diff options
| author | Clyne Sullivan <tullivan99@gmail.com> | 2016-11-11 15:02:17 -0500 |
|---|---|---|
| committer | Clyne Sullivan <tullivan99@gmail.com> | 2016-11-11 15:02:17 -0500 |
| commit | 7772ea4579a45bcf63ebd5e68be66ba1a9c72dfa (patch) | |
| tree | 9e1ce52ea97102d3513e519a77d999eac228820b /ChibiOS_16.1.5/community/os/various | |
| parent | 02b3ff42cccf32617c88c0ca65436b8c9d4f61eb (diff) | |
chibios!
Diffstat (limited to 'ChibiOS_16.1.5/community/os/various')
35 files changed, 8596 insertions, 0 deletions
diff --git a/ChibiOS_16.1.5/community/os/various/bitmap.c b/ChibiOS_16.1.5/community/os/various/bitmap.c new file mode 100644 index 0000000..a17dfcb --- /dev/null +++ b/ChibiOS_16.1.5/community/os/various/bitmap.c @@ -0,0 +1,158 @@ +/* + ChibiOS/HAL - Copyright (C) 2015 Uladzimir Pylinsky aka barthess + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. +*/ + +/** + * @file bitmap.c + * @brief Bit map code. + * + * @addtogroup bitmap + * @{ + */ + +#include "string.h" /* for memset() */ + +#include "hal.h" +#include "bitmap.h" + +/*===========================================================================*/ +/* Module local definitions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module exported variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module local types. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module local variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module local functions. */ +/*===========================================================================*/ + +/** + * @brief Get word number. + * + * @param[in] bit number of the bit + * + * @return Index of the word containing specified bit. + */ +static inline size_t word(size_t bit) { + return bit / (sizeof(bitmap_word_t) * 8); +} + +/** + * @brief Get bit position in word. + * + * @param[in] bit number of the bit + * + * @return Position of the specified bit related to word start. + */ +static inline size_t pos_in_word(size_t bit) { + return bit % (sizeof(bitmap_word_t) * 8); +} + +/*===========================================================================*/ +/* Module exported functions. */ +/*===========================================================================*/ +/** + * @brief Initializes an @p bitmap_t structure. + * + * @param[out] map the @p bitmap_t structure to be initialized + * @param[in] val the value to be written in all bitmap + */ +void bitmapObjectInit(bitmap_t *map, bitmap_word_t val) { + uint8_t pattern; + + osalDbgCheck(val == 1 || val == 0); + + if (val == 1) + pattern = 0xFF; + else + pattern = 0; + + memset(map->array, pattern, map->len*sizeof(bitmap_word_t)); +} + +/** + * @brief Set single bit in an @p bitmap_t structure. + * + * @param[out] map the @p bitmap_t structure + * @param[in] bit number of the bit to be set + */ +void bitmapSet(bitmap_t *map, size_t bit) { + size_t w = word(bit); + + osalDbgCheck(w < map->len); + map->array[w] |= (bitmap_word_t)1 << pos_in_word(bit); +} + +/** + * @brief Clear single bit in an @p bitmap_t structure. + * + * @param[out] map the @p bitmap_t structure + * @param[in] bit number of the bit to be cleared + */ +void bitmapClear(bitmap_t *map, size_t bit) { + size_t w = word(bit); + + osalDbgCheck(w < map->len); + map->array[w] &= ~((bitmap_word_t)1 << pos_in_word(bit)); +} + +/** + * @brief Invert single bit in an @p bitmap_t structure. + * + * @param[out] map the @p bitmap_t structure + * @param[in] bit number of the bit to be inverted + */ +void bitmapInvert(bitmap_t *map, size_t bit) { + size_t w = word(bit); + + osalDbgCheck(w < map->len); + map->array[w] ^= (bitmap_word_t)1 << pos_in_word(bit); +} + +/** + * @brief Get bit value from an @p bitmap_t structure. + * + * @param[in] map the @p bitmap_t structure + * @param[in] bit number of the requested bit + * + * @return Requested bit value. + */ +bitmap_word_t bitmapGet(const bitmap_t *map, size_t bit) { + size_t w = word(bit); + + osalDbgCheck(w < map->len); + return (map->array[w] >> pos_in_word(bit)) & 1; +} + +/** + * @brief Get total amount of bits in an @p bitmap_t structure. + * + * @param[in] map the @p bitmap_t structure + * + * @return Bit number. + */ +size_t bitmapGetBitsCount(const bitmap_t *map) { + return map->len * sizeof(bitmap_word_t) * 8; +} +/** @} */ diff --git a/ChibiOS_16.1.5/community/os/various/bitmap.h b/ChibiOS_16.1.5/community/os/various/bitmap.h new file mode 100644 index 0000000..d7831aa --- /dev/null +++ b/ChibiOS_16.1.5/community/os/various/bitmap.h @@ -0,0 +1,77 @@ +/* + ChibiOS/HAL - Copyright (C) 2015 Uladzimir Pylinsky aka barthess + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. +*/ + +/** + * @file bitmap.h + * @brief Bit map structures and macros. + * + * @addtogroup bitmap + * @{ + */ + +#ifndef _BITMAP_H_ +#define _BITMAP_H_ + +/*===========================================================================*/ +/* Module constants. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module pre-compile time settings. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module data structures and types. */ +/*===========================================================================*/ + +typedef unsigned int bitmap_word_t; + +/** + * @brief Type of a event timer structure. + */ +typedef struct { + bitmap_word_t *array; + size_t len; /* Array length in _words_ NOT bytes */ +} bitmap_t; + +/*===========================================================================*/ +/* Module macros. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +#ifdef __cplusplus +extern "C" { +#endif + void bitmapObjectInit(bitmap_t *map, bitmap_word_t val); + void bitmapSet(bitmap_t *map, size_t bit); + void bitmapClear(bitmap_t *map, size_t bit); + void bitmapInvert(bitmap_t *map, size_t bit); + bitmap_word_t bitmapGet(const bitmap_t *map, size_t bit); + size_t bitmapGetBitsCount(const bitmap_t *map); +#ifdef __cplusplus +} +#endif + +#endif /* _BITMAP_H_ */ + +/** @} */ diff --git a/ChibiOS_16.1.5/community/os/various/bswap.h b/ChibiOS_16.1.5/community/os/various/bswap.h new file mode 100644 index 0000000..6448498 --- /dev/null +++ b/ChibiOS_16.1.5/community/os/various/bswap.h @@ -0,0 +1,201 @@ +/* + Copyright (C) 2016 Stephane D'Alu + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. +*/ + +#ifndef BSWAP_H +#define BSWAP_H + +#if defined(__cplusplus) +extern "C" { +#endif + +#if !(defined(ARCH_BIG_ENDIAN) || defined(ARCH_LITTLE_ENDIAN)) +#error "Need to define one: ARCH_BIG_ENDIAN or ARCH_LITTLE_ENDIAN" +#endif + +#if defined(ARCH_BIG_ENDIAN) && defined(ARCH_LITTLE_ENDIAN) +#error "ARCH_BIG_ENDIAN and ARCH_LITTLE_ENDIAN are both set" +#endif + + +#define BSWAP_16(x) \ + (uint16_t)((((x) & 0xFF00) >> 8) | \ + (((x) & 0x00FF) << 8)) +#define BSWAP_32(x) \ + (uint32_t)((((x) & 0xFF000000UL) >> 24UL) | \ + (((x) & 0x00FF0000UL) >> 8UL) | \ + (((x) & 0x0000FF00UL) << 8UL) | \ + (((x) & 0x000000FFUL) << 24UL)) +#define BSWAP_64(x) \ + (uint64_t)((((x) & 0xFF00000000000000UL) >> 56UL) | \ + (((x) & 0x00FF000000000000UL) >> 40UL) | \ + (((x) & 0x0000FF0000000000UL) >> 24UL) | \ + (((x) & 0x000000FF00000000UL) >> 8UL) | \ + (((x) & 0x00000000FF000000UL) << 8UL) | \ + (((x) & 0x0000000000FF0000UL) << 24UL) | \ + (((x) & 0x000000000000FF00UL) << 40UL) | \ + (((x) & 0x00000000000000FFUL) << 56UL)) + + +#if defined(ARCH_BIG_ENDIAN) +#define le16_to_cpu(x) bswap_16(x) +#define le32_to_cpu(x) bswap_32(x) +#define le64_to_cpu(x) bswap_64(x) +#define be16_to_cpu(x) (x) +#define be32_to_cpu(x) (x) +#define be64_to_cpu(x) (x) +#define cpu_to_le16(x) bswap_16(x) +#define cpu_to_le32(x) bswap_32(x) +#define cpu_to_le64(x) bswap_64(x) +#define cpu_to_be16(x) (x) +#define cpu_to_be32(x) (x) +#define cpu_to_be64(x) (x) +#define LE16_TO_CPU(x) BSWAP_16(x) +#define LE32_TO_CPU(x) BSWAP_32(x) +#define LE64_TO_CPU(x) BSWAP_64(x) +#define BE16_TO_CPU(x) (x) +#define BE32_TO_CPU(x) (x) +#define BE64_TO_CPU(x) (x) +#define CPU_TO_LE16(x) BSWAP_16(x) +#define CPU_TO_LE32(x) BSWAP_32(x) +#define CPU_TO_LE64(x) BSWAP_64(x) +#define CPU_TO_BE16(x) (x) +#define CPU_TO_BE32(x) (x) +#define CPU_TO_BE64(x) (x) +#endif + + +#if defined(ARCH_LITTLE_ENDIAN) +#define le16_to_cpu(x) (x) +#define le32_to_cpu(x) (x) +#define le64_to_cpu(x) (x) +#define be16_to_cpu(x) bswap_16(x) +#define be32_to_cpu(x) bswap_32(x) +#define be64_to_cpu(x) bswap_64(x) +#define cpu_to_le16(x) (x) +#define cpu_to_le32(x) (x) +#define cpu_to_le64(x) (x) +#define cpu_to_be16(x) bswap_16(x) +#define cpu_to_be32(x) bswap_32(x) +#define cpu_to_be64(x) bswap_64(x) +#define LE16_TO_CPU(x) (x) +#define LE32_TO_CPU(x) (x) +#define LE64_TO_CPU(x) (x) +#define BE16_TO_CPU(x) BSWAP_16(x) +#define BE32_TO_CPU(x) BSWAP_32(x) +#define BE64_TO_CPU(x) BSWAP_64(x) +#define CPU_TO_LE16(x) (x) +#define CPU_TO_LE32(x) (x) +#define CPU_TO_LE64(x) (x) +#define CPU_TO_BE16(x) BSWAP_16(x) +#define CPU_TO_BE32(x) BSWAP_32(x) +#define CPU_TO_BE64(x) BSWAP_64(x) +#endif + + +static inline uint16_t bswap_16(const uint16_t x) + __attribute__ ((warn_unused_result)) + __attribute__ ((const)) + __attribute__ ((always_inline)); + +static inline uint16_t bswap_16(const uint16_t x) { + if (__builtin_constant_p(x)) + return BSWAP_16(x); + + uint8_t tmp; + union { uint16_t x; uint8_t b[2]; } data; + + data.x = x; + tmp = data.b[0]; + data.b[0] = data.b[1]; + data.b[1] = tmp; + + return data.x; +} + +static inline uint32_t bswap_32(const uint32_t x) + __attribute__ ((warn_unused_result)) + __attribute__ ((const)) + __attribute__ ((always_inline)); + + +static inline uint32_t bswap_32(const uint32_t x) { + if (__builtin_constant_p(x)) + return BSWAP_32(x); + + uint8_t tmp; + union { uint32_t x; uint8_t b[4]; } data; + + data.x = x; + tmp = data.b[0]; + data.b[0] = data.b[3]; + data.b[3] = tmp; + tmp = data.b[1]; + data.b[1] = data.b[2]; + data.b[2] = tmp; + + return data.x; +} + +static inline uint64_t bswap_64(const uint64_t x) + __attribute__ ((warn_unused_result)) + __attribute__ ((const)) + __attribute__ ((always_inline)); + + +static inline uint64_t bswap_64(const uint64_t x) { + if (__builtin_constant_p(x)) + return BSWAP_64(x); + + uint8_t tmp; + union { uint64_t x; uint8_t b[8]; } data; + + data.x = x; + tmp = data.b[0]; + data.b[0] = data.b[7]; + data.b[7] = tmp; + tmp = data.b[1]; + data.b[1] = data.b[6]; + data.b[6] = tmp; + tmp = data.b[2]; + data.b[2] = data.b[5]; + data.b[5] = tmp; + tmp = data.b[3]; + data.b[3] = data.b[4]; + data.b[4] = tmp; + + return data.x; +} + +static inline void bswap_n(void* const data, uint8_t len) + __attribute__ ((nonnull (1))); + +static inline void bswap_n(void* const data, uint8_t len) { + uint8_t* ptr = (uint8_t*)data; + + for ( ; len > 1 ; ptr++, len -= 2 ) { + uint8_t tmp = *ptr; + *ptr = *(ptr + len - 1); + *(ptr + len - 1) = tmp; + } +} + +#if defined(__cplusplus) +} +#endif + +#endif + + diff --git a/ChibiOS_16.1.5/community/os/various/crcsw.c b/ChibiOS_16.1.5/community/os/various/crcsw.c new file mode 100644 index 0000000..02a64f3 --- /dev/null +++ b/ChibiOS_16.1.5/community/os/various/crcsw.c @@ -0,0 +1,338 @@ +/* + ChibiOS - Copyright (C) 2015 Michael D. Spradling + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. +*/ + +/** + * @file crcsw.c + * @brief CRC software driver. + @note SW implementation was based from: + * @note http://www.barrgroup.com/Embedded-Systems/How-To/CRC-Calculation-C-Code + * + * @addtogroup CRC + * @{ + */ + +#include "hal.h" + +#if HAL_USE_CRC || defined(__DOXYGEN__) + +#if CRCSW_USE_CRC1 || defined(__DOXYGEN__) + +/*===========================================================================*/ +/* Driver local definitions. */ +/*===========================================================================*/ + +/** + * @brief CRC default configuration. + */ + +#if CRCSW_CRC32_TABLE == TRUE || defined(__DOXYGEN__) +static const uint32_t crc32_table[256] = { + 0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, + 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3, + 0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, + 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91, + 0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, + 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7, + 0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, + 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5, + 0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172, + 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b, + 0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, + 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59, + 0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, + 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f, + 0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, + 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d, + 0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a, + 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433, + 0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, + 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01, + 0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, + 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457, + 0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c, + 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65, + 0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, + 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb, + 0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0, + 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9, + 0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, + 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f, + 0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, + 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad, + 0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a, + 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683, + 0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8, + 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1, + 0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, + 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7, + 0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc, + 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5, + 0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, + 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b, + 0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, + 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79, + 0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236, + 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f, + 0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, + 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d, + 0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, + 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713, + 0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, + 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21, + 0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, + 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777, + 0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, + 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45, + 0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, + 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db, + 0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, + 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9, + 0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, + 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf, + 0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, + 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d +}; +#endif + +#if CRCSW_CRC16_TABLE || defined(__DOXYGEN__) +static const uint32_t crc16_table[256] = { + 