/*
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 <http://www.gnu.org/licenses/>.
*/
/**
* @file lps22hb.c
* @brief LPS22HB MEMS interface module code.
*
* @addtogroup LPS22HB
* @ingroup EX_ST
* @{
*/
#include "hal.h"
#include "lps22hb.h"
/*===========================================================================*/
/* Driver local definitions. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver exported variables. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local variables and types. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local functions. */
/*===========================================================================*/
#if (LPS22HB_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 lps22hbI2CReadRegister(I2CDriver *i2cp, lps22hb_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 lps22hbI2CWriteRegister(i2cp, sad, txbuf, n) \
i2cMasterTransmitTimeout(i2cp, sad, txbuf, n + 1, NULL, 0, \
TIME_INFINITE)
#endif /* LPS22HB_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 LPS22HB_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[]) {
LPS22HBDriver* devp;
uint8_t buff[3];
msg_t msg;
osalDbgCheck((ip != NULL) && (axes != NULL));
/* Getting parent instance pointer.*/
devp = objGetInstance(LPS22HBDriver*, (BaseBarometer*)ip);
osalDbgAssert((devp->state == LPS22HB_READY),
"baro_read_raw(), invalid state");
osalDbgAssert((devp->config->i2cp->state == I2C_READY),
"baro_read_raw(), channel not ready");
#if LPS22HB_SHARED_I2C
i2cAcquireBus(devp->config->i2cp);
i2cStart(devp->config->i2cp,
devp->config->i2ccfg);
#endif /* LPS22HB_SHARED_I2C */
msg = lps22hbI2CReadRegister(devp->config->i2cp, devp->config->slaveaddress,
LPS22HB_AD_PRESS_OUT_XL, buff, 3);
#if LPS22HB_SHARED_I2C
i2cReleaseBus(devp->config->i2cp);
#endif /* LPS22HB_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[]) {
LPS22HBDriver* devp;
int32_t raw;
msg_t msg;
osalDbgCheck((ip != NULL) && (axes != NULL));
/* Getting parent instance pointer.*/
devp = objGetInstance(LPS22HBDriver*, (BaseBarometer*)ip);
osalDbgAssert((devp->state == LPS22HB_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) {
LPS22HBDriver* devp;
msg_t msg = MSG_OK;
osalDbgCheck((ip != NULL) && (bp != NULL));
/* Getting parent instance pointer.*/
devp = objGetInstance(LPS22HBDriver*, (BaseBarometer*)ip);
osalDbgAssert((devp->state == LPS22HB_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) {
LPS22HBDriver* devp;
msg_t msg = MSG_OK;
osalDbgCheck(ip != NULL);
/* Getting parent instance pointer.*/
devp = objGetInstance(LPS22HBDriver*, (BaseBarometer*)ip);
osalDbgAssert((devp->state == LPS22HB_READY),
"baro_reset_bias(), invalid state");
devp->barobias = LPS22HB_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) {
LPS22HBDriver* devp;
msg_t msg = MSG_OK;
osalDbgCheck((ip != NULL) && (sp != NULL));
/* Getting parent instance pointer.*/
devp = objGetInstance(LPS22HBDriver*, (BaseBarometer*)ip);
osalDbgAssert((devp->state == LPS22HB_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) {
LPS22HBDriver* devp;
msg_t msg = MSG_OK;
osalDbgCheck(ip != NULL);
/* Getting parent instance pointer.*/
devp = objGetInstance(LPS22HBDriver*, (BaseBarometer*)ip);
osalDbgAssert((devp->state == LPS22HB_READY),
"baro_reset_sensitivity(), invalid state");
devp->barosensitivity = LPS22HB_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 LPS22HB_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[]) {
LPS22HBDriver* devp;
int16_t tmp;
uint8_t buff[2];
msg_t msg;
osalDbgCheck((ip != NULL) && (axes != NULL));
/* Getting parent instance pointer.*/
devp = objGetInstance(LPS22HBDriver*, (BaseThermometer*)ip);
osalDbgAssert((devp->state == LPS22HB_READY),
"thermo_read_raw(), invalid state");
osalDbgAssert((devp->config->i2cp->state == I2C_READY),
"thermo_read_raw(), channel not ready");
#if LPS22HB_SHARED_I2C
i2cAcquireBus(devp->config->i2cp);
i2cStart(devp->config->i2cp,
devp->config->i2ccfg);
#endif /* LPS22HB_SHARED_I2C */
msg = lps22hbI2CReadRegister(devp->config->i2cp, devp->config->slaveaddress,
LPS22HB_AD_TEMP_OUT_L, buff, 2);
#if LPS22HB_SHARED_I2C
i2cReleaseBus(devp->config->i2cp);
#endif /* LPS22HB_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) {
LPS22HBDriver* devp;
int32_t raw;
msg_t msg;
osalDbgCheck((ip != NULL) && (axis != NULL));
/* Getting parent instance pointer.*/
devp = objGetInstance(LPS22HBDriver*, (BaseThermometer*)ip);
osalDbgAssert((devp->state == LPS22HB_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) {
LPS22HBDriver* devp;
msg_t msg = MSG_OK;
osalDbgCheck((ip != NULL) && (bp != NULL));
/* Getting parent instance pointer.*/
devp = objGetInstance(LPS22HBDriver*, (BaseThermometer*)ip);
