIWriteRegister(SPIDriver *spip, uint8_t reg, size_t n, + uint8_t* b) { + uint8_t cmd; + (n == 1) ? (cmd = reg) : (cmd = reg | L3GD20_MS); + spiSelect(spip); + spiSend(spip, 1, &cmd); + spiSend(spip, n, b); + spiUnselect(spip); +} +#endif /* L3GD20_USE_SPI */ + +/** + * @brief Return the number of axes of the BaseGyroscope. + * + * @param[in] ip pointer to @p BaseGyroscope interface. + * + * @return the number of axes. + */ +static size_t gyro_get_axes_number(void *ip) { + (void)ip; + + return L3GD20_GYRO_NUMBER_OF_AXES; +} + +/** + * @brief Retrieves raw data from the BaseGyroscope. + * @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 + * BaseGyroscope axes number. + * + * @param[in] ip pointer to @p BaseGyroscope interface. + * @param[out] axes a buffer which would be filled with raw data. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + */ +static msg_t gyro_read_raw(void *ip, int32_t axes[L3GD20_GYRO_NUMBER_OF_AXES]) { + L3GD20Driver* devp; + int16_t tmp; + uint8_t i, buff [2 * L3GD20_GYRO_NUMBER_OF_AXES]; + msg_t msg = MSG_OK; + + osalDbgCheck((ip != NULL) && (axes != NULL)); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(L3GD20Driver*, (BaseGyroscope*)ip); + + osalDbgAssert((devp->state == L3GD20_READY), + "gyro_read_raw(), invalid state"); +#if L3GD20_USE_SPI + osalDbgAssert((devp->config->spip->state == SPI_READY), + "gyro_read_raw(), channel not ready"); + +#if L3GD20_SHARED_SPI + spiAcquireBus(devp->config->spip); + spiStart(devp->config->spip, + devp->config->spicfg); +#endif /* L3GD20_SHARED_SPI */ + + l3gd20SPIReadRegister(devp->config->spip, L3GD20_AD_OUT_X_L, + L3GD20_GYRO_NUMBER_OF_AXES * 2, buff); + +#if L3GD20_SHARED_SPI + spiReleaseBus(devp->config->spip); +#endif /* L3GD20_SHARED_SPI */ +#endif /* L3GD20_USE_SPI */ + + for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++) { + tmp = buff[2 * i] + (buff[2 * i + 1] << 8); + axes[i] = (int32_t)tmp; + } + return msg; +} + +/** + * @brief Retrieves cooked data from the BaseGyroscope. + * @note This data is manipulated according to the formula + * cooked = (raw * sensitivity) - bias. + * @note Final data is expressed as DPS. + * @note The axes array must be at least the same size of the + * BaseGyroscope axes number. + * + * @param[in] ip pointer to @p BaseGyroscope interface. + * @param[out] axes a buffer which would be filled with cooked data. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + */ +static msg_t gyro_read_cooked(void *ip, float axes[]) { + L3GD20Driver* devp; + uint32_t i; + int32_t raw[L3GD20_GYRO_NUMBER_OF_AXES]; + msg_t msg; + + osalDbgCheck((ip != NULL) && (axes != NULL)); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(L3GD20Driver*, (BaseGyroscope*)ip); + + osalDbgAssert((devp->state == L3GD20_READY), + "gyro_read_cooked(), invalid state"); + + msg = gyro_read_raw(ip, raw); + for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++){ + axes[i] = (raw[i] * devp->gyrosensitivity[i]) - devp->gyrobias[i]; + } + return msg; +} + +/** + * @brief Samples bias values for the BaseGyroscope. + * @note The L3GD20 shall not be moved during the whole procedure. + * @note After this function internal bias is automatically updated. + * @note The behavior of this function depends on @p L3GD20_BIAS_ACQ_TIMES + * and @p L3GD20_BIAS_SETTLING_US. + * + * @param[in] ip pointer to @p BaseGyroscope interface. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + */ +static msg_t gyro_sample_bias(void *ip) { + L3GD20Driver* devp; + uint32_t i, j; + int32_t raw[L3GD20_GYRO_NUMBER_OF_AXES]; + int32_t buff[L3GD20_GYRO_NUMBER_OF_AXES] = {0, 0, 0}; + msg_t msg; + + osalDbgCheck(ip != NULL); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(L3GD20Driver*, (BaseGyroscope*)ip); + + osalDbgAssert((devp->state == L3GD20_READY), + "gyro_sample_bias(), invalid state"); +#if L3GD20_USE_SPI + osalDbgAssert((devp->config->spip->state == SPI_READY), + "gyro_sample_bias(), channel not ready"); +#endif + + for(i = 0; i < L3GD20_BIAS_ACQ_TIMES; i++){ + msg = gyro_read_raw(ip, raw); + if(msg != MSG_OK) + return msg; + for(j = 0; j < L3GD20_GYRO_NUMBER_OF_AXES; j++){ + buff[j] += raw[j]; + } + osalThreadSleepMicroseconds(L3GD20_BIAS_SETTLING_US); + } + + for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++){ + devp->gyrobias[i] = (buff[i] / L3GD20_BIAS_ACQ_TIMES); + devp->gyrobias[i] *= devp->gyrosensitivity[i]; + } + return msg; +} + +/** + * @brief Set bias values for the BaseGyroscope. + * @note Bias must be expressed as DPS. + * @note The bias buffer must be at least the same size of the BaseGyroscope + * axes number. + * + * @param[in] ip pointer to @p BaseGyroscope interface. + * @param[in] bp a buffer which contains biases. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + */ +static msg_t gyro_set_bias(void *ip, float *bp) { + L3GD20Driver* devp; + uint32_t i; + msg_t msg = MSG_OK; + + osalDbgCheck((ip != NULL) && (bp != NULL)); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(L3GD20Driver*, (BaseGyroscope*)ip); + + osalDbgAssert((devp->state == L3GD20_READY), + "gyro_set_bias(), invalid state"); + + for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++) { + devp->gyrobias[i] = bp[i]; + } + return msg; +} + +/** + * @brief Reset bias values for the BaseGyroscope. + * @note Default biases value are obtained from device datasheet when + * available otherwise they are considered zero. + * + * @param[in] ip pointer to @p BaseGyroscope interface. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + */ +static msg_t gyro_reset_bias(void *ip) { + L3GD20Driver* devp; + uint32_t i; + msg_t msg = MSG_OK; + + osalDbgCheck(ip != NULL); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(L3GD20Driver*, (BaseGyroscope*)ip); + + osalDbgAssert((devp->state == L3GD20_READY), + "gyro_reset_bias(), invalid state"); + + for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++) + devp->gyrobias[i] = L3GD20_GYRO_BIAS; + return msg; +} + +/** + * @brief Set sensitivity values for the BaseGyroscope. + * @note Sensitivity must be expressed as DPS/LSB. + * @note The sensitivity buffer must be at least the same size of the + * BaseGyroscope axes number. + * + * @param[in] ip pointer to @p BaseGyroscope interface. + * @param[in] sp a buffer which contains sensitivities. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + */ +static msg_t gyro_set_sensivity(void *ip, float *sp) { + L3GD20Driver* devp; + uint32_t i; + msg_t msg = MSG_OK; + + osalDbgCheck((ip != NULL) && (sp !=NULL)); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(L3GD20Driver*, (BaseGyroscope*)ip); + + osalDbgAssert((devp->state == L3GD20_READY), + "gyro_set_sensivity(), invalid state"); + + for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++) { + devp->gyrosensitivity[i] = sp[i]; + } + return msg; +} + +/** + * @brief Reset sensitivity values for the BaseGyroscope. + * @note Default sensitivities value are obtained from device datasheet. + * + * @param[in] ip pointer to @p BaseGyroscope interface. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * @retval MSG_RESET otherwise. + */ +static msg_t gyro_reset_sensivity(void *ip) { + L3GD20Driver* devp; + uint32_t i; + msg_t msg = MSG_OK; + + osalDbgCheck(ip != NULL); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(L3GD20Driver*, (BaseGyroscope*)ip); + + osalDbgAssert((devp->state == L3GD20_READY), + "gyro_reset_sensivity(), invalid state"); + + if(devp->config->gyrofullscale == L3GD20_FS_250DPS) + for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++) + devp->gyrosensitivity[i] = L3GD20_GYRO_SENS_250DPS; + else if(devp->config->gyrofullscale == L3GD20_FS_500DPS) + for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++) + devp->gyrosensitivity[i] = L3GD20_GYRO_SENS_500DPS; + else