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1120 lines
36 KiB
C
1120 lines
36 KiB
C
/*
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ChibiOS - Copyright (C) 2016..2019 Rocco Marco Guglielmi
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This file is part of ChibiOS.
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ChibiOS is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 3 of the License, or
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(at your option) any later version.
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ChibiOS is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file lsm6dsl.c
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* @brief LSM6DSL MEMS interface module code.
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*
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* @addtogroup LSM6DSL
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* @ingroup EX_ST
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* @{
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*/
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#include "hal.h"
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#include "lsm6dsl.h"
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/*===========================================================================*/
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/* Driver local definitions. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver exported variables. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver local variables and types. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver local functions. */
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/*===========================================================================*/
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#if (LSM6DSL_USE_I2C) || defined(__DOXYGEN__)
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/**
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* @brief Reads registers value using I2C.
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* @pre The I2C interface must be initialized and the driver started.
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* @note IF_ADD_INC bit must be 1 in CTRL_REG8
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*
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* @param[in] i2cp pointer to the I2C interface
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* @param[in] sad slave address without R bit
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* @param[in] reg first sub-register address
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* @param[out] rxbuf pointer to an output buffer
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* @param[in] n number of consecutive register to read
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* @return the operation status.
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* @notapi
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*/
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msg_t lsm6dslI2CReadRegister(I2CDriver *i2cp, lsm6dsl_sad_t sad, uint8_t reg,
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uint8_t* rxbuf, size_t n) {
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return i2cMasterTransmitTimeout(i2cp, sad, ®, 1, rxbuf, n,
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TIME_INFINITE);
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}
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/**
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* @brief Writes a value into a register using I2C.
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* @pre The I2C interface must be initialized and the driver started.
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*
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* @param[in] i2cp pointer to the I2C interface
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* @param[in] sad slave address without R bit
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* @param[in] txbuf buffer containing sub-address value in first position
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* and values to write
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* @param[in] n size of txbuf less one (not considering the first
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* element)
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* @return the operation status.
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* @notapi
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*/
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#define lsm6dslI2CWriteRegister(i2cp, sad, txbuf, n) \
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i2cMasterTransmitTimeout(i2cp, sad, txbuf, n + 1, NULL, 0, \
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TIME_INFINITE)
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#endif /* LSM6DSL_USE_I2C */
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/**
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* @brief Return the number of axes of the BaseAccelerometer.
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*
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* @param[in] ip pointer to @p BaseAccelerometer interface.
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*
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* @return the number of axes.
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*/
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static size_t acc_get_axes_number(void *ip) {
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(void)ip;
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return LSM6DSL_ACC_NUMBER_OF_AXES;
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}
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/**
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* @brief Retrieves raw data from the BaseAccelerometer.
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* @note This data is retrieved from MEMS register without any algebraical
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* manipulation.
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* @note The axes array must be at least the same size of the
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* BaseAccelerometer axes number.
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*
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* @param[in] ip pointer to @p BaseAccelerometer interface.
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* @param[out] axes a buffer which would be filled with raw data.
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*
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* @return The operation status.
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* @retval MSG_OK if the function succeeded.
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* @retval MSG_RESET if one or more I2C errors occurred, the errors can
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* be retrieved using @p i2cGetErrors().
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* @retval MSG_TIMEOUT if a timeout occurred before operation end.
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*/
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static msg_t acc_read_raw(void *ip, int32_t axes[]) {
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LSM6DSLDriver* devp;
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uint8_t buff [LSM6DSL_ACC_NUMBER_OF_AXES * 2], i;
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int16_t tmp;
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msg_t msg;
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osalDbgCheck((ip != NULL) && (axes != NULL));
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/* Getting parent instance pointer.*/
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devp = objGetInstance(LSM6DSLDriver*, (BaseAccelerometer*)ip);
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osalDbgAssert((devp->state == LSM6DSL_READY),
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"acc_read_raw(), invalid state");
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#if LSM6DSL_USE_I2C
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osalDbgAssert((devp->config->i2cp->state == I2C_READY),
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"acc_read_raw(), channel not ready");
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#if LSM6DSL_SHARED_I2C
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i2cAcquireBus(devp->config->i2cp);
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i2cStart(devp->config->i2cp,
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devp->config->i2ccfg);
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#endif /* LSM6DSL_SHARED_I2C */
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msg = lsm6dslI2CReadRegister(devp->config->i2cp, devp->config->slaveaddress,
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LSM6DSL_AD_OUTX_L_XL, buff,
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LSM6DSL_ACC_NUMBER_OF_AXES * 2);
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#if LSM6DSL_SHARED_I2C
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i2cReleaseBus(devp->config->i2cp);
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#endif /* LSM6DSL_SHARED_I2C */
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#endif /* LSM6DSL_USE_I2C */
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if(msg == MSG_OK)
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for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++) {
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tmp = buff[2 * i] + (buff[2 * i + 1] << 8);
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axes[i] = (int32_t)tmp;
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}
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return msg;
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}
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/**
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* @brief Retrieves cooked data from the BaseAccelerometer.
