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/lsm303dlhc.c | 1175 ++++++++++++++++++++++++++ 1 file changed, 1175 insertions(+) create mode 100644 ChibiOS_20.3.2/os/ex/devices/ST/lsm303dlhc.c (limited to 'ChibiOS_20.3.2/os/ex/devices/ST/lsm303dlhc.c') diff --git a/ChibiOS_20.3.2/os/ex/devices/ST/lsm303dlhc.c b/ChibiOS_20.3.2/os/ex/devices/ST/lsm303dlhc.c new file mode 100644 index 0000000..45e0137 --- /dev/null +++ b/ChibiOS_20.3.2/os/ex/devices/ST/lsm303dlhc.c @@ -0,0 +1,1175 @@ +/* + 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 lsm303dlhc.c + * @brief LSM303DLHC MEMS interface module code. + * + * @addtogroup LSM303DLHC + * @ingroup EX_ST + * @{ + */ + +#include "hal.h" +#include "lsm303dlhc.h" + +/*===========================================================================*/ +/* Driver local definitions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver exported variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local variables and types. */ +/*===========================================================================*/ + +/** + * @brief Accelerometer and Compass Slave Address. + */ +typedef enum { + LSM303DLHC_SAD_ACC = 0x19, /**< SAD for accelerometer. */ + LSM303DLHC_SAD_COMP = 0x1E /**< SAD for compass. */ +} lsm303dlhc_sad_t; + +/*===========================================================================*/ +/* Driver local functions. */ +/*===========================================================================*/ + +/** + * @brief Reads registers value using I2C. + * @pre The I2C interface must be initialized and the driver started. + * @note IF_ADD_INC bit must be 1 in CTRL_REG8. + * + * @param[in] i2cp pointer to the I2C interface. + * @param[in] sad slave address without R bit. + * @param[in] reg first sub-register address. + * @param[in] rxbuf receiving buffer. + * @param[in] n size of rxbuf. + * @return the operation status. + */ +static msg_t lsm303dlhcI2CReadRegister(I2CDriver *i2cp, lsm303dlhc_sad_t sad, + uint8_t reg, uint8_t *rxbuf, size_t n) { + + uint8_t txbuf = reg | LSM303DLHC_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. + */ +static msg_t lsm303dlhcI2CWriteRegister(I2CDriver *i2cp, lsm303dlhc_sad_t sad, + uint8_t *txbuf, size_t n) { + if (n != 1) + *txbuf |= LSM303DLHC_MS; + return i2cMasterTransmitTimeout(i2cp, sad, txbuf, n + 1, NULL, 0, + TIME_INFINITE); +} + +/** + * @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 LSM303DLHC_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[]) { + LSM303DLHCDriver* devp; + uint8_t buff [LSM303DLHC_ACC_NUMBER_OF_AXES * 2], i; + int16_t tmp; + msg_t msg; + + osalDbgCheck((ip != NULL) && (axes != NULL)); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LSM303DLHCDriver*, (BaseAccelerometer*)ip); + + osalDbgAssert((devp->state == LSM303DLHC_READY), + "acc_read_raw(), invalid state"); + osalDbgAssert((devp->config->i2cp->state == I2C_READY), + "acc_read_raw(), channel not ready"); + +#if LSM303DLHC_SHARED_I2C + i2cAcquireBus(devp->config->i2cp); + i2cStart(devp->config->i2cp, + devp->config->i2ccfg); +#endif /* LSM303DLHC_SHARED_I2C */ + + msg = lsm303dlhcI2CReadRegister(devp->config->i2cp, LSM303DLHC_SAD_ACC, + LSM303DLHC_AD_ACC_OUT_X_L, buff, + LSM303DLHC_ACC_NUMBER_OF_AXES * 2); + +#if LSM303DLHC_SHARED_I2C + i2cReleaseBus(devp->config->i2cp); +#endif /* LSM303DLHC_SHARED_I2C */ + + if(msg == MSG_OK) + for(i = 0; i < LSM303DLHC_ACC_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 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[]) { + LSM303DLHCDriver* devp; + uint32_t i; + int32_t raw[LSM303DLHC_ACC_NUMBER_OF_AXES]; + msg_t msg; + + osalDbgCheck((ip != NULL) && (axes != NULL)); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LSM303DLHCDriver*, (BaseAccelerometer*)ip); + + osalDbgAssert((devp->state == LSM303DLHC_READY), + "acc_read_cooked(), invalid state"); + + msg = acc_read_raw(ip, raw); + for(i = 0; i < LSM303DLHC_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) { + LSM303DLHCDriver* devp; + uint32_t i; + msg_t msg = MSG_OK; + + osalDbgCheck((ip != NULL) && (bp != NULL)); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LSM303DLHCDriver*, (BaseAccelerometer*)ip); + + osalDbgAssert((devp->state == LSM303DLHC_READY), + "acc_set_bias(), invalid state"); + + for(i = 0; i < LSM303DLHC_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) { + LSM303DLHCDriver* devp; + uint32_t i; + msg_t msg = MSG_OK; + + osalDbgCheck(ip != NULL); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LSM303DLHCDriver*, (BaseAccelerometer*)ip); + + osalDbgAssert((devp->state == LSM303DLHC_READY), + "acc_reset_bias(), invalid state"); + + for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++) + devp->accbias[i] = LSM303DLHC_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) { + LSM303DLHCDriver* devp; + uint32_t i; + msg_t msg = MSG_OK; + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LSM303DLHCDriver*, (BaseAccelerometer*)ip); + + osalDbgCheck((ip != NULL) && (sp != NULL)); + + osalDbgAssert((devp->state == LSM303DLHC_READY), + "acc_set_sensivity(), invalid state"); + + for(i = 0; i < LSM303DLHC_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) { + LSM303DLHCDriver* devp; + uint32_t i; + msg_t msg = MSG_OK; + + osalDbgCheck(ip != NULL); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LSM303DLHCDriver*, (BaseAccelerometer*)ip); + + osalDbgAssert((devp->state == LSM303DLHC_READY), + "acc_reset_sensivity(), invalid state"); + + if(devp->config->accfullscale == LSM303DLHC_ACC_FS_2G) + for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++) + devp->accsensitivity[i] = LSM303DLHC_ACC_SENS_2G; + else if(devp->config->accfullscale == LSM303DLHC_ACC_FS_4G) + for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++) + devp->accsensitivity[i] = LSM303DLHC_ACC_SENS_4G; + else if(devp->config->accfullscale == LSM303DLHC_ACC_FS_8G) + for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++) + devp->accsensitivity[i] = LSM303DLHC_ACC_SENS_8G; + else if(devp->config->accfullscale == LSM303DLHC_ACC_FS_16G) + for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++) + devp->accsensitivity[i] = LSM303DLHC_ACC_SENS_16G; + else { + osalDbgAssert(FALSE, "acc_reset_sensivity(), accelerometer full scale issue"); + msg = MSG_RESET; + } + return msg; +} + +/** + * @brief Changes the LSM303DLHCDriver 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 LSM303DLHCDriver 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(LSM303DLHCDriver *devp, + lsm303dlhc_acc_fs_t fs) { + float newfs, scale; + uint8_t i, buff[2]; + msg_t msg; + + osalDbgCheck(devp != NULL); + + osalDbgAssert((devp->state == LSM303DLHC_READY), + "acc_set_full_scale(), invalid state"); + osalDbgAssert((devp->config->i2cp->state == I2C_READY), + "acc_set_full_scale(), channel not ready"); + + /* Computing new fullscale value.*/ + if(fs == LSM303DLHC_ACC_FS_2G) { + newfs = LSM303DLHC_ACC_2G; + } + else if(fs == LSM303DLHC_ACC_FS_4G) { + newfs = LSM303DLHC_ACC_4G; + } + else if(fs == LSM303DLHC_ACC_FS_8G) { + newfs = LSM303DLHC_ACC_8G; + } + else if(fs == LSM303DLHC_ACC_FS_16G) { + newfs = LSM303DLHC_ACC_16G; + } + else { + msg = MSG_RESET; + return msg; + } + + if(newfs != devp->accfullscale) { + /* Computing scale value.*/ + scale = newfs / devp->accfullscale; + devp->accfullscale = newfs; + +#if LSM303DLHC_SHARED_I2C + i2cAcquireBus(devp->config->i2cp); + i2cStart(devp->config->i2cp, + devp->config->i2ccfg); +#endif /* LSM303DLHC_SHARED_I2C */ + + /* Updating register.