if(devp->config->gyrofullscale == L3GD20_FS_2000DPS) + for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++) + devp->gyrosensitivity[i] = L3GD20_GYRO_SENS_2000DPS; + else { + osalDbgAssert(FALSE, "gyro_reset_sensivity(), full scale issue"); + return MSG_RESET; + } + return msg; +} + +/** + * @brief Changes the L3GD20Driver gyroscope 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 BaseGyroscope 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 gyro_set_full_scale(L3GD20Driver *devp, l3gd20_fs_t fs) { + float newfs, scale; + uint8_t i, cr; + msg_t msg = MSG_OK; + + osalDbgCheck(devp != NULL); + + osalDbgAssert((devp->state == L3GD20_READY), + "gyro_set_full_scale(), invalid state"); +#if L3GD20_USE_SPI + osalDbgAssert((devp->config->spip->state == SPI_READY), + "gyro_set_full_scale(), channel not ready"); +#endif + + if(fs == L3GD20_FS_250DPS) { + newfs = L3GD20_250DPS; + } + else if(fs == L3GD20_FS_500DPS) { + newfs = L3GD20_500DPS; + } + else if(fs == L3GD20_FS_2000DPS) { + newfs = L3GD20_2000DPS; + } + else { + return MSG_RESET; + } + + if(newfs != devp->gyrofullscale) { + scale = newfs / devp->gyrofullscale; + devp->gyrofullscale = newfs; + +#if L3GD20_USE_SPI +#if L3GD20_SHARED_SPI + spiAcquireBus(devp->config->spip); + spiStart(devp->config->spip, + devp->config->spicfg); +#endif /* L3GD20_SHARED_SPI */ + + /* Updating register.*/ + l3gd20SPIReadRegister(devp->config->spip, + L3GD20_AD_CTRL_REG4, 1, &cr); + +#if L3GD20_SHARED_SPI + spiReleaseBus(devp->config->spip); +#endif /* L3GD20_SHARED_SPI */ +#endif /* L3GD20_USE_SPI */ + cr &= ~(L3GD20_CTRL_REG4_FS_MASK); + cr |= fs; + +#if L3GD20_USE_SPI +#if L3GD20_SHARED_SPI + spiAcquireBus(devp->config->spip); + spiStart(devp->config->spip, + devp->config->spicfg); +#endif /* L3GD20_SHARED_SPI */ + + l3gd20SPIWriteRegister(devp->config->spip, + L3GD20_AD_CTRL_REG4, 1, &cr); +#if L3GD20_SHARED_SPI + spiReleaseBus(devp->config->spip); +#endif /* L3GD20_SHARED_SPI */ +#endif /* L3GD20_USE_SPI */ + + /* Scaling sensitivity and bias. Re-calibration is suggested anyway. */ + for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++) { + devp->gyrosensitivity[i] *= scale; + devp->gyrobias[i] *= scale; + } + } + return msg; +} + +static const struct L3GD20VMT vmt_device = { + (size_t)0, + gyro_set_full_scale +}; + +static const struct BaseGyroscopeVMT vmt_gyroscope = { + sizeof(struct L3GD20VMT*), + gyro_get_axes_number, gyro_read_raw, gyro_read_cooked, + gyro_sample_bias, gyro_set_bias, gyro_reset_bias, + gyro_set_sensivity, gyro_reset_sensivity +}; + +/*===========================================================================*/ +/* Driver exported functions. */ +/*===========================================================================*/ + +/** + * @brief Initializes an instance. + * + * @param[out] devp pointer to the @p L3GD20Driver object + * + * @init + */ +void l3gd20ObjectInit(L3GD20Driver *devp) { + devp->vmt = &vmt_device; + devp->gyro_if.vmt = &vmt_gyroscope; + + devp->config = NULL; + + devp->state = L3GD20_STOP; +} + +/** + * @brief Configures and activates L3GD20 Complex Driver peripheral. + * + * @param[in] devp pointer to the @p L3GD20Driver object + * @param[in] config pointer to the @p L3GD20Config object + * + * @api + */ +void l3gd20Start(L3GD20Driver *devp, const L3GD20Config *config) { + uint32_t i; + uint8_t cr[5] = {0, 0, 0, 0, 0}; + osalDbgCheck((devp != NULL) && (config != NULL)); + + osalDbgAssert((devp->state == L3GD20_STOP) || (devp->state == L3GD20_READY), + "l3gd20Start(), invalid state"); + + devp->config = config; + + /* Control register 1 configuration block.*/ + { + cr[0] = L3GD20_CTRL_REG1_XEN | L3GD20_CTRL_REG1_YEN | + L3GD20_CTRL_REG1_ZEN | L3GD20_CTRL_REG1_PD | + devp->config->gyrooutputdatarate; +#if L3GD20_USE_ADVANCED || defined(__DOXYGEN__) + cr[0] |= devp->config->gyrobandwidth; +#endif + } + + /* Control register 2 configuration block.