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/lsm6ds0.c | 1109 +++++++++++++++++++++++++++++ 1 file changed, 1109 insertions(+) create mode 100644 ChibiOS_20.3.2/os/ex/devices/ST/lsm6ds0.c (limited to 'ChibiOS_20.3.2/os/ex/devices/ST/lsm6ds0.c') diff --git a/ChibiOS_20.3.2/os/ex/devices/ST/lsm6ds0.c b/ChibiOS_20.3.2/os/ex/devices/ST/lsm6ds0.c new file mode 100644 index 0000000..4f1b9ec --- /dev/null +++ b/ChibiOS_20.3.2/os/ex/devices/ST/lsm6ds0.c @@ -0,0 +1,1109 @@ +/* + 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 lsm6ds0.c + * @brief LSM6DS0 MEMS interface module code. + * + * @addtogroup LSM6DS0 + * @ingroup EX_ST + * @{ + */ + +#include "hal.h" +#include "lsm6ds0.h" + +/*===========================================================================*/ +/* Driver local definitions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver exported variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local variables and types. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local functions. */ +/*===========================================================================*/ + +#if (LSM6DS0_USE_I2C) || defined(__DOXYGEN__) +/** + * @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[out] rxbuf pointer to an output buffer + * @param[in] n number of consecutive register to read + * @return the operation status. + * @notapi + */ +msg_t lsm6ds0I2CReadRegister(I2CDriver *i2cp, lsm6ds0_sad_t sad, uint8_t reg, + uint8_t* rxbuf, size_t n) { + + return i2cMasterTransmitTimeout(i2cp, sad, ®, 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 + */ +#define lsm6ds0I2CWriteRegister(i2cp, sad, txbuf, n) \ + i2cMasterTransmitTimeout(i2cp, sad, txbuf, n + 1, NULL, 0, \ + TIME_INFINITE) +#endif /* LSM6DS0_USE_I2C */ + +/** + * @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 LSM6DS0_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[]) { + LSM6DS0Driver* devp; + uint8_t buff [LSM6DS0_ACC_NUMBER_OF_AXES * 2], i; + int16_t tmp; + msg_t msg; + + osalDbgCheck((ip != NULL) && (axes != NULL)); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LSM6DS0Driver*, (BaseAccelerometer*)ip); + + osalDbgAssert((devp->state == LSM6DS0_READY), + "acc_read_raw(), invalid state"); +#if LSM6DS0_USE_I2C + osalDbgAssert((devp->config->i2cp->state == I2C_READY), + "acc_read_raw(), channel not ready"); + +#if LSM6DS0_SHARED_I2C + i2cAcquireBus(devp->config->i2cp); + i2cStart(devp->config->i2cp, + devp->config->i2ccfg); +#endif /* LSM6DS0_SHARED_I2C */ + + msg = lsm6ds0I2CReadRegister(devp->config->i2cp, devp->config->slaveaddress, + LSM6DS0_AD_OUT_X_L_XL, buff, + LSM6DS0_ACC_NUMBER_OF_AXES * 2); + +#if LSM6DS0_SHARED_I2C + i2cReleaseBus(devp->config->i2cp); +#endif /* LSM6DS0_SHARED_I2C */ +#endif /* LSM6DS0_USE_I2C */ + if(msg == MSG_OK) + for(i = 0; i < LSM6DS0_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[]) { + LSM6DS0Driver* devp; + uint32_t i; + int32_t raw[LSM6DS0_ACC_NUMBER_OF_AXES]; + msg_t msg; + + osalDbgCheck((ip != NULL) && (axes != NULL)); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LSM6DS0Driver*, (BaseAccelerometer*)ip); + + osalDbgAssert((devp->state == LSM6DS0_READY), + "acc_read_cooked(), invalid state"); + + msg = acc_read_raw(ip, raw); + for(i = 0; i < LSM6DS0_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) { + LSM6DS0Driver* devp; + uint32_t i; + msg_t msg = MSG_OK; + + osalDbgCheck((ip != NULL) && (bp != NULL)); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LSM6DS0Driver*, (BaseAccelerometer*)ip); + + osalDbgAssert((devp->state == LSM6DS0_READY), + "acc_set_bias(), invalid state"); + + for(i = 0; i < LSM6DS0_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) { + LSM6DS0Driver* devp; + uint32_t i; + msg_t msg = MSG_OK; + + osalDbgCheck(ip != NULL); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LSM6DS0Driver*, (BaseAccelerometer*)ip); + + osalDbgAssert((devp->state == LSM6DS0_READY), + "acc_reset_bias(), invalid state"); + + for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) + devp->accbias[i] = LSM6DS0_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) { + LSM6DS0Driver* devp; + uint32_t i; + msg_t msg = MSG_OK; + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LSM6DS0Driver*, (BaseAccelerometer*)ip); + + osalDbgCheck((ip != NULL) && (sp != NULL)); + + osalDbgAssert((devp->state == LSM6DS0_READY), + "acc_set_sensivity(), invalid state"); + + for(i = 0; i < LSM6DS0_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) { + LSM6DS0Driver* devp; + uint32_t i; + msg_t msg = MSG_OK; + + osalDbgCheck(ip != NULL); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LSM6DS0Driver*, (BaseAccelerometer*)ip); + + osalDbgAssert((devp->state == LSM6DS0_READY), + "acc_reset_sensivity(), invalid state"); + + if(devp->config->accfullscale == LSM6DS0_ACC_FS_2G) + for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) + devp->accsensitivity[i] = LSM6DS0_ACC_SENS_2G; + else if(devp->config->accfullscale == LSM6DS0_ACC_FS_4G) + for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) + devp->accsensitivity[i] = LSM6DS0_ACC_SENS_4G; + else if(devp->config->accfullscale == LSM6DS0_ACC_FS_8G) + for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) + devp->accsensitivity[i] = LSM6DS0_ACC_SENS_8G; + else if(devp->config->accfullscale == LSM6DS0_ACC_FS_16G) + for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) + devp->accsensitivity[i] = LSM6DS0_ACC_SENS_16G; + else { + osalDbgAssert(FALSE, "reset_sensivity(), accelerometer full scale issue"); + msg = MSG_RESET; + } + return msg; +} + +/** + * @brief Changes the LSM6DS0Driver 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 LSM6DS0Driver 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(LSM6DS0Driver *devp, lsm6ds0_acc_fs_t fs) { + float newfs, scale; + uint8_t i, buff[2]; + msg_t msg; + + osalDbgCheck(devp != NULL); + + osalDbgAssert((devp->state == LSM6DS0_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 == LSM6DS0_ACC_FS_2G) { + newfs = LSM6DS0_ACC_2G; + } + else if(fs == LSM6DS0_ACC_FS_4G) { + newfs = LSM6DS0_ACC_4G; + } + else if(fs == LSM6DS0_ACC_FS_8G) { + newfs = LSM6DS0_ACC_8G; + } + else if(fs == LSM6DS0_ACC_FS_16G) { + newfs = LSM6DS0_ACC_16G; + } + else { + msg = MSG_RESET; + return msg; + } + + if(newfs != devp->accfullscale) { + /* Computing scale value.*/ + scale = newfs / devp->accfullscale; + devp->accfullscale = newfs; + +#if LSM6DS0_SHARED_I2C + i2cAcquireBus(devp->config->i2cp); + i2cStart(devp->config->i2cp, + devp->config->i2ccfg); +#endif /* LSM6DS0_SHARED_I2C */ + + /* Updating register.