osalDbgAssert((devp->state == LPS22HB_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) {
LPS22HBDriver* devp;
msg_t msg = MSG_OK;
osalDbgCheck(ip != NULL);
/* Getting parent instance pointer.*/
devp = objGetInstance(LPS22HBDriver*, (BaseThermometer*)ip);
osalDbgAssert((devp->state == LPS22HB_READY),
"thermo_reset_bias(), invalid state");
devp->thermobias = LPS22HB_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) {
LPS22HBDriver* devp;
msg_t msg = MSG_OK;
osalDbgCheck((ip != NULL) && (sp != NULL));
/* Getting parent instance pointer.*/
devp = objGetInstance(LPS22HBDriver*, (BaseThermometer*)ip);
osalDbgAssert((devp->state == LPS22HB_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) {
LPS22HBDriver* devp;
msg_t msg = MSG_OK;
osalDbgCheck(ip != NULL);
/* Getting parent instance pointer.*/
devp = objGetInstance(LPS22HBDriver*, (BaseThermometer*)ip);
osalDbgAssert((devp->state == LPS22HB_READY),
"thermo_reset_sensitivity(), invalid state");
devp->thermosensitivity = LPS22HB_THERMO_SENS;
return msg;
}
static const struct LPS22HBVMT vmt_device = {
(size_t)0
};
static const struct BaseBarometerVMT vmt_barometer = {
sizeof(struct LPS22HBVMT*),
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 LPS22HBVMT*) + 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 LPS22HBDriver object
*
* @init
*/
void lps22hbObjectInit(LPS22HBDriver *devp) {
devp->vmt = &vmt_device;
devp->baro_if.vmt = &vmt_barometer;
devp->thermo_if.vmt = &vmt_thermometer;
devp->config = NULL;
devp->baroaxes = LPS22HB_BARO_NUMBER_OF_AXES;
devp->thermoaxes = LPS22HB_THERMO_NUMBER_OF_AXES;
devp->state = LPS22HB_STOP;
}
/**
* @brief Configures and activates LPS22HB Complex Driver peripheral.
*
* @param[in] devp pointer to the @p LPS22HBDriver object
* @param[in] config pointer to the @p LPS22HBConfig object
*
* @api
*/
void lps22hbStart(LPS22HBDriver *devp, const LPS22HBConfig *config) {
uint8_t cr[2];
osalDbgCheck((devp != NULL) && (config != NULL));
osalDbgAssert((devp->state == LPS22HB_STOP) || (devp->state == LPS22HB_READY),
"lps22hbStart(), invalid state");
devp->config = config;
/* Enabling register auto-increment.*/
/* Control register 1 configuration block.*/
{
cr[0] = LPS22HB_AD_CTRL_REG2;
cr[1] = LPS22HB_CTRL_REG2_IF_ADD_INC;
}
#if LPS22HB_SHARED_I2C
i2cAcquireBus(devp->config->i2cp);
#endif /* LPS22HB_SHARED_I2C */
i2cStart(devp->config->i2cp, devp->config->i2ccfg);
lps22hbI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
cr, 1);
#if LPS22HB_SHARED_I2C
i2cReleaseBus((devp)->config->i2cp);
#endif /* LPS22HB_SHARED_I2C */
/* Control register 1 configuration block.*/
{
cr[0] = LPS22HB_AD_CTRL_REG1;
cr[1] = devp->config->outputdatarate;
#if LPS22HB_USE_ADVANCED || defined(__DOXYGEN__)
cr[1] |= devp->config->blockdataupdate;
cr[1] |= devp->config->lowpass_filter;
#endif
}
#if LPS22HB_SHARED_I2C
i2cAcquireBus((devp)->config->i2cp);
i2cStart((devp)->config->i2cp,
(devp)->config->i2ccfg);
#endif /* LPS22HB_SHARED_I2C */
lps22hbI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress, cr, 1);
#if LPS22HB_SHARED_I2C
i2cReleaseBus((devp)->config->i2cp);
#endif /* LPS22HB_SHARED_I2C */
if(devp->config->barosensitivity == NULL) {
devp->barosensitivity = LPS22HB_BARO_SENS;
}
else{
/* Taking barometer sensitivity from user configurations */
devp->barosensitivity = *(devp->config->barosensitivity);
}
if(devp->config->barobias == NULL) {
devp->barobias = LPS22HB_BARO_BIAS;
}
else{
/* Taking barometer bias from user configurations */
devp->barobias = *(devp->config->barobias);
}
if(devp->config->thermosensitivity == NULL) {
devp->thermosensitivity = LPS22HB_THERMO_SENS;
}
else{
/* Taking thermometer sensitivity from user configurations */
devp->thermosensitivity = *(devp->config->thermosensitivity);
}
if(devp->config->thermobias == NULL) {
devp->thermobias = LPS22HB_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 = LPS22HB_READY;
}
/**
* @brief Deactivates the LPS22HB Complex Driver peripheral.
*
* @param[in] devp pointer to the @p LPS22HBDriver object
*
* @api
*/
void lps22hbStop(LPS22HBDriver *devp) {
uint8_t cr[2];
osalDbgCheck(devp != NULL);
osalDbgAssert((devp->state == LPS22HB_STOP) || (devp->state == LPS22HB_READY),
"lps22hbStop(), invalid state");
if (devp->state == LPS22HB_READY) {
#if LPS22HB_SHARED_I2C
i2cAcquireBus((devp)->config->i2cp);
i2cStart((devp)->config->i2cp,
(devp)->config->i2ccfg);
#endif /* LPS22HB_SHARED_I2C */
cr[0] = LPS22HB_AD_CTRL_REG1;
cr[1] = 0;
lps22hbI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
cr, 1);
i2cStop((devp)->config->i2cp);
#if LPS22HB_SHARED_I2C
i2cReleaseBus((devp)->config->i2cp);
#endif /* LPS22HB_SHARED_I2C */
}
devp->state = LPS22HB_STOP;
}
/** @} */