0x0000, 0xC0C1, 0xC181, 0x0140, 0xC301, 0x03C0, 0x0280, 0xC241, + 0xC601, 0x06C0, 0x0780, 0xC741, 0x0500, 0xC5C1, 0xC481, 0x0440, + 0xCC01, 0x0CC0, 0x0D80, 0xCD41, 0x0F00, 0xCFC1, 0xCE81, 0x0E40, + 0x0A00, 0xCAC1, 0xCB81, 0x0B40, 0xC901, 0x09C0, 0x0880, 0xC841, + 0xD801, 0x18C0, 0x1980, 0xD941, 0x1B00, 0xDBC1, 0xDA81, 0x1A40, + 0x1E00, 0xDEC1, 0xDF81, 0x1F40, 0xDD01, 0x1DC0, 0x1C80, 0xDC41, + 0x1400, 0xD4C1, 0xD581, 0x1540, 0xD701, 0x17C0, 0x1680, 0xD641, + 0xD201, 0x12C0, 0x1380, 0xD341, 0x1100, 0xD1C1, 0xD081, 0x1040, + 0xF001, 0x30C0, 0x3180, 0xF141, 0x3300, 0xF3C1, 0xF281, 0x3240, + 0x3600, 0xF6C1, 0xF781, 0x3740, 0xF501, 0x35C0, 0x3480, 0xF441, + 0x3C00, 0xFCC1, 0xFD81, 0x3D40, 0xFF01, 0x3FC0, 0x3E80, 0xFE41, + 0xFA01, 0x3AC0, 0x3B80, 0xFB41, 0x3900, 0xF9C1, 0xF881, 0x3840, + 0x2800, 0xE8C1, 0xE981, 0x2940, 0xEB01, 0x2BC0, 0x2A80, 0xEA41, + 0xEE01, 0x2EC0, 0x2F80, 0xEF41, 0x2D00, 0xEDC1, 0xEC81, 0x2C40, + 0xE401, 0x24C0, 0x2580, 0xE541, 0x2700, 0xE7C1, 0xE681, 0x2640, + 0x2200, 0xE2C1, 0xE381, 0x2340, 0xE101, 0x21C0, 0x2080, 0xE041, + 0xA001, 0x60C0, 0x6180, 0xA141, 0x6300, 0xA3C1, 0xA281, 0x6240, + 0x6600, 0xA6C1, 0xA781, 0x6740, 0xA501, 0x65C0, 0x6480, 0xA441, + 0x6C00, 0xACC1, 0xAD81, 0x6D40, 0xAF01, 0x6FC0, 0x6E80, 0xAE41, + 0xAA01, 0x6AC0, 0x6B80, 0xAB41, 0x6900, 0xA9C1, 0xA881, 0x6840, + 0x7800, 0xB8C1, 0xB981, 0x7940, 0xBB01, 0x7BC0, 0x7A80, 0xBA41, + 0xBE01, 0x7EC0, 0x7F80, 0xBF41, 0x7D00, 0xBDC1, 0xBC81, 0x7C40, + 0xB401, 0x74C0, 0x7580, 0xB541, 0x7700, 0xB7C1, 0xB681, 0x7640, + 0x7200, 0xB2C1, 0xB381, 0x7340, 0xB101, 0x71C0, 0x7080, 0xB041, + 0x5000, 0x90C1, 0x9181, 0x5140, 0x9301, 0x53C0, 0x5280, 0x9241, + 0x9601, 0x56C0, 0x5780, 0x9741, 0x5500, 0x95C1, 0x9481, 0x5440, + 0x9C01, 0x5CC0, 0x5D80, 0x9D41, 0x5F00, 0x9FC1, 0x9E81, 0x5E40, + 0x5A00, 0x9AC1, 0x9B81, 0x5B40, 0x9901, 0x59C0, 0x5880, 0x9841, + 0x8801, 0x48C0, 0x4980, 0x8941, 0x4B00, 0x8BC1, 0x8A81, 0x4A40, + 0x4E00, 0x8EC1, 0x8F81, 0x4F40, 0x8D01, 0x4DC0, 0x4C80, 0x8C41, + 0x4400, 0x84C1, 0x8581, 0x4540, 0x8701, 0x47C0, 0x4680, 0x8641, + 0x8201, 0x42C0, 0x4380, 0x8341, 0x4100, 0x81C1, 0x8081, 0x4040 +}; +#endif + +/*===========================================================================*/ +/* Driver exported variables. */ +/*===========================================================================*/ + +/** @brief CRC1 driver identifier.*/ +#if CRCSW_USE_CRC1 || defined(__DOXYGEN__) +CRCDriver CRCD1; +#endif + +#if CRCSW_CRC32_TABLE || defined(__DOXYGEN__) +const CRCConfig crcsw_crc32_config = { + .poly_size = 32, + .poly = 0x04C11DB7, + .initial_val = 0xFFFFFFFF, + .final_val = 0xFFFFFFFF, + .reflect_data = 1, + .reflect_remainder = 1, + .table = crc32_table +}; +#endif + +#if CRCSW_CRC16_TABLE || defined(__DOXYGEN__) +const CRCConfig crcsw_crc16_config = { + .poly_size = 16, + .poly = 0x8005, + .initial_val = 0x0, + .final_val = 0x0, + .reflect_data = 1, + .reflect_remainder = 1, + .table = crc16_table +}; +#endif + +/*===========================================================================*/ +/* Driver local variables and types. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local functions. */ +/*===========================================================================*/ + +#if (CRCSW_PROGRAMMABLE == TRUE) +static uint32_t reflect(uint32_t data, uint8_t nBits) { + uint32_t reflection = 0x00000000; + uint8_t bit; + + /* Reflect the data about the center bit. */ + for (bit = 0; bit < nBits; ++bit) { + /* If the LSB bit is set, set the reflection of it. */ + if (data & 0x01) { + reflection |= (1 << ((nBits - 1) - bit)); + } + + data = (data >> 1); + } + + return reflection; +} +#endif + +/*===========================================================================*/ +/* Driver interrupt handlers. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver exported functions. */ +/*===========================================================================*/ + +/** + * @brief Low level CRC software initialization. + * + * @notapi + */ +void crc_lld_init(void) { + crcObjectInit(&CRCD1); + CRCD1.crc = CRCD1.config->initial_val; +} + +/** + * @brief Configures and activates the CRC peripheral. + * + * @param[in] crcp pointer to the @p CRCDriver object + * + * @notapi + */ +void crc_lld_start(CRCDriver *crcp) { + osalDbgAssert(crcp->config != NULL, "config must not be NULL"); + +#if CRCSW_PROGRAMMABLE == FALSE +#if CRCSW_CRC32_TABLE == TRUE && CRCSW_CRC16_TABLE == TRUE + osalDbgAssert((crcp->config == CRCSW_CRC32_TABLE_CONFIG) || + (crcp->config == CRCSW_CRC16_TABLE_CONFIG), "config must be CRCSW_CRC32_TABLE_CONFIG or CRCSW_CRC16_TABLE_CONFIG"); +#elif CRCSW_CRC32_TABLE == TRUE && CRCSW_CRC16_TABLE == FALSE + osalDbgAssert(crcp->config == CRCSW_CRC32_TABLE_CONFIG, + "config must be CRCSW_CRC32_TABLE_CONFIG"); +#else + osalDbgAssert(crcp->config == CRCSW_CRC16_TABLE_CONFIG, + "config must be CRCSW_CRC16_TABLE_CONFIG"); +#endif +#endif + crc_lld_reset(crcp); +} + + +/** + * @brief Deactivates the CRC peripheral. + * + * @param[in] crcp pointer to the @p CRCDriver object + * + * @notapi + */ +void crc_lld_stop(CRCDriver *crcp) { + (void)crcp; +} + +/** + * @brief Resets current CRC calculation. + * + * @param[in] crcp pointer to the @p CRCDriver object + * + * @notapi + */ +void crc_lld_reset(CRCDriver *crcp) { + crcp->crc = crcp->config->initial_val; +} + +/** + * @brief Returns calculated CRC from last reset + * + * @param[in] crcp pointer to the @p CRCDriver object + * @param[in] n size of buf in bytes + * @param[in] buf @p buffer location + * + * @notapi + */ +uint32_t crc_lld_calc(CRCDriver *crcp, size_t n, const void *buf) { + uint32_t i; + uint32_t crc; +#if (CRCSW_CRC32_TABLE == TRUE) || (CRCSW_CRC16_TABLE == TRUE) + if (crcp->config->table != NULL) { + for (i = 0; i < n; i++) { + uint8_t data = *((uint8_t*)buf + i); + uint8_t idx = (crcp->crc ^ data); + crcp->crc = (crcp->config->table[idx] ^ (crcp->crc >> 8)); + } + crc = crcp->crc; + } +#endif + +#if (CRCSW_PROGRAMMABLE == TRUE) + // Mask off bits to poly size + uint32_t mask = 1 << (crcp->config->poly_size - 1); + mask |= (mask - 1); + + crc = crcp->crc; + if (crcp->config->table == NULL) { + for (i = 0; i < n; i++) { + uint8_t data = *((uint8_t*)buf + i); + uint8_t bit; + + if (crcp->config->reflect_data) { + data = reflect(data, 8); + } + + /* Bring the next byte into the remainder. */ + crc ^= (data << (crcp->config->poly_size - 8)); + + /* Perform modulo-2 division, a bit at a time. */ + for (bit = 8; bit > 0; --bit) { + /* Try to divide the current data bit. */ + if (crc & (1 << (crcp->config->poly_size - 1))) { + crc = (crc << 1) ^ crcp->config->poly; + } else { + crc <<= 1; + } + } + } + + crcp->crc = crc; + + if (crcp->config->reflect_remainder) { + crc = reflect(crc, crcp->config->poly_size); + } + } +#endif + + return (crc ^ crcp->config->final_val) & mask; +} + +#endif /* CRCSW_USE_CRC1 */ + +#endif /* HAL_USE_CRC */ diff --git a/ChibiOS_16.1.5/community/os/various/crcsw.h b/ChibiOS_16.1.5/community/os/various/crcsw.h new file mode 100644 index 0000000..4483a34 --- /dev/null +++ b/ChibiOS_16.1.5/community/os/various/crcsw.h @@ -0,0 +1,215 @@ +/* + ChibiOS - Copyright (C) 2015 Michael D. Spradling + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. +*/ + +/** + * @file crcsw.h + * @brief CRC software driver. + * + * @addtogroup CRC + * @{ + */ + +#include "hal.h" + +#if HAL_USE_CRC || defined(__DOXYGEN__) + +#if CRCSW_USE_CRC1 || defined(__DOXYGEN__) + +/*===========================================================================*/ +/* Driver pre-compile time settings. */ +/*===========================================================================*/ + +/** + * @name Configuration options + * @{ + */ +/** + * @brief CRC1 software driver enable switch. + * @details If set to @p TRUE the support for CRC1 is included. + * @note The default is @p FALSE + */ +#if !defined(CRCSW_USE_CRC1) || defined(__DOXYGEN__) +#define CRCSW_USE_CRC1 FALSE +#endif + +/** + * @brief Enables software CRC32 + */ +#if !defined(CRCSW_CRC32_TABLE) || defined(__DOXYGEN__) +#define CRCSW_CRC32_TABLE FALSE +#endif + +/** + * @brief Enables software CRC16 + */ +#if !defined(CRCSW_CRC16_TABLE) || defined(__DOXYGEN__) +#define CRCSW_CRC16_TABLE FALSE +#endif + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +#if CRCSW_USE_CRC1 && CRC_USE_DMA +#error "Software CRC does not support DMA(CRC_USE_DMA)" +#endif + +#if CRCSW_CRC32_TABLE == FALSE && CRCSW_CRC16_TABLE == FALSE && \ + CRCSW_PROGRAMMABLE == FALSE +#error "At least one of CRCSW_PROGRAMMABLE, CRCSW_CRC32_TABLE, or CRCSW_CRC16_TABLE must be defined" +#endif + +/*===========================================================================*/ +/* Driver data structures and types. */ +/*===========================================================================*/ +/** + * @brief Type of a structure representing an CRC driver. + */ +typedef struct CRCDriver CRCDriver; + +/** + * @brief Driver configuration structure. + */ +typedef struct { + /** + * @brief The size of polynomial to be used for CRC. + */ + uint32_t poly_size; + /** + * @brief The coefficients of the polynomial to be used for CRC. + */ + uint32_t poly; + /** + * @brief The inital value + */ + uint32_t initial_val; + /** + * @brief The final XOR value + */ + uint32_t final_val; + /** + * @brief Reflect bit order data going into CRC + */ + bool reflect_data; + /** + * @brief Reflect bit order of final remainder + */ + bool reflect_remainder; + /* End of the mandatory fields.*/ + /** + * @brief The crc lookup table to use when calculating CRC. + */ + const uint32_t *table; +} CRCConfig; + + +/** + * @brief Structure representing an CRC driver. + */ +struct CRCDriver { + /** + * @brief Driver state. + */ + crcstate_t state; + /** + * @brief Current configuration data. + */ + const CRCConfig *config; +#if CRC_USE_MUTUAL_EXCLUSION || defined(__DOXYGEN__) + /** + * @brief Mutex protecting the peripheral. + */ + mutex_t mutex; +#endif /* CRC_USE_MUTUAL_EXCLUSION */ + /* End of the mandatory fields.*/ + /** + * @brief Current value of calculated CRC. + */ + uint32_t crc; +}; + +/*===========================================================================*/ +/* Driver macros. */ +/*===========================================================================*/ +#if CRCSW_CRC32_TABLE || defined(__DOXYGEN__) +/** + * @brief Configuration that represents CRC32 + */ +#define CRCSW_CRC32_TABLE_CONFIG (&crcsw_crc32_config) +#endif + +#if CRCSW_CRC16_TABLE || defined(__DOXYGEN__) +/** + * @brief Configuration that represents CRC16 + */ +#define CRCSW_CRC16_TABLE_CONFIG (&crcsw_crc16_config) +#endif + +/*===========================================================================*/ +/* Driver local definitions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver exported variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local variables and types. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local functions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver interrupt handlers. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver exported functions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +extern CRCDriver CRCD1; + +#if CRCSW_CRC32_TABLE +extern const CRCConfig crcsw_crc32_config; +#endif + +#if CRCSW_CRC16_TABLE +extern const CRCConfig crcsw_crc16_config; +#endif + +#ifdef __cplusplus +extern "C" { +#endif + void crc_lld_init(void); + void crc_lld_start(CRCDriver *crcp); + void crc_lld_stop(CRCDriver *crcp); + void crc_lld_reset(CRCDriver *crcp); + uint32_t crc_lld_calc(CRCDriver *crcp, size_t n, const void *buf); +#ifdef __cplusplus +} +#endif + +#endif /* CRCSW_USE_CRC1 */ + +#endif /* HAL_USE_CRC */ + +/** @} */ diff --git a/ChibiOS_16.1.5/community/os/various/devices_lib/lcd/ili9341.c b/ChibiOS_16.1.5/community/os/various/devices_lib/lcd/ili9341.c new file mode 100644 index 0000000..979e502 --- /dev/null +++ b/ChibiOS_16.1.5/community/os/various/devices_lib/lcd/ili9341.c @@ -0,0 +1,418 @@ +/* + Copyright (C) 2013-2015 Andrea Zoppi + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. +*/ + +/** + * @file ili9341.c + * @brief ILI9341 TFT LCD diaplay controller driver. + * @note Does not support multiple calling threads natively. + */ + +#include "ch.h" +#include "hal.h" +#include "ili9341.h" + +/** + * @addtogroup ili9341 + * @{ + */ + +/*===========================================================================*/ +/* Driver local definitions. */ +/*===========================================================================*/ + +#if !ILI9341_USE_CHECKS && !defined(__DOXYGEN__) +/* Disable checks as needed.*/ + +#ifdef osalDbgCheck +#undef osalDbgCheck +#endif +#define osalDbgCheck(c, func) { \ + (void)(c), (void)__QUOTE_THIS(func)"()"; \ +} + +#ifdef osalDbgAssert +#undef osalDbgAssert +#endif +#define osalDbgAssert(c, m, r) { \ + (void)(c); \ +} + +#ifdef osalDbgCheckClassS +#undef osalDbgCheckClassS +#endif +#define osalDbgCheckClassS() {} + +#ifdef osalDbgCheckClassS +#undef osalDbgCheckClassS +#endif +#define osalDbgCheckClassI() {} + +#endif /* ILI9341_USE_CHECKS */ + +/*===========================================================================*/ +/* Driver exported variables. */ +/*===========================================================================*/ + +/** @brief ILI9341D1 driver identifier.*/ +ILI9341Driver ILI9341D1; + +/*===========================================================================*/ +/* Driver local variables and types. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local functions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver exported functions. */ +/*===========================================================================*/ + +/** + * @brief Initializes the standard part of a @p ILI9341Driver structure. + * + * @param[out] driverp pointer to the @p ILI9341Driver object + * + * @init + */ +void ili9341ObjectInit(ILI9341Driver *driverp) { + + osalDbgCheck(driverp != NULL); + + driverp->state = ILI9341_STOP; + driverp->config = NULL; +#if (TRUE == ILI9341_USE_MUTUAL_EXCLUSION) +#if (TRUE == CH_CFG_USE_MUTEXES) + chMtxObjectInit(&driverp->lock); +#else + chSemObjectInit(&driverp->lock, 1); +#endif +#endif /* (TRUE == ILI9341_USE_MUTUAL_EXCLUSION) */ +} + +/** + * @brief Configures and activates the ILI9341 peripheral. + * @pre ILI9341 is stopped. + * + * @param[in] driverp pointer to the @p ILI9341Driver object + * @param[in] configp pointer to the @p ILI9341Config object + * + * @api + */ +void ili9341Start(ILI9341Driver *driverp, const ILI9341Config *configp) { + + chSysLock(); + osalDbgCheck(driverp != NULL); + osalDbgCheck(configp != NULL); + osalDbgCheck(configp->spi != NULL); + osalDbgAssert(driverp->state == ILI9341_STOP, "invalid state"); + + spiSelectI(configp->spi); + spiUnselectI(configp->spi); + driverp->config = configp; + driverp->state = ILI9341_READY; + chSysUnlock(); +} + +/** + * @brief Deactivates the ILI9341 peripheral. + * @pre ILI9341 is ready. + * + * @param[in] driverp pointer to the @p ILI9341Driver object + * + * @api + */ +void ili9341Stop(ILI9341Driver *driverp) { + + chSysLock(); + osalDbgCheck(driverp != NULL); + osalDbgAssert(driverp->state == ILI9341_READY, "invalid state"); + + driverp->state = ILI9341_STOP; + chSysUnlock(); +} + +#if ILI9341_USE_MUTUAL_EXCLUSION + +/** + * @brief Gains exclusive access to the ILI9341 module. + * @details This function tries to gain ownership to the ILI9341 module, if the + * module is already being used then the invoking thread is queued. + * @pre In order to use this function the option + * @p ILI9341_USE_MUTUAL_EXCLUSION must be enabled. + * @pre ILI9341 is ready. + * + * @param[in] driverp pointer to the @p ILI9341Driver object + * + * @sclass + */ +void ili9341AcquireBusS(ILI9341Driver *driverp) { + + osalDbgCheckClassS(); + osalDbgCheck(driverp == &ILI9341D1); + osalDbgAssert(driverp->state == ILI9341_READY, "not ready"); + +#if (TRUE == CH_CFG_USE_MUTEXES) + chMtxLockS(&driverp->lock); +#else + chSemWaitS(&driverp->lock); +#endif +} + +/** + * @brief Gains exclusive access to the ILI9341 module. + * @details This function tries to gain ownership to the ILI9341 module, if the + * module is already being used then the invoking thread is queued. + * @pre In order to use this function the option + * @p ILI9341_USE_MUTUAL_EXCLUSION must be enabled. + * @pre ILI9341 is ready. + * + * @param[in] driverp pointer to the @p ILI9341Driver object + * + * @api + */ +void ili9341AcquireBus(ILI9341Driver *driverp) { + + chSysLock(); + ili9341AcquireBusS(driverp); + chSysUnlock(); +} + +/** + * @brief Releases exclusive access to the ILI9341 module. + * @pre In order to use this function the option + * @p ILI9341_USE_MUTUAL_EXCLUSION must be enabled. + * @pre ILI9341 is ready. + * + * @param[in] driverp pointer to the @p ILI9341Driver object + * + * @sclass + */ +void ili9341ReleaseBusS(ILI9341Driver *driverp) { + + osalDbgCheckClassS(); + osalDbgCheck(driverp == &ILI9341D1); + osalDbgAssert(driverp->state == ILI9341_READY, "not ready"); + +#if (TRUE == CH_CFG_USE_MUTEXES) + chMtxUnlockS(&driverp->lock); +#else + chSemSignalI(&driverp->lock); +#endif +} + +/** + * @brief Releases exclusive access to the ILI9341 module. + * @pre In order to use this function the option + * @p ILI9341_USE_MUTUAL_EXCLUSION must be enabled. + * @pre ILI9341 is ready. + * + * @param[in] driverp pointer to the @p ILI9341Driver object + * + * @api + */ +void ili9341ReleaseBus(ILI9341Driver *driverp) { + + chSysLock(); + ili9341ReleaseBusS(driverp); + chSysUnlock(); +} + +#endif /* ILI9341_USE_MUTUAL_EXCLUSION */ + +#if ILI9341_IM == ILI9341_IM_4LSI_1 /* 4-wire, half-duplex */ + +/** + * @brief Asserts the slave select signal and prepares for transfers. + * @pre ILI9341 is ready. + * + * @param[in] driverp pointer to the @p ILI9341Driver object + * + * @iclass + */ +void ili9341SelectI(ILI9341Driver *driverp) { + + osalDbgCheckClassI(); + osalDbgCheck(driverp != NULL); + osalDbgAssert(driverp->state == ILI9341_READY, "invalid state"); + + driverp->state = ILI9341_ACTIVE; + spiSelectI(driverp->config->spi); +} + +/** + * @brief Asserts the slave select signal and prepares for transfers. + * @pre ILI9341 is ready. + * + * @param[in] driverp pointer to the @p ILI9341Driver object + * + * @api + */ +void ili9341Select(ILI9341Driver *driverp) { + + chSysLock(); + ili9341SelectI(driverp); + chSysUnlock(); +} + +/** + * @brief Deasserts the slave select signal. + * @details The previously selected peripheral is unselected. + * @pre ILI9341 is active. + * + * @param[in] driverp pointer to the @p ILI9341Driver object + * + * @iclass + */ +void ili9341UnselectI(ILI9341Driver *driverp) { + + osalDbgCheckClassI(); + osalDbgCheck(driverp != NULL); + osalDbgAssert(driverp->state == ILI9341_ACTIVE, "invalid state"); + + spiUnselectI(driverp->config->spi); + driverp->state = ILI9341_READY; +} + +/** + * @brief Deasserts the slave select signal. + * @details The previously selected peripheral is unselected. + * @pre ILI9341 is active. + * + * @param[in] driverp pointer to the @p ILI9341Driver object + * + * @iclass + */ +void ili9341Unselect(ILI9341Driver *driverp) { + + chSysLock(); + ili9341UnselectI(driverp); + chSysUnlock(); +} + +/** + * @brief Write command byte. + * @details Sends a command byte via SPI. + * + * @param[in] driverp pointer to the @p ILI9341Driver object + * @param[in] cmd command byte + * + * @api + */ +void ili9341WriteCommand(ILI9341Driver *driverp, uint8_t cmd) { + + osalDbgCheck(driverp != NULL); + osalDbgAssert(driverp->state == ILI9341_ACTIVE, "invalid state"); + + driverp->value = cmd; + palClearPad(driverp->config->dcx_port, driverp->config->dcx_pad); /* !Cmd */ + spiSend(driverp->config->spi, 1, &driverp->value); +} + +/** + * @brief Write data byte. + * @details Sends a data byte via SPI. + * + * @param[in] driverp pointer to the @p ILI9341Driver object + * @param[in] value data byte + * + * @api + */ +void ili9341WriteByte(ILI9341Driver *driverp, uint8_t value) { + + osalDbgCheck(driverp != NULL); + osalDbgAssert(driverp->state == ILI9341_ACTIVE, "invalid state"); + + driverp->value = value; + palSetPad(driverp->config->dcx_port, driverp->config->dcx_pad); /* Data */ + spiSend(driverp->config->spi, 1, &driverp->value); +} + +/** + * @brief Read data byte. + * @details Receives a data byte via SPI. + * + * @param[in] driverp pointer to the @p ILI9341Driver object + * + * @return data byte + * + * @api + */ +uint8_t ili9341ReadByte(ILI9341Driver *driverp) { + + osalDbgAssert(FALSE, "should not be used"); + + osalDbgCheck(driverp != NULL); + osalDbgAssert(driverp->state == ILI9341_ACTIVE, "invalid state"); + + palSetPad(driverp->config->dcx_port, driverp->config->dcx_pad); /* Data */ + spiReceive(driverp->config->spi, 1, &driverp->value); + return driverp->value; +} + +/** + * @brief Write data chunk. + * @details Sends a data chunk via SPI. + * @pre The chunk must be accessed by DMA. + * + * @param[in] driverp pointer to the @p ILI9341Driver object + * @param[in] chunk chunk bytes + * @param[in] length chunk length + * + * @api + */ +void ili9341WriteChunk(ILI9341Driver *driverp, const uint8_t chunk[], + size_t length) { + + osalDbgCheck(driverp != NULL); + osalDbgCheck(chunk != NULL); + osalDbgAssert(driverp->state == ILI9341_ACTIVE, "invalid state"); + + if (length != 0) { + palSetPad(driverp->config->dcx_port, driverp->config->dcx_pad); /* Data */ + spiSend(driverp->config->spi, length, chunk); + } +} + +/** + * @brief Read data chunk. + * @details Receives a data chunk via SPI. + * @pre The chunk must be accessed by DMA. + * + * @param[in] driverp pointer to the @p ILI9341Driver object + * @param[out] chunk chunk bytes + * @param[in] length chunk length + * + * @api + */ +void ili9341ReadChunk(ILI9341Driver *driverp, uint8_t chunk[], + size_t length) { + + osalDbgCheck(driverp != NULL); + osalDbgCheck(chunk != NULL); + osalDbgAssert(driverp->state == ILI9341_ACTIVE, "invalid state"); + + if (length != 0) { + palSetPad(driverp->config->dcx_port, driverp->config->dcx_pad); /* Data */ + spiReceive(driverp->config->spi, length, chunk); + } +} + +#else /* ILI9341_IM == * */ +#error "Only the ILI9341_IM_4LSI_1 interface mode is currently supported" +#endif /* ILI9341_IM == * */ + +/** @} */ diff --git a/ChibiOS_16.1.5/community/os/various/devices_lib/lcd/ili9341.h b/ChibiOS_16.1.5/community/os/various/devices_lib/lcd/ili9341.h new file mode 100644 index 0000000..007c4fd --- /dev/null +++ b/ChibiOS_16.1.5/community/os/various/devices_lib/lcd/ili9341.h @@ -0,0 +1,593 @@ +/* + Copyright (C) 2013-2015 Andrea Zoppi + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. +*/ + +/** + * @file ili9341.h + * @brief ILI9341 TFT LCD diaplay controller driver. + */ + +#ifndef _ILI9341_H_ +#define _ILI9341_H_ + +/** + * @addtogroup ili9341 + * @{ + */ + +/*===========================================================================*/ +/* Driver constants. */ +/*===========================================================================*/ + +/** + * @name ILI9341 regulative commands + * @{ + */ +#define ILI9341_CMD_NOP (0x00) /**< No operation.*/ +#define ILI9341_CMD_RESET (0x01) /**< Software reset.*/ +#define ILI9341_GET_ID_INFO (0x04) /**< Get ID information.*/ +#define ILI9341_GET_STATUS (0x09) /**< Get status.*/ +#define ILI9341_GET_PWR_MODE (0x0A) /**< Get power mode.*/ +#define ILI9341_GET_MADCTL (0x0B) /**< Get MADCTL.*/ +#define ILI9341_GET_PIX_FMT (0x0C) /**< Get pixel format.*/ +#define ILI9341_GET_IMG_FMT (0x0D) /**< Get image format.*/ +#define ILI9341_GET_SIG_MODE (0x0E) /**< Get signal mode.*/ +#define ILI9341_GET_SELF_DIAG (0x0F) /**< Get self-diagnostics.*/ +#define ILI9341_CMD_SLEEP_ON (0x10) /**< Enter sleep mode.*/ +#define ILI9341_CMD_SLEEP_OFF (0x11) /**< Exist sleep mode.*/ +#define ILI9341_CMD_PARTIAL_ON (0x12) /**< Enter partial mode.*/ +#define ILI9341_CMD_PARTIAL_OFF (0x13) /**< Exit partial mode.*/ +#define ILI9341_CMD_INVERT_ON (0x20) /**< Enter inverted mode.*/ +#define ILI9341_CMD_INVERT_OFF (0x21) /**< Exit inverted mode.*/ +#define ILI9341_SET_GAMMA (0x26) /**< Set gamma params.*/ +#define ILI9341_CMD_DISPLAY_OFF (0x28) /**< Disable display.*/ +#define ILI9341_CMD_DISPLAY_ON (0x29) /**< Enable display.*/ +#define ILI9341_SET_COL_ADDR (0x2A) /**< Set column address.*/ +#define ILI9341_SET_PAGE_ADDR (0x2B) /**< Set page address.*/ +#define ILI9341_SET_MEM (0x2C) /**< Set memory.*/ +#define ILI9341_SET_COLOR (0x2D) /**< Set color.*/ +#define ILI9341_GET_MEM (0x2E) /**< Get memory.*/ +#define ILI9341_SET_PARTIAL_AREA (0x30) /**< Set partial area.*/ +#define ILI9341_SET_VSCROLL (0x33) /**< Set vertical scroll def.*/ +#define ILI9341_CMD_TEARING_ON (0x34) /**< Tearing line enabled.*/ +#define ILI9341_CMD_TEARING_OFF (0x35) /**< Tearing line disabled.*/ +#define ILI9341_SET_MEM_ACS_CTL (0x36) /**< Set mem access ctl.*/ +#define ILI9341_SET_VSCROLL_ADDR (0x37) /**< Set vscroll start addr.*/ +#define ILI9341_CMD_IDLE_OFF (0x38) /**< Exit idle mode.*/ +#define ILI9341_CMD_IDLE_ON (0x39) /**< Enter idle mode.*/ +#define ILI9341_SET_PIX_FMT (0x3A) /**< Set pixel format.*/ +#define ILI9341_SET_MEM_CONT (0x3C) /**< Set memory continue.*/ +#define ILI9341_GET_MEM_CONT (0x3E) /**< Get memory continue.*/ +#define ILI9341_SET_TEAR_SCANLINE (0x44) /**< Set tearing scanline.*/ +#define ILI9341_GET_TEAR_SCANLINE (0x45) /**< Get tearing scanline.*/ +#define ILI9341_SET_BRIGHTNESS (0x51) /**< Set brightness.*/ +#define ILI9341_GET_BRIGHTNESS (0x52) /**< Get brightness.*/ +#define ILI9341_SET_DISPLAY_CTL (0x53) /**< Set display ctl.*/ +#define ILI9341_GET_DISPLAY_CTL (0x54) /**< Get display ctl.*/ +#define ILI9341_SET_CABC (0x55) /**< Set CABC.*/ +#define ILI9341_GET_CABC (0x56) /**< Get CABC.*/ +#define ILI9341_SET_CABC_MIN (0x5E) /**< Set CABC min.*/ +#define ILI9341_GET_CABC_MIN (0x5F) /**< Set CABC max.*/ +#define ILI9341_GET_ID1 (0xDA) /**< Get ID1.*/ +#define ILI9341_GET_ID2 (0xDB) /**< Get ID2.*/ +#define ILI9341_GET_ID3 (0xDC) /**< Get ID3.*/ +/** @} */ + +/** + * @name ILI9341 extended commands + * @{ + */ +#define ILI9341_SET_RGB_IF_SIG_CTL (0xB0) /**< RGB IF signal ctl.*/ +#define ILI9341_SET_FRAME_CTL_NORMAL (0xB1) /**< Set frame ctl (normal).*/ +#define ILI9341_SET_FRAME_CTL_IDLE (0xB2) /**< Set frame ctl (idle).*/ +#define ILI9341_SET_FRAME_CTL_PARTIAL (0xB3) /**< Set frame ctl (partial).*/ +#define ILI9341_SET_INVERSION_CTL (0xB4) /**< Set inversion ctl.*/ +#define ILI9341_SET_BLANKING_PORCH_CTL (0xB5) /**< Set blanking porch ctl.*/ +#define ILI9341_SET_FUNCTION_CTL (0xB6) /**< Set function ctl.*/ +#define ILI9341_SET_ENTRY_MODE (0xB7) /**< Set entry mode.*/ +#define ILI9341_SET_LIGHT_CTL_1 (0xB8) /**< Set backlight ctl 1.*/ +#define ILI9341_SET_LIGHT_CTL_2 (0xB9) /**< Set backlight ctl 2.*/ +#define ILI9341_SET_LIGHT_CTL_3 (0xBA) /**< Set backlight ctl 3.*/ +#define ILI9341_SET_LIGHT_CTL_4 (0xBB) /**< Set backlight ctl 4.*/ +#define ILI9341_SET_LIGHT_CTL_5 (0xBC) /**< Set backlight ctl 5.*/ +#define ILI9341_SET_LIGHT_CTL_7 (0xBE) /**< Set backlight ctl 7.*/ +#define ILI9341_SET_LIGHT_CTL_8 (0xBF) /**< Set backlight ctl 8.*/ +#define ILI9341_SET_POWER_CTL_1 (0xC0) /**< Set power ctl 1.*/ +#define ILI9341_SET_POWER_CTL_2 (0xC1) /**< Set power ctl 2.*/ +#define ILI9341_SET_VCOM_CTL_1 (0xC5) /**< Set VCOM ctl 1.*/ +#define ILI9341_SET_VCOM_CTL_2 (0xC6) /**< Set VCOM ctl 2.*/ +#define ILI9341_SET_NVMEM (0xD0) /**< Set NVMEM data.*/ +#define ILI9341_GET_NVMEM_KEY (0xD1) /**< Get NVMEM protect key.*/ +#define ILI9341_GET_NVMEM_STATUS (0xD2) /**< Get NVMEM status.*/ +#define ILI9341_GET_ID4 (0xD3) /**< Get ID4.*/ +#define ILI9341_SET_PGAMMA (0xE0) /**< Set positive gamma.*/ +#define ILI9341_SET_NGAMMA (0xE1) /**< Set negative gamma.*/ +#define ILI9341_SET_DGAMMA_CTL_1 (0xE2) /**< Set digital gamma ctl 1.*/ +#define ILI9341_SET_DGAMMA_CTL_2 (0xE3) /**< Set digital gamma ctl 2.*/ +#define ILI9341_SET_IF_CTL (0xF6) /**< Set interface control.*/ +/** @} */ + +/** + * @name ILI9341 interface modes + * @{ + */ +#define ILI9341_IM_3LSI_1 (0x5) /**< 3-line serial, mode 1.*/ +#define ILI9341_IM_3LSI_2 (0xD) /**< 3-line serial, mode 2.*/ +#define ILI9341_IM_4LSI_1 (0x6) /**< 4-line serial, mode 1.*/ +#define ILI9341_IM_4LSI_2 (0xE) /**< 4-line serial, mode 2.*/ +/** @} */ + +/*===========================================================================*/ +/* Driver pre-compile time settings. */ +/*===========================================================================*/ + +/** + * @name ILI9341 configuration options + * @{ + */ + +/** + * @brief Enables the @p ili9341AcquireBus() and @p ili9341ReleaseBus() APIs. + * @note Disabling this option saves both code and data space. + */ +#if !defined(ILI9341_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__) +#define ILI9341_USE_MUTUAL_EXCLUSION TRUE +#endif + +/** + * @brief ILI9341 Interface Mode. + */ +#if !defined(ILI9341_IM) || defined(__DOXYGEN__) +#define ILI9341_IM (ILI9341_IM_4LSI_1) +#endif + +/** + * @brief Enables checks for ILI9341 functions. + * @note Disabling this option saves both code and data space. + * @note Disabling checks by ChibiOS will automatically disable ILI9341 + * checks. + */ +#if !defined(ILI9341_USE_CHECKS) || defined(__DOXYGEN__) +#define ILI9341_USE_CHECKS TRUE +#endif + +/** @} */ + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +#if ((TRUE == ILI9341_USE_MUTUAL_EXCLUSION) && \ + (TRUE != CH_CFG_USE_MUTEXES) && \ + (TRUE != CH_CFG_USE_SEMAPHORES)) +#error "ILI9341_USE_MUTUAL_EXCLUSION requires CH_CFG_USE_MUTEXES and/or CH_CFG_USE_SEMAPHORES" +#endif + +/* TODO: Add the remaining modes.*/ +#if (ILI9341_IM != ILI9341_IM_4LSI_1) +#error "Only ILI9341_IM_4LSI_1 interface mode is supported currently" +#endif + +/*===========================================================================*/ +/* Driver data structures and types. */ +/*===========================================================================*/ + +/* Complex types forwarding.*/ +typedef struct ILI9341Config ILI9341Config; +typedef enum ili9341state_t ili9341state_t; +typedef struct ILI9341Driver ILI9341Driver; + +/** + * @brief ILI9341 driver configuration. + */ +typedef struct ILI9341Config { + SPIDriver *spi; /**< SPI driver used by ILI9341.*/ +#if (ILI9341_IM == ILI9341_IM_4LSI_1) + ioportid_t dcx_port; /**< <tt>D/!C</tt> signal port.*/ + uint16_t dcx_pad; /**< <tt>D/!C</tt> signal pad.*/ +#endif /* ILI9341_IM == * */ /* TODO: Add all modes.*/ +} ILI9341Config; + +/** + * @brief ILI9341 driver state. + */ +typedef enum ili9341state_t { + ILI9341_UNINIT = (0), /**< Not initialized.*/ + ILI9341_STOP = (1), /**< Stopped.*/ + ILI9341_READY = (2), /**< Ready.*/ + ILI9341_ACTIVE = (3), /**< Exchanging data.*/ +} ili9341state_t; + +/** + * @brief ILI9341 driver. + */ +typedef struct ILI9341Driver { + ili9341state_t state; /**< Driver state.*/ + const ILI9341Config *config; /**< Driver configuration.*/ + + /* Multithreading stuff.*/ +#if (TRUE == ILI9341_USE_MUTUAL_EXCLUSION) +#if (TRUE == CH_CFG_USE_MUTEXES) + mutex_t lock; /**< Multithreading lock.*/ +#elif (TRUE == CH_CFG_USE_SEMAPHORES) + semaphore_t lock; /**< Multithreading lock.*/ +#endif +#endif /* (TRUE == ILI9341_USE_MUTUAL_EXCLUSION) */ + + /* Temporary variables.*/ + uint8_t value; /**< Non-stacked value, for SPI with CCM.