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643 lines
20 KiB
C
643 lines
20 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 l3gd20.c
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* @brief L3GD20 MEMS interface module code.
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*
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* @addtogroup L3GD20
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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 "l3gd20.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 (L3GD20_USE_SPI) || defined(__DOXYGEN__)
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/**
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* @brief Reads a generic register value using SPI.
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* @pre The SPI interface must be initialized and the driver started.
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*
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* @param[in] spip pointer to the SPI interface
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* @param[in] reg starting register address
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* @param[in] n number of consecutive registers to read
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* @param[in] b pointer to an output buffer.
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*/
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static void l3gd20SPIReadRegister(SPIDriver *spip, uint8_t reg, size_t n,
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uint8_t* b) {
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uint8_t cmd;
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(n == 1) ? (cmd = reg | L3GD20_RW) : (cmd = reg | L3GD20_RW | L3GD20_MS);
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spiSelect(spip);
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spiSend(spip, 1, &cmd);
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spiReceive(spip, n, b);
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spiUnselect(spip);
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}
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/**
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* @brief Writes a value into a generic register using SPI.
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* @pre The SPI interface must be initialized and the driver started.
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*
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* @param[in] spip pointer to the SPI interface
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* @param[in] reg starting register address
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* @param[in] n number of adjacent registers to write
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* @param[in] b pointer to a buffer of values.
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*/
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static void l3gd20SPIWriteRegister(SPIDriver *spip, uint8_t reg, size_t n,
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uint8_t* b) {
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uint8_t cmd;
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(n == 1) ? (cmd = reg) : (cmd = reg | L3GD20_MS);
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spiSelect(spip);
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spiSend(spip, 1, &cmd);
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spiSend(spip, n, b);
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spiUnselect(spip);
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}
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#endif /* L3GD20_USE_SPI */
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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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return L3GD20_GYRO_NUMBER_OF_AXES;
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}
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/**
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* @brief Retrieves raw data from the BaseGyroscope.
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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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* BaseGyroscope axes number.
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*
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* @param[in] ip pointer to @p BaseGyroscope 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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*/
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static msg_t gyro_read_raw(void *ip, int32_t axes[L3GD20_GYRO_NUMBER_OF_AXES]) {
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L3GD20Driver* devp;
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int16_t tmp;
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uint8_t i, buff [2 * L3GD20_GYRO_NUMBER_OF_AXES];
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msg_t msg = MSG_OK;
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osalDbgCheck((ip != NULL) && (axes != NULL));
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/* Getting parent instance pointer.*/
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devp = objGetInstance(L3GD20Driver*, (BaseGyroscope*)ip);
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osalDbgAssert((devp->state == L3GD20_READY),
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"gyro_read_raw(), invalid state");
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#if L3GD20_USE_SPI
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osalDbgAssert((devp->config->spip->state == SPI_READY),
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"gyro_read_raw(), channel not ready");
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#if L3GD20_SHARED_SPI
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spiAcquireBus(devp->config->spip);
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spiStart(devp->config->spip,
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devp->config->spicfg);
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#endif /* L3GD20_SHARED_SPI */
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l3gd20SPIReadRegister(devp->config->spip, L3GD20_AD_OUT_X_L,
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L3GD20_GYRO_NUMBER_OF_AXES * 2, buff);
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#if L3GD20_SHARED_SPI
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spiReleaseBus(devp->config->spip);
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#endif /* L3GD20_SHARED_SPI */
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#endif /* L3GD20_USE_SPI */
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for(i = 0; i < L3GD20_GYRO_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 BaseGyroscope.
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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 DPS.
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* @note The axes array must be at least the same size of the
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* BaseGyroscope axes number.
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*
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* @param[in] ip pointer to @p BaseGyroscope 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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*/
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static msg_t gyro_read_cooked(void *ip, float axes[]) {
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L3GD20Driver* devp;
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uint32_t i;
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int32_t raw[L3GD20_GYRO_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(L3GD20Driver*, (BaseGyroscope*)ip);
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osalDbgAssert((devp->state == L3GD20_READY),
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"gyro_read_cooked(), invalid state");
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msg = gyro_read_raw(ip, raw);
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for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++){
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axes[i] = (raw[i] * devp->gyrosensitivity[i]) - devp->gyrobias[i];
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}
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return msg;
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}
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/**
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* @brief Samples bias values for the BaseGyroscope.
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* @note The L3GD20 shall not be moved during the whole procedure.
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* @note After this function internal bias is automatically updated.
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* @note The behavior of this function depends on @p L3GD20_BIAS_ACQ_TIMES
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* and @p L3GD20_BIAS_SETTLING_US.
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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 operation status.
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* @retval MSG_OK if the function succeeded.
