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/lis302dl.c | 554 +++++++++++++++++++++++++++++ 1 file changed, 554 insertions(+) create mode 100644 ChibiOS_20.3.2/os/ex/devices/ST/lis302dl.c (limited to 'ChibiOS_20.3.2/os/ex/devices/ST/lis302dl.c') 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 . + +*/ + +/** + * @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; +} +/** @} */ -- cgit v1.2.3