*/ +} ILI9341Driver; + +/** + * @name ILI9341 command params (little endian) + * @{ + */ +#pragma pack(push, 1) + +typedef union { + struct ILI9341ParamBits_GET_ID_INFO { + uint8_t reserved_; + uint8_t ID1; + uint8_t ID2; + uint8_t ID3; + } bits; + uint8_t bytes[4]; +} ILI9341Params_GET_ID_INFO; + +typedef union { + struct ILI9341ParamBits_GET_STATUS { + unsigned _reserved_1 : 5; /* D[ 4: 0] */ + unsigned tearing_mode : 1; /* D[ 5] */ + unsigned gamma_curve : 3; /* D[ 8: 6] */ + unsigned tearing : 1; /* D[ 9] */ + unsigned display : 1; /* D[10] */ + unsigned all_on : 1; /* D[11] */ + unsigned all_off : 1; /* D[12] */ + unsigned invert : 1; /* D[13] */ + unsigned _reserved_2 : 1; /* D[14] */ + unsigned vscroll : 1; /* D[15] */ + unsigned normal : 1; /* D[16] */ + unsigned sleep : 1; /* D[17] */ + unsigned partial : 1; /* D[18] */ + unsigned idle : 1; /* D[19] */ + unsigned pixel_format : 3; /* D[22:20] */ + unsigned _reserved_3 : 2; /* D[24:23] */ + unsigned hrefr_rtl_nltr : 1; /* D[25] */ + unsigned bgr_nrgb : 1; /* D[26] */ + unsigned vrefr_btt_nttb : 1; /* D[27] */ + unsigned transpose : 1; /* D[28] */ + unsigned coladr_rtl_nltr : 1; /* D[29] */ + unsigned rowadr_btt_nttb : 1; /* D[30] */ + unsigned booster : 1; /* D[31] */ + } bits; + uint8_t bytes[4]; +} ILI9341Params_GET_STATUS; + +typedef union { + struct ILI9341ParamBits_GET_PWR_MODE { + unsigned _reserved_1 : 2; /* D[1:0] */ + unsigned display : 1; /* D[2] */ + unsigned normal : 1; /* D[3] */ + unsigned sleep : 1; /* D[4] */ + unsigned partial : 1; /* D[5] */ + unsigned idle : 1; /* D[6] */ + unsigned booster : 1; /* D[7] */ + } bits; + uint8_t bytes[1]; +} ILI9341Params_GET_PWR_MODE; + +typedef union { + struct ILI9341ParamBits_GET_MADCTL { + unsigned _reserved_1 : 2; /* D[1:0] */ + unsigned refr_rtl_nltr : 1; /* D[2] */ + unsigned bgr_nrgb : 1; /* D[3] */ + unsigned refr_btt_nttb : 1; /* D[4] */ + unsigned invert : 1; /* D[5] */ + unsigned rtl_nltr : 1; /* D[6] */ + unsigned btt_nttb : 1; /* D[7] */ + } bits; + uint8_t bytes[1]; +} ILI9341Params_GET_MADCTL; + +typedef union { + struct ILI9341ParamBits_GET_PIX_FMT { + unsigned DBI : 3; /* D[2:0] */ + unsigned _reserved_1 : 1; /* D[3] */ + unsigned DPI : 3; /* D[6:4] */ + unsigned RIM : 1; /* D[7] */ + } bits; + uint8_t bytes[1]; +} ILI9341Params_GET_PIX_FMT; + +typedef union { + struct ILI9341ParamBits_GET_IMG_FMT { + unsigned gamma_curve : 3; /* D[2:0] */ + unsigned _reserved_1 : 5; /* D[7:3] */ + } bits; + uint8_t bytes[1]; +} ILI9341Params_GET_IMG_FMT; + +typedef union { + struct ILI9341ParamBits_GET_SIG_MODE { + unsigned _reserved_1 : 2; /* D[1:0] */ + unsigned data_enable : 1; /* D[2] */ + unsigned pixel_clock : 1; /* D[3] */ + unsigned vsync : 1; /* D[4] */ + unsigned hsync : 1; /* D[5] */ + unsigned tearing_mode : 1; /* D[6] */ + unsigned tearing : 1; /* D[7] */ + } bits; + uint8_t bytes[1]; +} ILI9341Params_GET_SIG_MODE; + +typedef union { + struct ILI9341ParamBits_GET_SELF_DIAG { + unsigned _reserved_1 : 6; /* D[5:0] */ + unsigned func_err : 1; /* D[6] */ + unsigned reg_err : 1; /* D[7] */ + } bits; + uint8_t bytes[1]; +} ILI9341Params_GET_SELF_DIAG; + +typedef union { + struct ILI9341ParamBits_SET_GAMMA { + uint8_t gamma_curve; /* D[7:0] */ + } bits; + uint8_t bytes[1]; +} ILI9341Params_SET_GAMMA; + +typedef union { + struct ILI9341ParamBits_SET_COL_ADDR { + uint8_t SC_15_8; /* D[ 7: 0] */ + uint8_t SC_7_0; /* D[15: 8] */ + uint8_t EC_15_8; /* D[23:16] */ + uint8_t EC_7_0; /* D[31:24] */ + } bits; + uint8_t bytes[4]; +} ILI9341Params_SET_COL_ADDR; + +typedef union { + struct ILI9341ParamBits_SET_PAGE_ADDR { + uint8_t SP_15_8; /* D[ 7: 0] */ + uint8_t SP_7_0; /* D[15: 8] */ + uint8_t EP_15_8; /* D[23:16] */ + uint8_t EP_7_0; /* D[31:24] */ + } bits; + uint8_t bytes[4]; +} ILI9341Params_SET_PAGE_ADDR; + +typedef union { + struct ILI9341ParamBits_SET_PARTIAL_AREA { + uint8_t SR_15_8; /* D[ 7: 0] */ + uint8_t SR_7_0; /* D[15: 8] */ + uint8_t ER_15_8; /* D[23:16] */ + uint8_t ER_7_0; /* D[31:24] */ + } bits; + uint8_t bytes[4]; +} ILI9341Params_SET_PARTIAL_AREA; + +typedef union { + struct ILI9341ParamBits_SET_VSCROLL { + uint8_t TFA_15_8; /* D[ 7: 0] */ + uint8_t TFA_7_0; /* D[15: 8] */ + uint8_t VSA_15_8; /* D[23:16] */ + uint8_t VSA_7_0; /* D[31:24] */ + uint8_t BFA_15_8; /* D[39:32] */ + uint8_t BFA_7_0; /* D[47:40] */ + } bits; + uint8_t bytes[6]; +} ILI9341Params_SET_VSCROLL; + +typedef union { + struct ILI9341ParamBits_CMD_TEARING_ON { + unsigned M : 1; /* D[0] */ + unsigned _reserved_1 : 7; /* D[7:1] */ + } bits; + uint8_t bytes[1]; +} ILI9341Params_CMD_TEARING_ON; + +typedef union { + struct ILI9341ParamBits_SET_MEM_ACS_CTL { + unsigned _reserved_1 : 2; /* D[1:0] */ + unsigned MH : 1; /* D[2] */ + unsigned BGR : 1; /* D[3] */ + unsigned ML : 1; /* D[4] */ + unsigned MV : 1; /* D[5] */ + unsigned MX : 1; /* D[6] */ + unsigned MY : 1; /* D[7] */ + } bits; + uint8_t bytes[1]; +} ILI9341Params_SET_MEM_ACS_CTL; + +typedef union { + struct ILI9341ParamBits_SET_VSCROLL_ADDR { + uint8_t VSP_15_8; /* D[ 7: 0] */ + uint8_t VSP_7_0; /* D[15: 8] */ + } bits; + uint8_t bytes[2]; +} ILI9341Params_SET_VSCROLL_ADDR; + +typedef union { + struct ILI9341ParamBits_SET_PIX_FMT { + unsigned DBI : 3; /* D[2:0] */ + unsigned _reserved_1 : 1; /* D[3] */ + unsigned DPI : 3; /* D[4:6] */ + unsigned _reserved_2 : 1; /* D[7] */ + } bits; + uint8_t bytes[1]; +} ILI9341Params_SET_PIX_FMT; + +typedef union { + struct ILI9341ParamBits_SET_TEAR_SCANLINE { + uint8_t STS_8; /* D[ 7: 0] */ + uint8_t STS_7_0; /* D[15: 8] */ + } bits; + uint8_t bytes[4]; +} ILI9341Params_SET_TEAR_SCANLINE; + +typedef union { + struct ILI9341ParamBits_GET_TEAR_SCANLINE { + uint8_t GTS_9_8; /* D[ 7: 0] */ + uint8_t GTS_7_0; /* D[15: 8] */ + } bits; + uint8_t bytes[2]; +} ILI9341Params_GET_TEAR_SCANLINE; + +typedef union { + struct ILI9341ParamBits_SET_BRIGHTNESS { + uint8_t DBV; /* D[7:0] */ + } bits; + uint8_t bytes[1]; +} ILI9341Params_SET_BRIGHTNESS; + +typedef union { + struct ILI9341ParamBits_GET_BRIGHTNESS { + uint8_t DBV; /* D[7:0] */ + } bits; + uint8_t bytes[1]; +} ILI9341Params_GET_BRIGHTNESS; + +typedef union { + struct ILI9341ParamBits_SET_DISPLAY_CTL { + unsigned _reserved_1 : 2; /* D[1:0] */ + unsigned BL : 1; /* D[2] */ + unsigned DD : 1; /* D[3] */ + unsigned _reserved_2 : 1; /* D[4] */ + unsigned BCTRL : 1; /* D[5] */ + unsigned _reserved_3 : 1; /* D[7:6] */ + } bits; + uint8_t bytes[1]; +} ILI9341Params_SET_DISPLAY_CTL; + +typedef union { + struct ILI9341ParamBits_GET_DISPLAY_CTL { + unsigned _reserved_1 : 2; /* D[1:0] */ + unsigned BL : 1; /* D[2] */ + unsigned DD : 1; /* D[3] */ + unsigned _reserved_2 : 1; /* D[4] */ + unsigned BCTRL : 1; /* D[5] */ + unsigned _reserved_3 : 1; /* D[7:6] */ + } bits; + uint8_t bytes[1]; +} ILI9341Params_GET_DISPLAY_CTL; + +typedef union { + struct ILI9341ParamBits_SET_CABC { + unsigned C : 2; /* D[1:0] */ + unsigned _reserved_1 : 6; /* D[7:2] */ + } bits; + uint8_t bytes[1]; +} ILI9341Params_SET_CABC; + +typedef union { + struct ILI9341ParamBits_GET_CABC { + unsigned C : 2; /* D[1:0] */ + unsigned _reserved_1 : 6; /* D[7:2] */ + } bits; + uint8_t bytes[1]; +} ILI9341Params_GET_CABC; + +typedef union { + struct ILI9341ParamBits_SET_CABC_MIN { + uint8_t CMB; /* D[7:0] */ + } bits; + uint8_t bytes[1]; +} ILI9341Params_SET_CABC_MIN; + +typedef union { + struct ILI9341ParamBits_GET_CABC_MIN { + uint8_t CMB; /* D[7:0] */ + } bits; + uint8_t bytes[1]; +} ILI9341Params_GET_CABC_MIN; + +#if 0 /* TODO: Extended command structs.*/ + +typedef union { + struct ILI9341ParamBits { + unsigned : 1; /* D[] */ + unsigned : 1; /* D[] */ + unsigned : 1; /* D[] */ + unsigned : 1; /* D[] */ + unsigned : 1; /* D[] */ + unsigned : 1; /* D[] */ + unsigned : 1; /* D[] */ + unsigned : 1; /* D[] */ + } bits; + uint8_t bytes[1]; +} ILI9341Params_; + +typedef union { + struct ILI9341ParamBits { + unsigned : 1; /* D[] */ + unsigned : 1; /* D[] */ + unsigned : 1; /* D[] */ + unsigned : 1; /* D[] */ + unsigned : 1; /* D[] */ + unsigned : 1; /* D[] */ + unsigned : 1; /* D[] */ + unsigned : 1; /* D[] */ + } bits; + uint8_t bytes[1]; +} ILI9341Params_; + +#endif /*0*/ + +#pragma pack(pop) + +/** @} */ + +/*===========================================================================*/ +/* Driver macros. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +extern ILI9341Driver ILI9341D1; + +#ifdef __cplusplus +extern "C" { +#endif + + void ili9341ObjectInit(ILI9341Driver *driverp); + void ili9341Start(ILI9341Driver *driverp, const ILI9341Config *configp); + void ili9341Stop(ILI9341Driver *driverp); +#if (ILI9341_USE_MUTUAL_EXCLUSION == TRUE) + void ili9341AcquireBusS(ILI9341Driver *driverp); + void ili9341AcquireBus(ILI9341Driver *driverp); + void ili9341ReleaseBusS(ILI9341Driver *driverp); + void ili9341ReleaseBus(ILI9341Driver *driverp); +#endif /* (ILI9341_USE_MUTUAL_EXCLUSION == TRUE) */ + void ili9341SelectI(ILI9341Driver *driverp); + void ili9341Select(ILI9341Driver *driverp); + void ili9341UnselectI(ILI9341Driver *driverp); + void ili9341Unselect(ILI9341Driver *driverp); + void ili9341WriteCommand(ILI9341Driver *driverp, uint8_t cmd); + void ili9341WriteByte(ILI9341Driver *driverp, uint8_t value); + uint8_t ili9341ReadByte(ILI9341Driver *driverp); + void ili9341WriteChunk(ILI9341Driver *driverp, const uint8_t chunk[], + size_t length); + void ili9341ReadChunk(ILI9341Driver *driverp, uint8_t chunk[], + size_t length); + +#ifdef __cplusplus +} +#endif + +/** @} */ + +#endif /* _ILI9341_H_ */ diff --git a/ChibiOS_16.1.5/community/os/various/devices_lib/mems/l3gd20.c b/ChibiOS_16.1.5/community/os/various/devices_lib/mems/l3gd20.c new file mode 100644 index 0000000..1cc52c9 --- /dev/null +++ b/ChibiOS_16.1.5/community/os/various/devices_lib/mems/l3gd20.c @@ -0,0 +1,123 @@ +/* + Pretty LAYer for ChibiOS/RT - Copyright (C) 2015 Rocco Marco Guglielmi + + This file is part of PLAY for ChibiOS/RT. + + PLAY 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. + + PLAY 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/>. +*/ + +/* + Special thanks to Giovanni Di Sirio for teachings, his moral support and + friendship. Note that some or every piece of this file could be part of + the ChibiOS project that is intellectual property of Giovanni Di Sirio. + Please refer to ChibiOS/RT license before use this file. + + For suggestion or Bug report - roccomarco.guglielmi@playembedded.org + */ + +/** + * @file l3gd20.c + * @brief L3GD20 MEMS interface module code. + * + * @addtogroup l3gd20 + * @{ + */ + +#include "ch.h" +#include "hal.h" + +#include "l3gd20.h" + +/*===========================================================================*/ +/* Driver local definitions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver exported variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local variables and types. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local functions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver exported functions. */ +/*===========================================================================*/ + +/** + * @brief Reads a generic register value. + * @pre The SPI interface must be initialized and the driver started. + * + * @param[in] spip pointer to the SPI interface + * @param[in] reg register number + * @return register value. + */ +uint8_t l3gd20ReadRegister(SPIDriver *spip, uint8_t reg) { + uint8_t txbuf[2] = {L3GD20_RW | reg, 0xFF}; + uint8_t rxbuf[2] = {0x00, 0x00}; + spiSelect(spip); + spiExchange(spip, 2, txbuf, rxbuf); + spiUnselect(spip); + return rxbuf[1]; +} + + +void l3gd20WriteRegister(SPIDriver *spip, uint8_t reg, uint8_t value) { + + switch (reg) { + + default: + /* Reserved register must not be written, according to the datasheet + * this could permanently damage the device. + */ + chDbgAssert(FALSE, "lg3d20WriteRegister(), reserved register"); + case L3GD20_AD_WHO_AM_I: + case L3GD20_AD_OUT_TEMP : + case L3GD20_AD_STATUS_REG: + case L3GD20_AD_OUT_X_L: + case L3GD20_AD_OUT_X_H: + case L3GD20_AD_OUT_Y_L: + case L3GD20_AD_OUT_Y_H: + case L3GD20_AD_OUT_Z_L: + case L3GD20_AD_OUT_Z_H: + case L3GD20_AD_FIFO_SRC_REG: + case L3GD20_AD_INT1_SRC: + /* Read only registers cannot be written, the command is ignored.*/ + return; + case L3GD20_AD_CTRL_REG1: + case L3GD20_AD_CTRL_REG2: + case L3GD20_AD_CTRL_REG3: + case L3GD20_AD_CTRL_REG4: + case L3GD20_AD_CTRL_REG5: + case L3GD20_AD_REFERENCE: + case L3GD20_AD_FIFO_CTRL_REG: + case L3GD20_AD_INT1_CFG: + case L3GD20_AD_INT1_TSH_XH: + case L3GD20_AD_INT1_TSH_XL: + case L3GD20_AD_INT1_TSH_YH: + case L3GD20_AD_INT1_TSH_YL: + case L3GD20_AD_INT1_TSH_ZH: + case L3GD20_AD_INT1_TSH_ZL: + case L3GD20_AD_INT1_DURATION: + spiSelect(spip); + uint8_t txbuf[2] = {reg, value}; + spiSend(spip, 2, txbuf); + spiUnselect(spip); + } +} +/** @} */ diff --git a/ChibiOS_16.1.5/community/os/various/devices_lib/mems/l3gd20.h b/ChibiOS_16.1.5/community/os/various/devices_lib/mems/l3gd20.h new file mode 100644 index 0000000..08d9092 --- /dev/null +++ b/ChibiOS_16.1.5/community/os/various/devices_lib/mems/l3gd20.h @@ -0,0 +1,243 @@ +/* + Pretty LAYer for ChibiOS/RT - Copyright (C) 2015 Rocco Marco Guglielmi + + This file is part of PLAY for ChibiOS/RT. + + PLAY 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. + + PLAY 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/>. +*/ + +/* + Special thanks to Giovanni Di Sirio for teachings, his moral support and + friendship. Note that some or every piece of this file could be part of + the ChibiOS project that is intellectual property of Giovanni Di Sirio. + Please refer to ChibiOS/RT license before use this file. + + For suggestion or Bug report - roccomarco.guglielmi@playembedded.org + */ + +/** + * @file l3gd20.h + * @brief L3GD20 MEMS interface module header. + * + * @{ + */ + +#ifndef _L3GD20_H_ +#define _L3GD20_H_ + +/*===========================================================================*/ +/* Driver constants. */ +/*===========================================================================*/ + +#define L3GD20_SENS_250DPS ((float)131.072f) /*!< gyroscope sensitivity with 250 dps full scale [LSB/dps] */ +#define L3GD20_SENS_500DPS ((float)65.536f) /*!< gyroscope sensitivity with 500 dps full scale [LSB/dps] */ +#define L3GD20_SENS_2000DPS ((float)16.384f) /*!< gyroscope sensitivity with 2000 dps full scale [LSB/dps] */ +/** + * @name L3GD20 register names + * @{ + */ +/******************************************************************************/ +/* */ +/* L3GD20 on board MEMS */ +/* */ +/******************************************************************************/ +/******************* Bit definition for SPI communication *******************/ +#define L3GD20_DI ((uint8_t)0xFF) /*!< DI[7:0] Data input */ +#define L3GD20_DI_0 ((uint8_t)0x01) /*!< bit 0 */ +#define L3GD20_DI_1 ((uint8_t)0x02) /*!< bit 1 */ +#define L3GD20_DI_2 ((uint8_t)0x04) /*!< bit 2 */ +#define L3GD20_DI_3 ((uint8_t)0x08) /*!< bit 3 */ +#define L3GD20_DI_4 ((uint8_t)0x10) /*!< bit 4 */ +#define L3GD20_DI_5 ((uint8_t)0x20) /*!< bit 5 */ +#define L3GD20_DI_6 ((uint8_t)0x40) /*!< bit 6 */ +#define L3GD20_DI_7 ((uint8_t)0x80) /*!< bit 7 */ + +#define L3GD20_AD ((uint8_t)0x3F) /*!< AD[5:0] Address Data */ +#define L3GD20_AD_0 ((uint8_t)0x01) /*!< bit 0 */ +#define L3GD20_AD_1 ((uint8_t)0x02) /*!< bit 1 */ +#define L3GD20_AD_2 ((uint8_t)0x04) /*!< bit 2 */ +#define L3GD20_AD_3 ((uint8_t)0x08) /*!< bit 3 */ +#define L3GD20_AD_4 ((uint8_t)0x10) /*!< bit 4 */ +#define L3GD20_AD_5 ((uint8_t)0x20) /*!< bit 5 */ + +#define L3GD20_MS ((uint8_t)0x40) /*!< Multiple read write */ +#define L3GD20_RW ((uint8_t)0x80) /*!< Read Write, 1 0 */ + +/****************** Bit definition for Registers Addresses *******************/ +#define L3GD20_AD_WHO_AM_I ((uint8_t)0x0F) /*!