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/lps25h.c | 696 +++++++++++++++++++++++++++++++ 1 file changed, 696 insertions(+) create mode 100644 ChibiOS_20.3.2/os/ex/devices/ST/lps25h.c (limited to 'ChibiOS_20.3.2/os/ex/devices/ST/lps25h.c') diff --git a/ChibiOS_20.3.2/os/ex/devices/ST/lps25h.c b/ChibiOS_20.3.2/os/ex/devices/ST/lps25h.c new file mode 100644 index 0000000..3aa651f --- /dev/null +++ b/ChibiOS_20.3.2/os/ex/devices/ST/lps25h.c @@ -0,0 +1,696 @@ +/* + 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 lps25h.c + * @brief LPS25H MEMS interface module code. + * + * @addtogroup LPS25H + * @ingroup EX_ST + * @{ + */ + +#include "hal.h" +#include "lps25h.h" + +/*===========================================================================*/ +/* Driver local definitions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver exported variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local variables and types. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local functions. */ +/*===========================================================================*/ + +#if (LPS25H_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 + */ +static msg_t lps25hI2CReadRegister(I2CDriver *i2cp, lps25h_sad_t sad, + uint8_t reg, uint8_t* rxbuf, size_t n) { + uint8_t txbuf = reg; + if(n > 1) + txbuf |= LPS25H_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 + */ +static msg_t lps25hI2CWriteRegister(I2CDriver *i2cp, lps25h_sad_t sad, + uint8_t* txbuf, size_t n) { + if (n > 1) + (*txbuf) |= LPS25H_SUB_MS; + return i2cMasterTransmitTimeout(i2cp, sad, txbuf, n + 1, NULL, 0, + TIME_INFINITE); +} +#endif /* LPS25H_USE_I2C */ + +/** + * @brief Return the number of axes of the BaseBarometer. + * + * @param[in] ip pointer to @p BaseBarometer interface. + * + * @return the number of axes. + */ +static size_t baro_get_axes_number(void *ip) { + (void)ip; + + return LPS25H_BARO_NUMBER_OF_AXES; +} + +/** + * @brief Retrieves raw data from the BaseBarometer. + * @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 + * BaseBarometer axes number. + * + * @param[in] ip pointer to @p BaseBarometer 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 baro_read_raw(void *ip, int32_t axes[]) { + LPS25HDriver* devp; + uint8_t buff[3]; + msg_t msg; + + osalDbgCheck((ip != NULL) && (axes != NULL)); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LPS25HDriver*, (BaseBarometer*)ip); + + osalDbgAssert((devp->state == LPS25H_READY), + "baro_read_raw(), invalid state"); + + osalDbgAssert((devp->config->i2cp->state == I2C_READY), + "baro_read_raw(), channel not ready"); + +#if LPS25H_SHARED_I2C + i2cAcquireBus(devp->config->i2cp); + i2cStart(devp->config->i2cp, + devp->config->i2ccfg); +#endif /* LPS25H_SHARED_I2C */ + + msg = lps25hI2CReadRegister(devp->config->i2cp, devp->config->slaveaddress, + LPS25H_AD_PRESS_OUT_XL, buff, 3); + +#if LPS25H_SHARED_I2C + i2cReleaseBus(devp->config->i2cp); +#endif /* LPS25H_SHARED_I2C */ + + if(msg == MSG_OK) { + *axes = buff[0] + (buff[1] << 8) + (buff[2] << 16); + } + return msg; +} + +/** + * @brief Retrieves cooked data from the BaseBarometer. + * @note This data is manipulated according to the formula + * cooked = (raw * sensitivity) - bias. + * @note Final data is expressed as hPa. + * @note The axes array must be at least the same size of the + * BaseBarometer axes number. + * + * @param[in] ip pointer to @p BaseBarometer 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 baro_read_cooked(void *ip, float axes[]) { + LPS25HDriver* devp; + int32_t raw; + msg_t msg; + + osalDbgCheck((ip != NULL) && (axes != NULL)); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LPS25HDriver*, (BaseBarometer*)ip); + + osalDbgAssert((devp->state == LPS25H_READY), + "baro_read_cooked(), invalid state"); + + msg = baro_read_raw(ip, &raw); + + *axes = (raw * devp->barosensitivity) - devp->barobias; + + return msg; +} + +/** + * @brief Set bias values for the BaseBarometer. + * @note Bias must be expressed as hPa. + * @note The bias buffer must be at least the same size of the + * BaseBarometer axes number. + * + * @param[in] ip pointer to @p BaseBarometer interface. + * @param[in] bp a buffer which contains biases. + * + * @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 baro_set_bias(void *ip, float *bp) { + LPS25HDriver* devp; + msg_t msg = MSG_OK; + + osalDbgCheck((ip != NULL) && (bp != NULL)); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LPS25HDriver*, (BaseBarometer*)ip); + + osalDbgAssert((devp->state == LPS25H_READY), + "baro_set_bias(), invalid state"); + + devp->barobias = *bp; + return msg; +} + +/** + * @brief Reset bias values for the BaseBarometer. + * @note Default biases value are obtained from device datasheet when + * available otherwise they are considered zero. + * + * @param[in] ip pointer to @p BaseBarometer interface. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + */ +static msg_t baro_reset_bias(void *ip) { + LPS25HDriver* devp; + msg_t msg = MSG_OK; + + osalDbgCheck(ip != NULL); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LPS25HDriver*, (BaseBarometer*)ip); + + osalDbgAssert((devp->state == LPS25H_READY), + "baro_reset_bias(), invalid state"); + + devp->barobias = LPS25H_BARO_SENS; + return msg; +} + +/** + * @brief Set sensitivity values for the BaseBarometer. + * @note Sensitivity must be expressed as hPa/LSB. + * @note The sensitivity buffer must be at least the same size of the + * BaseBarometer axes number. + * + * @param[in] ip pointer to @p BaseBarometer interface. + * @param[in] sp a buffer which contains sensitivities. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + */ +static msg_t baro_set_sensitivity(void *ip, float *sp) { + LPS25HDriver* devp; + msg_t msg = MSG_OK; + + osalDbgCheck((ip != NULL) && (sp != NULL)); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LPS25HDriver*, (BaseBarometer*)ip); + + osalDbgAssert((devp->state == LPS25H_READY), + "baro_set_sensitivity(), invalid state"); + + devp->barosensitivity = *sp; + return msg; +} + +/** + * @brief Reset sensitivity values for the BaseBarometer. + * @note Default sensitivities value are obtained from device datasheet. + * + * @param[in] ip pointer to @p BaseBarometer interface. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + */ +static msg_t baro_reset_sensitivity(void *ip) { + LPS25HDriver* devp; + msg_t msg = MSG_OK; + + osalDbgCheck(ip != NULL); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LPS25HDriver*, (BaseBarometer*)ip); + + osalDbgAssert((devp->state == LPS25H_READY), + "baro_reset_sensitivity(), invalid state"); + + devp->barosensitivity = LPS25H_BARO_SENS; + return msg; +} + +/** + * @brief Return the number of axes of the BaseThermometer. + * + * @param[in] ip pointer to @p BaseThermometer interface. + * + * @return the number of axes. + */ +static size_t thermo_get_axes_number(void *ip) { + (void)ip; + + return LPS25H_THERMO_NUMBER_OF_AXES; +} + +/** + * @brief Retrieves raw data from the BaseThermometer. + * @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 + * BaseThermometer axes number. + * + * @param[in] ip pointer to @p BaseThermometer 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 thermo_read_raw(void *ip, int32_t axes[]) { + LPS25HDriver* devp; + int16_t tmp; + uint8_t buff[2]; + msg_t msg; + + osalDbgCheck((ip != NULL) && (axes != NULL)); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LPS25HDriver*, (BaseThermometer*)ip); + + osalDbgAssert((devp->state == LPS25H_READY), + "thermo_read_raw(), invalid state"); + + osalDbgAssert((devp->config->i2cp->state == I2C_READY), + "thermo_read_raw(), channel not ready"); + +#if LPS25H_SHARED_I2C + i2cAcquireBus(devp->config->i2cp); + i2cStart(devp->config->i2cp, + devp->config->i2ccfg); +#endif /* LPS25H_SHARED_I2C */ + + msg = lps25hI2CReadRegister(devp->config->i2cp, devp->config->slaveaddress, + LPS25H_AD_TEMP_OUT_L, buff, 2); + +#if LPS25H_SHARED_I2C + i2cReleaseBus(devp->config->i2cp); +#endif /* LPS25H_SHARED_I2C */ + + if (msg == MSG_OK) { + tmp = buff[0] + (buff[1] << 8); + *axes = (int32_t)tmp; + } + return msg; +} + +/** + * @brief Retrieves cooked data from the BaseThermometer. + * @note This data is manipulated according to the formula + * cooked = (raw * sensitivity) - bias. + * @note Final data is expressed as °C. + * @note The axes array must be at least the same size of the + * BaseThermometer axes number. + * + * @param[in] ip pointer to @p BaseThermometer interface. + * @param[out] axis 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 thermo_read_cooked(void *ip, float* axis) { + LPS25HDriver* devp; + int32_t raw; + msg_t msg; + + osalDbgCheck((ip != NULL) && (axis != NULL)); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LPS25HDriver*, (BaseThermometer*)ip); + + osalDbgAssert((devp->state == LPS25H_READY), + "thermo_read_cooked(), invalid state"); + + msg = thermo_read_raw(devp, &raw); + + *axis = (raw * devp->thermosensitivity) - devp->thermobias; + + return msg; +} + +/** + * @brief Set bias values for the BaseThermometer. + * @note Bias must be expressed as °C. + * @note The bias buffer must be at least the same size of the + * BaseThermometer axes number. + * + * @param[in] ip pointer to @p BaseThermometer interface. + * @param[in] bp a buffer which contains biases. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + */ +static msg_t thermo_set_bias(void *ip, float *bp) { + LPS25HDriver* devp; + msg_t msg = MSG_OK; + + osalDbgCheck((ip != NULL) && (bp != NULL)); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LPS25HDriver*, (BaseThermometer*)ip); + + osalDbgAssert((devp->state == LPS25H_READY), + "thermo_set_bias(), invalid state"); + + devp->thermobias = *bp; + + return msg; +} + +/** + * @brief Reset bias values for the BaseThermometer. + * @note Default biases value are obtained from device datasheet when + * available otherwise they are considered zero. + * + * @param[in] ip pointer to @p BaseThermometer interface. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + */ +static msg_t thermo_reset_bias(void *ip) { + LPS25HDriver* devp; + msg_t msg = MSG_OK; + + osalDbgCheck(ip != NULL); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LPS25HDriver*, (BaseThermometer*)ip); + + osalDbgAssert((devp->state == LPS25H_READY), + "thermo_reset_bias(), invalid state"); + + devp->thermobias = LPS25H_THERMO_BIAS; + + return msg; +} + +/** + * @brief Set sensitivity values for the BaseThermometer. + * @note Sensitivity must be expressed as °C/LSB. + * @note The sensitivity buffer must be at least the same size of the + * BaseThermometer axes number. + * + * @param[in] ip pointer to @p BaseThermometer interface. + * @param[in] sp a buffer which contains sensitivities. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + */ +static msg_t thermo_set_sensitivity(void *ip, float *sp) { + LPS25HDriver* devp; + msg_t msg = MSG_OK; + + osalDbgCheck((ip != NULL) && (sp != NULL)); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LPS25HDriver*, (BaseThermometer*)ip); + + osalDbgAssert((devp->state == LPS25H_READY), + "thermo_set_sensitivity(), invalid state"); + + devp->thermosensitivity = *sp; + + return msg; +} + +/** + * @brief Reset sensitivity values for the BaseThermometer. + * @note Default sensitivities value are obtained from device datasheet. + * + * @param[in] ip pointer to @p BaseThermometer interface. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + */ +static msg_t thermo_reset_sensitivity(void *ip) { + LPS25HDriver* devp; + msg_t msg = MSG_OK; + + osalDbgCheck(ip != NULL); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LPS25HDriver*, (BaseThermometer*)ip); + + osalDbgAssert((devp->state == LPS25H_READY), + "thermo_reset_sensitivity(), invalid state"); + + devp->thermosensitivity = LPS25H_THERMO_SENS; + + return msg; +} + +static const struct LPS25HVMT vmt_device = { + (size_t)0 +}; + +static const struct BaseBarometerVMT vmt_barometer = { + sizeof(struct LPS25HVMT*), + baro_get_axes_number, baro_read_raw, baro_read_cooked, + baro_set_bias, baro_reset_bias, baro_set_sensitivity, + baro_reset_sensitivity +}; + +static const struct BaseThermometerVMT vmt_thermometer = { + sizeof(struct LPS25HVMT*) + sizeof(BaseBarometer), + thermo_get_axes_number, thermo_read_raw, thermo_read_cooked, + thermo_set_bias, thermo_reset_bias, thermo_set_sensitivity, + thermo_reset_sensitivity +}; + +/*===========================================================================*/ +/* Driver exported functions. */ +/*===========================================================================*/ + +/** + * @brief Initializes an instance. + * + * @param[out] devp pointer to the @p LPS25HDriver object + * + * @init + */ +void lps25hObjectInit(LPS25HDriver *devp) { + + devp->vmt = &vmt_device; + devp->baro_if.vmt = &vmt_barometer; + devp->thermo_if.vmt = &vmt_thermometer; + + devp->config = NULL; + + devp->baroaxes = LPS25H_BARO_NUMBER_OF_AXES; + devp->thermoaxes = LPS25H_THERMO_NUMBER_OF_AXES; + + devp->state = LPS25H_STOP; +} + +/** + * @brief Configures and activates LPS25H Complex Driver peripheral. + * + * @param[in] devp pointer to the @p LPS25HDriver object + * @param[in] config pointer to the @p LPS25HConfig object + * + * @api + */ +void lps25hStart(LPS25HDriver *devp, const LPS25HConfig *config) { + uint8_t cr[2]; + osalDbgCheck((devp != NULL) && (config != NULL)); + + osalDbgAssert((devp->state == LPS25H_STOP) || (devp->state == LPS25H_READY), + "lps25hStart(), invalid state"); + + devp->config = config; + + /* Control register 1 configuration block.*/ + { + cr[0] = LPS25H_AD_CTRL_REG1; + cr[1] = devp->config->outputdatarate | LPS25H_CTRL_REG1_PD; +#if LPS25H_USE_ADVANCED || defined(__DOXYGEN__) + cr[1] |= devp->config->blockdataupdate; +#endif + } + +#if LPS25H_SHARED_I2C + i2cAcquireBus((devp)->config->i2cp); +#endif /* LPS25H_SHARED_I2C */ + i2cStart((devp)->config->i2cp, + (devp)->config->i2ccfg); + + lps25hI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress, cr, 1); + +#if LPS25H_SHARED_I2C + i2cReleaseBus((devp)->config->i2cp); +#endif /* LPS25H_SHARED_I2C */ + + /* Resolution configuration block.*/ + { + cr[0] = LPS25H_AD_RES_CONF; + cr[1] = 0x05; +#if LPS25H_USE_ADVANCED || defined(__DOXYGEN__) + cr[1] = devp->config->baroresolution | devp->config->thermoresolution; +#endif + + } +#if LPS25H_SHARED_I2C + i2cAcquireBus((devp)->config->i2cp); + i2cStart((devp)->config->i2cp, + (devp)->config->i2ccfg); +#endif /* LPS25H_SHARED_I2C */ + + lps25hI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress, + cr, 1); + +#if LPS25H_SHARED_I2C + i2cReleaseBus((devp)->config->i2cp); +#endif /* LPS25H_SHARED_I2C */ + + if(devp->config->barosensitivity == NULL) { + devp->barosensitivity = LPS25H_BARO_SENS; + } + else{ + /* Taking barometer sensitivity from user configurations */ + devp->barosensitivity = *(devp->config->barosensitivity); + } + + if(devp->config->barobias == NULL) { + devp->barobias = LPS25H_BARO_BIAS; + } + else{ + /* Taking barometer bias from user configurations */ + devp->barobias = *(devp->config->barobias); + } + + if(devp->config->thermosensitivity == NULL) { + devp->thermosensitivity = LPS25H_THERMO_SENS; + } + else{ + /* Taking thermometer sensitivity from user configurations */ + devp->thermosensitivity = *(devp->config->thermosensitivity); + } + + if(devp->config->thermobias == NULL) { + devp->thermobias = LPS25H_THERMO_BIAS; + } + else{ + /* Taking thermometer bias from user configurations */ + devp->thermobias = *(devp->config->thermobias); + } + + /* This is the Barometer transient recovery time */ + osalThreadSleepMilliseconds(5); + + devp->state = LPS25H_READY; +} + +/** + * @brief Deactivates the LPS25H Complex Driver peripheral. + * + * @param[in] devp pointer to the @p LPS25HDriver object + * + * @api + */ +void lps25hStop(LPS25HDriver *devp) { + uint8_t cr[2]; + + osalDbgCheck(devp != NULL); + + osalDbgAssert((devp->state == LPS25H_STOP) || (devp->state == LPS25H_READY), + "lps25hStop(), invalid state"); + + if (devp->state == LPS25H_READY) { +#if LPS25H_SHARED_I2C + i2cAcquireBus((devp)->config->i2cp); + i2cStart((devp)->config->i2cp, + (devp)->config->i2ccfg); +#endif /* LPS25H_SHARED_I2C */ + + cr[0] = LPS25H_AD_CTRL_REG1; + cr[1] = 0; + lps25hI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress, + cr, 1); + + i2cStop((devp)->config->i2cp); +#if LPS25H_SHARED_I2C + i2cReleaseBus((devp)->config->i2cp); +#endif /* LPS25H_SHARED_I2C */ + } + devp->state = LPS25H_STOP; +} +/** @} */ -- cgit v1.2.3