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/lis3mdl.c | 627 ++++++++++++++++++++++++++++++ 1 file changed, 627 insertions(+) create mode 100644 ChibiOS_20.3.2/os/ex/devices/ST/lis3mdl.c (limited to 'ChibiOS_20.3.2/os/ex/devices/ST/lis3mdl.c') diff --git a/ChibiOS_20.3.2/os/ex/devices/ST/lis3mdl.c b/ChibiOS_20.3.2/os/ex/devices/ST/lis3mdl.c new file mode 100644 index 0000000..270ee83 --- /dev/null +++ b/ChibiOS_20.3.2/os/ex/devices/ST/lis3mdl.c @@ -0,0 +1,627 @@ +/* + 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 lis3mdl.c + * @brief LIS3MDL MEMS interface module code. + * + * @addtogroup LIS3MDL + * @ingroup EX_ST + * @{ + */ + +#include "hal.h" +#include "lis3mdl.h" + +/*===========================================================================*/ +/* Driver local definitions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver exported variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local variables and types. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local functions. */ +/*===========================================================================*/ + +#if (LIS3MDL_USE_I2C) || defined(__DOXYGEN__) +/** + * @brief Reads registers value using I2C. + * @pre The I2C interface must be initialized and the driver started. + * + * @param[in] i2cp pointer to the I2C interface + * @param[in] sad slave address without R bit + * @param[in] reg first sub-register address + * @param[out] rxbuf pointer to an output buffer + * @param[in] n number of consecutive register to read + * @return the operation status. + * @notapi + */ +msg_t lis3mdlI2CReadRegister(I2CDriver *i2cp, lis3mdl_sad_t sad, uint8_t reg, + uint8_t* rxbuf, size_t n) { + uint8_t txbuf = reg; + if(n > 1) + txbuf |= LIS3MDL_SUB_MS; + + return i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, n, + TIME_INFINITE); +} + +/** + * @brief Writes a value into a register using I2C. + * @pre The I2C interface must be initialized and the driver started. + * + * @param[in] i2cp pointer to the I2C interface + * @param[in] sad slave address without R bit + * @param[in] txbuf buffer containing sub-address value in first position + * and values to write + * @param[in] n size of txbuf less one (not considering the first + * element) + * @return the operation status. + * @notapi + */ +msg_t lis3mdlI2CWriteRegister(I2CDriver *i2cp, lis3mdl_sad_t sad, uint8_t* txbuf, + uint8_t n) { + if (n > 1) + (*txbuf) |= LIS3MDL_SUB_MS; + + return i2cMasterTransmitTimeout(i2cp, sad, txbuf, n + 1, NULL, 0, + TIME_INFINITE); +} +#endif /* LIS3MDL_USE_I2C */ + +/** + * @brief Return the number of axes of the BaseCompass. + * + * @param[in] ip pointer to @p BaseCompass interface + * + * @return the number of axes. + */ +static size_t comp_get_axes_number(void *ip) { + + osalDbgCheck(ip != NULL); + return LIS3MDL_COMP_NUMBER_OF_AXES; +} + +/** + * @brief Retrieves raw data from the BaseCompass. + * @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 + * BaseCompass axes number. + * + * @param[in] ip pointer to @p BaseCompass 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 comp_read_raw(void *ip, int32_t axes[]) { + LIS3MDLDriver* devp; + uint8_t buff [LIS3MDL_COMP_NUMBER_OF_AXES * 2], i; + int16_t tmp; + msg_t msg; + + osalDbgCheck((ip != NULL) && (axes != NULL)); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LIS3MDLDriver*, (BaseCompass*)ip); + + osalDbgAssert((devp->state == LIS3MDL_READY), + "comp_read_raw(), invalid state"); + osalDbgAssert((devp->config->i2cp->state == I2C_READY), + "comp_read_raw(), channel not ready"); + +#if LIS3MDL_SHARED_I2C + i2cAcquireBus(devp->config->i2cp); + i2cStart(devp->config->i2cp, + devp->config->i2ccfg); +#endif /* LIS3MDL_SHARED_I2C */ + msg = lis3mdlI2CReadRegister(devp->config->i2cp, devp->config->slaveaddress, + LIS3MDL_AD_OUT_X_L, buff, + LIS3MDL_COMP_NUMBER_OF_AXES * 2); + +#if LIS3MDL_SHARED_I2C + i2cReleaseBus(devp->config->i2cp); +#endif /* LIS3MDL_SHARED_I2C */ + + if(msg == MSG_OK) + for(i = 0; i < LIS3MDL_COMP_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 BaseCompass. + * @note This data is manipulated according to the formula + * cooked = (raw * sensitivity) - bias. + * @note Final data is expressed as G. + * @note The axes array must be at least the same size of the + * BaseCompass axes number. + * + * @param[in] ip pointer to @p BaseCompass 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 comp_read_cooked(void *ip, float axes[]) { + LIS3MDLDriver* devp; + uint32_t i; + int32_t raw[LIS3MDL_COMP_NUMBER_OF_AXES]; + msg_t msg; + + osalDbgCheck((ip != NULL) && (axes != NULL)); + + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LIS3MDLDriver*, (BaseCompass*)ip); + + osalDbgAssert((devp->state == LIS3MDL_READY), + "comp_read_cooked(), invalid state"); + + msg = comp_read_raw(ip, raw); + for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES ; i++) { + axes[i] = (raw[i] * devp->compsensitivity[i]) - devp->compbias[i]; + } + return msg; +} + +/** + * @brief Set bias values for the BaseCompass. + * @note Bias must be expressed as G. + * @note The bias buffer must be at least the same size of the + * BaseCompass axes number. + * + * @param[in] ip pointer to @p BaseCompass interface. + * @param[in] bp a buffer which contains biases. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + */ +static msg_t comp_set_bias(void *ip, float *bp) { + LIS3MDLDriver* devp; + uint32_t i; + msg_t msg = MSG_OK; + + osalDbgCheck((ip != NULL) && (bp != NULL)); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LIS3MDLDriver*, (BaseCompass*)ip); + + osalDbgAssert((devp->state == LIS3MDL_READY), + "comp_set_bias(), invalid state"); + + for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) { + devp->compbias[i] = bp[i]; + } + return msg; +} + +/** + * @brief Reset bias values for the BaseCompass. + * @note Default biases value are obtained from device datasheet when + * available otherwise they are considered zero. + * + * @param[in] ip pointer to @p BaseCompass interface. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + */ +static msg_t comp_reset_bias(void *ip) { + LIS3MDLDriver* devp; + uint32_t i; + msg_t msg = MSG_OK; + + osalDbgCheck(ip != NULL); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LIS3MDLDriver*, (BaseCompass*)ip); + + osalDbgAssert((devp->state == LIS3MDL_READY), + "comp_reset_bias(), invalid state"); + + for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) + devp->compbias[i] = LIS3MDL_COMP_BIAS; + return msg; +} + +/** + * @brief Set sensitivity values for the BaseCompass. + * @note Sensitivity must be expressed as G/LSB. + * @note The sensitivity buffer must be at least the same size of the + * BaseCompass axes number. + * + * @param[in] ip pointer to @p BaseCompass interface. + * @param[in] sp a buffer which contains sensitivities. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + */ +static msg_t comp_set_sensivity(void *ip, float *sp) { + LIS3MDLDriver* devp; + uint32_t i; + msg_t msg = MSG_OK; + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LIS3MDLDriver*, (BaseCompass*)ip); + + osalDbgCheck((ip != NULL) && (sp != NULL)); + + osalDbgAssert((devp->state == LIS3MDL_READY), + "comp_set_sensivity(), invalid state"); + + for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) { + devp->compsensitivity[i] = sp[i]; + } + return msg; +} + +/** + * @brief Reset sensitivity values for the BaseCompass. + * @note Default sensitivities value are obtained from device datasheet. + * + * @param[in] ip pointer to @p BaseCompass interface. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * @retval MSG_RESET otherwise. + */ +static msg_t comp_reset_sensivity(void *ip) { + LIS3MDLDriver* devp; + uint32_t i; + msg_t msg = MSG_OK; + + osalDbgCheck(ip != NULL); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LIS3MDLDriver*, (BaseCompass*)ip); + + osalDbgAssert((devp->state == LIS3MDL_READY), + "comp_reset_sensivity(), invalid state"); + + if(devp->config->compfullscale == LIS3MDL_COMP_FS_4GA) + for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) + devp->compsensitivity[i] = LIS3MDL_COMP_SENS_4GA; + else if(devp->config->compfullscale == LIS3MDL_COMP_FS_8GA) + for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) + devp->compsensitivity[i] = LIS3MDL_COMP_SENS_8GA; + else