< WHO I AM */ +#define L3GD20_AD_CTRL_REG1 ((uint8_t)0x20) /*!< CONTROL REGISTER 1 */ +#define L3GD20_AD_CTRL_REG2 ((uint8_t)0x21) /*!< CONTROL REGISTER 2 */ +#define L3GD20_AD_CTRL_REG3 ((uint8_t)0x22) /*!< CONTROL REGISTER 3 */ +#define L3GD20_AD_CTRL_REG4 ((uint8_t)0x23) /*!< CONTROL REGISTER 4 */ +#define L3GD20_AD_CTRL_REG5 ((uint8_t)0x24) /*!< CONTROL REGISTER 5 */ +#define L3GD20_AD_REFERENCE ((uint8_t)0x25) /*!< REFERENCE/DATACAPTURE */ +#define L3GD20_AD_OUT_TEMP ((uint8_t)0x26) /*!< MEMS ONBOARD TEMP SENSOR */ +#define L3GD20_AD_STATUS_REG ((uint8_t)0x27) /*!< STATUS REGISTER */ +#define L3GD20_AD_OUT_X_L ((uint8_t)0x28) /*!< OUTPUT X-AXIS LOW */ +#define L3GD20_AD_OUT_X_H ((uint8_t)0x29) /*!< OUTPUT X-AXIS HIGH */ +#define L3GD20_AD_OUT_Y_L ((uint8_t)0x2A) /*!< OUTPUT Y-AXIS LOW */ +#define L3GD20_AD_OUT_Y_H ((uint8_t)0x2B) /*!< OUTPUT Y-AXIS HIGH */ +#define L3GD20_AD_OUT_Z_L ((uint8_t)0x2C) /*!< OUTPUT Z-AXIS LOW */ +#define L3GD20_AD_OUT_Z_H ((uint8_t)0x2D) /*!< OUTPUT Z-AXIS HIGH */ +#define L3GD20_AD_FIFO_CTRL_REG ((uint8_t)0x2E) /*!< FIFO CONTROL REGISTER */ +#define L3GD20_AD_FIFO_SRC_REG ((uint8_t)0x2F) /*!< FIFO SOURCE REGISTER */ +#define L3GD20_AD_INT1_CFG ((uint8_t)0x30) /*!< INTERRUPT1 CONFIG REGISTER */ +#define L3GD20_AD_INT1_SRC ((uint8_t)0x31) /*!< INTERRUPT1 SOURCE REGISTER */ +#define L3GD20_AD_INT1_TSH_XH ((uint8_t)0x32) /*!< INTERRUPT1 THRESHOLD X-AXIS HIGH */ +#define L3GD20_AD_INT1_TSH_XL ((uint8_t)0x33) /*!< INTERRUPT1 THRESHOLD X-AXIS LOW */ +#define L3GD20_AD_INT1_TSH_YH ((uint8_t)0x34) /*!< INTERRUPT1 THRESHOLD Y-AXIS HIGH */ +#define L3GD20_AD_INT1_TSH_YL ((uint8_t)0x35) /*!< INTERRUPT1 THRESHOLD Y-AXIS LOW */ +#define L3GD20_AD_INT1_TSH_ZH ((uint8_t)0x36) /*!< INTERRUPT1 THRESHOLD Z-AXIS HIGH */ +#define L3GD20_AD_INT1_TSH_ZL ((uint8_t)0x37) /*!< INTERRUPT1 THRESHOLD Z-AXIS LOW */ +#define L3GD20_AD_INT1_DURATION ((uint8_t)0x38) /*!< INTERRUPT1 DURATION */ + +/** @} */ + +/*===========================================================================*/ +/* Driver pre-compile time settings. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver data structures and types. */ +/*===========================================================================*/ + +/** + * @name Gyroscope data structures and types + * @{ + */ + +/** + * @brief Gyroscope Output Data Rate + */ +typedef enum { + L3GD20_ODR_95Hz_Fc_12_5 = 0x00, /*!< Output Data Rate = 95 Hz - LPF Cut-Off = 12.5 Hz */ + L3GD20_ODR_95Hz_Fc_25 = 0x10, /*!< Output Data Rate = 95 Hz - LPF Cut-Off = 25 Hz */ + L3GD20_ODR_190Hz_Fc_12_5 = 0x40, /*!< Output Data Rate = 190 Hz - LPF Cut-Off = 12.5 Hz */ + L3GD20_ODR_190Hz_Fc_25 = 0x50, /*!< Output Data Rate = 190 Hz - LPF Cut-Off = 25 Hz */ + L3GD20_ODR_190Hz_Fc_50 = 0x60, /*!< Output Data Rate = 190 Hz - LPF Cut-Off = 50 Hz */ + L3GD20_ODR_190Hz_Fc_70 = 0x70, /*!< Output Data Rate = 190 Hz - LPF Cut-Off = 70 Hz */ + L3GD20_ODR_380Hz_Fc_20 = 0x80, /*!< Output Data Rate = 380 Hz - LPF Cut-Off = 20 Hz */ + L3GD20_ODR_380Hz_Fc_25 = 0x90, /*!< Output Data Rate = 380 Hz - LPF Cut-Off = 25 Hz */ + L3GD20_ODR_380Hz_Fc_50 = 0xA0, /*!< Output Data Rate = 380 Hz - LPF Cut-Off = 50 Hz */ + L3GD20_ODR_380Hz_Fc_100 = 0xB0, /*!< Output Data Rate = 380 Hz - LPF Cut-Off = 100 Hz */ + L3GD20_ODR_760Hz_Fc_30 = 0xC0, /*!< Output Data Rate = 760 Hz - LPF Cut-Off = 30 Hz */ + L3GD20_ODR_760Hz_Fc_35 = 0xD0, /*!< Output Data Rate = 760 Hz - LPF Cut-Off = 35 Hz */ + L3GD20_ODR_760Hz_Fc_50 = 0xE0, /*!< Output Data Rate = 760 Hz - LPF Cut-Off = 50 Hz */ + L3GD20_ODR_760Hz_Fc_100 = 0xF0 /*!< Output Data Rate = 760 Hz - LPF Cut-Off = 100 Hz */ +}L3GD20_ODR_t; + +/** + * @brief Gyroscope Power Mode + */ +typedef enum { + L3GD20_PM_POWER_DOWN = 0x00, /*!< Normal mode enabled */ + L3GD20_PM_SLEEP_NORMAL = 0x08 /*!< Low Power mode enabled */ +}L3GD20_PM_t; + +/** + * @brief Gyroscope Full Scale + */ +typedef enum { + L3GD20_FS_250DPS = 0x00, /*!< ±250 dps */ + L3GD20_FS_500DPS = 0x10, /*!< ±500 dps */ + L3GD20_FS_2000DPS = 0x20 /*!< ±200 dps */ +}L3GD20_FS_t; + +/** + * @brief Gyroscope Axes Enabling + */ +typedef enum { + L3GD20_AE_DISABLED = 0x00, /*!< All disabled */ + L3GD20_AE_X = 0x01, /*!< Only X */ + L3GD20_AE_Y = 0x02, /*!< Only Y */ + L3GD20_AE_XY = 0x03, /*!< X & Y */ + L3GD20_AE_Z = 0x04, /*!< Only Z */ + L3GD20_AE_XZ = 0x05, /*!< X & Z */ + L3GD20_AE_YZ = 0x06, /*!< Y & Z */ + L3GD20_AE_XYZ = 0x07 /*!< All enabled */ +}L3GD20_AE_t; + +/** + * @brief Gyroscope Block Data Update + */ +typedef enum { + L3GD20_BDU_CONTINOUS = 0x00, /*!< Continuos Update */ + L3GD20_BDU_BLOCKED = 0x80 /*!< Single Update: output registers not updated until MSB and LSB reading */ +}L3GD20_BDU_t; + +/** + * @brief Gyroscope Endianness + */ +typedef enum { + L3GD20_End_LITTLE = 0x00, /*!< Little Endian: data LSB @ lower address */ + L3GD20_End_BIG = 0x40 /*!< Big Endian: data MSB @ lower address */ +}L3GD20_End_t; + + +/** + * @brief Gyroscope configuration structure. + */ +typedef struct { + /** + * @brief Gyroscope fullscale value. + */ + L3GD20_FS_t fullscale; + /** + * @brief Gyroscope power mode selection. + */ + L3GD20_PM_t powermode; + /** + * @brief Gyroscope output data rate selection. + */ + L3GD20_ODR_t outputdatarate; + /** + * @brief Gyroscope axes enabling. + */ + L3GD20_AE_t axesenabling; + /** + * @brief Gyroscope endianess. + */ + L3GD20_End_t endianess; + /** + * @brief Gyroscope block data update. + */ + L3GD20_BDU_t blockdataupdate; +} L3GD20_Config; +/** @} */ +/*===========================================================================*/ +/* Driver macros. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +#ifdef __cplusplus +extern "C" { +#endif + + uint8_t l3gd20ReadRegister(SPIDriver *spip, uint8_t reg); + void l3gd20WriteRegister(SPIDriver *spip, uint8_t reg, uint8_t value); +#ifdef __cplusplus +} +#endif + +#endif /* _L3GD20_H_ */ + +/** @} */ + diff --git a/ChibiOS_16.1.5/community/os/various/devices_lib/mems/lis3mdl.c b/ChibiOS_16.1.5/community/os/various/devices_lib/mems/lis3mdl.c new file mode 100644 index 0000000..99b71e4 --- /dev/null +++ b/ChibiOS_16.1.5/community/os/various/devices_lib/mems/lis3mdl.c @@ -0,0 +1,151 @@ +/* + Pretty LAYer for ChibiOS/RT - Copyright (C) 2015 Rocco Marco Guglielmi + + This file is part of PLAY for ChibiOS/RT. + + PLAY 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. + + PLAY 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/>. +*/ + +/* + Special thanks to Giovanni Di Sirio for teachings, his moral support and + friendship. Note that some or every piece of this file could be part of + the ChibiOS project that is intellectual property of Giovanni Di Sirio. + Please refer to ChibiOS/RT license before use this file. + + For suggestion or Bug report - roccomarco.guglielmi@playembedded.org + */ + +/** + * @file lis3mdl.c + * @brief LIS3MDL MEMS interface module through I2C code. + * + * @addtogroup lis3mdl + * @{ + */ + +#include "ch.h" +#include "hal.h" + +#include "lis3mdl.h" + +/*===========================================================================*/ +/* Driver local definitions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver exported variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local variables and types. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local functions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver exported functions. */ +/*===========================================================================*/ + +/** + * @brief Reads a generic sub-register value. + * @pre The I2C interface must be initialized and the driver started. + * + * @param[in] i2cp pointer to the I2C interface + * @param[in] sad slave address without R bit + * @param[in] sub sub-register address + * @param[in] message pointer to message + * @return register value. + */ +uint8_t lis3mdlReadRegister(I2CDriver *i2cp, uint8_t sad, uint8_t sub, + msg_t* message) { + + uint8_t txbuf, rxbuf[2]; +#if defined(STM32F103_MCUCONF) + txbuf = LSM303DLHC_SUB_MSB | sub; + if(message != NULL){ + *message = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 2, + TIME_INFINITE); + } + else{ + i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 2, TIME_INFINITE); + } + return rxbuf[0]; +#else + txbuf = sub; + if(message != NULL){ + *message = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 1, + TIME_INFINITE); + } + else{ + i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 1, TIME_INFINITE); + } + return rxbuf[0]; +#endif +} + +/** + * @brief Writes a value into a register. + * @pre The I2C interface must be initialized and the driver started. + * + * @param[in] i2cp pointer to the I2C interface + * @param[in] sad slave address without R bit + * @param[in] sub sub-register address + * @param[in] value the value to be written + * @param[out] message pointer to message + */ +void lis3mdlWriteRegister(I2CDriver *i2cp, uint8_t sad, uint8_t sub, + uint8_t value, msg_t* message) { + + uint8_t txbuf[2]; + uint8_t rxbuf; + switch (sub) { + default: + /* Reserved register must not be written, according to the datasheet + * this could permanently damage the device. + */ + chDbgAssert(FALSE, "lis3mdlWriteRegister(), reserved register"); + case LIS3MDL_SUB_WHO_AM_I: + case LIS3MDL_SUB_STATUS_REG: + case LIS3MDL_SUB_OUT_X_L: + case LIS3MDL_SUB_OUT_X_H: + case LIS3MDL_SUB_OUT_Y_L: + case LIS3MDL_SUB_OUT_Y_H: + case LIS3MDL_SUB_OUT_Z_L: + case LIS3MDL_SUB_OUT_Z_H: + case LIS3MDL_SUB_INT_SOURCE: + case LIS3MDL_SUB_INT_THS_L: + case LIS3MDL_SUB_INT_THS_H: + /* Read only registers cannot be written, the command is ignored.*/ + return; + case LIS3MDL_SUB_CTRL_REG1: + case LIS3MDL_SUB_CTRL_REG2: + case LIS3MDL_SUB_CTRL_REG3: + case LIS3MDL_SUB_CTRL_REG4: + case LIS3MDL_SUB_CTRL_REG5: + case LIS3MDL_SUB_INT_CFG: + txbuf[0] = sub; + txbuf[1] = value; + if(message != NULL){ + *message = i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0, + TIME_INFINITE); + } + else{ + i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0, TIME_INFINITE); + } + break; + } +} +/** @} */ diff --git a/ChibiOS_16.1.5/community/os/various/devices_lib/mems/lis3mdl.h b/ChibiOS_16.1.5/community/os/various/devices_lib/mems/lis3mdl.h new file mode 100644 index 0000000..e55978e --- /dev/null +++ b/ChibiOS_16.1.5/community/os/various/devices_lib/mems/lis3mdl.h @@ -0,0 +1,258 @@ +/* + Pretty LAYer for ChibiOS/RT - Copyright (C) 2015 Rocco Marco Guglielmi + + This file is part of PLAY for ChibiOS/RT. + + PLAY 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. + + PLAY 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/>. +*/ + +/* + Special thanks to Giovanni Di Sirio for teachings, his moral support and + friendship. Note that some or every piece of this file could be part of + the ChibiOS project that is intellectual property of Giovanni Di Sirio. + Please refer to ChibiOS/RT license before use this file. + + For suggestion or Bug report - roccomarco.guglielmi@playembedded.org + */ + +/** + * @file lis3mdl.h + * @brief LIS3MDL MEMS interface module header. + * + * @{ + */ + +#ifndef _LIS3MDL_H_ +#define _LIS3MDL_H_ + +/*===========================================================================*/ +/* Driver constants. */ +/*===========================================================================*/ + +#define LIS3MDL_COMP_SENS_4GA ((float)6842.0f) /*!< compass sensitivity with 4 GA full scale [LSB / Ga] */ +#define LIS3MDL_COMP_SENS_8GA ((float)3421.0f) /*!< compass sensitivity with 8 GA full scale [LSB / Ga] */ +#define LIS3MDL_COMP_SENS_12GA ((float)2281.0f) /*!< compass sensitivity with 12 GA full scale [LSB / Ga] */ +#define LIS3MDL_COMP_SENS_16GA ((float)1711.0f) /*!< compass sensitivity with 16 GA full scale [LSB / Ga] */ +/** + * @name LIS3MDL register names + * @{ + */ +/******************************************************************************/ +/* */ +/* LIS3MDL on board MEMS */ +/* */ +/******************************************************************************/ +/***************** Bit definition for I2C/SPI communication *****************/ +#define LIS3MDL_SUB ((uint8_t)0x7F) /*!< SUB[6:0] Sub-registers address Mask */ +#define LIS3MDL_SUB_0 ((uint8_t)0x01) /*!< bit 0 */ +#define LIS3MDL_SUB_1 ((uint8_t)0x02) /*!< bit 1 */ +#define LIS3MDL_SUB_2 ((uint8_t)0x08) /*!< bit 3 */ +#define LIS3MDL_SUB_4 ((uint8_t)0x10) /*!< bit 4 */ +#define LIS3MDL_SUB_5 ((uint8_t)0x20) /*!< bit 5 */ +#define LIS3MDL_SUB_6 ((uint8_t)0x40) /*!< bit 6 */ + +#define LIS3MDL_SUB_MSB ((uint8_t)0x80) /*!< Multiple data read\write bit */ + +/**************** Bit definition SUB-Registers Addresses ********************/ +#define LIS3MDL_SUB_WHO_AM_I ((uint8_t)0x0F) /*!< CONTROL REGISTER 1 */ +#define LIS3MDL_SUB_CTRL_REG1 ((uint8_t)0x20) /*!< CONTROL REGISTER 1 */ +#define LIS3MDL_SUB_CTRL_REG2 ((uint8_t)0x21) /*!< CONTROL REGISTER 2 */ +#define LIS3MDL_SUB_CTRL_REG3 ((uint8_t)0x22) /*!< CONTROL REGISTER 3 */ +#define LIS3MDL_SUB_CTRL_REG4 ((uint8_t)0x23) /*!< CONTROL REGISTER 4 */ +#define LIS3MDL_SUB_CTRL_REG5 ((uint8_t)0x24) /*!< CONTROL REGISTER 5 */ +#define LIS3MDL_SUB_STATUS_REG ((uint8_t)0x27) /*!< STATUS REGISTER */ +#define LIS3MDL_SUB_OUT_X_L ((uint8_t)0x28) /*!< OUTPUT X-AXIS LOW */ +#define LIS3MDL_SUB_OUT_X_H ((uint8_t)0x29) /*!< OUTPUT X-AXIS HIGH */ +#define LIS3MDL_SUB_OUT_Y_L ((uint8_t)0x2A) /*!< OUTPUT Y-AXIS LOW */ +#define LIS3MDL_SUB_OUT_Y_H ((uint8_t)0x2B) /*!< OUTPUT Y-AXIS HIGH */ +#define LIS3MDL_SUB_OUT_Z_L ((uint8_t)0x2C) /*!< OUTPUT Z-AXIS LOW */ +#define LIS3MDL_SUB_OUT_Z_H ((uint8_t)0x2D) /*!< OUTPUT Z-AXIS HIGH */ +#define LIS3MDL_SUB_INT_CFG ((uint8_t)0x30) /*!< INTERRUPT1 CONFIG */ +#define LIS3MDL_SUB_INT_SOURCE ((uint8_t)0x31) /*!< INTERRUPT1 SOURCE */ +#define LIS3MDL_SUB_INT_THS_L ((uint8_t)0x32) /*!< INTERRUPT1 THRESHOLD */ +#define LIS3MDL_SUB_INT_THS_H ((uint8_t)0x33) /*!< INTERRUPT1 DURATION */ + +/** @} */ + +/*===========================================================================*/ +/* Driver pre-compile time settings. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver data structures and types. */ +/*===========================================================================*/ + +/** + * @name Compass data structures and types + * @{ + */ + +/** + * @brief Compass Slave Address + */ +typedef enum { + LIS3MDL_SAD_GND = 0x1C, /*!< COMPASS Slave Address when SA1 is to GND */ + LIS3MDL_SAD_VCC = 0x1E /*!< COMPASS Slave Address when SA1 is to VCC */ +}LIS3MDL_SAD_t; + +/** + * @brief Compass Operation Mode for X and Y axes + */ +typedef enum { + LIS3MDL_OMXY_LOW_POWER = 0x00, /*!< Operation Mode XY low power */ + LIS3MDL_OMXY_MEDIUM_PERFORMANCE = 0x20, /*!< Operation Mode XY medium performance */ + LIS3MDL_OMXY_HIGH_PERFORMANCE = 0x40, /*!< Operation Mode XY high performance */ + LIS3MDL_OMXY_ULTRA_PERFORMANCE = 0x60 /*!< Operation Mode XY ultra performance */ +}LIS3MDL_OMXY_t; + +/** + * @brief Compass Output Data Rate + */ +typedef enum { + LIS3MDL_ODR_0_625Hz = 0x00, /*!< Output Data Rate = 0.625 Hz */ + LIS3MDL_ODR_1_25Hz = 0x04, /*!< Output Data Rate = 1.25 Hz */ + LIS3MDL_ODR_2_5Hz = 0x08, /*!< Output Data Rate = 2.5 Hz */ + LIS3MDL_ODR_5Hz = 0x0C, /*!< Output Data Rate = 5 Hz */ + LIS3MDL_ODR_10Hz = 0x10, /*!< Output Data Rate = 10 Hz */ + LIS3MDL_ODR_20Hz = 0x14, /*!< Output Data Rate = 20 Hz */ + LIS3MDL_ODR_40Hz = 0x18, /*!< Output Data Rate = 40 Hz */ + LIS3MDL_ODR_80Hz = 0x1C /*!< Output Data Rate = 80 Hz */ +}LIS3MDL_ODR_t; + +/** + * @brief Compass Full Scale + */ +typedef enum { + LIS3MDL_FS_4GA = 0x00, /*!< ±4 Gauss */ + LIS3MDL_FS_8GA = 0x02, /*!< ±8 Gauss */ + LIS3MDL_FS_12GA = 0x04, /*!< ±12 Gauss */ + LIS3MDL_FS_16GA = 0x0C /*!