*/ + msg = lsm6ds0I2CReadRegister(devp->config->i2cp, + devp->config->slaveaddress, + LSM6DS0_AD_CTRL_REG6_XL, &buff[1], 1); + +#if LSM6DS0_SHARED_I2C + i2cReleaseBus(devp->config->i2cp); +#endif /* LSM6DS0_SHARED_I2C */ + + if(msg != MSG_OK) + return msg; + + buff[1] &= ~(LSM6DS0_CTRL_REG6_XL_FS_MASK); + buff[1] |= fs; + buff[0] = LSM6DS0_AD_CTRL_REG6_XL; + +#if LSM6DS0_SHARED_I2C + i2cAcquireBus(devp->config->i2cp); + i2cStart(devp->config->i2cp, devp->config->i2ccfg); +#endif /* LSM6DS0_SHARED_I2C */ + + msg = lsm6ds0I2CWriteRegister(devp->config->i2cp, + devp->config->slaveaddress, buff, 1); + +#if LSM6DS0_SHARED_I2C + i2cReleaseBus(devp->config->i2cp); +#endif /* LSM6DS0_SHARED_I2C */ + + if(msg != MSG_OK) + return msg; + + /* Scaling sensitivity and bias. Re-calibration is suggested anyway.*/ + for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) { + devp->accsensitivity[i] *= scale; + devp->accbias[i] *= scale; + } + } + return msg; +} + +/** + * @brief Return the number of axes of the BaseGyroscope. + * + * @param[in] ip pointer to @p BaseGyroscope interface. + * + * @return the number of axes. + */ +static size_t gyro_get_axes_number(void *ip) { + (void)ip; + + return LSM6DS0_GYRO_NUMBER_OF_AXES; +} + +/** + * @brief Retrieves raw data from the BaseGyroscope. + * @note This data is retrieved from MEMS register without any algebraical + * manipulation. + * @note The axes array must be at least the same size of the + * BaseGyroscope axes number. + * + * @param[in] ip pointer to @p BaseGyroscope interface. + * @param[out] axes a buffer which would be filled with raw data. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * @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 gyro_read_raw(void *ip, int32_t axes[LSM6DS0_GYRO_NUMBER_OF_AXES]) { + LSM6DS0Driver* devp; + int16_t tmp; + uint8_t i, buff [2 * LSM6DS0_GYRO_NUMBER_OF_AXES]; + msg_t msg = MSG_OK; + + osalDbgCheck((ip != NULL) && (axes != NULL)); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LSM6DS0Driver*, (BaseGyroscope*)ip); + + osalDbgAssert((devp->state == LSM6DS0_READY), + "gyro_read_raw(), invalid state"); +#if LSM6DS0_USE_I2C + osalDbgAssert((devp->config->i2cp->state == I2C_READY), + "gyro_read_raw(), channel not ready"); + +#if LSM6DS0_SHARED_I2C + i2cAcquireBus(devp->config->i2cp); + i2cStart(devp->config->i2cp, + devp->config->i2ccfg); +#endif /* LSM6DS0_SHARED_I2C */ + + msg = lsm6ds0I2CReadRegister(devp->config->i2cp, devp->config->slaveaddress, + LSM6DS0_AD_OUT_X_L_G, buff, + LSM6DS0_GYRO_NUMBER_OF_AXES * 2); + +#if LSM6DS0_SHARED_I2C + i2cReleaseBus(devp->config->i2cp); +#endif /* LSM6DS0_SHARED_I2C */ +#endif /* LSM6DS0_USE_I2C */ + + for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) { + tmp = buff[2 * i] + (buff[2 * i + 1] << 8); + axes[i] = (int32_t)tmp; + } + return msg; +} + +/** + * @brief Retrieves cooked data from the BaseGyroscope. + * @note This data is manipulated according to the formula + * cooked = (raw * sensitivity) - bias. + * @note Final data is expressed as DPS. + * @note The axes array must be at least the same size of the + * BaseGyroscope axes number. + * + * @param[in] ip pointer to @p BaseGyroscope interface. + * @param[out] axes a buffer which would be filled with cooked data. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * @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 gyro_read_cooked(void *ip, float axes[]) { + LSM6DS0Driver* devp; + uint32_t i; + int32_t raw[LSM6DS0_GYRO_NUMBER_OF_AXES]; + msg_t msg; + + osalDbgCheck((ip != NULL) && (axes != NULL)); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LSM6DS0Driver*, (BaseGyroscope*)ip); + + osalDbgAssert((devp->state == LSM6DS0_READY), + "gyro_read_cooked(), invalid state"); + + msg = gyro_read_raw(ip, raw); + for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++){ + axes[i] = (raw[i] * devp->gyrosensitivity[i]) - devp->gyrobias[i]; + } + return msg; +} + +/** + * @brief Samples bias values for the BaseGyroscope. + * @note The LSM6DS0 shall not be moved during the whole procedure. + * @note After this function internal bias is automatically updated. + * @note The behavior of this function depends on @p LSM6DS0_BIAS_ACQ_TIMES + * and @p LSM6DS0_BIAS_SETTLING_US. + * + * @param[in] ip pointer to @p BaseGyroscope interface. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + */ +static msg_t gyro_sample_bias(void *ip) { + LSM6DS0Driver* devp; + uint32_t i, j; + int32_t raw[LSM6DS0_GYRO_NUMBER_OF_AXES]; + int32_t buff[LSM6DS0_GYRO_NUMBER_OF_AXES] = {0, 0, 0}; + msg_t msg; + + osalDbgCheck(ip != NULL); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LSM6DS0Driver*, (BaseGyroscope*)ip); + + osalDbgAssert((devp->state == LSM6DS0_READY), + "gyro_sample_bias(), invalid state"); +#if LSM6DS0_USE_I2C + osalDbgAssert((devp->config->i2cp->state == I2C_READY), + "gyro_sample_bias(), channel not ready"); +#endif + + for(i = 0; i < LSM6DS0_GYRO_BIAS_ACQ_TIMES; i++){ + msg = gyro_read_raw(ip, raw); + if(msg != MSG_OK) + return msg; + for(j = 0; j < LSM6DS0_GYRO_NUMBER_OF_AXES; j++){ + buff[j] += raw[j]; + } + osalThreadSleepMicroseconds(LSM6DS0_GYRO_BIAS_SETTLING_US); + } + + for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++){ + devp->gyrobias[i] = (buff[i] / LSM6DS0_GYRO_BIAS_ACQ_TIMES); + devp->gyrobias[i] *= devp->gyrosensitivity[i]; + } + return msg; +} + +/** + * @brief Set bias values for the BaseGyroscope. + * @note Bias must be expressed as DPS. + * @note The bias buffer must be at least the same size of the BaseGyroscope + * axes number. + * + * @param[in] ip pointer to @p BaseGyroscope interface. + * @param[in] bp a buffer which contains biases. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + */ +static msg_t gyro_set_bias(void *ip, float *bp) { + LSM6DS0Driver* devp; + uint32_t i; + msg_t msg = MSG_OK; + + osalDbgCheck((ip != NULL) && (bp != NULL)); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LSM6DS0Driver*, (BaseGyroscope*)ip); + + osalDbgAssert((devp->state == LSM6DS0_READY), + "gyro_set_bias(), invalid state"); + + for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) { + devp->gyrobias[i] = bp[i]; + } + return msg; +} + +/** + * @brief Reset bias values for the BaseGyroscope. + * @note Default biases value are obtained from device datasheet when + * available otherwise they are considered zero. + * + * @param[in] ip pointer to @p BaseGyroscope interface. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + */ +static msg_t gyro_reset_bias(void *ip) { + LSM6DS0Driver* devp; + uint32_t i; + msg_t msg = MSG_OK; + + osalDbgCheck(ip != NULL); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LSM6DS0Driver*, (BaseGyroscope*)ip); + + osalDbgAssert((devp->state == LSM6DS0_READY), + "gyro_reset_bias(), invalid state"); + + for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) + devp->gyrobias[i] = LSM6DS0_GYRO_BIAS; + return msg; +} + +/** + * @brief Set sensitivity values for the BaseGyroscope. + * @note Sensitivity must be expressed as DPS/LSB. + * @note The sensitivity buffer must be at least the same size of the + * BaseGyroscope axes number. + * + * @param[in] ip pointer to @p BaseGyroscope interface. + * @param[in] sp a buffer which contains sensitivities. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + */ +static msg_t gyro_set_sensivity(void *ip, float *sp) { + LSM6DS0Driver* devp; + uint32_t i; + msg_t msg = MSG_OK; + + osalDbgCheck((ip != NULL) && (sp !=NULL)); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LSM6DS0Driver*, (BaseGyroscope*)ip); + + osalDbgAssert((devp->state == LSM6DS0_READY), + "gyro_set_sensivity(), invalid state"); + + for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) { + devp->gyrosensitivity[i] = sp[i]; + } + return msg; +} + +/** + * @brief Reset sensitivity values for the BaseGyroscope. + * @note Default sensitivities value are obtained from device datasheet. + * + * @param[in] ip pointer to @p BaseGyroscope interface. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * @retval MSG_RESET otherwise. + */ +static msg_t gyro_reset_sensivity(void *ip) { + LSM6DS0Driver* devp; + uint32_t i; + msg_t msg = MSG_OK; + + osalDbgCheck(ip != NULL); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LSM6DS0Driver*, (BaseGyroscope*)ip); + + osalDbgAssert((devp->state == LSM6DS0_READY), + "gyro_reset_sensivity(), invalid state"); + + if(devp->config->gyrofullscale == LSM6DS0_GYRO_FS_245DPS) + for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) + devp->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_245DPS; + else if(devp->config->gyrofullscale == LSM6DS0_GYRO_FS_500DPS) + for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) + devp->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_500DPS; + else if(devp->config->gyrofullscale == LSM6DS0_GYRO_FS_2000DPS) + for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) + devp->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_2000DPS; + else { + osalDbgAssert(FALSE, "gyro_reset_sensivity(), full scale issue"); + return MSG_RESET; + } + return msg; +} + +/** + * @brief Changes the LSM6DS0Driver gyroscope fullscale value. + * @note This function also rescale sensitivities and biases based on + * previous and next fullscale value. + * @note A recalibration is highly suggested after calling this function. + * + * @param[in] devp pointer to @p BaseGyroscope interface. + * @param[in] fs new fullscale value. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * @retval MSG_RESET otherwise. + */ +static msg_t gyro_set_full_scale(LSM6DS0Driver *devp, lsm6ds0_gyro_fs_t fs) { + float newfs, scale; + uint8_t i, buff[2]; + msg_t msg = MSG_OK; + + osalDbgCheck(devp != NULL); + + osalDbgAssert((devp->state == LSM6DS0_READY), + "gyro_set_full_scale(), invalid state"); +#if LSM6DS0_USE_I2C + osalDbgAssert((devp->config->i2cp->state == I2C_READY), + "gyro_set_full_scale(), channel not ready"); +#endif + + if(fs == LSM6DS0_GYRO_FS_245DPS) { + newfs = LSM6DS0_GYRO_245DPS; + } + else if(fs == LSM6DS0_GYRO_FS_500DPS) { + newfs = LSM6DS0_GYRO_500DPS; + } + else if(fs == LSM6DS0_GYRO_FS_2000DPS) { + newfs = LSM6DS0_GYRO_2000DPS; + } + else { + return MSG_RESET; + } + + if(newfs != devp->gyrofullscale) { + scale = newfs / devp->gyrofullscale; + devp->gyrofullscale = newfs; + +#if LSM6DS0_USE_I2C +#if LSM6DS0_SHARED_I2C + i2cAcquireBus(devp->config->i2cp); + i2cStart(devp->config->i2cp, + devp->config->i2ccfg); +#endif /* LSM6DS0_SHARED_I2C */ + + /* Updating register.