if(devp->config->compfullscale == LIS3MDL_COMP_FS_12GA) + for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) + devp->compsensitivity[i] = LIS3MDL_COMP_SENS_12GA; + else if(devp->config->compfullscale == LIS3MDL_COMP_FS_16GA) + for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) + devp->compsensitivity[i] = LIS3MDL_COMP_SENS_16GA; + else { + osalDbgAssert(FALSE, "comp_reset_sensivity(), compass full scale issue"); + msg = MSG_RESET; + } + return msg; +} + +/** + * @brief Changes the LIS3MDLDriver compass 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 LIS3MDLDriver 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 comp_set_full_scale(LIS3MDLDriver *devp, lis3mdl_comp_fs_t fs) { + float newfs, scale; + uint8_t i, buff[2]; + msg_t msg; + + osalDbgCheck(devp != NULL); + + osalDbgAssert((devp->state == LIS3MDL_READY), + "comp_set_full_scale(), invalid state"); + osalDbgAssert((devp->config->i2cp->state == I2C_READY), + "comp_set_full_scale(), channel not ready"); + + /* Computing new fullscale value.*/ + if(fs == LIS3MDL_COMP_FS_4GA) { + newfs = LIS3MDL_COMP_4GA; + } + else if(fs == LIS3MDL_COMP_FS_8GA) { + newfs = LIS3MDL_COMP_8GA; + } + else if(fs == LIS3MDL_COMP_FS_12GA) { + newfs = LIS3MDL_COMP_12GA; + } + else if(fs == LIS3MDL_COMP_FS_16GA) { + newfs = LIS3MDL_COMP_16GA; + } + else { + msg = MSG_RESET; + return msg; + } + + if(newfs != devp->compfullscale) { + /* Computing scale value.*/ + scale = newfs / devp->compfullscale; + devp->compfullscale = newfs; + +#if LIS3MDL_SHARED_I2C + i2cAcquireBus(devp->config->i2cp); + i2cStart(devp->config->i2cp, devp->config->i2ccfg); +#endif /* LIS3MDL_SHARED_I2C */ + + /* Updating register.*/ + msg = lis3mdlI2CReadRegister(devp->config->i2cp, devp->config->slaveaddress, + LIS3MDL_AD_CTRL_REG2, &buff[1], 1); + +#if LIS3MDL_SHARED_I2C + i2cReleaseBus(devp->config->i2cp); +#endif /* LIS3MDL_SHARED_I2C */ + + if(msg != MSG_OK) + return msg; + buff[1] &= ~(LIS3MDL_CTRL_REG2_FS_MASK); + buff[1] |= fs; + buff[0] = LIS3MDL_AD_CTRL_REG2; + +#if LIS3MDL_SHARED_I2C + i2cAcquireBus(devp->config->i2cp); + i2cStart(devp->config->i2cp, devp->config->i2ccfg); +#endif /* LIS3MDL_SHARED_I2C */ + + msg = lis3mdlI2CWriteRegister(devp->config->i2cp, + devp->config->slaveaddress, + buff, 1); + +#if LIS3MDL_SHARED_I2C + i2cReleaseBus(devp->config->i2cp); +#endif /* LIS3MDL_SHARED_I2C */ + + if(msg != MSG_OK) + return msg; + + /* Scaling sensitivity and bias. Re-calibration is suggested anyway.*/ + for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) { + devp->compsensitivity[i] *= scale; + devp->compbias[i] *= scale; + } + } + return msg; +} + +static const struct LIS3MDLVMT vmt_device = { + (size_t)0, + comp_set_full_scale +}; + +static const struct BaseCompassVMT vmt_compass = { + sizeof(struct LIS3MDLVMT*), + comp_get_axes_number, comp_read_raw, comp_read_cooked, + comp_set_bias, comp_reset_bias, comp_set_sensivity, comp_reset_sensivity +}; + +/*===========================================================================*/ +/* Driver exported functions. */ +/*===========================================================================*/ + +/** + * @brief Initializes an instance. + * + * @param[out] devp pointer to the @p LIS3MDLDriver object + * + * @init + */ +void lis3mdlObjectInit(LIS3MDLDriver *devp) { + devp->vmt = &vmt_device; + devp->comp_if.vmt = &vmt_compass; + + devp->config = NULL; + + devp->compaxes = LIS3MDL_COMP_NUMBER_OF_AXES; + + devp->state = LIS3MDL_STOP; +} + +/** + * @brief Configures and activates LIS3MDL Complex Driver peripheral. + * + * @param[in] devp pointer to the @p LIS3MDLDriver object + * @param[in] config pointer to the @p LIS3MDLConfig object + * + * @api + */ +void lis3mdlStart(LIS3MDLDriver *devp, const LIS3MDLConfig *config) { + uint32_t i; + uint8_t cr[6]; + osalDbgCheck((devp != NULL) && (config != NULL)); + + osalDbgAssert((devp->state == LIS3MDL_STOP) || (devp->state == LIS3MDL_READY), + "lis3mdlStart(), invalid state"); + + devp->config = config; + + /* Control register 1 configuration block.