*/ + msg = lsm303dlhcI2CReadRegister(devp->config->i2cp, + LSM303DLHC_SAD_ACC, + LSM303DLHC_AD_ACC_CTRL_REG4, + &buff[1], 1); + +#if LSM303DLHC_SHARED_I2C + i2cReleaseBus(devp->config->i2cp); +#endif /* LSM303DLHC_SHARED_I2C */ + + if(msg != MSG_OK) + return msg; + + buff[1] &= ~(LSM303DLHC_CTRL_REG4_A_FS_MASK); + buff[1] |= fs; + buff[0] = LSM303DLHC_AD_ACC_CTRL_REG4; + +#if LSM303DLHC_SHARED_I2C + i2cAcquireBus(devp->config->i2cp); + i2cStart(devp->config->i2cp, devp->config->i2ccfg); +#endif /* LSM303DLHC_SHARED_I2C */ + + msg = lsm303dlhcI2CWriteRegister(devp->config->i2cp, + LSM303DLHC_SAD_ACC, buff, 1); + +#if LSM303DLHC_SHARED_I2C + i2cReleaseBus(devp->config->i2cp); +#endif /* LSM303DLHC_SHARED_I2C */ + + if(msg != MSG_OK) + return msg; + + /* Scaling sensitivity and bias. Re-calibration is suggested anyway.*/ + for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++) { + devp->accsensitivity[i] *= scale; + devp->accbias[i] *= scale; + } + } + return msg; +} + +/** + * @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 LSM303DLHC_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[]) { + LSM303DLHCDriver* devp; + uint8_t buff [LSM303DLHC_COMP_NUMBER_OF_AXES * 2], i; + int16_t tmp; + msg_t msg; + + osalDbgCheck((ip != NULL) && (axes != NULL)); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LSM303DLHCDriver*, (BaseCompass*)ip); + + osalDbgAssert((devp->state == LSM303DLHC_READY), + "comp_read_raw(), invalid state"); + osalDbgAssert((devp->config->i2cp->state == I2C_READY), + "comp_read_raw(), channel not ready"); + +#if LSM303DLHC_SHARED_I2C + i2cAcquireBus(devp->config->i2cp); + i2cStart(devp->config->i2cp, + devp->config->i2ccfg); +#endif /* LSM303DLHC_SHARED_I2C */ + msg = lsm303dlhcI2CReadRegister(devp->config->i2cp, LSM303DLHC_SAD_COMP, + LSM303DLHC_AD_COMP_OUT_X_L, buff, + LSM303DLHC_COMP_NUMBER_OF_AXES * 2); + +#if LSM303DLHC_SHARED_I2C + i2cReleaseBus(devp->config->i2cp); +#endif /* LSM303DLHC_SHARED_I2C */ + + if(msg == MSG_OK) + for(i = 0; i < LSM303DLHC_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[]) { + LSM303DLHCDriver* devp; + uint32_t i; + int32_t raw[LSM303DLHC_COMP_NUMBER_OF_AXES]; + msg_t msg; + + osalDbgCheck((ip != NULL) && (axes != NULL)); + + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LSM303DLHCDriver*, (BaseCompass*)ip); + + osalDbgAssert((devp->state == LSM303DLHC_READY), + "comp_read_cooked(), invalid state"); + + msg = comp_read_raw(ip, raw); + for(i = 0; i < LSM303DLHC_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) { + LSM303DLHCDriver* devp; + uint32_t i; + msg_t msg = MSG_OK; + + osalDbgCheck((ip != NULL) && (bp != NULL)); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LSM303DLHCDriver*, (BaseCompass*)ip); + + osalDbgAssert((devp->state == LSM303DLHC_READY), + "comp_set_bias(), invalid state"); + + for(i = 0; i < LSM303DLHC_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) { + LSM303DLHCDriver* devp; + uint32_t i; + msg_t msg = MSG_OK; + + osalDbgCheck(ip != NULL); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LSM303DLHCDriver*, (BaseCompass*)ip); + + osalDbgAssert((devp->state == LSM303DLHC_READY), + "comp_reset_bias(), invalid state"); + + for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) + devp->compbias[i] = LSM303DLHC_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) { + LSM303DLHCDriver* devp; + uint32_t i; + msg_t msg = MSG_OK; + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LSM303DLHCDriver*, (BaseCompass*)ip); + + osalDbgCheck((ip != NULL) && (sp != NULL)); + + osalDbgAssert((devp->state == LSM303DLHC_READY), + "comp_set_sensivity(), invalid state"); + + for(i = 0; i < LSM303DLHC_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) { + LSM303DLHCDriver* devp; + uint32_t