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stmdsp/ChibiOS_20.3.2/os/ex/devices/ST/lis3dsh.c

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/*
ChibiOS - Copyright (C) 2016..2019 Rocco Marco Guglielmi
This file is part of ChibiOS.
ChibiOS is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 3 of the License, or
(at your option) any later version.
ChibiOS is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/**
* @file lis3dsh.c
* @brief LIS3DSH MEMS interface module code.
*
* @addtogroup LIS3DSH
* @ingroup EX_ST
* @{
*/
#include "hal.h"
#include "lis3dsh.h"
/*===========================================================================*/
/* Driver local definitions. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver exported variables. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local variables and types. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local functions. */
/*===========================================================================*/
#if (LIS3DSH_USE_SPI) || defined(__DOXYGEN__)
/**
* @brief Reads a generic register value using SPI.
* @pre The SPI interface must be initialized and the driver started.
* @note Multiple write/read requires proper settings in CTRL_REG6.
*
* @param[in] spip pointer to the SPI interface
* @param[in] reg starting register address
* @param[in] n number of adjacent registers to write
* @param[in] b pointer to a buffer.
*/
static void lis3dshSPIReadRegister(SPIDriver *spip, uint8_t reg, size_t n,
uint8_t* b) {
uint8_t cmd;
cmd = reg | LIS3DSH_RW;
spiSelect(spip);
spiSend(spip, 1, &cmd);
spiReceive(spip, n, b);
spiUnselect(spip);
}
/**
* @brief Writes a value into a generic register using SPI.
* @pre The SPI interface must be initialized and the driver started.
* @note Multiple write/read requires proper settings in CTRL_REG6.
*
* @param[in] spip pointer to the SPI interface
* @param[in] reg starting register address
* @param[in] n number of adjacent registers to write
* @param[in] b pointer to a buffer of values.
*/
static void lis3dshSPIWriteRegister(SPIDriver *spip, uint8_t reg, size_t n,
uint8_t* b) {
uint8_t cmd;
cmd = reg;
spiSelect(spip);
spiSend(spip, 1, &cmd);
spiSend(spip, n, b);
spiUnselect(spip);
}
#endif /* LIS3DSH_USE_SPI */
/**
* @brief Return the number of axes of the BaseAccelerometer.
*
* @param[in] ip pointer to @p BaseAccelerometer interface.
*
* @return the number of axes.
*/
static size_t acc_get_axes_number(void *ip) {
(void)ip;
return LIS3DSH_ACC_NUMBER_OF_AXES;
}
/**
* @brief Retrieves raw data from the BaseAccelerometer.
* @note This data is retrieved from MEMS register without any algebraical
* manipulation.
* @note The axes array must be at least the same size of the
* BaseAccelerometer axes number.
*
* @param[in] ip pointer to @p BaseAccelerometer interface.
* @param[out] axes a buffer which would be filled with raw data.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
* @retval MSG_RESET if one or more I2C errors occurred, the errors can
* be retrieved using @p i2cGetErrors().
* @retval MSG_TIMEOUT if a timeout occurred before operation end.
*/
static msg_t acc_read_raw(void *ip, int32_t axes[]) {
LIS3DSHDriver* devp;
uint8_t buff [LIS3DSH_ACC_NUMBER_OF_AXES * 2], i;
int16_t tmp;
msg_t msg = MSG_OK;
osalDbgCheck((ip != NULL) && (axes != NULL));
/* Getting parent instance pointer.*/
devp = objGetInstance(LIS3DSHDriver*, (BaseAccelerometer*)ip);
osalDbgAssert((devp->state == LIS3DSH_READY),
"acc_read_raw(), invalid state");
#if LIS3DSH_USE_SPI
#if LIS3DSH_SHARED_SPI
osalDbgAssert((devp->config->spip->state == SPI_READY),
"acc_read_raw(), channel not ready");
spiAcquireBus(devp->config->spip);
spiStart(devp->config->spip,
devp->config->spicfg);
#endif /* LIS3DSH_SHARED_SPI */
lis3dshSPIReadRegister(devp->config->spip, LIS3DSH_AD_OUT_X_L,
LIS3DSH_ACC_NUMBER_OF_AXES * 2, buff);
#if LIS3DSH_SHARED_SPI
spiReleaseBus(devp->config->spip);
#endif /* LIS3DSH_SHARED_SPI */
#endif /* LIS3DSH_USE_SPI */
for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++) {
tmp = buff[2 * i] + (buff[2 * i + 1] << 8);
axes[i] = (int32_t)tmp;
}
return msg;
}
/**
* @brief Retrieves cooked data from the BaseAccelerometer.