*/ + { +#if L3GD20_USE_ADVANCED || defined(__DOXYGEN__) + if(devp->config->gyrohpmode != L3GD20_HPM_BYPASSED) + cr[1] = devp->config->gyrohpmode | devp->config->gyrohpconfiguration; +#endif + } + + /* Control register 4 configuration block.*/ + { + cr[3] = devp->config->gyrofullscale; +#if L3GD20_USE_ADVANCED || defined(__DOXYGEN__) + cr[3] |= devp->config->gyroblockdataupdate | + devp->config->gyroendianness; +#endif + } + + /* Control register 5 configuration block.*/ + { +#if L3GD20_USE_ADVANCED || defined(__DOXYGEN__) + if((devp->config->gyrohpmode != L3GD20_HPM_BYPASSED)) { + cr[4] = L3GD20_CTRL_REG5_HPEN; + if(devp->config->gyrolp2mode != L3GD20_LP2M_BYPASSED) { + cr[4] |= L3GD20_CTRL_REG5_INT1_SEL1 | + L3GD20_CTRL_REG5_OUT_SEL1; + } + else { + cr[4] |= L3GD20_CTRL_REG5_INT1_SEL0 | + L3GD20_CTRL_REG5_OUT_SEL0; + } + } +#endif + } + +#if L3GD20_USE_SPI +#if L3GD20_SHARED_SPI + spiAcquireBus(devp->config->spip); +#endif /* L3GD20_SHARED_SPI */ + spiStart(devp->config->spip, + devp->config->spicfg); + + l3gd20SPIWriteRegister(devp->config->spip, L3GD20_AD_CTRL_REG1, + 5, cr); +#if L3GD20_SHARED_SPI + spiReleaseBus(devp->config->spip); +#endif /* L3GD20_SHARED_SPI */ +#endif /* L3GD20_USE_SPI */ + + /* Storing sensitivity information according to full scale.*/ + if(devp->config->gyrofullscale == L3GD20_FS_250DPS) { + devp->gyrofullscale = L3GD20_250DPS; + for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++) { + if (devp->config->gyrosensitivity == NULL) + devp->gyrosensitivity[i] = L3GD20_GYRO_SENS_250DPS; + else + devp->gyrosensitivity[i] = devp->config->gyrosensitivity[i]; + } + } + else if(devp->config->gyrofullscale == L3GD20_FS_500DPS) { + devp->gyrofullscale = L3GD20_500DPS; + for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++) { + if (devp->config->gyrosensitivity == NULL) + devp->gyrosensitivity[i] = L3GD20_GYRO_SENS_500DPS; + else + devp->gyrosensitivity[i] = devp->config->gyrosensitivity[i]; + } + } + else if(devp->config->gyrofullscale == L3GD20_FS_2000DPS) { + devp->gyrofullscale = L3GD20_2000DPS; + for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++) { + if (devp->config->gyrosensitivity == NULL) + devp->gyrosensitivity[i] = L3GD20_GYRO_SENS_2000DPS; + else + devp->gyrosensitivity[i] = devp->config->gyrosensitivity[i]; + } + } + else + osalDbgAssert(FALSE, "l3gd20Start(), full scale issue"); + + /* Storing bias information.*/ + if(devp->config->gyrobias != NULL) { + for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++) { + devp->gyrobias[i] = devp->config->gyrobias[i]; + } + } + else { + for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++) + devp->gyrobias[i] = L3GD20_GYRO_BIAS; + } + + /* This is the Gyroscope transient recovery time.*/ + osalThreadSleepMilliseconds(10); + + devp->state = L3GD20_READY; +} + +/** + * @brief Deactivates the L3GD20 Complex Driver peripheral. + * + * @param[in] devp pointer to the @p L3GD20Driver object + * + * @api + */ +void l3gd20Stop(L3GD20Driver *devp) { + uint8_t cr1; + osalDbgCheck(devp != NULL); + + osalDbgAssert((devp->state == L3GD20_STOP) || (devp->state == L3GD20_READY), + "l3gd20Stop(), invalid state"); + + if (devp->state == L3GD20_READY) { + /* Disabling all axes and enabling power down mode.*/ + cr1 = 0; + +#if L3GD20_USE_SPI +#if L3GD20_SHARED_SPI + spiAcquireBus(devp->config->spip); + spiStart(devp->config->spip, + devp->config->spicfg); +#endif /* L3GD20_SHARED_SPI */ + + l3gd20SPIWriteRegister(devp->config->spip, L3GD20_AD_CTRL_REG1, + 1, &cr1); + spiStop(devp->config->spip); + +#if L3GD20_SHARED_SPI + spiReleaseBus(devp->config->spip); +#endif /* L3GD20_SHARED_SPI */ +#endif /* L3GD20_USE_SPI */ + } + devp->state = L3GD20_STOP; +} +/** @} */ -- cgit v1.2.3