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* @note This data is manipulated according to the formula
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* cooked = (raw * sensitivity) - bias.
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* @note Final data is expressed as milli-G.
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* @note The axes array must be at least the same size of the
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* BaseAccelerometer axes number.
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*
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* @param[in] ip pointer to @p BaseAccelerometer interface.
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* @param[out] axes a buffer which would be filled with cooked data.
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*
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* @return The operation status.
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* @retval MSG_OK if the function succeeded.
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* @retval MSG_RESET if one or more I2C errors occurred, the errors can
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* be retrieved using @p i2cGetErrors().
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* @retval MSG_TIMEOUT if a timeout occurred before operation end.
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*/
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static msg_t acc_read_cooked(void *ip, float axes[]) {
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LSM6DSLDriver* devp;
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uint32_t i;
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int32_t raw[LSM6DSL_ACC_NUMBER_OF_AXES];
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msg_t msg;
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osalDbgCheck((ip != NULL) && (axes != NULL));
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/* Getting parent instance pointer.*/
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devp = objGetInstance(LSM6DSLDriver*, (BaseAccelerometer*)ip);
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osalDbgAssert((devp->state == LSM6DSL_READY),
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"acc_read_cooked(), invalid state");
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msg = acc_read_raw(ip, raw);
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for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++) {
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axes[i] = (raw[i] * devp->accsensitivity[i]) - devp->accbias[i];
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}
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return msg;
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}
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/**
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* @brief Set bias values for the BaseAccelerometer.
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* @note Bias must be expressed as milli-G.
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* @note The bias buffer must be at least the same size of the
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* BaseAccelerometer axes number.
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*
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* @param[in] ip pointer to @p BaseAccelerometer interface.
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* @param[in] bp a buffer which contains biases.
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*
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* @return The operation status.
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* @retval MSG_OK if the function succeeded.
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*/
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static msg_t acc_set_bias(void *ip, float *bp) {
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LSM6DSLDriver* devp;
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uint32_t i;
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msg_t msg = MSG_OK;
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osalDbgCheck((ip != NULL) && (bp != NULL));
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/* Getting parent instance pointer.*/
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devp = objGetInstance(LSM6DSLDriver*, (BaseAccelerometer*)ip);
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osalDbgAssert((devp->state == LSM6DSL_READY),
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"acc_set_bias(), invalid state");
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for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++) {
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devp->accbias[i] = bp[i];
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}
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return msg;
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}
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/**
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* @brief Reset bias values for the BaseAccelerometer.
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* @note Default biases value are obtained from device datasheet when
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* available otherwise they are considered zero.
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*
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* @param[in] ip pointer to @p BaseAccelerometer interface.
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*
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* @return The operation status.
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* @retval MSG_OK if the function succeeded.
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*/
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static msg_t acc_reset_bias(void *ip) {
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LSM6DSLDriver* devp;
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uint32_t i;
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msg_t msg = MSG_OK;
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osalDbgCheck(ip != NULL);
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/* Getting parent instance pointer.*/
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devp = objGetInstance(LSM6DSLDriver*, (BaseAccelerometer*)ip);
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osalDbgAssert((devp->state == LSM6DSL_READY),
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"acc_reset_bias(), invalid state");
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for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++)
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devp->accbias[i] = LSM6DSL_ACC_BIAS;
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return msg;
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}
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/**
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* @brief Set sensitivity values for the BaseAccelerometer.
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* @note Sensitivity must be expressed as milli-G/LSB.
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* @note The sensitivity buffer must be at least the same size of the
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* BaseAccelerometer axes number.
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*
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* @param[in] ip pointer to @p BaseAccelerometer interface.
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* @param[in] sp a buffer which contains sensitivities.
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*
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* @return The operation status.
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* @retval MSG_OK if the function succeeded.
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*/
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static msg_t acc_set_sensivity(void *ip, float *sp) {
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LSM6DSLDriver* devp;
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uint32_t i;
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msg_t msg = MSG_OK;
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/* Getting parent instance pointer.*/
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devp = objGetInstance(LSM6DSLDriver*, (BaseAccelerometer*)ip);
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osalDbgCheck((ip != NULL) && (sp != NULL));
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osalDbgAssert((devp->state == LSM6DSL_READY),
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"acc_set_sensivity(), invalid state");
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for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++) {
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devp->accsensitivity[i] = sp[i];
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}
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return msg;
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}
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/**
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* @brief Reset sensitivity values for the BaseAccelerometer.
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* @note Default sensitivities value are obtained from device datasheet.
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*
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* @param[in] ip pointer to @p BaseAccelerometer interface.
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*
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* @return The operation status.
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* @retval MSG_OK if the function succeeded.
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* @retval MSG_RESET otherwise.