* @note This data is manipulated according to the formula
* cooked = (raw * sensitivity) - bias.
* @note Final data is expressed as milli-G.
* @note The axes array must be at least the same size of the
* BaseAccelerometer axes number.
*
* @param[in] ip pointer to @p BaseAccelerometer interface.
* @param[out] axes a buffer which would be filled with cooked data.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
* @retval MSG_RESET if one or more I2C errors occurred, the errors can
* be retrieved using @p i2cGetErrors().
* @retval MSG_TIMEOUT if a timeout occurred before operation end.
*/
static msg_t acc_read_cooked(void *ip, float axes[]) {
LIS3DSHDriver* devp;
uint32_t i;
int32_t raw[LIS3DSH_ACC_NUMBER_OF_AXES];
msg_t msg;
osalDbgCheck((ip != NULL) && (axes != NULL));
/* Getting parent instance pointer.*/
devp = objGetInstance(LIS3DSHDriver*, (BaseAccelerometer*)ip);
osalDbgAssert((devp->state == LIS3DSH_READY),
"acc_read_cooked(), invalid state");
msg = acc_read_raw(ip, raw);
for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++) {
axes[i] = (raw[i] * devp->accsensitivity[i]) - devp->accbias[i];
}
return msg;
}
/**
* @brief Set bias values for the BaseAccelerometer.
* @note Bias must be expressed as milli-G.
* @note The bias buffer must be at least the same size of the
* BaseAccelerometer axes number.
*
* @param[in] ip pointer to @p BaseAccelerometer interface.
* @param[in] bp a buffer which contains biases.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*/
static msg_t acc_set_bias(void *ip, float *bp) {
LIS3DSHDriver* devp;
uint32_t i;
msg_t msg = MSG_OK;
osalDbgCheck((ip != NULL) && (bp != NULL));
/* Getting parent instance pointer.*/
devp = objGetInstance(LIS3DSHDriver*, (BaseAccelerometer*)ip);
osalDbgAssert((devp->state == LIS3DSH_READY),
"acc_set_bias(), invalid state");
for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++) {
devp->accbias[i] = bp[i];
}
return msg;
}
/**
* @brief Reset bias values for the BaseAccelerometer.
* @note Default biases value are obtained from device datasheet when
* available otherwise they are considered zero.
*
* @param[in] ip pointer to @p BaseAccelerometer interface.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*/
static msg_t acc_reset_bias(void *ip) {
LIS3DSHDriver* devp;
uint32_t i;
msg_t msg = MSG_OK;
osalDbgCheck(ip != NULL);
/* Getting parent instance pointer.*/
devp = objGetInstance(LIS3DSHDriver*, (BaseAccelerometer*)ip);
osalDbgAssert((devp->state == LIS3DSH_READY),
"acc_reset_bias(), invalid state");
for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
devp->accbias[i] = LIS3DSH_ACC_BIAS;
return msg;
}
/**
* @brief Set sensitivity values for the BaseAccelerometer.
* @note Sensitivity must be expressed as milli-G/LSB.
* @note The sensitivity buffer must be at least the same size of the
* BaseAccelerometer axes number.
*
* @param[in] ip pointer to @p BaseAccelerometer interface.
* @param[in] sp a buffer which contains sensitivities.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*/
static msg_t acc_set_sensivity(void *ip, float *sp) {
LIS3DSHDriver* devp;
uint32_t i;
msg_t msg = MSG_OK;
/* Getting parent instance pointer.*/
devp = objGetInstance(LIS3DSHDriver*, (BaseAccelerometer*)ip);
osalDbgCheck((ip != NULL) && (sp != NULL));
osalDbgAssert((devp->state == LIS3DSH_READY),
"acc_set_sensivity(), invalid state");
for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++) {
devp->accsensitivity[i] = sp[i];
}
return msg;
}
/**
* @brief Reset sensitivity values for the BaseAccelerometer.