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*/
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static msg_t gyro_sample_bias(void *ip) {
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L3GD20Driver* devp;
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uint32_t i, j;
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int32_t raw[L3GD20_GYRO_NUMBER_OF_AXES];
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int32_t buff[L3GD20_GYRO_NUMBER_OF_AXES] = {0, 0, 0};
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msg_t msg;
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osalDbgCheck(ip != NULL);
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/* Getting parent instance pointer.*/
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devp = objGetInstance(L3GD20Driver*, (BaseGyroscope*)ip);
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osalDbgAssert((devp->state == L3GD20_READY),
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"gyro_sample_bias(), invalid state");
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#if L3GD20_USE_SPI
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osalDbgAssert((devp->config->spip->state == SPI_READY),
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"gyro_sample_bias(), channel not ready");
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#endif
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for(i = 0; i < L3GD20_BIAS_ACQ_TIMES; i++){
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msg = gyro_read_raw(ip, raw);
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if(msg != MSG_OK)
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return msg;
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for(j = 0; j < L3GD20_GYRO_NUMBER_OF_AXES; j++){
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buff[j] += raw[j];
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}
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osalThreadSleepMicroseconds(L3GD20_BIAS_SETTLING_US);
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}
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for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++){
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devp->gyrobias[i] = (buff[i] / L3GD20_BIAS_ACQ_TIMES);
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devp->gyrobias[i] *= devp->gyrosensitivity[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 BaseGyroscope.
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* @note Bias must be expressed as DPS.
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* @note The bias buffer must be at least the same size of the BaseGyroscope
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* axes number.
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*
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* @param[in] ip pointer to @p BaseGyroscope 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 gyro_set_bias(void *ip, float *bp) {
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L3GD20Driver* 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(L3GD20Driver*, (BaseGyroscope*)ip);
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osalDbgAssert((devp->state == L3GD20_READY),
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"gyro_set_bias(), invalid state");
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for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++) {
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devp->gyrobias[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 BaseGyroscope.
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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 BaseGyroscope 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 gyro_reset_bias(void *ip) {
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L3GD20Driver* 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(L3GD20Driver*, (BaseGyroscope*)ip);
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osalDbgAssert((devp->state == L3GD20_READY),
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"gyro_reset_bias(), invalid state");
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for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++)
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devp->gyrobias[i] = L3GD20_GYRO_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 BaseGyroscope.
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* @note Sensitivity must be expressed as DPS/LSB.
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* @note The sensitivity buffer must be at least the same size of the
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* BaseGyroscope axes number.
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*
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* @param[in] ip pointer to @p BaseGyroscope 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 gyro_set_sensivity(void *ip, float *sp) {
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L3GD20Driver* devp;
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uint32_t i;
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msg_t msg = MSG_OK;
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osalDbgCheck((ip != NULL) && (sp !=NULL));
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/* Getting parent instance pointer.*/
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devp = objGetInstance(L3GD20Driver*, (BaseGyroscope*)ip);
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osalDbgAssert((devp->state == L3GD20_READY),
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"gyro_set_sensivity(), invalid state");
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for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++) {
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devp->gyrosensitivity[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 BaseGyroscope.
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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 BaseGyroscope 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 gyro_reset_sensivity(void *ip) {
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L3GD20Driver* 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(L3GD20Driver*, (BaseGyroscope*)ip);
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osalDbgAssert((devp->state == L3GD20_READY),
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"gyro_reset_sensivity(), invalid state");
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if(devp->config->gyrofullscale == L3GD20_FS_250DPS)
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for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++)
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devp->gyrosensitivity[i] = L3GD20_GYRO_SENS_250DPS;
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else if(devp->config->gyrofullscale == L3GD20_FS_500DPS)
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for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++)
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devp->gyrosensitivity[i] = L3GD20_GYRO_SENS_500DPS;
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else if(devp->config->gyrofullscale == L3GD20_FS_2000DPS)
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for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++)
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devp->gyrosensitivity[i] = L3GD20_GYRO_SENS_2000DPS;
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else {
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osalDbgAssert(FALSE, "gyro_reset_sensivity(), full scale issue");
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return 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 L3GD20Driver gyroscope 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 BaseGyroscope 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 gyro_set_full_scale(L3GD20Driver *devp, l3gd20_fs_t fs) {
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float newfs, scale;
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uint8_t i, cr;
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msg_t msg = MSG_OK;
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osalDbgCheck(devp != NULL);
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osalDbgAssert((devp->state == L3GD20_READY),
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"gyro_set_full_scale(), invalid state");
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#if L3GD20_USE_SPI
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osalDbgAssert((devp->config->spip->state == SPI_READY),
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"gyro_set_full_scale(), channel not ready");
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#endif