*/ + { + cr[0] = LIS3MDL_AD_CTRL_REG1; + cr[1] = devp->config->compoutputdatarate; +#if LIS3MDL_USE_ADVANCED || defined(__DOXYGEN__) + cr[1] |= devp->config->compoperationmodexy; +#else + cr[1] |= LIS3MDL_CTRL_REG1_OM0 | LIS3MDL_CTRL_REG1_OM1; +#endif + } + + /* Control register 2 configuration block.*/ + { + cr[2] = devp->config->compfullscale; + } + + /* Control register 3 configuration block.*/ + { + cr[3] = 0; +#if LIS3MDL_USE_ADVANCED || defined(__DOXYGEN__) + cr[3] = devp->config->compconversionmode; +#endif + } + + /* Control register 4 configuration block.*/ + { + cr[4] = 0; +#if LIS3MDL_USE_ADVANCED || defined(__DOXYGEN__) + cr[4] = devp->config->compoperationmodez | devp->config->endianness; +#endif + } + + /* Control register 5 configuration block.*/ + { + cr[5] = 0; +#if LIS3MDL_USE_ADVANCED || defined(__DOXYGEN__) + cr[5] = devp->config->blockdataupdate; +#endif + } + +#if LIS3MDL_USE_I2C +#if LIS3MDL_SHARED_I2C + i2cAcquireBus((devp)->config->i2cp); +#endif /* LIS3MDL_SHARED_I2C */ + i2cStart((devp)->config->i2cp, + (devp)->config->i2ccfg); + + lis3mdlI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress, + cr, 5); + +#if LIS3MDL_SHARED_I2C + i2cReleaseBus((devp)->config->i2cp); +#endif /* LIS3MDL_SHARED_I2C */ +#endif /* LIS3MDL_USE_I2C */ + + if(devp->config->compfullscale == LIS3MDL_COMP_FS_4GA) { + devp->compfullscale = LIS3MDL_COMP_4GA; + for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) { + if(devp->config->compsensitivity == NULL) { + devp->compsensitivity[i] = LIS3MDL_COMP_SENS_4GA; + } + else { + devp->compsensitivity[i] = devp->config->compsensitivity[i]; + } + } + } + else if(devp->config->compfullscale == LIS3MDL_COMP_FS_8GA) { + devp->compfullscale = LIS3MDL_COMP_8GA; + for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) { + if(devp->config->compsensitivity == NULL) { + devp->compsensitivity[i] = LIS3MDL_COMP_SENS_8GA; + } + else { + devp->compsensitivity[i] = devp->config->compsensitivity[i]; + } + } + } + else if(devp->config->compfullscale == LIS3MDL_COMP_FS_12GA) { + devp->compfullscale = LIS3MDL_COMP_12GA; + for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) { + if(devp->config->compsensitivity == NULL) { + devp->compsensitivity[i] = LIS3MDL_COMP_SENS_12GA; + } + else { + devp->compsensitivity[i] = devp->config->compsensitivity[i]; + } + } + } + else if(devp->config->compfullscale == LIS3MDL_COMP_FS_16GA) { + devp->compfullscale = LIS3MDL_COMP_16GA; + for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) { + if(devp->config->compsensitivity == NULL) { + devp->compsensitivity[i] = LIS3MDL_COMP_SENS_16GA; + } + else { + devp->compsensitivity[i] = devp->config->compsensitivity[i]; + } + } + } + else + osalDbgAssert(FALSE, "lis3mdlStart(), compass full scale issue"); + + /* Storing bias information */ + if(devp->config->compbias != NULL) + for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) + devp->compbias[i] = devp->config->compbias[i]; + else + for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) + devp->compbias[i] = LIS3MDL_COMP_BIAS; + + /* This is the MEMS transient recovery time */ + osalThreadSleepMilliseconds(5); + + devp->state = LIS3MDL_READY; +} + +/** + * @brief Deactivates the LIS3MDL Complex Driver peripheral. + * + * @param[in] devp pointer to the @p LIS3MDLDriver object + * + * @api + */ +void lis3mdlStop(LIS3MDLDriver *devp) { + uint8_t cr[2]; + osalDbgCheck(devp != NULL); + + osalDbgAssert((devp->state == LIS3MDL_STOP) || (devp->state == LIS3MDL_READY), + "lis3mdlStop(), invalid state"); + + if (devp->state == LIS3MDL_READY) { +#if (LIS3MDL_USE_I2C) +#if LIS3MDL_SHARED_I2C + i2cAcquireBus((devp)->config->i2cp); + i2cStart((devp)->config->i2cp, + (devp)->config->i2ccfg); +#endif /* LIS3MDL_SHARED_I2C */ + + /* Disabling compass. */ + cr[0] = LIS3MDL_AD_CTRL_REG3; + cr[1] = LIS3MDL_CTRL_REG3_MD0 | LIS3MDL_CTRL_REG3_MD1; + lis3mdlI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress, + cr, 1); + + i2cStop((devp)->config->i2cp); +#if LIS3MDL_SHARED_I2C + i2cReleaseBus((devp)->config->i2cp); +#endif /* LIS3MDL_SHARED_I2C */ +#endif /* LIS3MDL_USE_I2C */ + } + devp->state = LIS3MDL_STOP; +} +/** @} */ -- cgit v1.2.3