* @note Default sensitivities value are obtained from device datasheet.
*
* @param[in] ip pointer to @p BaseAccelerometer interface.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
* @retval MSG_RESET otherwise.
*/
static msg_t acc_reset_sensivity(void *ip) {
LIS3DSHDriver* devp;
uint32_t i;
msg_t msg = MSG_OK;
osalDbgCheck(ip != NULL);
/* Getting parent instance pointer.*/
devp = objGetInstance(LIS3DSHDriver*, (BaseAccelerometer*)ip);
osalDbgAssert((devp->state == LIS3DSH_READY),
"acc_reset_sensivity(), invalid state");
if(devp->config->accfullscale == LIS3DSH_ACC_FS_2G)
for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
devp->accsensitivity[i] = LIS3DSH_ACC_SENS_2G;
else if(devp->config->accfullscale == LIS3DSH_ACC_FS_4G)
for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
devp->accsensitivity[i] = LIS3DSH_ACC_SENS_4G;
else if(devp->config->accfullscale == LIS3DSH_ACC_FS_6G)
for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
devp->accsensitivity[i] = LIS3DSH_ACC_SENS_6G;
else if(devp->config->accfullscale == LIS3DSH_ACC_FS_8G)
for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
devp->accsensitivity[i] = LIS3DSH_ACC_SENS_8G;
else if(devp->config->accfullscale == LIS3DSH_ACC_FS_16G)
for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
devp->accsensitivity[i] = LIS3DSH_ACC_SENS_16G;
else {
osalDbgAssert(FALSE,
"acc_reset_sensivity(), accelerometer full scale issue");
return MSG_RESET;
}
return msg;
}
/**
* @brief Changes the LIS3DSHDriver accelerometer fullscale value.
* @note This function also rescale sensitivities and biases based on
* previous and next fullscale value.
* @note A recalibration is highly suggested after calling this function.
*
* @param[in] devp pointer to @p LIS3DSHDriver interface.
* @param[in] fs new fullscale value.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
* @retval MSG_RESET otherwise.
*/
static msg_t acc_set_full_scale(LIS3DSHDriver *devp, lis3dsh_acc_fs_t fs) {
float newfs, scale;
uint8_t i, cr;
msg_t msg;
osalDbgCheck(devp != NULL);
osalDbgAssert((devp->state == LIS3DSH_READY),
"acc_set_full_scale(), invalid state");
osalDbgAssert((devp->config->spip->state == SPI_READY),
"acc_set_full_scale(), channel not ready");
/* Computing new fullscale value.*/
if(fs == LIS3DSH_ACC_FS_2G) {
newfs = LIS3DSH_ACC_2G;
}
else if(fs == LIS3DSH_ACC_FS_4G) {
newfs = LIS3DSH_ACC_4G;
}
else if(fs == LIS3DSH_ACC_FS_6G) {
newfs = LIS3DSH_ACC_6G;
}
else if(fs == LIS3DSH_ACC_FS_8G) {
newfs = LIS3DSH_ACC_8G;
}
else if(fs == LIS3DSH_ACC_FS_16G) {
newfs = LIS3DSH_ACC_16G;
}
else {
msg = MSG_RESET;
return msg;
}
if(newfs != devp->accfullscale) {
/* Computing scale value.*/
scale = newfs / devp->accfullscale;
devp->accfullscale = newfs;
#if LIS3DSH_USE_SPI
#if LIS3DSH_SHARED_SPI
spiAcquireBus(devp->config->spip);
spiStart(devp->config->spip,
devp->config->spicfg);
#endif /* LIS3DSH_SHARED_SPI */
/* Getting data from register.*/
lis3dshSPIReadRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG5, 1, &cr);
#if LIS3DSH_SHARED_SPI
spiReleaseBus(devp->config->spip);
#endif /* LIS3DSH_SHARED_SPI */
#endif /* LIS3DSH_USE_SPI */
cr &= ~(LIS3DSH_CTRL_REG5_FS_MASK);
cr |= fs;
#if LIS3DSH_USE_SPI
#if LIS3DSH_SHARED_SPI
spiAcquireBus(devp->config->spip);
spiStart(devp->config->spip,
devp->config->spicfg);
#endif /* LIS3DSH_SHARED_SPI */