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*/
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static msg_t acc_reset_sensivity(void *ip) {
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LSM6DSLDriver* devp;
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uint32_t i;
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msg_t msg = MSG_OK;
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osalDbgCheck(ip != NULL);
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/* Getting parent instance pointer.*/
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devp = objGetInstance(LSM6DSLDriver*, (BaseAccelerometer*)ip);
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osalDbgAssert((devp->state == LSM6DSL_READY),
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"acc_reset_sensivity(), invalid state");
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if(devp->config->accfullscale == LSM6DSL_ACC_FS_2G)
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for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++)
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devp->accsensitivity[i] = LSM6DSL_ACC_SENS_2G;
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else if(devp->config->accfullscale == LSM6DSL_ACC_FS_4G)
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for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++)
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devp->accsensitivity[i] = LSM6DSL_ACC_SENS_4G;
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else if(devp->config->accfullscale == LSM6DSL_ACC_FS_8G)
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for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++)
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devp->accsensitivity[i] = LSM6DSL_ACC_SENS_8G;
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else if(devp->config->accfullscale == LSM6DSL_ACC_FS_16G)
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for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++)
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devp->accsensitivity[i] = LSM6DSL_ACC_SENS_16G;
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else {
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osalDbgAssert(FALSE, "reset_sensivity(), accelerometer full scale issue");
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msg = MSG_RESET;
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}
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return msg;
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}
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/**
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* @brief Changes the LSM6DSLDriver accelerometer fullscale value.
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* @note This function also rescale sensitivities and biases based on
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* previous and next fullscale value.
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* @note A recalibration is highly suggested after calling this function.
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*
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* @param[in] devp pointer to @p LSM6DSLDriver interface.
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* @param[in] fs new fullscale value.
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*
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* @return The operation status.
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* @retval MSG_OK if the function succeeded.
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* @retval MSG_RESET otherwise.
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*/
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static msg_t acc_set_full_scale(LSM6DSLDriver *devp, lsm6dsl_acc_fs_t fs) {
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float newfs, scale;
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uint8_t i, buff[2];
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msg_t msg;
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osalDbgCheck(devp != NULL);
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osalDbgAssert((devp->state == LSM6DSL_READY),
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"acc_set_full_scale(), invalid state");
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osalDbgAssert((devp->config->i2cp->state == I2C_READY),
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"acc_set_full_scale(), channel not ready");
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/* Computing new fullscale value.*/
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if(fs == LSM6DSL_ACC_FS_2G) {
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newfs = LSM6DSL_ACC_2G;
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}
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else if(fs == LSM6DSL_ACC_FS_4G) {
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newfs = LSM6DSL_ACC_4G;
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}
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else if(fs == LSM6DSL_ACC_FS_8G) {
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newfs = LSM6DSL_ACC_8G;
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}
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else if(fs == LSM6DSL_ACC_FS_16G) {
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newfs = LSM6DSL_ACC_16G;
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}
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else {
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msg = MSG_RESET;
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return msg;
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}
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if(newfs != devp->accfullscale) {
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/* Computing scale value.*/
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scale = newfs / devp->accfullscale;
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devp->accfullscale = newfs;
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#if LSM6DSL_SHARED_I2C
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i2cAcquireBus(devp->config->i2cp);
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i2cStart(devp->config->i2cp,
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devp->config->i2ccfg);
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#endif /* LSM6DSL_SHARED_I2C */
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/* Updating register.*/
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msg = lsm6dslI2CReadRegister(devp->config->i2cp,
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devp->config->slaveaddress,
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LSM6DSL_AD_CTRL1_XL, &buff[1], 1);
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#if LSM6DSL_SHARED_I2C
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i2cReleaseBus(devp->config->i2cp);
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#endif /* LSM6DSL_SHARED_I2C */
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if(msg != MSG_OK)
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return msg;
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buff[1] &= ~(LSMDSL_CTRL1_XL_FS_MASK);
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buff[1] |= fs;
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buff[0] = LSM6DSL_AD_CTRL1_XL;
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#if LSM6DSL_SHARED_I2C
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i2cAcquireBus(devp->config->i2cp);
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i2cStart(devp->config->i2cp, devp->config->i2ccfg);
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#endif /* LSM6DSL_SHARED_I2C */
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msg = lsm6dslI2CWriteRegister(devp->config->i2cp,
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devp->config->slaveaddress, buff, 1);
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#if LSM6DSL_SHARED_I2C
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i2cReleaseBus(devp->config->i2cp);
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#endif /* LSM6DSL_SHARED_I2C */
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if(msg != MSG_OK)
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return msg;
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|
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/* Scaling sensitivity and bias. Re-calibration is suggested anyway.*/
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for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++) {
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devp->accsensitivity[i] *= scale;
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devp->accbias[i] *= scale;
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}
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}
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return msg;
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}
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|
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/**
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* @brief Return the number of axes of the BaseGyroscope.
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*
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* @param[in] ip pointer to @p BaseGyroscope interface.
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*
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* @return the number of axes.
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*/
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static size_t gyro_get_axes_number(void *ip) {
|
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(void)ip;
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|
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return LSM6DSL_GYRO_NUMBER_OF_AXES;
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}
|
|
|
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/**
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|
* @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.
|
|
*
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* @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().
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* @retval MSG_TIMEOUT if a timeout occurred before operation end.