< ±16 Gauss */ +}LIS3MDL_FS_t; + +/** + * @brief Compass Low Mode configuration + */ +typedef enum { + LIS3MDL_LOW_POWER_DISABLED = 0x00, /*!< Low Power mode disabled */ + LIS3MDL_LOW_POWER_ENABLED = 0x20 /*!< Low Power mode enabled */ +}LIS3MDL_PM_t; + +/** + * @brief Compass Mode + */ +typedef enum { + LIS3MDL_MD_CONTINOUS_CONVERSION = 0x00, /*!< Continous conversion mode */ + LIS3MDL_MD_SINGLE_CONVERSION = 0x01, /*!< Single conversion mode */ + LIS3MDL_MD_POWER_DOWN = 0x02 /*!< Power down mode */ +}LIS3MDL_MD_t; + + +/** + * @brief Compass Operation Mode for Z axis + */ +typedef enum { + LIS3MDL_OMZ_LOW_POWER = 0x00, /*!< Operation Mode Z low power */ + LIS3MDL_OMZ_MEDIUM_PERFORMANCE = 0x04, /*!< Operation Mode Z medium performance */ + LIS3MDL_OMZ_HIGH_PERFORMANCE = 0x08, /*!< Operation Mode Z high performance */ + LIS3MDL_OMZ_ULTRA_PERFORMANCE = 0x0C /*!< Operation Mode Z ultra performance */ +}LIS3MDL_OMZ_t; + +/** + * @brief Compass Endianness + */ +typedef enum { + LIS3MDL_End_LITTLE = 0x00, /*!< Little Endian: data LSB @ lower address */ + LIS3MDL_End_BIG = 0x02 /*!< Big Endian: data MSB @ lower address */ +}LIS3MDL_End_t; + +/** + * @brief Compass Block Data Update + */ +typedef enum { + LIS3MDL_BDU_CONTINOUS = 0x00, /*!< Continuos Update */ + LIS3MDL_BDU_BLOCKED = 0x40 /*!< Single Update: output registers not updated until MSB and LSB reading */ +}LIS3MDL_BDU_t; + + + + +/** + * @brief Gyroscope configuration structure. + */ +typedef struct { + /** + * @brief Compass Slave Address + */ + LIS3MDL_SAD_t slaveaddress; + /** + * @brief Compass Operation Mode for X and Y axes + */ + LIS3MDL_OMXY_t opmodexy; + /** + * @brief Compass Output Data Rate + */ + LIS3MDL_ODR_t outputdatarate; + /** + * @brief Compass Full Scale + */ + LIS3MDL_FS_t fullscale; + /** + * @brief Compass Low Mode configuration + */ + LIS3MDL_PM_t lowpowermode; + /** + * @brief Compass Mode + */ + LIS3MDL_MD_t mode; + /** + * @brief Compass Operation Mode for Z axis + */ + LIS3MDL_OMZ_t opmodez; + /** + * @brief Compass Endianness + */ + LIS3MDL_End_t endianess; + /** + * @brief Compass Block Data Update + */ + LIS3MDL_BDU_t blockdataupdate; +} LIS3MDL_Config; +/** @} */ +/*===========================================================================*/ +/* Driver macros. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +#ifdef __cplusplus +extern "C" { +#endif + + uint8_t lis3mdlReadRegister(I2CDriver *i2cp, uint8_t sad, uint8_t sub, + msg_t* message); + void lis3mdlWriteRegister(I2CDriver *i2cp, uint8_t sad, uint8_t sub, + uint8_t value, msg_t* message); +#ifdef __cplusplus +} +#endif + +#endif /* _LIS3MDL_H_ */ + +/** @} */ diff --git a/ChibiOS_16.1.5/community/os/various/devices_lib/mems/lsm303dlhc.c b/ChibiOS_16.1.5/community/os/various/devices_lib/mems/lsm303dlhc.c new file mode 100644 index 0000000..070c49c --- /dev/null +++ b/ChibiOS_16.1.5/community/os/various/devices_lib/mems/lsm303dlhc.c @@ -0,0 +1,205 @@ +/* + Pretty LAYer for ChibiOS/RT - Copyright (C) 2015 Rocco Marco Guglielmi + + This file is part of PLAY for ChibiOS/RT. + + PLAY 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. + + PLAY 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/>. +*/ + +/* + Special thanks to Giovanni Di Sirio for teachings, his moral support and + friendship. Note that some or every piece of this file could be part of + the ChibiOS project that is intellectual property of Giovanni Di Sirio. + Please refer to ChibiOS/RT license before use this file. + + For suggestion or Bug report - roccomarco.guglielmi@playembedded.org + */ + +/** + * @file lsm303dlhc.c + * @brief LSM303DLHC MEMS interface module through I2C code. + * + * @addtogroup lsm303dlhc + * @{ + */ + +#include "ch.h" +#include "hal.h" + +#include "lsm303dlhc.h" + +/*===========================================================================*/ +/* Driver local definitions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver exported variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local variables and types. */ +/*===========================================================================*/ + + +/*===========================================================================*/ +/* Driver local functions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver exported functions. */ +/*===========================================================================*/ + +/** + * @brief Reads a generic sub-register value. + * @pre The I2C interface must be initialized and the driver started. + * + * @param[in] i2cp pointer to the I2C interface + * @param[in] sad slave address without R bit + * @param[in] sub sub-register address + * @param[in] message pointer to message + * @return register value. + */ +uint8_t lsm303dlhcReadRegister(I2CDriver *i2cp, uint8_t sad, uint8_t sub, + msg_t* message) { + + uint8_t txbuf, rxbuf[2]; +#if defined(STM32F103_MCUCONF) + txbuf = LSM303DLHC_SUB_MSB | sub; + if(message != NULL){ + *message = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 2, + TIME_INFINITE); + } + else{ + i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 2, TIME_INFINITE); + } + return rxbuf[0]; +#else + txbuf = sub; + if(message != NULL){ + *message = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 1, + TIME_INFINITE); + } + else{ + i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 1, TIME_INFINITE); + } + return rxbuf[0]; +#endif + + +} + +/** + * @brief Writes a value into a register. + * @pre The I2C interface must be initialized and the driver started. + * + * @param[in] i2cp pointer to the I2C interface + * @param[in] sad slave address without R bit + * @param[in] sub sub-register address + * @param[in] value the value to be written + * @param[out] message pointer to message + */ +void lsm303dlhcWriteRegister(I2CDriver *i2cp,uint8_t sad, uint8_t sub, + uint8_t value, msg_t* message) { + + uint8_t txbuf[2]; + uint8_t rxbuf; + if(sad == LSM303DLHC_SAD_ACCEL){ + switch (sub) { + default: + /* Reserved register must not be written, according to the datasheet + * this could permanently damage the device. + */ + chDbgAssert(FALSE, "lsm303dlhcWriteRegister(), reserved register"); + case LSM303DLHC_SUB_ACC_STATUS_REG: + case LSM303DLHC_SUB_ACC_OUT_X_L: + case LSM303DLHC_SUB_ACC_OUT_X_H: + case LSM303DLHC_SUB_ACC_OUT_Y_L: + case LSM303DLHC_SUB_ACC_OUT_Y_H: + case LSM303DLHC_SUB_ACC_OUT_Z_L: + case LSM303DLHC_SUB_ACC_OUT_Z_H: + case LSM303DLHC_SUB_ACC_FIFO_SRC_REG: + case LSM303DLHC_SUB_ACC_INT1_SOURCE: + case LSM303DLHC_SUB_ACC_INT2_SOURCE: + case LSM303DLHC_SUB_ACC_CLICK_SRC: + /* Read only registers cannot be written, the command is ignored.*/ + return; + case LSM303DLHC_SUB_ACC_CTRL_REG1: + case LSM303DLHC_SUB_ACC_CTRL_REG2: + case LSM303DLHC_SUB_ACC_CTRL_REG3: + case LSM303DLHC_SUB_ACC_CTRL_REG4: + case LSM303DLHC_SUB_ACC_CTRL_REG5: + case LSM303DLHC_SUB_ACC_CTRL_REG6: + case LSM303DLHC_SUB_ACC_REFERENCE: + case LSM303DLHC_SUB_ACC_FIFO_CTRL_REG: + case LSM303DLHC_SUB_ACC_INT1_CFG: + case LSM303DLHC_SUB_ACC_INT1_THS: + case LSM303DLHC_SUB_ACC_INT1_DURATION: + case LSM303DLHC_SUB_ACC_INT2_CFG: + case LSM303DLHC_SUB_ACC_INT2_THS: + case LSM303DLHC_SUB_ACC_INT2_DURATION: + case LSM303DLHC_SUB_ACC_CLICK_CFG: + case LSM303DLHC_SUB_ACC_CLICK_THS: + case LSM303DLHC_SUB_ACC_TIME_LIMIT: + case LSM303DLHC_SUB_ACC_TIME_LATENCY: + case LSM303DLHC_SUB_ACC_TIME_WINDOW: + txbuf[0] = sub; + txbuf[1] = value; + if(message != NULL){ + *message = i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0, + TIME_INFINITE); + } + else{ + i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0, TIME_INFINITE); + } + break; + } + } + else if(sad == LSM303DLHC_SAD_COMPASS){ + switch (sub) { + default: + /* Reserved register must not be written, according to the datasheet + * this could permanently damage the device. + */ + chDbgAssert(FALSE, "lsm303dlhcWriteRegister(), reserved register"); + case LSM303DLHC_SUB_COMP_OUT_X_H: + case LSM303DLHC_SUB_COMP_OUT_X_L: + case LSM303DLHC_SUB_COMP_OUT_Z_H: + case LSM303DLHC_SUB_COMP_OUT_Z_L: + case LSM303DLHC_SUB_COMP_OUT_Y_H: + case LSM303DLHC_SUB_COMP_OUT_Y_L: + case LSM303DLHC_SUB_COMP_SR_REG: + case LSM303DLHC_SUB_COMP_IRA_REG: + case LSM303DLHC_SUB_COMP_IRB_REG: + case LSM303DLHC_SUB_COMP_IRC_REG: + case LSM303DLHC_SUB_COMP_TEMP_OUT_H: + case LSM303DLHC_SUB_COMP_TEMP_OUT_L: + /* Read only registers cannot be written, the command is ignored.*/ + return; + case LSM303DLHC_SUB_COMP_CRA_REG: + case LSM303DLHC_SUB_COMP_CRB_REG: + case LSM303DLHC_SUB_COMP_MR_REG: + txbuf[0] = sub; + txbuf[1] = value; + if(message != NULL){ + *message = i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0, + TIME_INFINITE); + } + else{ + i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0, TIME_INFINITE); + } + break; + } + } +} +/** @} */ diff --git a/ChibiOS_16.1.5/community/os/various/devices_lib/mems/lsm303dlhc.h b/ChibiOS_16.1.5/community/os/various/devices_lib/mems/lsm303dlhc.h new file mode 100644 index 0000000..46b51bc --- /dev/null +++ b/ChibiOS_16.1.5/community/os/various/devices_lib/mems/lsm303dlhc.h @@ -0,0 +1,352 @@ +/* + Pretty LAYer for ChibiOS/RT - Copyright (C) 2015 Rocco Marco Guglielmi + + This file is part of PLAY for ChibiOS/RT. + + PLAY 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. + + PLAY 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/>. +*/ + +/* + Special thanks to Giovanni Di Sirio for teachings, his moral support and + friendship. Note that some or every piece of this file could be part of + the ChibiOS project that is intellectual property of Giovanni Di Sirio. + Please refer to ChibiOS/RT license before use this file. + + For suggestion or Bug report - roccomarco.guglielmi@playembedded.org + */ + +/** + * @file lsm303dlhc.h + * @brief LSM303DLHC MEMS interface module through I2C header. + * + * @addtogroup lsm303dlhc + * @{ + */ + +#ifndef _LSM303DLHC_H_ +#define _LSM303DLHC_H_ + +/*===========================================================================*/ +/* Driver constants. */ +/*===========================================================================*/ + +#define LSM303DLHC_ACC_SENS_2G ((float)1671.836f) /*!< Accelerometer sensitivity with 2 G full scale [LSB * s^2 / m] */ +#define LSM303DLHC_ACC_SENS_4G ((float)835.918f) /*!< Accelerometer sensitivity with 4 G full scale [LSB * s^2 / m] */ +#define LSM303DLHC_ACC_SENS_8G ((float)417.959f) /*!< Accelerometer sensitivity with 8 G full scale [LSB * s^2 / m] */ +#define LSM303DLHC_ACC_SENS_16G ((float)208.979f) /*!< Accelerometer sensitivity with 16 G full scale [LSB * s^2 / m] */ + +#define LSM303DLHC_COMP_SENS_XY_1_3GA ((float)1100.0f) /*!< Compass sensitivity with 1.3 GA full scale [LSB / Ga] */ +#define LSM303DLHC_COMP_SENS_XY_1_9GA ((float)855.0f) /*!< Compass sensitivity with 1.9 GA full scale [LSB / Ga] */ +#define LSM303DLHC_COMP_SENS_XY_2_5GA ((float)670.0f) /*!< Compass sensitivity with 2.5 GA full scale [LSB / Ga] */ +#define LSM303DLHC_COMP_SENS_XY_4_0GA ((float)450.0f) /*!< Compass sensitivity with 4.0 GA full scale [LSB / Ga] */ +#define LSM303DLHC_COMP_SENS_XY_4_7GA ((float)400.0f) /*!< Compass sensitivity with 4.7 GA full scale [LSB / Ga] */ +#define LSM303DLHC_COMP_SENS_XY_5_6GA ((float)330.0f) /*!< Compass sensitivity with 5.6 GA full scale [LSB / Ga] */ +#define LSM303DLHC_COMP_SENS_XY_8_1GA ((float)230.0f) /*!< Compass sensitivity with 8.1 GA full scale [LSB / Ga] */ + +#define LSM303DLHC_COMP_SENS_Z_1_3GA ((float)980.0f) /*!< Compass sensitivity with 1.3 GA full scale [LSB / Ga] */ +#define LSM303DLHC_COMP_SENS_Z_1_9GA ((float)765.0f) /*!< Compass sensitivity with 1.9 GA full scale [LSB / Ga] */ +#define LSM303DLHC_COMP_SENS_Z_2_5GA ((float)600.0f) /*!< Compass sensitivity with 2.5 GA full scale [LSB / Ga] */ +#define LSM303DLHC_COMP_SENS_Z_4_0GA ((float)400.0f) /*!< Compass sensitivity with 4.0 GA full scale [LSB / Ga] */ +#define LSM303DLHC_COMP_SENS_Z_4_7GA ((float)355.0f) /*!< Compass sensitivity with 4.7 GA full scale [LSB / Ga] */ +#define LSM303DLHC_COMP_SENS_Z_5_6GA ((float)295.0f) /*!< Compass sensitivity with 5.6 GA full scale [LSB / Ga] */ +#define LSM303DLHC_COMP_SENS_Z_8_1GA ((float)205.0f) /*!< Compass sensitivity with 8.1 GA full scale [LSB / Ga] */ +/** + * @name LSM303DLHC register names + * @{ + */ +/******************************************************************************/ +/* */ +/* LSM303DLHC on board MEMS */ +/* */ +/******************************************************************************/ +/******************* Bit definition for I2C communication *******************/ +#define LSM303DLHC_SAD ((uint8_t)0x7F) /*!< SAD[6:0] Slave Address Mask */ +#define LSM303DLHC_SAD_ACCEL ((uint8_t)0x19) /*!< ACCELEROMETER Slave Address */ +#define LSM303DLHC_SAD_COMPASS ((uint8_t)0x1E) /*!< MAGNETOMETER Slave Address */ + +#define LSM303DLHC_SUB ((uint8_t)0x7F) /*!< SUB[6:0] Sub-registers address Mask */ +#define LSM303DLHC_SUB_0 ((uint8_t)0x01) /*!< bit 0 */ +#define LSM303DLHC_SUB_1 ((uint8_t)0x02) /*!< bit 1 */ +#define LSM303DLHC_SUB_2 ((uint8_t)0x08) /*!< bit 3 */ +#define LSM303DLHC_SUB_4 ((uint8_t)0x10) /*!< bit 4 */ +#define LSM303DLHC_SUB_5 ((uint8_t)0x20) /*!< bit 5 */ +#define LSM303DLHC_SUB_6 ((uint8_t)0x40) /*!< bit 6 */ + +#define LSM303DLHC_SUB_MSB ((uint8_t)0x80) /*!< Multiple data read\write bit */ + +/******** Bit definition for Accelerometer SUB-Registers Addresses **********/ +#define LSM303DLHC_SUB_ACC_CTRL_REG1 ((uint8_t)0x20) /*!< CONTROL REGISTER 1 FOR ACCELEROMETER */ +#define LSM303DLHC_SUB_ACC_CTRL_REG2 ((uint8_t)0x21) /*!< CONTROL REGISTER 2 FOR ACCELEROMETER */ +#define LSM303DLHC_SUB_ACC_CTRL_REG3 ((uint8_t)0x22) /*!< CONTROL REGISTER 3 FOR ACCELEROMETER */ +#define LSM303DLHC_SUB_ACC_CTRL_REG4 ((uint8_t)0x23) /*!< CONTROL REGISTER 4 FOR ACCELEROMETER */ +#define LSM303DLHC_SUB_ACC_CTRL_REG5 ((uint8_t)0x24) /*!< CONTROL REGISTER 5 FOR ACCELEROMETER */ +#define LSM303DLHC_SUB_ACC_CTRL_REG6 ((uint8_t)0x25) /*!< CONTROL REGISTER 6 FOR ACCELEROMETER */ +#define LSM303DLHC_SUB_ACC_REFERENCE ((uint8_t)0x26) /*!< REFERENCE/DATACAPTURE FOR ACCELEROMETER */ +#define LSM303DLHC_SUB_ACC_STATUS_REG ((uint8_t)0x27) /*!< STATUS REGISTER FOR ACCELEROMETER */ +#define LSM303DLHC_SUB_ACC_OUT_X_L ((uint8_t)0x28) /*!< OUTPUT X-AXIS LOW FOR ACCELEROMETER */ +#define LSM303DLHC_SUB_ACC_OUT_X_H ((uint8_t)0x29) /*!< OUTPUT X-AXIS HIGH FOR ACCELEROMETER */ +#define LSM303DLHC_SUB_ACC_OUT_Y_L ((uint8_t)0x2A) /*!< OUTPUT Y-AXIS LOW FOR ACCELEROMETER */ +#define LSM303DLHC_SUB_ACC_OUT_Y_H ((uint8_t)0x2B) /*!< OUTPUT Y-AXIS HIGH FOR ACCELEROMETER */ +#define LSM303DLHC_SUB_ACC_OUT_Z_L ((uint8_t)0x2C) /*!< OUTPUT Z-AXIS LOW FOR ACCELEROMETER */ +#define LSM303DLHC_SUB_ACC_OUT_Z_H ((uint8_t)0x2D) /*!< OUTPUT Z-AXIS HIGH FOR ACCELEROMETER */ +#define LSM303DLHC_SUB_ACC_FIFO_CTRL_REG ((uint8_t)0x2E) /*!< FIFO CONTROL REGISTER FOR ACCELEROMETER */ +#define LSM303DLHC_SUB_ACC_FIFO_SRC_REG ((uint8_t)0x2F) /*!< FIFO SOURCE REGISTER FOR ACCELEROMETER */ +#define LSM303DLHC_SUB_ACC_INT1_CFG ((uint8_t)0x30) /*!< INTERRUPT1 CONFIG FOR ACCELEROMETER */ +#define LSM303DLHC_SUB_ACC_INT1_SOURCE ((uint8_t)0x31) /*!< INTERRUPT1 SOURCE FOR ACCELEROMETER */ +#define LSM303DLHC_SUB_ACC_INT1_THS ((uint8_t)0x32) /*!< INTERRUPT1 THRESHOLD FOR ACCELEROMETER */ +#define LSM303DLHC_SUB_ACC_INT1_DURATION ((uint8_t)0x33) /*!< INTERRUPT1 DURATION FOR ACCELEROMETER */ +#define LSM303DLHC_SUB_ACC_INT2_CFG ((uint8_t)0x34) /*!< INTERRUPT2 CONFIG FOR ACCELEROMETER */ +#define LSM303DLHC_SUB_ACC_INT2_SOURCE ((uint8_t)0x35) /*!< INTERRUPT2 SOURCE FOR ACCELEROMETER */ +#define LSM303DLHC_SUB_ACC_INT2_THS ((uint8_t)0x36) /*!< INTERRUPT2 THRESHOLD FOR ACCELEROMETER */ +#define LSM303DLHC_SUB_ACC_INT2_DURATION ((uint8_t)0x37) /*!