i; + msg_t msg = MSG_OK; + + osalDbgCheck(ip != NULL); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LSM303DLHCDriver*, (BaseCompass*)ip); + + osalDbgAssert((devp->state == LSM303DLHC_READY), + "comp_reset_sensivity(), invalid state"); + + if(devp->config->compfullscale == LSM303DLHC_COMP_FS_1P3GA) + for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) { + if(i != 2) { + devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_1P3GA; + } + else { + devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_1P3GA; + } + } + else if(devp->config->compfullscale == LSM303DLHC_COMP_FS_1P9GA) + for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) { + if(i != 2) { + devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_1P9GA; + } + else { + devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_1P9GA; + } + } + else if(devp->config->compfullscale == LSM303DLHC_COMP_FS_2P5GA) + for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) { + if(i != 2) { + devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_2P5GA; + } + else { + devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_2P5GA; + } + } + else if(devp->config->compfullscale == LSM303DLHC_COMP_FS_4P0GA) + for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) { + if(i != 2) { + devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_4P0GA; + } + else { + devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_4P0GA; + } + } + else if(devp->config->compfullscale == LSM303DLHC_COMP_FS_4P7GA) + for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) { + if(i != 2) { + devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_4P7GA; + } + else { + devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_4P7GA; + } + } + else if(devp->config->compfullscale == LSM303DLHC_COMP_FS_5P6GA) + for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) { + if(i != 2) { + devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_5P6GA; + } + else { + devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_5P6GA; + } + } + else if(devp->config->compfullscale == LSM303DLHC_COMP_FS_8P1GA) + for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) { + if(i != 2) { + devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_8P1GA; + } + else { + devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_8P1GA; + } + } + else { + osalDbgAssert(FALSE, "comp_reset_sensivity(), compass full scale issue"); + msg = MSG_RESET; + } + return msg; +} + +/** + * @brief Changes the LSM303DLHCDriver 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 LSM303DLHCDriver 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(LSM303DLHCDriver *devp, + lsm303dlhc_comp_fs_t fs) { + float newfs, scale; + uint8_t i, buff[2]; + msg_t msg; + + osalDbgCheck(devp != NULL); + + osalDbgAssert((devp->state == LSM303DLHC_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 == LSM303DLHC_COMP_FS_1P3GA) { + newfs = LSM303DLHC_COMP_1P3GA; + } + else if(fs == LSM303DLHC_COMP_FS_1P9GA) { + newfs = LSM303DLHC_COMP_1P9GA; + } + else if(fs == LSM303DLHC_COMP_FS_2P5GA) { + newfs = LSM303DLHC_COMP_2P5GA; + } + else if(fs == LSM303DLHC_COMP_FS_4P0GA) { + newfs = LSM303DLHC_COMP_4P0GA; + } + else if(fs == LSM303DLHC_COMP_FS_4P7GA) { + newfs = LSM303DLHC_COMP_4P7GA; + } + else if(fs == LSM303DLHC_COMP_FS_5P6GA) { + newfs = LSM303DLHC_COMP_5P6GA; + } + else if(fs == LSM303DLHC_COMP_FS_8P1GA) { + newfs = LSM303DLHC_COMP_8P1GA; + } + else { + msg = MSG_RESET; + return msg; + } + + if(newfs != devp->compfullscale) { + /* Computing scale value.*/ + scale = newfs / devp->compfullscale; + devp->compfullscale = newfs; + +#if LSM303DLHC_SHARED_I2C + i2cAcquireBus(devp->config->i2cp); + i2cStart(devp->config->i2cp, devp->config->i2ccfg); +#endif /* LSM303DLHC_SHARED_I2C */ + + /* Updating register.