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*/
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static msg_t gyro_read_raw(void *ip, int32_t axes[LSM6DSL_GYRO_NUMBER_OF_AXES]) {
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LSM6DSLDriver* devp;
|
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int16_t tmp;
|
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uint8_t i, buff [2 * LSM6DSL_GYRO_NUMBER_OF_AXES];
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msg_t msg = MSG_OK;
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|
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osalDbgCheck((ip != NULL) && (axes != NULL));
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|
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/* Getting parent instance pointer.*/
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devp = objGetInstance(LSM6DSLDriver*, (BaseGyroscope*)ip);
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|
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osalDbgAssert((devp->state == LSM6DSL_READY),
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"gyro_read_raw(), invalid state");
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#if LSM6DSL_USE_I2C
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osalDbgAssert((devp->config->i2cp->state == I2C_READY),
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"gyro_read_raw(), channel not ready");
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|
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#if LSM6DSL_SHARED_I2C
|
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i2cAcquireBus(devp->config->i2cp);
|
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i2cStart(devp->config->i2cp,
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devp->config->i2ccfg);
|
|
#endif /* LSM6DSL_SHARED_I2C */
|
|
|
|
msg = lsm6dslI2CReadRegister(devp->config->i2cp, devp->config->slaveaddress,
|
|
LSM6DSL_AD_OUTX_L_G, buff,
|
|
LSM6DSL_GYRO_NUMBER_OF_AXES * 2);
|
|
|
|
#if LSM6DSL_SHARED_I2C
|
|
i2cReleaseBus(devp->config->i2cp);
|
|
#endif /* LSM6DSL_SHARED_I2C */
|
|
#endif /* LSM6DSL_USE_I2C */
|
|
|
|
for(i = 0; i < LSM6DSL_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[]) {
|
|
LSM6DSLDriver* devp;
|
|
uint32_t i;
|
|
int32_t raw[LSM6DSL_GYRO_NUMBER_OF_AXES];
|
|
msg_t msg;
|
|
|
|
osalDbgCheck((ip != NULL) && (axes != NULL));
|
|
|
|
/* Getting parent instance pointer.*/
|
|
devp = objGetInstance(LSM6DSLDriver*, (BaseGyroscope*)ip);
|
|
|
|
osalDbgAssert((devp->state == LSM6DSL_READY),
|
|
"gyro_read_cooked(), invalid state");
|
|
|
|
msg = gyro_read_raw(ip, raw);
|
|
for(i = 0; i < LSM6DSL_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 LSM6DSL 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 LSM6DSL_BIAS_ACQ_TIMES
|
|
* and @p LSM6DSL_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) {
|
|
LSM6DSLDriver* devp;
|
|
uint32_t i, j;
|
|
int32_t raw[LSM6DSL_GYRO_NUMBER_OF_AXES];
|
|
int32_t buff[LSM6DSL_GYRO_NUMBER_OF_AXES] = {0, 0, 0};
|
|
msg_t msg;
|
|
|
|
osalDbgCheck(ip != NULL);
|
|
|
|
/* Getting parent instance pointer.*/
|
|
devp = objGetInstance(LSM6DSLDriver*, (BaseGyroscope*)ip);
|
|
|
|
osalDbgAssert((devp->state == LSM6DSL_READY),
|
|
"gyro_sample_bias(), invalid state");
|
|
#if LSM6DSL_USE_I2C
|
|
osalDbgAssert((devp->config->i2cp->state == I2C_READY),
|
|
"gyro_sample_bias(), channel not ready");
|
|
#endif
|
|
|
|
for(i = 0; i < LSM6DSL_GYRO_BIAS_ACQ_TIMES; i++){
|
|
msg = gyro_read_raw(ip, raw);
|
|
if(msg != MSG_OK)
|
|
return msg;
|
|
for(j = 0; j < LSM6DSL_GYRO_NUMBER_OF_AXES; j++){
|
|
buff[j] += raw[j];
|
|
}
|
|