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if(fs == L3GD20_FS_250DPS) {
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newfs = L3GD20_250DPS;
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}
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else if(fs == L3GD20_FS_500DPS) {
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newfs = L3GD20_500DPS;
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}
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else if(fs == L3GD20_FS_2000DPS) {
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newfs = L3GD20_2000DPS;
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}
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else {
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return MSG_RESET;
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}
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if(newfs != devp->gyrofullscale) {
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scale = newfs / devp->gyrofullscale;
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devp->gyrofullscale = newfs;
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#if L3GD20_USE_SPI
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#if L3GD20_SHARED_SPI
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spiAcquireBus(devp->config->spip);
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spiStart(devp->config->spip,
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devp->config->spicfg);
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#endif /* L3GD20_SHARED_SPI */
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/* Updating register.*/
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l3gd20SPIReadRegister(devp->config->spip,
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L3GD20_AD_CTRL_REG4, 1, &cr);
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#if L3GD20_SHARED_SPI
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spiReleaseBus(devp->config->spip);
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#endif /* L3GD20_SHARED_SPI */
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#endif /* L3GD20_USE_SPI */
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cr &= ~(L3GD20_CTRL_REG4_FS_MASK);
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cr |= fs;
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#if L3GD20_USE_SPI
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#if L3GD20_SHARED_SPI
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spiAcquireBus(devp->config->spip);
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spiStart(devp->config->spip,
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devp->config->spicfg);
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#endif /* L3GD20_SHARED_SPI */
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l3gd20SPIWriteRegister(devp->config->spip,
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L3GD20_AD_CTRL_REG4, 1, &cr);
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#if L3GD20_SHARED_SPI
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spiReleaseBus(devp->config->spip);
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#endif /* L3GD20_SHARED_SPI */
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#endif /* L3GD20_USE_SPI */
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/* Scaling sensitivity and bias. Re-calibration is suggested anyway. */
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for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++) {
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devp->gyrosensitivity[i] *= scale;
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devp->gyrobias[i] *= scale;
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}
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}
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return msg;
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}
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static const struct L3GD20VMT vmt_device = {
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(size_t)0,
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gyro_set_full_scale
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};
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static const struct BaseGyroscopeVMT vmt_gyroscope = {
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sizeof(struct L3GD20VMT*),
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gyro_get_axes_number, gyro_read_raw, gyro_read_cooked,
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gyro_sample_bias, gyro_set_bias, gyro_reset_bias,
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gyro_set_sensivity, gyro_reset_sensivity
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};
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/*===========================================================================*/
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/* Driver exported functions. */
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/*===========================================================================*/
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/**
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* @brief Initializes an instance.
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*
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* @param[out] devp pointer to the @p L3GD20Driver object
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*
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* @init
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*/
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void l3gd20ObjectInit(L3GD20Driver *devp) {
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devp->vmt = &vmt_device;
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devp->gyro_if.vmt = &vmt_gyroscope;
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devp->config = NULL;
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devp->state = L3GD20_STOP;
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}
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/**
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* @brief Configures and activates L3GD20 Complex Driver peripheral.
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*
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* @param[in] devp pointer to the @p L3GD20Driver object
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* @param[in] config pointer to the @p L3GD20Config object
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*
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* @api
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*/
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void l3gd20Start(L3GD20Driver *devp, const L3GD20Config *config) {
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uint32_t i;
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uint8_t cr[5] = {0, 0, 0, 0, 0};
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osalDbgCheck((devp != NULL) && (config != NULL));
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osalDbgAssert((devp->state == L3GD20_STOP) || (devp->state == L3GD20_READY),
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"l3gd20Start(), invalid state");
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devp->config = config;
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/* Control register 1 configuration block.*/
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{
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cr[0] = L3GD20_CTRL_REG1_XEN | L3GD20_CTRL_REG1_YEN |
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L3GD20_CTRL_REG1_ZEN | L3GD20_CTRL_REG1_PD |
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devp->config->gyrooutputdatarate;
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#if L3GD20_USE_ADVANCED || defined(__DOXYGEN__)
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cr[0] |= devp->config->gyrobandwidth;
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#endif
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}
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/* Control register 2 configuration block.*/
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{
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#if L3GD20_USE_ADVANCED || defined(__DOXYGEN__)
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if(devp->config->gyrohpmode != L3GD20_HPM_BYPASSED)
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cr[1] = devp->config->gyrohpmode | devp->config->gyrohpconfiguration;
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#endif
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}
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/* Control register 4 configuration block.*/