*/ + msg = lsm303dlhcI2CReadRegister(devp->config->i2cp, LSM303DLHC_SAD_COMP, + LSM303DLHC_AD_COMP_CRB_REG, &buff[1], 1); + +#if LSM303DLHC_SHARED_I2C + i2cReleaseBus(devp->config->i2cp); +#endif /* LSM303DLHC_SHARED_I2C */ + + if(msg != MSG_OK) + return msg; + buff[1] &= ~(LSM303DLHC_CRB_REG_M_GN_MASK); + buff[1] |= fs; + buff[0] = LSM303DLHC_AD_COMP_CRB_REG; + +#if LSM303DLHC_SHARED_I2C + i2cAcquireBus(devp->config->i2cp); + i2cStart(devp->config->i2cp, devp->config->i2ccfg); +#endif /* LSM303DLHC_SHARED_I2C */ + + msg = lsm303dlhcI2CWriteRegister(devp->config->i2cp, LSM303DLHC_SAD_COMP, + buff, 1); + +#if LSM303DLHC_SHARED_I2C + i2cReleaseBus(devp->config->i2cp); +#endif /* LSM303DLHC_SHARED_I2C */ + + if(msg != MSG_OK) + return msg; + + /* Scaling sensitivity and bias. Re-calibration is suggested anyway.*/ + for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) { + devp->compsensitivity[i] *= scale; + devp->compbias[i] *= scale; + } + } + return msg; +} + +static const struct LSM303DLHCVMT vmt_device = { + (size_t)0, + acc_set_full_scale, comp_set_full_scale +}; + +static const struct BaseAccelerometerVMT vmt_accelerometer = { + sizeof(struct LSM303DLHCVMT*), + acc_get_axes_number, acc_read_raw, acc_read_cooked, + acc_set_bias, acc_reset_bias, acc_set_sensivity, acc_reset_sensivity +}; + +static const struct BaseCompassVMT vmt_compass = { + sizeof(struct LSM303DLHCVMT*) + sizeof(BaseAccelerometer), + 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 LSM303DLHCDriver object + * + * @init + */ +void lsm303dlhcObjectInit(LSM303DLHCDriver *devp) { + devp->vmt = &vmt_device; + devp->acc_if.vmt = &vmt_accelerometer; + devp->comp_if.vmt = &vmt_compass; + + devp->config = NULL; + + devp->accaxes = LSM303DLHC_ACC_NUMBER_OF_AXES; + devp->compaxes = LSM303DLHC_COMP_NUMBER_OF_AXES; + + devp->state = LSM303DLHC_STOP; +} + +/** + * @brief Configures and activates LSM303DLHC Complex Driver peripheral. + * + * @param[in] devp pointer to the @p LSM303DLHCDriver object + * @param[in] config pointer to the @p LSM303DLHCConfig object + * + * @api + */ +void lsm303dlhcStart(LSM303DLHCDriver *devp, const LSM303DLHCConfig *config) { + uint32_t i; + uint8_t cr[6]; + osalDbgCheck((devp != NULL) && (config != NULL)); + + osalDbgAssert((devp->state == LSM303DLHC_STOP) || + (devp->state == LSM303DLHC_READY), + "lsm303dlhcStart(), invalid state"); + + devp->config = config; + + /* Configuring Accelerometer subsystem.*/ + + /* Multiple write starting address.*/ + cr[0] = LSM303DLHC_AD_ACC_CTRL_REG1; + + /* Control register 1 configuration block.*/ + { + cr[1] = LSM303DLHC_CTRL_REG1_A_XEN | LSM303DLHC_CTRL_REG1_A_YEN | + LSM303DLHC_CTRL_REG1_A_ZEN | devp->config->accoutdatarate; +#if LSM303DLHC_USE_ADVANCED || defined(__DOXYGEN__) + cr[1] |= devp->config->acclowpower; +#endif + } + + /* Control register 2 configuration block.*/ + { + cr[2] = 0; + } + + /* Control register 3 configuration block.*/ + { + cr[3] = 0; + } + + /* Control register 4 configuration block.*/ + { + cr[4] = devp->config->accfullscale; +#if LSM303DLHC_USE_ADVANCED || defined(__DOXYGEN__) + cr[4] |= devp->config->accendianess | + devp->config->accblockdataupdate | + devp->config->acchighresmode; +#endif + } + +#if LSM303DLHC_SHARED_I2C + i2cAcquireBus((devp)->config->i2cp); +#endif /* LSM303DLHC_SHARED_I2C */ + i2cStart((devp)->config->i2cp, (devp)->config->i2ccfg); + + lsm303dlhcI2CWriteRegister(devp->config->i2cp, LSM303DLHC_SAD_ACC, cr, 4); + +#if LSM303DLHC_SHARED_I2C + i2cReleaseBus((devp)->config->i2cp); +#endif /* LSM303DLHC_SHARED_I2C */ + + /* Storing sensitivity according to user settings */ + if(devp->config->accfullscale == LSM303DLHC_ACC_FS_2G) { + devp->accfullscale = LSM303DLHC_ACC_2G; + for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++) { + if(devp->config->accsensitivity == NULL) + devp->accsensitivity[i] = LSM303DLHC_ACC_SENS_2G; + else + devp->accsensitivity[i] = devp->config->accsensitivity[i]; + } + } + else if(devp->config->accfullscale == LSM303DLHC_ACC_FS_4G) { + devp->accfullscale = LSM303DLHC_ACC_4G; + for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++) { + if(devp->config->accsensitivity == NULL) + devp->accsensitivity[i] = LSM303DLHC_ACC_SENS_4G; + else + devp->accsensitivity[i] = devp->config->accsensitivity[i]; + } + } + else if(devp->config->accfullscale == LSM303DLHC_ACC_FS_8G) { + devp->accfullscale = LSM303DLHC_ACC_8G; + for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++) { + if(devp->config->accsensitivity == NULL) + devp->accsensitivity[i] = LSM303DLHC_ACC_SENS_8G; + else + devp->accsensitivity[i] = devp->config->accsensitivity[i]; + } + } + else if(devp->config->accfullscale == LSM303DLHC_ACC_FS_16G) { + devp->accfullscale = LSM303DLHC_ACC_16G; + for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++) { + if(devp->config->accsensitivity == NULL) + devp->accsensitivity[i] = LSM303DLHC_ACC_SENS_16G; + else + devp->accsensitivity[i] = devp->config->accsensitivity[i]; + } + } + else + osalDbgAssert(FALSE, "lsm303dlhcStart(), accelerometer full scale issue"); + + /* Storing bias information */ + if(devp->config->accbias != NULL) + for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++) + devp->accbias[i] = devp->config->accbias[i]; + else + for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++) + devp->accbias[i] = LSM303DLHC_ACC_BIAS; + + /* Configuring Compass subsystem */ + /* Multiple write starting address.*/ + cr[0] = LSM303DLHC_AD_COMP_CRA_REG; + + /* Control register A configuration block.*/ + { + cr[1] = devp->config->compoutputdatarate; + } + + /* Control register B configuration block.*/ + { + cr[2] = devp->config->compfullscale; + } + + /* Mode register configuration block.*/ + { + cr[3] = 0; +#if LSM303DLHC_USE_ADVANCED || defined(__DOXYGEN__) + cr[3] |= devp->config->compmode; +#endif + } + +#if LSM303DLHC_SHARED_I2C + i2cAcquireBus((devp)->config->i2cp); + i2cStart((devp)->config->i2cp, (devp)->config->i2ccfg); +#endif /* LSM303DLHC_SHARED_I2C */ + + lsm303dlhcI2CWriteRegister(devp->config->i2cp, LSM303DLHC_SAD_COMP, + cr, 3); + +#if LSM303DLHC_SHARED_I2C + i2cReleaseBus((devp)->config->i2cp); +#endif /* LSM303DLHC_SHARED_I2C */ + + if(devp->config->compfullscale == LSM303DLHC_COMP_FS_1P3GA) { + devp->compfullscale = LSM303DLHC_COMP_1P3GA; + for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) { + if(devp->config->compsensitivity == NULL) { + if(i != 2) { + devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_1P3GA; + } + else { + devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_1P3GA; + } + } + else { + devp->compsensitivity[i] = devp->config->compsensitivity[i]; + } + } + } + else if(devp->config->compfullscale == LSM303DLHC_COMP_FS_1P9GA) { + devp->compfullscale = LSM303DLHC_COMP_1P9GA; + for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) { + if(devp->config->compsensitivity == NULL) { + if(i != 2) { + devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_1P9GA; + } + else { + devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_1P9GA; + } + } + else { + devp->compsensitivity[i] = devp->config->compsensitivity[i]; + } + } + } + else if(devp->config->compfullscale == LSM303DLHC_COMP_FS_2P5GA) { + devp->compfullscale = LSM303DLHC_COMP_2P5GA; + for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) { + if(devp->config->compsensitivity == NULL) { + if(i != 2) { + devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_2P5GA; + } + else { + devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_2P5GA; + } + } + else { + devp->compsensitivity[i] = devp->config->compsensitivity[i]; + } + } + } + else if(devp->config->compfullscale == LSM303DLHC_COMP_FS_4P0GA) { + devp->compfullscale = LSM303DLHC_COMP_4P0GA; + for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) { + if(devp->config->compsensitivity == NULL) { + if(i != 2) { + devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_4P0GA; + } + else { + devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_4P0GA; + } + } + else { + devp->compsensitivity[i] = devp->config->compsensitivity[i]; + } + } + } + else if(devp->config->compfullscale == LSM303DLHC_COMP_FS_4P7GA) { + devp->compfullscale = LSM303DLHC_COMP_4P7GA; + for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) { + if(devp->config->compsensitivity == NULL) { + if(i != 2) { + devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_4P7GA; + } + else { + devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_4P7GA; + } + } + else { + devp->compsensitivity[i] = devp->config->compsensitivity[i]; + } + } + } + else if(devp->config->compfullscale == LSM303DLHC_COMP_FS_5P6GA) { + devp->compfullscale = LSM303DLHC_COMP_5P6GA; + for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) { + if(devp->config->compsensitivity == NULL) { + if(i != 2) { + devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_5P6GA; + } + else { + devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_5P6GA; + } + } + else { + devp->compsensitivity[i] = devp->config->compsensitivity[i]; + } + } + } + else if(devp->config->compfullscale == LSM303DLHC_COMP_FS_8P1GA) { + devp->compfullscale = LSM303DLHC_COMP_8P1GA; + for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) { + if(devp->config->compsensitivity == NULL) { + if(i != 2) { + devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_8P1GA; + } + else { + devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_8P1GA; + } + } + else { + devp->compsensitivity[i] = devp->config->compsensitivity[i]; + } + } + } + else + osalDbgAssert(FALSE, "lsm303dlhcStart(), compass full scale issue"); + + /* Storing bias information */ + if(devp->config->compbias != NULL) + for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) + devp->compbias[i] = devp->config->compbias[i]; + else + for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) + devp->compbias[i] = LSM303DLHC_COMP_BIAS; + + /* This is the MEMS transient recovery time */ + osalThreadSleepMilliseconds(5); + + devp->state = LSM303DLHC_READY; +} + +/** + * @brief Deactivates the LSM303DLHC Complex Driver peripheral. + * + * @param[in] devp pointer to the @p LSM303DLHCDriver object + * + * @api + */ +void lsm303dlhcStop(LSM303DLHCDriver *devp) { + uint8_t cr[2]; + osalDbgCheck(devp != NULL); + + osalDbgAssert((devp->state == LSM303DLHC_STOP) || + (devp->state == LSM303DLHC_READY), + "lsm303dlhcStop(), invalid state"); + + if (devp->state == LSM303DLHC_READY) { +#if LSM303DLHC_SHARED_I2C + i2cAcquireBus((devp)->config->i2cp); + i2cStart((devp)->config->i2cp, (devp)->config->i2ccfg); +#endif /* LSM303DLHC_SHARED_I2C */ + + /* Disabling accelerometer. */ + cr[0] = LSM303DLHC_AD_ACC_CTRL_REG1; + cr[1] = LSM303DLHC_ACC_AE_DISABLED | LSM303DLHC_ACC_ODR_PD; + lsm303dlhcI2CWriteRegister(devp->config->i2cp, LSM303DLHC_SAD_ACC, + cr, 1); + + /* Disabling compass. */ + cr[0] = LSM303DLHC_AD_COMP_MR_REG; + cr[1] = LSM303DLHC_COMP_MD_SLEEP; + lsm303dlhcI2CWriteRegister(devp->config->i2cp, LSM303DLHC_SAD_COMP, + cr, 1); + + i2cStop((devp)->config->i2cp); +#if LSM303DLHC_SHARED_I2C + i2cReleaseBus((devp)->config->i2cp); +#endif /* LSM303DLHC_SHARED_I2C */ + } + devp->state = LSM303DLHC_STOP; +} +/** @} */ -- cgit v1.2.3