osalThreadSleepMicroseconds(LSM6DSL_GYRO_BIAS_SETTLING_US);
|
|
}
|
|
|
|
for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++){
|
|
devp->gyrobias[i] = (buff[i] / LSM6DSL_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) {
|
|
LSM6DSLDriver* devp;
|
|
uint32_t i;
|
|
msg_t msg = MSG_OK;
|
|
|
|
osalDbgCheck((ip != NULL) && (bp != NULL));
|
|
|
|
/* Getting parent instance pointer.*/
|
|
devp = objGetInstance(LSM6DSLDriver*, (BaseGyroscope*)ip);
|
|
|
|
osalDbgAssert((devp->state == LSM6DSL_READY),
|
|
"gyro_set_bias(), invalid state");
|
|
|
|
for(i = 0; i < LSM6DSL_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) {
|
|
LSM6DSLDriver* devp;
|
|
uint32_t i;
|
|
msg_t msg = MSG_OK;
|
|
|
|
osalDbgCheck(ip != NULL);
|
|
|
|
/* Getting parent instance pointer.*/
|
|
devp = objGetInstance(LSM6DSLDriver*, (BaseGyroscope*)ip);
|
|
|
|
osalDbgAssert((devp->state == LSM6DSL_READY),
|
|
"gyro_reset_bias(), invalid state");
|
|
|
|
for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++)
|
|
devp->gyrobias[i] = LSM6DSL_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) {
|
|
LSM6DSLDriver* devp;
|
|
uint32_t i;
|
|
msg_t msg = MSG_OK;
|
|
|
|
osalDbgCheck((ip != NULL) && (sp !=NULL));
|
|
|
|
/* Getting parent instance pointer.*/
|
|
devp = objGetInstance(LSM6DSLDriver*, (BaseGyroscope*)ip);
|
|
|
|
osalDbgAssert((devp->state == LSM6DSL_READY),
|
|
"gyro_set_sensivity(), invalid state");
|
|
|
|
for(i = 0; i < LSM6DSL_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) {
|
|
LSM6DSLDriver* devp;
|
|
uint32_t i;
|
|
msg_t msg = MSG_OK;
|
|
|
|
osalDbgCheck(ip != NULL);
|
|
|
|
/* Getting parent instance pointer.*/
|
|
devp = objGetInstance(LSM6DSLDriver*, (BaseGyroscope*)ip);
|
|
|
|
osalDbgAssert((devp->state == LSM6DSL_READY),
|
|
"gyro_reset_sensivity(), invalid state");
|
|
if(devp->config->gyrofullscale == LSM6DSL_GYRO_FS_125DPS)
|
|
for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++)
|
|
devp->gyrosensitivity[i] = LSM6DSL_GYRO_SENS_125DPS;
|
|
else if(devp->config->gyrofullscale == LSM6DSL_GYRO_FS_250DPS)
|
|
for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++)
|
|
devp->gyrosensitivity[i] = LSM6DSL_GYRO_SENS_250DPS;
|
|
else if(devp->config->gyrofullscale == LSM6DSL_GYRO_FS_500DPS)
|
|
for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++)
|
|
devp->gyrosensitivity[i] = LSM6DSL_GYRO_SENS_500DPS;
|
|
else if(devp->config->gyrofullscale == LSM6DSL_GYRO_FS_1000DPS)
|
|
for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++)
|
|
devp->gyrosensitivity[i] = LSM6DSL_GYRO_SENS_1000DPS;
|
|
else if(devp->config->gyrofullscale == LSM6DSL_GYRO_FS_2000DPS)
|
|
for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++)
|
|
devp->gyrosensitivity[i] = LSM6DSL_GYRO_SENS_2000DPS;
|
|
else {
|
|
osalDbgAssert(FALSE, "gyro_reset_sensivity(), full scale issue");
|
|
return MSG_RESET;
|
|
}
|
|
return msg;
|
|
}
|
|
|
|
/**
|
|
* @brief Changes the LSM6DSLDriver 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(LSM6DSLDriver *devp, lsm6dsl_gyro_fs_t fs) {
|
|
float newfs, scale;
|
|
uint8_t i, buff[2];
|
|
msg_t msg = MSG_OK;
|
|
|
|
osalDbgCheck(devp != NULL);
|
|
|
|
osalDbgAssert((devp->state == LSM6DSL_READY),
|
|
"gyro_set_full_scale(), invalid state");
|
|
#if LSM6DSL_USE_I2C
|
|
osalDbgAssert((devp->config->i2cp->state == I2C_READY),
|
|
"gyro_set_full_scale(), channel not ready");
|
|
#endif
|
|
|
|
if(fs == LSM6DSL_GYRO_FS_125DPS) {
|
|
newfs = LSM6DSL_GYRO_125DPS;
|
|
}
|
|
else if(fs == LSM6DSL_GYRO_FS_250DPS) {
|
|
newfs = LSM6DSL_GYRO_250DPS;
|
|
}
|
|
else if(fs == LSM6DSL_GYRO_FS_500DPS) {
|
|
newfs = LSM6DSL_GYRO_500DPS;
|
|
}
|
|