*/ + msg = lsm6ds0I2CReadRegister(devp->config->i2cp, + devp->config->slaveaddress, + LSM6DS0_AD_CTRL_REG1_G, &buff[1], 1); + +#if LSM6DS0_SHARED_I2C + i2cReleaseBus(devp->config->i2cp); +#endif /* LSM6DS0_SHARED_I2C */ +#endif /* LSM6DS0_USE_I2C */ + + buff[1] &= ~(LSM6DS0_CTRL_REG1_G_FS_MASK); + buff[1] |= fs; + buff[0] = LSM6DS0_AD_CTRL_REG1_G; + +#if LSM6DS0_USE_I2C +#if LSM6DS0_SHARED_I2C + i2cAcquireBus(devp->config->i2cp); + i2cStart(devp->config->i2cp, + devp->config->i2ccfg); +#endif /* LSM6DS0_SHARED_I2C */ + + lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress, + buff, 1); + +#if LSM6DS0_SHARED_I2C + i2cReleaseBus(devp->config->i2cp); +#endif /* LSM6DS0_SHARED_I2C */ +#endif /* LSM6DS0_USE_I2C */ + + /* Scaling sensitivity and bias. Re-calibration is suggested anyway. */ + for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) { + devp->gyrosensitivity[i] *= scale; + devp->gyrobias[i] *= scale; + } + } + return msg; +} + +static const struct LSM6DS0VMT vmt_device = { + (size_t)0, + acc_set_full_scale, gyro_set_full_scale +}; + +static const struct BaseAccelerometerVMT vmt_accelerometer = { + sizeof(struct LSM6DS0VMT*), + 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 BaseGyroscopeVMT vmt_gyroscope = { + sizeof(struct LSM6DS0VMT*) + sizeof(BaseAccelerometer), + gyro_get_axes_number, gyro_read_raw, gyro_read_cooked, + gyro_sample_bias, gyro_set_bias, gyro_reset_bias, + gyro_set_sensivity, gyro_reset_sensivity +}; + +/*===========================================================================*/ +/* Driver exported functions. */ +/*===========================================================================*/ + +/** + * @brief Initializes an instance. + * + * @param[out] devp pointer to the @p LSM6DS0Driver object + * + * @init + */ +void lsm6ds0ObjectInit(LSM6DS0Driver *devp) { + devp->vmt = &vmt_device; + devp->acc_if.vmt = &vmt_accelerometer; + devp->gyro_if.vmt = &vmt_gyroscope; + + devp->config = NULL; + + devp->accaxes = LSM6DS0_ACC_NUMBER_OF_AXES; + devp->gyroaxes = LSM6DS0_GYRO_NUMBER_OF_AXES; + + devp->state = LSM6DS0_STOP; +} + +/** + * @brief Configures and activates LSM6DS0 Complex Driver peripheral. + * + * @param[in] devp pointer to the @p LSM6DS0Driver object + * @param[in] config pointer to the @p LSM6DS0Config object + * + * @api + */ +void lsm6ds0Start(LSM6DS0Driver *devp, const LSM6DS0Config *config) { + uint32_t i; + uint8_t cr[5]; + osalDbgCheck((devp != NULL) && (config != NULL)); + + osalDbgAssert((devp->state == LSM6DS0_STOP) || + (devp->state == LSM6DS0_READY), + "lsm6ds0Start(), invalid state"); + + devp->config = config; + + /* Configuring common registers.*/ + + /* Control register 8 configuration block.*/ + { + cr[0] = LSM6DS0_AD_CTRL_REG8; + cr[1] = LSM6DS0_CTRL_REG8_IF_ADD_INC; +#if LSM6DS0_USE_ADVANCED || defined(__DOXYGEN__) + cr[1] |= devp->config->endianness | devp->config->blockdataupdate; +#endif + } +#if LSM6DS0_USE_I2C +#if LSM6DS0_SHARED_I2C + i2cAcquireBus(devp->config->i2cp); +#endif /* LSM6DS0_SHARED_I2C */ + + i2cStart(devp->config->i2cp, devp->config->i2ccfg); + lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress, + cr, 1); + +#if LSM6DS0_SHARED_I2C + i2cReleaseBus(devp->config->i2cp); +#endif /* LSM6DS0_SHARED_I2C */ +#endif /* LSM6DS0_USE_I2C */ + + /* Configuring Accelerometer subsystem.*/ + /* Multiple write starting address.