< INTERRUPT2 DURATION FOR ACCELEROMETER */ +#define LSM303DLHC_SUB_ACC_CLICK_CFG ((uint8_t)0x38) /*!< CLICK CONFIG FOR ACCELEROMETER */ +#define LSM303DLHC_SUB_ACC_CLICK_SRC ((uint8_t)0x39) /*!< CLICK SOURCE FOR ACCELEROMETER */ +#define LSM303DLHC_SUB_ACC_CLICK_THS ((uint8_t)0x3A) /*!< CLICK THRESHOLD FOR ACCELEROMETER */ +#define LSM303DLHC_SUB_ACC_TIME_LIMIT ((uint8_t)0x3B) /*!< TIME LIMIT FOR ACCELEROMETER */ +#define LSM303DLHC_SUB_ACC_TIME_LATENCY ((uint8_t)0x3C) /*!< TIME LATENCY FOR ACCELEROMETER */ +#define LSM303DLHC_SUB_ACC_TIME_WINDOW ((uint8_t)0x3D) /*!< TIME WINDOW FOR ACCELEROMETER */ + +/********* Bit definition for Compass SUB-Registers Addresses **********/ +#define LSM303DLHC_SUB_COMP_CRA_REG ((uint8_t)0x00) /*!< CONTROL REGISTER A FOR MAGNETOMETER */ +#define LSM303DLHC_SUB_COMP_CRB_REG ((uint8_t)0x01) /*!< CONTROL REGISTER B FOR MAGNETOMETER */ +#define LSM303DLHC_SUB_COMP_MR_REG ((uint8_t)0x02) /*!< STATUS REGISTER FOR MAGNETOMETER */ +#define LSM303DLHC_SUB_COMP_OUT_X_H ((uint8_t)0x03) /*!< OUTPUT X-AXIS HIGH FOR MAGNETOMETER */ +#define LSM303DLHC_SUB_COMP_OUT_X_L ((uint8_t)0x04) /*!< OUTPUT X-AXIS LOW FOR MAGNETOMETER */ +#define LSM303DLHC_SUB_COMP_OUT_Z_H ((uint8_t)0x05) /*!< OUTPUT Z-AXIS HIGH FOR MAGNETOMETER */ +#define LSM303DLHC_SUB_COMP_OUT_Z_L ((uint8_t)0x06) /*!< OUTPUT Z-AXIS LOW FOR MAGNETOMETER */ +#define LSM303DLHC_SUB_COMP_OUT_Y_H ((uint8_t)0x07) /*!< OUTPUT Y-AXIS HIGH FOR MAGNETOMETER */ +#define LSM303DLHC_SUB_COMP_OUT_Y_L ((uint8_t)0x08) /*!< OUTPUT Y-AXIS LOW FOR MAGNETOMETER */ +#define LSM303DLHC_SUB_COMP_SR_REG ((uint8_t)0x09) /*!< SR REGISTER FOR MAGNETOMETER */ +#define LSM303DLHC_SUB_COMP_IRA_REG ((uint8_t)0x0A) /*!< IR A REGISTER FOR MAGNETOMETER */ +#define LSM303DLHC_SUB_COMP_IRB_REG ((uint8_t)0x0B) /*!< IR B REGISTER FOR MAGNETOMETER */ +#define LSM303DLHC_SUB_COMP_IRC_REG ((uint8_t)0x0C) /*!< IR C REGISTER FOR MAGNETOMETER */ +#define LSM303DLHC_SUB_COMP_TEMP_OUT_H ((uint8_t)0x31) /*!< OUTPUT TEMP HIGH FOR MAGNETOMETER */ +#define LSM303DLHC_SUB_COMP_TEMP_OUT_L ((uint8_t)0x32) /*!< OUTPUT TEMP LOW FOR MAGNETOMETER */ + +/** @} */ + +/*===========================================================================*/ +/* Driver pre-compile time settings. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver data structures and types. */ +/*===========================================================================*/ + +/** + * @name Accelerometer data structures and types + * @{ + */ + +/** + * @brief Accelerometer Output Data Rate + */ +typedef enum +{ + LSM303DLHC_ACC_ODR_PD = 0x00, /*!< Power down */ + LSM303DLHC_ACC_ODR_1Hz = 0x10, /*!< Output Data Rate = 1 Hz */ + LSM303DLHC_ACC_ODR_10Hz = 0x20, /*!< Output Data Rate = 10 Hz */ + LSM303DLHC_ACC_ODR_25Hz = 0x30, /*!< Output Data Rate = 25 Hz */ + LSM303DLHC_ACC_ODR_50Hz = 0x40, /*!< Output Data Rate = 50 Hz */ + LSM303DLHC_ACC_ODR_100Hz = 0x50, /*!< Output Data Rate = 100 Hz */ + LSM303DLHC_ACC_ODR_200Hz = 0x60, /*!< Output Data Rate = 200 Hz */ + LSM303DLHC_ACC_ODR_400Hz = 0x70, /*!< Output Data Rate = 400 Hz */ + LSM303DLHC_ACC_ODR_1620Hz = 0x80, /*!< Output Data Rate = 1620 Hz Low Power mode only */ + LSM303DLHC_ACC_ODR_1344Hz = 0x90 /*!< Output Data Rate = 1344 Hz in Normal mode and 5376 Hz in Low Power Mode */ +}LSM303DLHC_ACC_ODR_t; + +/** + * @brief Accelerometer Power Mode + */ +typedef enum +{ + LSM303DLHC_ACC_PM_NORMAL = 0x00, /*!< Normal mode enabled */ + LSM303DLHC_ACC_PM_LOW_POWER = 0x08 /*!< Low Power mode enabled */ +}LSM303DLHC_ACC_PM_t; + +/** + * @brief Accelerometer Full Scale + */ +typedef enum +{ + LSM303DLHC_ACC_FS_2G = 0x00, /*!< ±2 g m/s^2 */ + LSM303DLHC_ACC_FS_4G = 0x10, /*!< ±4 g m/s^2 */ + LSM303DLHC_ACC_FS_8G = 0x20, /*!< ±8 g m/s^2 */ + LSM303DLHC_ACC_FS_16G = 0x30 /*!< ±16 g m/s^2 */ +}LSM303DLHC_ACC_FS_t; + +/** + * @brief Accelerometer Axes Enabling + */ +typedef enum{ + LSM303DLHC_ACC_AE_DISABLED = 0x00, /*!< Axes all disabled */ + LSM303DLHC_ACC_AE_X = 0x01, /*!< Only X-axis enabled */ + LSM303DLHC_ACC_AE_Y = 0x02, /*!< Only Y-axis enabled */ + LSM303DLHC_ACC_AE_XY = 0x03, /*!< X & Y axes enabled */ + LSM303DLHC_ACC_AE_Z = 0x04, /*!< Only Z-axis enabled */ + LSM303DLHC_ACC_AE_XZ = 0x05, /*!< X & Z axes enabled */ + LSM303DLHC_ACC_AE_YZ = 0x06, /*!< Y & Z axes enabled */ + LSM303DLHC_ACC_AE_XYZ = 0x07 /*!< All axes enabled */ +}LSM303DLHC_ACC_AE_t; + +/** + * @brief Accelerometer Block Data Update + */ +typedef enum +{ + LSM303DLHC_ACC_BDU_CONTINOUS = 0x00, /*!< Continuos Update */ + LSM303DLHC_ACC_BDU_BLOCKED = 0x80 /*!< Single Update: output registers not updated until MSB and LSB reading */ +}LSM303DLHC_ACC_BDU_t; + +/** + * @brief Accelerometer Endianness + */ +typedef enum +{ + LSM303DLHC_ACC_End_LITTLE = 0x00, /*!< Little Endian: data LSB @ lower address */ + LSM303DLHC_ACC_End_BIG = 0x40 /*!< Big Endian: data MSB @ lower address */ +}LSM303DLHC_ACC_End_t; + +/** + * @brief Accelerometer High Resolution mode + */ +typedef enum +{ + LSM303DLHC_ACC_HR_Enabled = 0x08, /*!< High resolution output mode enabled */ + LSM303DLHC_ACC_HR_Disabled = 0x00 /*!< High resolution output mode disabled */ +}LSM303DLHC_ACC_HR_t; + +/** + * @brief Accelerometer configuration structure. + */ +typedef struct { + /** + * @brief Accelerometer fullscale value. + */ + LSM303DLHC_ACC_FS_t fullscale; + /** + * @brief Accelerometer power mode selection. + */ + LSM303DLHC_ACC_PM_t powermode; + /** + * @brief Accelerometer output data rate selection. + */ + LSM303DLHC_ACC_ODR_t outputdatarate; + /** + * @brief Accelerometer axes enabling. + */ + LSM303DLHC_ACC_AE_t axesenabling; + /** + * @brief Accelerometer block data update. + */ + LSM303DLHC_ACC_BDU_t blockdataupdate; + /** + * @brief Accelerometer block data update. + */ + LSM303DLHC_ACC_HR_t highresmode; +} LSM303DLHC_ACC_Config; +/** @} */ + + +/** + * @name Compass data types + * @{ + */ + +/** + * @brief Compass Output Data Rate + */ +typedef enum +{ + LSM303DLHC_COMP_ODR_0_75_Hz = 0x00, /*!< Output Data Rate = 0.75 Hz */ + LSM303DLHC_COMP_ODR_1_5_Hz = 0x04, /*!< Output Data Rate = 1.5 Hz */ + LSM303DLHC_COMP_ODR_3_0_Hz = 0x08, /*!< Output Data Rate = 3 Hz */ + LSM303DLHC_COMP_ODR_7_5_Hz = 0x0C, /*!< Output Data Rate = 7.5 Hz */ + LSM303DLHC_COMP_ODR_15_Hz = 0x10, /*!< Output Data Rate = 15 Hz */ + LSM303DLHC_COMP_ODR_30_Hz = 0x14, /*!< Output Data Rate = 30 Hz */ + LSM303DLHC_COMP_ODR_75_Hz = 0x18, /*!< Output Data Rate = 75 Hz */ + LSM303DLHC_COMP_ODR_220_Hz = 0x1C /*!< Output Data Rate = 220 Hz */ +}LSM303DLHC_COMP_ODR_t; + + +/** + * @brief Compass Full Scale + */ +typedef enum +{ + LSM303DLHC_COMP_FS_1_3_GA = 0x20, /*!< Full scale = ±1.3 Gauss */ + LSM303DLHC_COMP_FS_1_9_GA = 0x40, /*!< Full scale = ±1.9 Gauss */ + LSM303DLHC_COMP_FS_2_5_GA = 0x60, /*!< Full scale = ±2.5 Gauss */ + LSM303DLHC_COMP_FS_4_0_GA = 0x80, /*!< Full scale = ±4.0 Gauss */ + LSM303DLHC_COMP_FS_4_7_GA = 0xA0, /*!< Full scale = ±4.7 Gauss */ + LSM303DLHC_COMP_FS_5_6_GA = 0xC0, /*!< Full scale = ±5.6 Gauss */ + LSM303DLHC_COMP_FS_8_1_GA = 0xE0 /*!< Full scale = ±8.1 Gauss */ +}LSM303DLHC_COMP_FS_t; + + +/** + * @brief Compass Working Mode + */ +typedef enum +{ + LSM303DLHC_COMP_WM_CONTINUOS = 0x00, /*!< Continuous-Conversion Mode */ + LSM303DLHC_COMP_WM_BLOCKED = 0x01, /*!< Single-Conversion Mode */ + LSM303DLHC_COMP_WM_SLEEP = 0x02 /*!< Sleep Mode */ +}LSM303DLHC_COMP_WM_t; + +/** + * @brief Compass configuration structure. + */ +typedef struct { + /** + * @brief Compass fullscale value. + */ + LSM303DLHC_COMP_FS_t fullscale; + /** + * @brief Compass output data rate selection. + */ + LSM303DLHC_COMP_ODR_t outputdatarate; + /** + * @brief Compass working mode. + */ + LSM303DLHC_COMP_WM_t workingmode; +} LSM303DLHC_COMP_Config; +/** @} */ +/*===========================================================================*/ +/* Driver macros. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +#ifdef __cplusplus +extern "C" { +#endif + + uint8_t lsm303dlhcReadRegister(I2CDriver *i2cp, uint8_t sad, uint8_t sub, + msg_t* message); + void lsm303dlhcWriteRegister(I2CDriver *i2cp,uint8_t sad, uint8_t sub, + uint8_t value, msg_t* message); + +#ifdef __cplusplus +} +#endif +#endif /* _LSM303DLHC_H_ */ +/** @} */ + diff --git a/ChibiOS_16.1.5/community/os/various/devices_lib/mems/lsm6ds0.c b/ChibiOS_16.1.5/community/os/various/devices_lib/mems/lsm6ds0.c new file mode 100644 index 0000000..da67f12 --- /dev/null +++ b/ChibiOS_16.1.5/community/os/various/devices_lib/mems/lsm6ds0.c @@ -0,0 +1,184 @@ +/* + Pretty LAYer for ChibiOS/RT - Copyright (C) 2015 Rocco Marco Guglielmi + + This file is part of PLAY for ChibiOS/RT. + + PLAY 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. + + PLAY 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/>. +*/ + +/* + Special thanks to Giovanni Di Sirio for teachings, his moral support and + friendship. Note that some or every piece of this file could be part of + the ChibiOS project that is intellectual property of Giovanni Di Sirio. + Please refer to ChibiOS/RT license before use this file. + + For suggestion or Bug report - roccomarco.guglielmi@playembedded.org + */ + +/** + * @file lsm6ds0.c + * @brief LSM6DS0 MEMS interface module through I2C code. + * + * @addtogroup lsm6ds0 + * @{ + */ + +#include "ch.h" +#include "hal.h" + +#include "lsm6ds0.h" + +/*===========================================================================*/ +/* Driver local definitions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver exported variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local variables and types. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local functions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver exported functions. */ +/*===========================================================================*/ + +/** + * @brief Reads a generic sub-register value. + * @pre The I2C interface must be initialized and the driver started. + * + * @param[in] i2cp pointer to the I2C interface + * @param[in] sad slave address without R bit + * @param[in] sub sub-register address + * @param[in] message pointer to message + * @return register value. + */ +uint8_t lsm6ds0ReadRegister(I2CDriver *i2cp, uint8_t sad, uint8_t sub, + msg_t* message) { + + uint8_t txbuf, rxbuf[2]; +#if defined(STM32F103_MCUCONF) + txbuf = LSM303DLHC_SUB_MSB | sub; + if(message != NULL){ + *message = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 2, + TIME_INFINITE); + } + else{ + i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 2, TIME_INFINITE); + } + return rxbuf[0]; +#else + txbuf = sub; + if(message != NULL){ + *message = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 1, + TIME_INFINITE); + } + else{ + i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 1, TIME_INFINITE); + } + return rxbuf[0]; +#endif +} + +/** + * @brief Writes a value into a register. + * @pre The I2C interface must be initialized and the driver started. + * + * @param[in] i2cp pointer to the I2C interface + * @param[in] sad slave address without R bit + * @param[in] sub sub-register address + * @param[in] value the value to be written + * @param[out] message pointer to message + */ +void lsm6ds0WriteRegister(I2CDriver *i2cp, uint8_t sad, uint8_t sub, + uint8_t value, msg_t* message) { + + uint8_t txbuf[2]; + uint8_t rxbuf; + switch (sub) { + default: + /* Reserved register must not be written, according to the datasheet + * this could permanently damage the device. + */ + chDbgAssert(FALSE, "lsm6ds0WriteRegister(), reserved register"); + case LSM6DS0_SUB_WHO_AM_I: + case LSM6DS0_SUB_INT_GEN_SRC_G: + case LSM6DS0_SUB_OUT_TEMP_L: + case LSM6DS0_SUB_OUT_TEMP_H: + case LSM6DS0_SUB_STATUS_REG1: + case LSM6DS0_SUB_OUT_X_L_G: + case LSM6DS0_SUB_OUT_X_H_G: + case LSM6DS0_SUB_OUT_Y_L_G: + case LSM6DS0_SUB_OUT_Y_H_G: + case LSM6DS0_SUB_OUT_Z_L_G: + case LSM6DS0_SUB_OUT_Z_H_G: + case LSM6DS0_SUB_INT_GEN_SRC_XL: + case LSM6DS0_SUB_STATUS_REG2: + case LSM6DS0_SUB_OUT_X_L_XL: + case LSM6DS0_SUB_OUT_X_H_XL: + case LSM6DS0_SUB_OUT_Y_L_XL: + case LSM6DS0_SUB_OUT_Y_H_XL: + case LSM6DS0_SUB_OUT_Z_L_XL: + case LSM6DS0_SUB_OUT_Z_H_XL: + case LSM6DS0_SUB_FIFO_SRC: + /* Read only registers cannot be written, the command is ignored.*/ + return; + case LSM6DS0_SUB_ACT_THS: + case LSM6DS0_SUB_ACT_DUR: + case LSM6DS0_SUB_INT_GEN_CFG_XL: + case LSM6DS0_SUB_INT_GEN_THS_X_XL: + case LSM6DS0_SUB_INT_GEN_THS_Y_XL: + case LSM6DS0_SUB_INT_GEN_THS_Z_XL: + case LSM6DS0_SUB_INT_GEN_DUR_XL: + case LSM6DS0_SUB_REFERENCE_G: + case LSM6DS0_SUB_INT_CTRL: + case LSM6DS0_SUB_CTRL_REG1_G: + case LSM6DS0_SUB_CTRL_REG2_G: + case LSM6DS0_SUB_CTRL_REG3_G: + case LSM6DS0_SUB_ORIENT_CFG_G: + case LSM6DS0_SUB_CTRL_REG4: + case LSM6DS0_SUB_CTRL_REG5_XL: + case LSM6DS0_SUB_CTRL_REG6_XL: + case LSM6DS0_SUB_CTRL_REG7_XL: + case LSM6DS0_SUB_CTRL_REG8: + case LSM6DS0_SUB_CTRL_REG9: + case LSM6DS0_SUB_CTRL_REG10: + case LSM6DS0_SUB_FIFO_CTRL: + case LSM6DS0_SUB_INT_GEN_CFG_G: + case LSM6DS0_SUB_INT_GEN_THS_XH_G: + case LSM6DS0_SUB_INT_GEN_THS_XL_G: + case LSM6DS0_SUB_INT_GEN_THS_YH_G: + case LSM6DS0_SUB_INT_GEN_THS_YL_G: + case LSM6DS0_SUB_INT_GEN_THS_ZH_G: + case LSM6DS0_SUB_INT_GEN_THS_ZL_G: + case LSM6DS0_SUB_INT_GEN_DUR_G: + txbuf[0] = sub; + txbuf[1] = value; + if(message != NULL){ + *message = i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0, + TIME_INFINITE); + } + else{ + i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0, TIME_INFINITE); + } + break; + } +} + +/** @} */ diff --git a/ChibiOS_16.1.5/community/os/various/devices_lib/mems/lsm6ds0.h b/ChibiOS_16.1.5/community/os/various/devices_lib/mems/lsm6ds0.h new file mode 100644 index 0000000..57e2057 --- /dev/null +++ b/ChibiOS_16.1.5/community/os/various/devices_lib/mems/lsm6ds0.h @@ -0,0 +1,482 @@ +/* + Pretty LAYer for ChibiOS/RT - Copyright (C) 2015 Rocco Marco Guglielmi + + This file is part of PLAY for ChibiOS/RT. + + PLAY 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. + + PLAY 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/>. +*/ + +/* + Special thanks to Giovanni Di Sirio for teachings, his moral support and + friendship. Note that some or every piece of this file could be part of + the ChibiOS project that is intellectual property of Giovanni Di Sirio. + Please refer to ChibiOS/RT license before use this file. + + For suggestion or Bug report - roccomarco.guglielmi@playembedded.org + */ + +/** + * @file lsm6ds0.h + * @brief LSM6DS0 MEMS interface module header. + * + * @{ + */ + +#ifndef _LSM6DS0_H_ +#define _LSM6DS0_H_ + +/*===========================================================================*/ +/* Driver constants. */ +/*===========================================================================*/ + +#define LSM6DS0_ACC_SENS_2G ((float)1671.095f) /*!< Accelerometer sensitivity with 2 G full scale [LSB * s^2 / m] */ +#define LSM6DS0_ACC_SENS_4G ((float)835.547f) /*!< Accelerometer sensitivity with 4 G full scale [LSB * s^2 / m] */ +#define LSM6DS0_ACC_SENS_8G ((float)417.774) /*!< Accelerometer sensitivity with 8 G full scale [LSB * s^2 / m] */ +#define LSM6DS0_ACC_SENS_16G ((float)139.258f) /*!< Accelerometer sensitivity with 16 G full scale [LSB * s^2 / m] */ + +#define LSM6DS0_GYRO_SENS_245DPS ((float)114.286f) /*!< Gyroscope sensitivity with 245 dps full scale [LSB * s / °] */ +#define LSM6DS0_GYRO_SENS_500DPS ((float)57.143f) /*!< Gyroscope sensitivity with 500 dps full scale [LSB * s / °] */ +#define LSM6DS0_GYRO_SENS_2000DPS ((float)14.286f) /*!< Gyroscope sensitivity with 2000 dps full scale [LSB * s / °] */ +/** + * @name LSM6DS0 register names + * @{ + */ +/******************************************************************************/ +/* */ +/* LSM6DS0 on board MEMS */ +/* */ +/******************************************************************************/ +/***************** Bit definition for I2C/SPI communication *****************/ +#define LSM6DS0_SUB ((uint8_t)0x7F) /*!