else if(fs == LSM6DSL_GYRO_FS_1000DPS) {
|
|
newfs = LSM6DSL_GYRO_1000DPS;
|
|
}
|
|
else if(fs == LSM6DSL_GYRO_FS_2000DPS) {
|
|
newfs = LSM6DSL_GYRO_2000DPS;
|
|
}
|
|
else {
|
|
return MSG_RESET;
|
|
}
|
|
|
|
if(newfs != devp->gyrofullscale) {
|
|
scale = newfs / devp->gyrofullscale;
|
|
devp->gyrofullscale = newfs;
|
|
|
|
#if LSM6DSL_USE_I2C
|
|
#if LSM6DSL_SHARED_I2C
|
|
i2cAcquireBus(devp->config->i2cp);
|
|
i2cStart(devp->config->i2cp,
|
|
devp->config->i2ccfg);
|
|
#endif /* LSM6DSL_SHARED_I2C */
|
|
|
|
/* Updating register.*/
|
|
msg = lsm6dslI2CReadRegister(devp->config->i2cp,
|
|
devp->config->slaveaddress,
|
|
LSM6DSL_AD_CTRL2_G, &buff[1], 1);
|
|
|
|
#if LSM6DSL_SHARED_I2C
|
|
i2cReleaseBus(devp->config->i2cp);
|
|
#endif /* LSM6DSL_SHARED_I2C */
|
|
#endif /* LSM6DSL_USE_I2C */
|
|
|
|
buff[1] &= ~(LSMDSL_CTRL2_G_FS_MASK);
|
|
buff[1] |= fs;
|
|
buff[0] = LSM6DSL_AD_CTRL2_G;
|
|
|
|
#if LSM6DSL_USE_I2C
|
|
#if LSM6DSL_SHARED_I2C
|
|
i2cAcquireBus(devp->config->i2cp);
|
|
i2cStart(devp->config->i2cp,
|
|
devp->config->i2ccfg);
|
|
#endif /* LSM6DSL_SHARED_I2C */
|
|
|
|
lsm6dslI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
|
|
buff, 1);
|
|
|
|
#if LSM6DSL_SHARED_I2C
|
|
i2cReleaseBus(devp->config->i2cp);
|
|
#endif /* LSM6DSL_SHARED_I2C */
|
|
#endif /* LSM6DSL_USE_I2C */
|
|
|
|
/* Scaling sensitivity and bias. Re-calibration is suggested anyway. */
|
|
for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++) {
|
|
devp->gyrosensitivity[i] *= scale;
|
|
devp->gyrobias[i] *= scale;
|
|
}
|
|
}
|
|
return msg;
|
|
}
|
|
|
|
static const struct LSM6DSLVMT vmt_device = {
|
|
(size_t)0,
|
|
acc_set_full_scale, gyro_set_full_scale
|
|
};
|
|
|
|
static const struct BaseAccelerometerVMT vmt_accelerometer = {
|
|
sizeof(struct LSM6DSLVMT*),
|
|
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 LSM6DSLVMT*) + 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 LSM6DSLDriver object
|
|
*
|
|
* @init
|
|
*/
|
|
void lsm6dslObjectInit(LSM6DSLDriver *devp) {
|
|
devp->vmt = &vmt_device;
|
|
devp->acc_if.vmt = &vmt_accelerometer;
|
|
devp->gyro_if.vmt = &vmt_gyroscope;
|
|
|
|
devp->config = NULL;
|
|
|
|
devp->accaxes = LSM6DSL_ACC_NUMBER_OF_AXES;
|
|
devp->gyroaxes = LSM6DSL_GYRO_NUMBER_OF_AXES;
|
|
|
|
devp->state = LSM6DSL_STOP;
|
|
}
|
|
|
|
/**
|
|
* @brief Configures and activates LSM6DSL Complex Driver peripheral.
|
|
*
|
|
* @param[in] devp pointer to the @p LSM6DSLDriver object
|
|
* @param[in] config pointer to the @p LSM6DSLConfig object
|
|
*
|
|
* @api
|
|
*/
|
|
void lsm6dslStart(LSM6DSLDriver *devp, const LSM6DSLConfig *config) {
|
|
uint32_t i;
|
|
uint8_t cr[11];
|
|
osalDbgCheck((devp != NULL) && (config != NULL));
|
|
|
|
osalDbgAssert((devp->state == LSM6DSL_STOP) ||
|
|
(devp->state == LSM6DSL_READY),
|
|
"lsm6dslStart(), invalid state");
|
|
|
|
devp->config = config;
|
|
|
|
/* Enforcing multiple write configuration.*/
|
|
{
|
|
cr[0] = LSM6DSL_AD_CTRL3_C;
|
|
cr[1] = LSMDSL_CTRL3_C_IF_INC;
|
|
}
|
|
#if LSM6DSL_USE_I2C
|
|
#if LSM6DSL_SHARED_I2C
|
|
i2cAcquireBus(devp->config->i2cp);
|
|
#endif /* LSM6DSL_SHARED_I2C */
|
|
|
|
i2cStart(devp->config->i2cp, devp->config->i2ccfg);
|
|
lsm6dslI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
|
|
cr, 1);
|
|
|
|
#if LSM6DSL_SHARED_I2C
|
|
i2cReleaseBus(devp->config->i2cp);
|
|
#endif /* LSM6DSL_SHARED_I2C */
|
|
#endif /* LSM6DSL_USE_I2C */
|
|
|
|
/* Configuring all the control registers.*/
|
|
/* Multiple write starting address.*/
|
|
cr[0] = LSM6DSL_AD_CTRL1_XL;
|
|
/* Control register 1 configuration block.*/
|
|
{
|
|
cr[1] = devp->config->accoutdatarate |
|
|
devp->config->accfullscale;
|
|
}
|