*/ + cr[0] = LSM6DS0_AD_CTRL_REG5_XL; + /* Control register 5 configuration block.*/ + { + cr[1] = LSM6DS0_CTRL_REG5_XL_XEN_XL | LSM6DS0_CTRL_REG5_XL_YEN_XL | + LSM6DS0_CTRL_REG5_XL_ZEN_XL; +#if LSM6DS0_USE_ADVANCED || defined(__DOXYGEN__) + cr[1] |= devp->config->accdecmode; +#endif + } + + /* Control register 6 configuration block.*/ + { + cr[2] = devp->config->accoutdatarate | + devp->config->accfullscale; + } + +#if LSM6DS0_USE_I2C +#if LSM6DS0_SHARED_I2C + i2cAcquireBus(devp->config->i2cp); + i2cStart(devp->config->i2cp, devp->config->i2ccfg); +#endif /* LSM6DS0_SHARED_I2C */ + + lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress, + cr, 2); + +#if LSM6DS0_SHARED_I2C + i2cReleaseBus(devp->config->i2cp); +#endif /* LSM6DS0_SHARED_I2C */ +#endif /* LSM6DS0_USE_I2C */ + + /* Storing sensitivity according to user settings */ + if(devp->config->accfullscale == LSM6DS0_ACC_FS_2G) { + for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) { + if(devp->config->accsensitivity == NULL) + devp->accsensitivity[i] = LSM6DS0_ACC_SENS_2G; + else + devp->accsensitivity[i] = devp->config->accsensitivity[i]; + } + devp->accfullscale = LSM6DS0_ACC_2G; + } + else if(devp->config->accfullscale == LSM6DS0_ACC_FS_4G) { + for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) { + if(devp->config->accsensitivity == NULL) + devp->accsensitivity[i] = LSM6DS0_ACC_SENS_4G; + else + devp->accsensitivity[i] = devp->config->accsensitivity[i]; + } + devp->accfullscale = LSM6DS0_ACC_4G; + } + else if(devp->config->accfullscale == LSM6DS0_ACC_FS_8G) { + for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) { + if(devp->config->accsensitivity == NULL) + devp->accsensitivity[i] = LSM6DS0_ACC_SENS_8G; + else + devp->accsensitivity[i] = devp->config->accsensitivity[i]; + } + devp->accfullscale = LSM6DS0_ACC_8G; + } + else if(devp->config->accfullscale == LSM6DS0_ACC_FS_16G) { + for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) { + if(devp->config->accsensitivity == NULL) + devp->accsensitivity[i] = LSM6DS0_ACC_SENS_16G; + else + devp->accsensitivity[i] = devp->config->accsensitivity[i]; + } + devp->accfullscale = LSM6DS0_ACC_16G; + } + else + osalDbgAssert(FALSE, "lsm6ds0Start(), accelerometer full scale issue"); + + /* Storing bias information */ + if(devp->config->accbias != NULL) + for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) + devp->accbias[i] = devp->config->accbias[i]; + else + for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) + devp->accbias[i] = LSM6DS0_ACC_BIAS; + + /* Configuring Gyroscope subsystem.*/ + /* Multiple write starting address.*/ + cr[0] = LSM6DS0_AD_CTRL_REG1_G; + + /* Control register 1 configuration block.*/ + { + cr[1] = devp->config->gyrofullscale | + devp->config->gyrooutdatarate; + } + + /* Control register 2 configuration block.*/ + { + cr[2] = 0; +#if LSM6DS0_USE_ADVANCED || defined(__DOXYGEN__) + cr[2] |= devp->config->gyrooutsel; +#endif + } + + /* Control register 3 configuration block.*/ + { + cr[3] = 0; +#if LSM6DS0_USE_ADVANCED || defined(__DOXYGEN__) + cr[3] |= devp->config->gyrohpfenable | + devp->config->gyrolowmodecfg | + devp->config->gyrohpcfg; +#endif + } + + /* Control register 4 configuration block.