/* Getting data from register.*/
lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG5, 1, &cr);
#if LIS3DSH_SHARED_SPI
spiReleaseBus(devp->config->spip);
#endif /* LIS3DSH_SHARED_SPI */
#endif /* LIS3DSH_USE_SPI */
/* Scaling sensitivity and bias. Re-calibration is suggested anyway. */
for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++) {
devp->accsensitivity[i] *= scale;
devp->accbias[i] *= scale;
}
}
return msg;
}
static const struct LIS3DSHVMT vmt_device = {
(size_t)0,
acc_set_full_scale
};
static const struct BaseAccelerometerVMT vmt_accelerometer = {
sizeof(struct LIS3DSHVMT*),
acc_get_axes_number, acc_read_raw, acc_read_cooked,
acc_set_bias, acc_reset_bias, acc_set_sensivity, acc_reset_sensivity
};
/*===========================================================================*/
/* Driver exported functions. */
/*===========================================================================*/
/**
* @brief Initializes an instance.
*
* @param[out] devp pointer to the @p LIS3DSHDriver object
*
* @init
*/
void lis3dshObjectInit(LIS3DSHDriver *devp) {
devp->vmt = &vmt_device;
devp->acc_if.vmt = &vmt_accelerometer;
devp->config = NULL;
devp->accaxes = LIS3DSH_ACC_NUMBER_OF_AXES;
devp->state = LIS3DSH_STOP;
}
/**
* @brief Configures and activates LIS3DSH Complex Driver peripheral.
*
* @param[in] devp pointer to the @p LIS3DSHDriver object
* @param[in] config pointer to the @p LIS3DSHConfig object
*
* @api
*/
void lis3dshStart(LIS3DSHDriver *devp, const LIS3DSHConfig *config) {
uint32_t i;
uint8_t cr;
osalDbgCheck((devp != NULL) && (config != NULL));
osalDbgAssert((devp->state == LIS3DSH_STOP) ||
(devp->state == LIS3DSH_READY),
"lis3dshStart(), invalid state");
devp->config = config;
/* Control register 4 configuration block.*/
{
cr = LIS3DSH_CTRL_REG4_XEN | LIS3DSH_CTRL_REG4_YEN | LIS3DSH_CTRL_REG4_ZEN |
devp->config->accoutputdatarate;
#if LIS3DSH_USE_ADVANCED || defined(__DOXYGEN__)
cr |= devp->config->accblockdataupdate;
#endif
}
#if LIS3DSH_USE_SPI
#if LIS3DSH_SHARED_SPI
spiAcquireBus(devp->config->spip);
#endif /* LIS3DSH_SHARED_SPI */
spiStart(devp->config->spip, devp->config->spicfg);
lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG4, 1, &cr);
#if LIS3DSH_SHARED_SPI
spiReleaseBus(devp->config->spip);
#endif /* LIS3DSH_SHARED_SPI */
#endif /* LIS3DSH_USE_SPI */
/* Control register 5 configuration block.*/
{
cr = devp->config->accfullscale;
#if LIS3DSH_USE_ADVANCED || defined(__DOXYGEN__)
cr |= devp->config->accantialiasing;
#endif
}
#if LIS3DSH_USE_SPI
#if LIS3DSH_SHARED_SPI
spiAcquireBus(devp->config->spip);
spiStart(devp->config->spip, devp->config->spicfg);
#endif /* LIS3DSH_SHARED_SPI */
lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG5, 1, &cr);
#if LIS3DSH_SHARED_SPI
spiReleaseBus(devp->config->spip);
#endif /* LIS3DSH_SHARED_SPI */
#endif /* LIS3DSH_USE_SPI */
/* Control register 6 configuration block.*/
{
cr = LIS3DSH_CTRL_REG6_ADD_INC;
#if LIS3DSH_USE_ADVANCED || defined(__DOXYGEN__)
cr |= devp->config->accblockdataupdate;
#endif
}
#if LIS3DSH_USE_SPI
#if LIS3DSH_SHARED_SPI
spiAcquireBus(devp->config->spip);
spiStart(devp->config->spip, devp->config->spicfg);
#endif /* LIS3DSH_SHARED_SPI */
lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG6, 1, &cr);
#if LIS3DSH_SHARED_SPI
spiReleaseBus(devp->config->spip);