|
/* Control register 2 configuration block.*/
|
|
{
|
|
cr[2] = devp->config->gyrooutdatarate |
|
|
devp->config->gyrofullscale;
|
|
}
|
|
/* Control register 3 configuration block.*/
|
|
{
|
|
cr[3] = LSMDSL_CTRL3_C_IF_INC;
|
|
#if LSM6DSL_USE_ADVANCED || defined(__DOXYGEN__)
|
|
cr[3] |= devp->config->endianness | devp->config->blockdataupdate;
|
|
#endif
|
|
}
|
|
/* Control register 4 configuration block.*/
|
|
{
|
|
cr[4] = 0;
|
|
#if LSM6DSL_USE_ADVANCED || defined(__DOXYGEN__)
|
|
if(devp->config->gyrolowpassfilter != LSM6DSL_GYRO_LPF_DISABLED) {
|
|
cr[4] |= LSMDSL_CTRL4_C_LPF1_SEL_G;
|
|
}
|
|
else {
|
|
/* Nothing to do. */
|
|
}
|
|
#endif
|
|
}
|
|
/* Control register 5 configuration block.*/
|
|
{
|
|
cr[5] = 0;
|
|
}
|
|
/* Control register 6 configuration block.*/
|
|
{
|
|
cr[6] = 0;
|
|
#if LSM6DSL_USE_ADVANCED || defined(__DOXYGEN__)
|
|
cr[6] |= devp->config->acclpmode;
|
|
|
|
#endif
|
|
#if LSM6DSL_USE_ADVANCED || defined(__DOXYGEN__)
|
|
if(devp->config->gyrolowpassfilter != LSM6DSL_GYRO_LPF_DISABLED) {
|
|
cr[6] |= devp->config->gyrolowpassfilter;
|
|
}
|
|
else {
|
|
/* Nothing to do. */
|
|
}
|
|
#endif
|
|
}
|
|
/* Control register 7 configuration block.*/
|
|
{
|
|
cr[7] = 0;
|
|
#if LSM6DSL_USE_ADVANCED || defined(__DOXYGEN__)
|
|
cr[7] |= devp->config->gyrolpmode;
|
|
|
|
#endif
|
|
}
|
|
/* Control register 8 configuration block.*/
|
|
{
|
|
cr[8] = 0;
|
|
}
|
|
/* Control register 9 configuration block.*/
|
|
{
|
|
cr[9] = 0;
|
|
}
|
|
/* Control register 10 configuration block.*/
|
|
{
|
|
cr[10] = 0;
|
|
}
|
|
|
|
#if LSM6DSL_USE_I2C
|
|
#if LSM6DSL_SHARED_I2C
|
|
i2cAcquireBus(devp->config->i2cp);
|
|
i2cStart(devp->config->i2cp, devp->config->i2ccfg);
|
|
#endif /* LSM6DSL_SHARED_I2C */
|
|
|
|
lsm6dslI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
|
|
cr, 10);
|
|
|
|
#if LSM6DSL_SHARED_I2C
|
|
i2cReleaseBus(devp->config->i2cp);
|
|
#endif /* LSM6DSL_SHARED_I2C */
|
|
#endif /* LSM6DSL_USE_I2C */
|
|
|
|
/* Storing sensitivity according to user settings */
|
|
if(devp->config->accfullscale == LSM6DSL_ACC_FS_2G) {
|
|
for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++) {
|
|
if(devp->config->accsensitivity == NULL)
|
|
devp->accsensitivity[i] = LSM6DSL_ACC_SENS_2G;
|
|
else
|
|
devp->accsensitivity[i] = devp->config->accsensitivity[i];
|
|
}
|
|
devp->accfullscale = LSM6DSL_ACC_2G;
|
|
}
|
|
else if(devp->config->accfullscale == LSM6DSL_ACC_FS_4G) {
|
|
for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++) {
|
|
if(devp->config->accsensitivity == NULL)
|
|
devp->accsensitivity[i] = LSM6DSL_ACC_SENS_4G;
|
|
else
|
|
devp->accsensitivity[i] = devp->config->accsensitivity[i];
|
|
}
|
|
devp->accfullscale = LSM6DSL_ACC_4G;
|
|
}
|
|
else if(devp->config->accfullscale == LSM6DSL_ACC_FS_8G) {
|
|
for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++) {
|
|
if(devp->config->accsensitivity == NULL)
|
|
devp->accsensitivity[i] = LSM6DSL_ACC_SENS_8G;
|
|
else
|
|
devp->accsensitivity[i] = devp->config->accsensitivity[i];
|
|
}
|
|
devp->accfullscale = LSM6DSL_ACC_8G;
|
|
}
|
|
else if(devp->config->accfullscale == LSM6DSL_ACC_FS_16G) {
|
|
for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++) {
|
|
if(devp->config->accsensitivity == NULL)
|
|
devp->accsensitivity[i] = LSM6DSL_ACC_SENS_16G;
|
|
else
|
|
devp->accsensitivity[i] = devp->config->accsensitivity[i];
|
|
}
|
|
devp->accfullscale = LSM6DSL_ACC_16G;
|
|
}
|
|
else
|
|
osalDbgAssert(FALSE, "lsm6dslStart(), accelerometer full scale issue");
|
|
|
|
/* Storing bias information */
|
|
if(devp->config->accbias != NULL)
|
|
for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++)