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{
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cr[3] = devp->config->gyrofullscale;
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#if L3GD20_USE_ADVANCED || defined(__DOXYGEN__)
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cr[3] |= devp->config->gyroblockdataupdate |
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devp->config->gyroendianness;
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#endif
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}
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/* Control register 5 configuration block.*/
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{
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#if L3GD20_USE_ADVANCED || defined(__DOXYGEN__)
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if((devp->config->gyrohpmode != L3GD20_HPM_BYPASSED)) {
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cr[4] = L3GD20_CTRL_REG5_HPEN;
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if(devp->config->gyrolp2mode != L3GD20_LP2M_BYPASSED) {
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cr[4] |= L3GD20_CTRL_REG5_INT1_SEL1 |
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L3GD20_CTRL_REG5_OUT_SEL1;
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}
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else {
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cr[4] |= L3GD20_CTRL_REG5_INT1_SEL0 |
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L3GD20_CTRL_REG5_OUT_SEL0;
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}
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}
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#endif
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}
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#if L3GD20_USE_SPI
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#if L3GD20_SHARED_SPI
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spiAcquireBus(devp->config->spip);
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#endif /* L3GD20_SHARED_SPI */
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spiStart(devp->config->spip,
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devp->config->spicfg);
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l3gd20SPIWriteRegister(devp->config->spip, L3GD20_AD_CTRL_REG1,
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5, cr);
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#if L3GD20_SHARED_SPI
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spiReleaseBus(devp->config->spip);
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#endif /* L3GD20_SHARED_SPI */
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#endif /* L3GD20_USE_SPI */
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/* Storing sensitivity information according to full scale.*/
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if(devp->config->gyrofullscale == L3GD20_FS_250DPS) {
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devp->gyrofullscale = L3GD20_250DPS;
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for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++) {
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if (devp->config->gyrosensitivity == NULL)
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devp->gyrosensitivity[i] = L3GD20_GYRO_SENS_250DPS;
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else
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devp->gyrosensitivity[i] = devp->config->gyrosensitivity[i];
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}
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}
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else if(devp->config->gyrofullscale == L3GD20_FS_500DPS) {
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devp->gyrofullscale = L3GD20_500DPS;
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for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++) {
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if (devp->config->gyrosensitivity == NULL)
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devp->gyrosensitivity[i] = L3GD20_GYRO_SENS_500DPS;
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else
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devp->gyrosensitivity[i] = devp->config->gyrosensitivity[i];
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}
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}
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else if(devp->config->gyrofullscale == L3GD20_FS_2000DPS) {
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devp->gyrofullscale = L3GD20_2000DPS;
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for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++) {
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if (devp->config->gyrosensitivity == NULL)
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devp->gyrosensitivity[i] = L3GD20_GYRO_SENS_2000DPS;
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else
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devp->gyrosensitivity[i] = devp->config->gyrosensitivity[i];
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}
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}
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else
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osalDbgAssert(FALSE, "l3gd20Start(), full scale issue");
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/* Storing bias information.*/
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if(devp->config->gyrobias != NULL) {
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for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++) {
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devp->gyrobias[i] = devp->config->gyrobias[i];
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}
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}
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else {
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for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++)
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devp->gyrobias[i] = L3GD20_GYRO_BIAS;
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}
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/* This is the Gyroscope transient recovery time.*/
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osalThreadSleepMilliseconds(10);
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devp->state = L3GD20_READY;
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}
|
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/**
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* @brief Deactivates the L3GD20 Complex Driver peripheral.
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*
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* @param[in] devp pointer to the @p L3GD20Driver object
|
|
*
|
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* @api
|
|
*/
|
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void l3gd20Stop(L3GD20Driver *devp) {
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uint8_t cr1;
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osalDbgCheck(devp != NULL);
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|
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osalDbgAssert((devp->state == L3GD20_STOP) || (devp->state == L3GD20_READY),
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"l3gd20Stop(), invalid state");
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|
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if (devp->state == L3GD20_READY) {
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/* Disabling all axes and enabling power down mode.*/
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cr1 = 0;
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#if L3GD20_USE_SPI
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#if L3GD20_SHARED_SPI
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spiAcquireBus(devp->config->spip);
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spiStart(devp->config->spip,
|
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devp->config->spicfg);
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#endif /* L3GD20_SHARED_SPI */
|
|
|
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l3gd20SPIWriteRegister(devp->config->spip, L3GD20_AD_CTRL_REG1,
|
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1, &cr1);
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spiStop(devp->config->spip);
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|
|
|
#if L3GD20_SHARED_SPI
|
|
spiReleaseBus(devp->config->spip);
|
|
#endif /* L3GD20_SHARED_SPI */
|
|
#endif /* L3GD20_USE_SPI */
|
|
}
|
|
devp->state = L3GD20_STOP;
|
|
}
|
|
/** @} */
|