#endif /* LIS3DSH_SHARED_SPI */
#endif /* LIS3DSH_USE_SPI */
/* Storing sensitivity information according to user setting */
if(devp->config->accfullscale == LIS3DSH_ACC_FS_2G) {
devp->accfullscale = LIS3DSH_ACC_2G;
if(devp->config->accsensitivity == NULL)
for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
devp->accsensitivity[i] = LIS3DSH_ACC_SENS_2G;
else
for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
devp->accsensitivity[i] = devp->config->accsensitivity[i];
}
else if(devp->config->accfullscale == LIS3DSH_ACC_FS_4G) {
devp->accfullscale = LIS3DSH_ACC_4G;
if(devp->config->accsensitivity == NULL)
for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
devp->accsensitivity[i] = LIS3DSH_ACC_SENS_4G;
else
for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
devp->accsensitivity[i] = devp->config->accsensitivity[i];
}
else if(devp->config->accfullscale == LIS3DSH_ACC_FS_6G) {
devp->accfullscale = LIS3DSH_ACC_6G;
if(devp->config->accsensitivity == NULL)
for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
devp->accsensitivity[i] = LIS3DSH_ACC_SENS_6G;
else
for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
devp->accsensitivity[i] = devp->config->accsensitivity[i];
}
else if(devp->config->accfullscale == LIS3DSH_ACC_FS_8G) {
devp->accfullscale = LIS3DSH_ACC_8G;
if(devp->config->accsensitivity == NULL)
for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
devp->accsensitivity[i] = LIS3DSH_ACC_SENS_8G;
else
for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
devp->accsensitivity[i] = devp->config->accsensitivity[i];
}
else if(devp->config->accfullscale == LIS3DSH_ACC_FS_16G) {
devp->accfullscale = LIS3DSH_ACC_16G;
if(devp->config->accsensitivity == NULL)
for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
devp->accsensitivity[i] = LIS3DSH_ACC_SENS_16G;
else
for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
devp->accsensitivity[i] = devp->config->accsensitivity[i];
}
else {
osalDbgAssert(FALSE, "lis3dshStart(), accelerometer full scale issue");
}
/* Storing bias information according to user setting */
if(devp->config->accbias != NULL)
for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
devp->accbias[i] = devp->config->accbias[i];
else
for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
devp->accbias[i] = LIS3DSH_ACC_BIAS;
/* This is the Accelerometer transient recovery time */
osalThreadSleepMilliseconds(10);
devp->state = LIS3DSH_READY;
}
/**
* @brief Deactivates the LIS3DSH Complex Driver peripheral.
*
* @param[in] devp pointer to the @p LIS3DSHDriver object
*
* @api
*/
void lis3dshStop(LIS3DSHDriver *devp) {
uint8_t cr4;
osalDbgCheck(devp != NULL);
osalDbgAssert((devp->state == LIS3DSH_STOP) ||
(devp->state == LIS3DSH_READY),
"lis3dshStop(), invalid state");
if (devp->state == LIS3DSH_READY) {
#if (LIS3DSH_USE_SPI)
#if LIS3DSH_SHARED_SPI
spiAcquireBus(devp->config->spip);
spiStart(devp->config->spip,
devp->config->spicfg);
#endif /* LIS3DSH_SHARED_SPI */
/* Disabling all axes and enabling power down mode.*/
cr4 = 0;
lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG4,
1, &cr4);
spiStop(devp->config->spip);
#if LIS3DSH_SHARED_SPI
spiReleaseBus(devp->config->spip);
#endif /* LIS3DSH_SHARED_SPI */
#endif /* LIS3DSH_USE_SPI */
}
devp->state = LIS3DSH_STOP;
}
/** @} */
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