|
|
devp->accbias[i] = devp->config->accbias[i];
|
|
else
|
|
for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++)
|
|
devp->accbias[i] = LSM6DSL_ACC_BIAS;
|
|
|
|
if(devp->config->gyrofullscale == LSM6DSL_GYRO_FS_125DPS) {
|
|
for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++) {
|
|
if(devp->config->gyrosensitivity == NULL)
|
|
devp->gyrosensitivity[i] = LSM6DSL_GYRO_SENS_125DPS;
|
|
else
|
|
devp->gyrosensitivity[i] = devp->config->gyrosensitivity[i];
|
|
}
|
|
devp->gyrofullscale = LSM6DSL_GYRO_125DPS;
|
|
}
|
|
else if(devp->config->gyrofullscale == LSM6DSL_GYRO_FS_250DPS) {
|
|
for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++) {
|
|
if(devp->config->gyrosensitivity == NULL)
|
|
devp->gyrosensitivity[i] = LSM6DSL_GYRO_SENS_250DPS;
|
|
else
|
|
devp->gyrosensitivity[i] = devp->config->gyrosensitivity[i];
|
|
}
|
|
devp->gyrofullscale = LSM6DSL_GYRO_250DPS;
|
|
}
|
|
else if(devp->config->gyrofullscale == LSM6DSL_GYRO_FS_500DPS) {
|
|
for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++) {
|
|
if(devp->config->gyrosensitivity == NULL)
|
|
devp->gyrosensitivity[i] = LSM6DSL_GYRO_SENS_500DPS;
|
|
else
|
|
devp->gyrosensitivity[i] = devp->config->gyrosensitivity[i];
|
|
}
|
|
devp->gyrofullscale = LSM6DSL_GYRO_500DPS;
|
|
}
|
|
else if(devp->config->gyrofullscale == LSM6DSL_GYRO_FS_1000DPS) {
|
|
for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++) {
|
|
if(devp->config->gyrosensitivity == NULL)
|
|
devp->gyrosensitivity[i] = LSM6DSL_GYRO_SENS_1000DPS;
|
|
else
|
|
devp->gyrosensitivity[i] = devp->config->gyrosensitivity[i];
|
|
}
|
|
devp->gyrofullscale = LSM6DSL_GYRO_1000DPS;
|
|
}
|
|
else if(devp->config->gyrofullscale == LSM6DSL_GYRO_FS_2000DPS) {
|
|
for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++) {
|
|
if(devp->config->gyrosensitivity == NULL)
|
|
devp->gyrosensitivity[i] = LSM6DSL_GYRO_SENS_2000DPS;
|
|
else
|
|
devp->gyrosensitivity[i] = devp->config->gyrosensitivity[i];
|
|
}
|
|
devp->gyrofullscale = LSM6DSL_GYRO_2000DPS;
|
|
}
|
|
else
|
|
osalDbgAssert(FALSE, "lsm6dslStart(), gyroscope full scale issue");
|
|
|
|
/* Storing bias information */
|
|
if(devp->config->gyrobias != NULL)
|
|
for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++)
|
|
devp->gyrobias[i] = devp->config->gyrobias[i];
|
|
else
|
|
for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++)
|
|
devp->gyrobias[i] = LSM6DSL_GYRO_BIAS;
|
|
|
|
/* This is the MEMS transient recovery time */
|
|
osalThreadSleepMilliseconds(5);
|
|
|
|
devp->state = LSM6DSL_READY;
|
|
}
|
|
|
|
/**
|
|
* @brief Deactivates the LSM6DSL Complex Driver peripheral.
|
|
*
|
|
* @param[in] devp pointer to the @p LSM6DSLDriver object
|
|
*
|
|
* @api
|
|
*/
|
|
void lsm6dslStop(LSM6DSLDriver *devp) {
|
|
uint8_t cr[2];
|
|
|
|
osalDbgCheck(devp != NULL);
|
|
|
|
osalDbgAssert((devp->state == LSM6DSL_STOP) || (devp->state == LSM6DSL_READY),
|
|
"lsm6dslStop(), invalid state");
|
|
|
|
if (devp->state == LSM6DSL_READY) {
|
|
#if LSM6DSL_USE_I2C
|
|
#if LSM6DSL_SHARED_I2C
|
|
i2cAcquireBus(devp->config->i2cp);
|
|
i2cStart(devp->config->i2cp, devp->config->i2ccfg);
|
|
#endif /* LSM6DSL_SHARED_I2C */
|
|
|
|
|
|
cr[0] = LSM6DSL_AD_CTRL1_XL;
|
|
/* Disabling accelerometer.*/
|
|
cr[1] = LSM6DSL_ACC_ODR_PD;
|
|
/* Disabling gyroscope.*/
|
|
cr[2] = LSM6DSL_GYRO_ODR_PD;
|
|
lsm6dslI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
|
|
cr, 2);
|
|
|
|
i2cStop(devp->config->i2cp);
|
|
#if LSM6DSL_SHARED_I2C
|
|
i2cReleaseBus(devp->config->i2cp);
|
|
#endif /* LSM6DSL_SHARED_I2C */
|
|
#endif /* LSM6DSL_USE_I2C */
|
|
}
|
|
devp->state = LSM6DSL_STOP;
|
|
}
|
|
/** @} */
|