*/ + { + cr[4] = LSM6DS0_CTRL_REG4_XEN_G | LSM6DS0_CTRL_REG4_YEN_G | + LSM6DS0_CTRL_REG4_ZEN_G; + } +#if LSM6DS0_USE_I2C +#if LSM6DS0_SHARED_I2C + i2cAcquireBus(devp->config->i2cp); + i2cStart(devp->config->i2cp, devp->config->i2ccfg); +#endif /* LSM6DS0_SHARED_I2C */ + + lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress, + cr, 4); + +#if LSM6DS0_SHARED_I2C + i2cReleaseBus(devp->config->i2cp); +#endif /* LSM6DS0_SHARED_I2C */ +#endif /* LSM6DS0_USE_I2C */ + + cr[0] = LSM6DS0_AD_CTRL_REG9; + /* Control register 9 configuration block.*/ + { + cr[1] = 0; + } +#if LSM6DS0_USE_I2C +#if LSM6DS0_SHARED_I2C + i2cAcquireBus(devp->config->i2cp); + i2cStart(devp->config->i2cp, devp->config->i2ccfg); +#endif /* LSM6DS0_SHARED_I2C */ + + lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress, + cr, 1); + +#if LSM6DS0_SHARED_I2C + i2cReleaseBus(devp->config->i2cp); +#endif /* LSM6DS0_SHARED_I2C */ +#endif /* LSM6DS0_USE_I2C */ + + if(devp->config->gyrofullscale == LSM6DS0_GYRO_FS_245DPS) { + for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) { + if(devp->config->gyrosensitivity == NULL) + devp->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_245DPS; + else + devp->gyrosensitivity[i] = devp->config->gyrosensitivity[i]; + } + devp->gyrofullscale = LSM6DS0_GYRO_245DPS; + } + else if(devp->config->gyrofullscale == LSM6DS0_GYRO_FS_500DPS) { + for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) { + if(devp->config->gyrosensitivity == NULL) + devp->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_500DPS; + else + devp->gyrosensitivity[i] = devp->config->gyrosensitivity[i]; + } + devp->gyrofullscale = LSM6DS0_GYRO_500DPS; + } + else if(devp->config->gyrofullscale == LSM6DS0_GYRO_FS_2000DPS) { + for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) { + if(devp->config->gyrosensitivity == NULL) + devp->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_2000DPS; + else + devp->gyrosensitivity[i] = devp->config->gyrosensitivity[i]; + } + devp->gyrofullscale = LSM6DS0_GYRO_2000DPS; + } + else + osalDbgAssert(FALSE, "lsm6ds0Start(), gyroscope full scale issue"); + + /* Storing bias information */ + if(devp->config->gyrobias != NULL) + for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) + devp->gyrobias[i] = devp->config->gyrobias[i]; + else + for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) + devp->gyrobias[i] = LSM6DS0_GYRO_BIAS; + + /* This is the MEMS transient recovery time */ + osalThreadSleepMilliseconds(5); + + devp->state = LSM6DS0_READY; +} + +/** + * @brief Deactivates the LSM6DS0 Complex Driver peripheral. + * + * @param[in] devp pointer to the @p LSM6DS0Driver object + * + * @api + */ +void lsm6ds0Stop(LSM6DS0Driver *devp) { + uint8_t cr[2]; + + osalDbgCheck(devp != NULL); + + osalDbgAssert((devp->state == LSM6DS0_STOP) || (devp->state == LSM6DS0_READY), + "lsm6ds0Stop(), invalid state"); + + if (devp->state == LSM6DS0_READY) { +#if LSM6DS0_USE_I2C +#if LSM6DS0_SHARED_I2C + i2cAcquireBus(devp->config->i2cp); + i2cStart(devp->config->i2cp, devp->config->i2ccfg); +#endif /* LSM6DS0_SHARED_I2C */ + + /* Disabling accelerometer.*/ + cr[0] = LSM6DS0_AD_CTRL_REG6_XL; + cr[1] = 0; + lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress, + cr, 1); + + /* Disabling gyroscope.*/ + cr[0] = LSM6DS0_AD_CTRL_REG9; + cr[1] = LSM6DS0_CTRL_REG9_SLEEP_G; + lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress, + cr, 1); + + i2cStop(devp->config->i2cp); +#if LSM6DS0_SHARED_I2C + i2cReleaseBus(devp->config->i2cp); +#endif /* LSM6DS0_SHARED_I2C */ +#endif /* LSM6DS0_USE_I2C */ + } + devp->state = LSM6DS0_STOP; +} +/** @} */ -- cgit v1.2.3