< SUB[6:0] Sub-registers address Mask */ +#define LSM6DS0_SUB_0 ((uint8_t)0x01) /*!< bit 0 */ +#define LSM6DS0_SUB_1 ((uint8_t)0x02) /*!< bit 1 */ +#define LSM6DS0_SUB_2 ((uint8_t)0x08) /*!< bit 3 */ +#define LSM6DS0_SUB_4 ((uint8_t)0x10) /*!< bit 4 */ +#define LSM6DS0_SUB_5 ((uint8_t)0x20) /*!< bit 5 */ +#define LSM6DS0_SUB_6 ((uint8_t)0x40) /*!< bit 6 */ + +#define LSM6DS0_SUB_MSB ((uint8_t)0x80) /*!< Multiple data read\write bit */ + +/***************** Bit definition for Registers Addresses *******************/ +#define LSM6DS0_SUB_ACT_THS ((uint8_t)0x04) /*!< Activity threshold register */ +#define LSM6DS0_SUB_ACT_DUR ((uint8_t)0x05) /*!< Inactivity duration register */ +#define LSM6DS0_SUB_INT_GEN_CFG_XL ((uint8_t)0x06) /*!< Accelerometer interrupt generator configuration register */ +#define LSM6DS0_SUB_INT_GEN_THS_X_XL ((uint8_t)0x07) /*!< Accelerometer X-axis interrupt threshold register */ +#define LSM6DS0_SUB_INT_GEN_THS_Y_XL ((uint8_t)0x08) /*!< Accelerometer Y-axis interrupt threshold register */ +#define LSM6DS0_SUB_INT_GEN_THS_Z_XL ((uint8_t)0x09) /*!< Accelerometer Z-axis interrupt threshold register */ +#define LSM6DS0_SUB_INT_GEN_DUR_XL ((uint8_t)0x0A) /*!< Accelerometer interrupt duration register */ +#define LSM6DS0_SUB_REFERENCE_G ((uint8_t)0x0B) /*!< Gyroscope reference value register for digital high-pass filter */ +#define LSM6DS0_SUB_INT_CTRL ((uint8_t)0x0C) /*!< INT pin control register */ +#define LSM6DS0_SUB_WHO_AM_I ((uint8_t)0x0F) /*!< Who_AM_I register */ +#define LSM6DS0_SUB_CTRL_REG1_G ((uint8_t)0x10) /*!< Gyroscope control register 1 */ +#define LSM6DS0_SUB_CTRL_REG2_G ((uint8_t)0x11) /*!< Gyroscope control register 2 */ +#define LSM6DS0_SUB_CTRL_REG3_G ((uint8_t)0x12) /*!< Gyroscope control register 3 */ +#define LSM6DS0_SUB_ORIENT_CFG_G ((uint8_t)0x13) /*!< Gyroscope sign and orientation register */ +#define LSM6DS0_SUB_INT_GEN_SRC_G ((uint8_t)0x14) /*!< Gyroscope interrupt source register */ +#define LSM6DS0_SUB_OUT_TEMP_L ((uint8_t)0x15) /*!< Temperature data output low register */ +#define LSM6DS0_SUB_OUT_TEMP_H ((uint8_t)0x16) /*!< Temperature data output high register */ +#define LSM6DS0_SUB_STATUS_REG1 ((uint8_t)0x17) /*!< Status register 1 */ +#define LSM6DS0_SUB_OUT_X_L_G ((uint8_t)0x18) /*!< Gyroscope X-axis low output register */ +#define LSM6DS0_SUB_OUT_X_H_G ((uint8_t)0x19) /*!< Gyroscope X-axis high output register */ +#define LSM6DS0_SUB_OUT_Y_L_G ((uint8_t)0x1A) /*!< Gyroscope Y-axis low output register */ +#define LSM6DS0_SUB_OUT_Y_H_G ((uint8_t)0x1B) /*!< Gyroscope Y-axis high output register */ +#define LSM6DS0_SUB_OUT_Z_L_G ((uint8_t)0x1C) /*!< Gyroscope Z-axis low output register */ +#define LSM6DS0_SUB_OUT_Z_H_G ((uint8_t)0x1D) /*!< Gyroscope Z-axis high output register */ +#define LSM6DS0_SUB_CTRL_REG4 ((uint8_t)0x1E) /*!< Control register 4 */ +#define LSM6DS0_SUB_CTRL_REG5_XL ((uint8_t)0x1F) /*!< Accelerometer Control Register 5 */ +#define LSM6DS0_SUB_CTRL_REG6_XL ((uint8_t)0x20) /*!< Accelerometer Control Register 6 */ +#define LSM6DS0_SUB_CTRL_REG7_XL ((uint8_t)0x21) /*!< Accelerometer Control Register 7 */ +#define LSM6DS0_SUB_CTRL_REG8 ((uint8_t)0x22) /*!< Control register 8 */ +#define LSM6DS0_SUB_CTRL_REG9 ((uint8_t)0x23) /*!< Control register 9 */ +#define LSM6DS0_SUB_CTRL_REG10 ((uint8_t)0x24) /*!< Control register 10 */ +#define LSM6DS0_SUB_INT_GEN_SRC_XL ((uint8_t)0x26) /*!< Accelerometer interrupt source register */ +#define LSM6DS0_SUB_STATUS_REG2 ((uint8_t)0x27) /*!< Status register */ +#define LSM6DS0_SUB_OUT_X_L_XL ((uint8_t)0x28) /*!< Accelerometer X-axis low output register */ +#define LSM6DS0_SUB_OUT_X_H_XL ((uint8_t)0x29) /*!< Accelerometer X-axis high output register */ +#define LSM6DS0_SUB_OUT_Y_L_XL ((uint8_t)0x2A) /*!< Accelerometer Y-axis low output register */ +#define LSM6DS0_SUB_OUT_Y_H_XL ((uint8_t)0x2B) /*!< Accelerometer Y-axis high output register */ +#define LSM6DS0_SUB_OUT_Z_L_XL ((uint8_t)0x2C) /*!< Accelerometer Z-axis low output register */ +#define LSM6DS0_SUB_OUT_Z_H_XL ((uint8_t)0x2D) /*!< Accelerometer Z-axis high output register */ +#define LSM6DS0_SUB_FIFO_CTRL ((uint8_t)0x2E) /*!< FIFO control register */ +#define LSM6DS0_SUB_FIFO_SRC ((uint8_t)0x2F) /*!< FIFO status control register */ +#define LSM6DS0_SUB_INT_GEN_CFG_G ((uint8_t)0x30) /*!< Gyroscope interrupt generator configuration register */ +#define LSM6DS0_SUB_INT_GEN_THS_XH_G ((uint8_t)0x31) /*!< Gyroscope X-axis low interrupt generator threshold registers */ +#define LSM6DS0_SUB_INT_GEN_THS_XL_G ((uint8_t)0x32) /*!< Gyroscope X-axis high interrupt generator threshold registers */ +#define LSM6DS0_SUB_INT_GEN_THS_YH_G ((uint8_t)0x33) /*!< Gyroscope Y-axis low interrupt generator threshold registers */ +#define LSM6DS0_SUB_INT_GEN_THS_YL_G ((uint8_t)0x34) /*!< Gyroscope Y-axis high interrupt generator threshold registers */ +#define LSM6DS0_SUB_INT_GEN_THS_ZH_G ((uint8_t)0x35) /*!< Gyroscope Z-axis low interrupt generator threshold registers */ +#define LSM6DS0_SUB_INT_GEN_THS_ZL_G ((uint8_t)0x36) /*!< Gyroscope Z-axis high interrupt generator threshold registers */ +#define LSM6DS0_SUB_INT_GEN_DUR_G ((uint8_t)0x37) /*!< Gyroscope interrupt generator duration register */ + +/** @} */ + +/*===========================================================================*/ +/* Driver pre-compile time settings. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver data structures and types. */ +/*===========================================================================*/ + +/** + * @name Generic LSM6DS0 data structures and types + * @{ + */ + +/** + * @brief Accelerometer and Gyroscope Slave Address + */ +typedef enum { + LSM6DS0_SAD_GND = 0x6A, /*!< LSM6DS0 Slave Address when SA1 is to GND */ + LSM6DS0_SAD_VCC = 0x6B /*!< LSM6DS0 Slave Address when SA1 is to VCC */ +}LSM6DS0_SAD_t; + +/** + * @brief Accelerometer and Gyroscope Block Data Update + */ +typedef enum +{ + LSM6DS0_BDU_CONTINOUS = 0x00, /*!< Continuos Update */ + LSM6DS0_BDU_BLOCKED = 0x40 /*!< Single Update: output registers not updated until MSB and LSB reading */ +}LSM6DS0_BDU_t; + +/** + * @brief Accelerometer and Gyroscope Endianness + */ +typedef enum +{ + LSM6DS0_END_LITTLE = 0x00, /*!< Little Endian: data LSB @ lower address */ + LSM6DS0_END_BIG = 0x20 /*!< Big Endian: data MSB @ lower address */ +}LSM6DS0_END_t; +/** @} */ + +/** + * @name Accelerometer data structures and types + * @{ + */ + +/** + * @brief Accelerometer Decimation Mode + */ +typedef enum { + LSM6DS0_ACC_DEC_DISABLED = 0x00, /*!< NO decimation */ + LSM6DS0_ACC_DEC_X2 = 0x40, /*!< Decimation update every 2 sample */ + LSM6DS0_ACC_DEC_X4 = 0x80, /*!< Decimation update every 4 sample */ + LSM6DS0_ACC_DEC_X8 = 0xC0 /*!< Decimation update every 8 sample */ +}LSM6DS0_ACC_DEC_t; + +/** + * @brief Accelerometer Axes Enabling + */ +typedef enum{ + LSM6DS0_ACC_AE_DISABLED = 0x00, /*!< Axes all disabled */ + LSM6DS0_ACC_AE_X = 0x08, /*!< Only X-axis enabled */ + LSM6DS0_ACC_AE_Y = 0x10, /*!< Only Y-axis enabled */ + LSM6DS0_ACC_AE_XY = 0x18, /*!< X & Y axes enabled */ + LSM6DS0_ACC_AE_Z = 0x20, /*!< Only Z-axis enabled */ + LSM6DS0_ACC_AE_XZ = 0x28, /*!< X & Z axes enabled */ + LSM6DS0_ACC_AE_YZ = 0x30, /*!< Y & Z axes enabled */ + LSM6DS0_ACC_AE_XYZ = 0x38 /*!< All axes enabled */ +}LSM6DS0_ACC_AE_t; + +/** + * @brief Accelerometer Output Data Rate + */ +typedef enum { + LSM6DS0_ACC_ODR_PD = 0x00, /*!< Power down */ + LSM6DS0_ACC_ODR_10Hz = 0x20, /*!< Output Data Rate = 10 Hz */ + LSM6DS0_ACC_ODR_50Hz = 0x40, /*!< Output Data Rate = 50 Hz */ + LSM6DS0_ACC_ODR_119Hz = 0x60, /*!< Output Data Rate = 119 Hz */ + LSM6DS0_ACC_ODR_238Hz = 0x80, /*!< Output Data Rate = 238 Hz */ + LSM6DS0_ACC_ODR_476Hz = 0xA0, /*!< Output Data Rate = 476 Hz */ + LSM6DS0_ACC_ODR_952Hz = 0xC0 /*!< Output Data Rate = 952 Hz */ +}LSM6DS0_ACC_ODR_t; + +/** + * @brief Accelerometer Full Scale + */ +typedef enum { + LSM6DS0_ACC_FS_2G = 0x00, /*!< ±2 g m/s^2 */ + LSM6DS0_ACC_FS_4G = 0x10, /*!< ±4 g m/s^2 */ + LSM6DS0_ACC_FS_8G = 0x18, /*!< ±8 g m/s^2 */ + LSM6DS0_ACC_FS_16G = 0x08 /*!< ±16 g m/s^2 */ +}LSM6DS0_ACC_FS_t; + +/** + * @brief Accelerometer Antialiasing filter Bandwidth Selection + */ +typedef enum { + LSM6DS0_ACC_BW_408Hz = 0x00, /*!< AA filter bandwidth = 408 Hz */ + LSM6DS0_ACC_BW_211Hz = 0x01, /*!< AA filter bandwidth = 211 Hz */ + LSM6DS0_ACC_BW_105Hz = 0x02, /*!< AA filter bandwidth = 105 Hz */ + LSM6DS0_ACC_BW_50Hz = 0x03, /*!< AA filter bandwidth = 50 Hz */ + LSM6DS0_ACC_BW_ACCORDED = 0x04, /*!< AA filter bandwidth chosen by ODR selection */ +}LSM6DS0_ACC_BW_t; + +/** + * @brief Accelerometer High Resolution mode + */ +typedef enum +{ + LSM6DS0_ACC_HR_Disabled = 0x00, /*!< High resolution output mode disabled, FDS bypassed */ + LSM6DS0_ACC_HR_EN_9 = 0xC4, /*!< High resolution output mode enabled, LP cutoff = ODR/9, FDS enabled */ + LSM6DS0_ACC_HR_EN_50 = 0x84, /*!< High resolution output mode enabled, LP cutoff = ODR/50, FDS enabled */ + LSM6DS0_ACC_HR_EN_100 = 0xA4, /*!< High resolution output mode enabled, LP cutoff = ODR/100, FDS enabled */ + LSM6DS0_ACC_HR_EN_400 = 0xE4, /*!< High resolution output mode enabled, LP cutoff = ODR/400, FDS enabled */ +}LSM6DS0_ACC_HR_t; + +/** + * @brief HP filter for interrupt + */ +typedef enum +{ + LSM6DS0_ACC_HPIS1_BYPASSED = 0x00, /*!< High-pass filter bypassed */ + LSM6DS0_ACC_HPIS1_ENABLED = 0x01 /*!< High-pass filter enabled for accelerometer interrupt function on interrupt */ +}LSM6DS0_ACC_HPIS1_t; + +/** + * @brief Accelerometer configuration structure. + */ +typedef struct { + + /** + * @brief LSM6DS0 Slave Address + */ + LSM6DS0_SAD_t slaveaddress; + /** + * @brief Accelerometer Decimation Mode + */ + LSM6DS0_ACC_DEC_t decimation; + /** + * @brief Accelerometer Output Data Rate + */ + LSM6DS0_ACC_ODR_t outputdatarate; + /** + * @brief Accelerometer Antialiasing filter Bandwidth Selection + */ + LSM6DS0_ACC_BW_t bandwidth; + /** + * @brief Accelerometer Full Scale + */ + LSM6DS0_ACC_FS_t fullscale; + /** + * @brief Accelerometer Axes Enabling + */ + LSM6DS0_ACC_AE_t axesenabling; + /** + * @brief Accelerometer High Resolution mode + */ + LSM6DS0_ACC_HR_t highresmode; + /** + * @brief HP filter for interrupt + */ + LSM6DS0_ACC_HPIS1_t hpfirq; + /** + * @brief LSM6DS0 Endianness + */ + LSM6DS0_END_t endianess; + /** + * @brief LSM6DS0 Block Data Update + */ + LSM6DS0_BDU_t blockdataupdate; +} LSM6DS0_ACC_Config; +/** @} */ + +/** + * @name Gyroscope data structures and types + * @{ + */ + +/** + * @brief Gyroscope Output Data Rate + */ +typedef enum { + LSM6DS0_GYRO_ODR_PD = 0x00, /*!< Power down */ + LSM6DS0_GYRO_ODR_14_9Hz_CO_5Hz = 0x20, /*!< Output Data Rate = 14.9 Hz, CutOff = 5Hz */ + LSM6DS0_GYRO_ODR_59_5Hz_CO_16Hz = 0x40, /*!< Output Data Rate = 59.5 Hz, CutOff = 16Hz */ + LSM6DS0_GYRO_ODR_119Hz_CO_14Hz = 0x60, /*!< Output Data Rate = 119 Hz, CutOff = 14Hz */ + LSM6DS0_GYRO_ODR_119Hz_CO_31Hz = 0x61, /*!< Output Data Rate = 119 Hz, CutOff = 31Hz */ + LSM6DS0_GYRO_ODR_238Hz_CO_14Hz = 0x80, /*!< Output Data Rate = 238 Hz, CutOff = 14Hz */ + LSM6DS0_GYRO_ODR_238Hz_CO_29Hz = 0x81, /*!< Output Data Rate = 328 Hz, CutOff = 29Hz */ + LSM6DS0_GYRO_ODR_238Hz_CO_63Hz = 0x82, /*!< Output Data Rate = 238 Hz, CutOff = 63Hz */ + LSM6DS0_GYRO_ODR_238Hz_CO_78Hz = 0x83, /*!< Output Data Rate = 476 Hz, CutOff = 78Hz */ + LSM6DS0_GYRO_ODR_476Hz_CO_21Hz = 0xA0, /*!< Output Data Rate = 476 Hz, CutOff = 21Hz */ + LSM6DS0_GYRO_ODR_476Hz_CO_28Hz = 0xA1, /*!< Output Data Rate = 238 Hz, CutOff = 28Hz */ + LSM6DS0_GYRO_ODR_476Hz_CO_57Hz = 0xA2, /*!< Output Data Rate = 476 Hz, CutOff = 57Hz */ + LSM6DS0_GYRO_ODR_476Hz_CO_100Hz = 0xA3, /*!< Output Data Rate = 476 Hz, CutOff = 100Hz */ + LSM6DS0_GYRO_ODR_952Hz_CO_33Hz = 0xC0, /*!< Output Data Rate = 952 Hz, CutOff = 33Hz */ + LSM6DS0_GYRO_ODR_952Hz_CO_40Hz = 0xC1, /*!< Output Data Rate = 952 Hz, CutOff = 40Hz */ + LSM6DS0_GYRO_ODR_952Hz_CO_58Hz = 0xC2, /*!< Output Data Rate = 952 Hz, CutOff = 58Hz */ + LSM6DS0_GYRO_ODR_952Hz_CO_100Hz = 0xC3 /*!< Output Data Rate = 952 Hz, CutOff = 100Hz */ +}LSM6DS0_GYRO_ODR_t; + +/** + * @brief Gyroscope Full Scale + */ +typedef enum { + LSM6DS0_GYRO_FS_245DSP = 0x00, /*!< ±245 degrees per second */ + LSM6DS0_GYRO_FS_500DSP = 0x08, /*!< ±500 degrees per second */ + LSM6DS0_GYRO_FS_2000DSP = 0x18 /*!< ±2000 degrees per second */ +}LSM6DS0_GYRO_FS_t; + +/** + * @brief Gyroscope Output Selection + */ +typedef enum { + LSM6DS0_GYRO_OUT_SEL_BYPASS = 0x00, /*!< Output not filtered */ + LSM6DS0_GYRO_OUT_SEL_FILTERED = 0x01, /*!< Output filtered */ +}LSM6DS0_GYRO_OUT_SEL_t; + +/** + * @brief Gyroscope Interrupt Selection + */ +typedef enum { + LSM6DS0_GYRO_INT_SEL_BYPASS = 0x00, /*!< Interrupt generator signal not filtered */ + LSM6DS0_GYRO_INT_SEL_FILTERED = 0x08, /*!< Interrupt generator signal filtered */ +}LSM6DS0_GYRO_INT_SEL_t; + +/** + * @brief Gyroscope Low Power Mode + */ +typedef enum { + LSM6DS0_GYRO_LP_MODE_HIGH_PERFORMANCE = 0x00, /*!< High performance */ + LSM6DS0_GYRO_LP_MODE_LOW_POWER = 0x80, /*!< Low power */ +}LSM6DS0_GYRO_LP_MODE_t; + +/** + * @brief Gyroscope High Pass Filter Cutoff Selection + */ +typedef enum { + LSM6DS0_GYRO_HPCF_DISABLED = 0x00, /*!< HP filter disabled */ + LSM6DS0_GYRO_HPCF_0 = 0x40, /*!< Config 0 refer to table 48 of DOcID025604 Rev 3 */ + LSM6DS0_GYRO_HPCF_1 = 0x41, /*!< Config 1 refer to table 48 of DOcID025604 Rev 3 */ + LSM6DS0_GYRO_HPCF_2 = 0x42, /*!< Config 2 refer to table 48 of DOcID025604 Rev 3 */ + LSM6DS0_GYRO_HPCF_3 = 0x43, /*!< Config 3 refer to table 48 of DOcID025604 Rev 3 */ + LSM6DS0_GYRO_HPCF_4 = 0x44, /*!< Config 4 refer to table 48 of DOcID025604 Rev 3 */ + LSM6DS0_GYRO_HPCF_5 = 0x45, /*!< Config 5 refer to table 48 of DOcID025604 Rev 3 */ + LSM6DS0_GYRO_HPCF_6 = 0x46, /*!< Config 6 refer to table 48 of DOcID025604 Rev 3 */ + LSM6DS0_GYRO_HPCF_7 = 0x47, /*!< Config 7 refer to table 48 of DOcID025604 Rev 3 */ + LSM6DS0_GYRO_HPCF_8 = 0x48, /*!< Config 8 refer to table 48 of DOcID025604 Rev 3 */ + LSM6DS0_GYRO_HPCF_9 = 0x49, /*!< Config 9 refer to table 48 of DOcID025604 Rev 3 */ + LSM6DS0_GYRO_HPCF_10 = 0x4A /*!< Config 10 refer to table 48 of DOcID025604 Rev 3 */ +}LSM6DS0_GYRO_HPCF_t; + +/** + * @brief Gyroscope Axes Enabling + */ +typedef enum{ + LSM6DS0_GYRO_AE_DISABLED = 0x00, /*!< Axes all disabled */ + LSM6DS0_GYRO_AE_X = 0x08, /*!< Only X-axis enabled */ + LSM6DS0_GYRO_AE_Y = 0x10, /*!< Only Y-axis enabled */ + LSM6DS0_GYRO_AE_XY = 0x18, /*!< X & Y axes enabled */ + LSM6DS0_GYRO_AE_Z = 0x20, /*!< Only Z-axis enabled */ + LSM6DS0_GYRO_AE_XZ = 0x28, /*!< X & Z axes enabled */ + LSM6DS0_GYRO_AE_YZ = 0x30, /*!< Y & Z axes enabled */ + LSM6DS0_GYRO_AE_XYZ = 0x38 /*!< All axes enabled */ +}LSM6DS0_GYRO_AE_t; + +/** + * @brief Gyroscope Decimation Mode + */ +typedef enum { + LSM6DS0_GYRO_DEC_DISABLED = 0x00, /*!< NO decimation */ + LSM6DS0_GYRO_DEC_X2 = 0x40, /*!< Decimation update every 2 sample */ + LSM6DS0_GYRO_DEC_X4 = 0x80, /*!< Decimation update every 4 sample */ + LSM6DS0_GYRO_DEC_X8 = 0xC0 /*!< Decimation update every 8 sample */ +}LSM6DS0_GYRO_DEC_t; + +/** + * @brief Gyroscope Sleep Mode + */ +typedef enum { + LSM6DS0_GYRO_SLP_DISABLED = 0x00, /*!< Gyroscope sleep mode disabled */ + LSM6DS0_GYRO_SLP_ENABLED = 0x40 /*!< Gyroscope sleep mode enabled */ +}LSM6DS0_GYRO_SLP_t; +/** + * @brief Gyroscope configuration structure. + */ +typedef struct { + /** + * @brief LSM6DS0 Slave Address + */ + LSM6DS0_SAD_t slaveaddress; + /** + * @brief Gyroscope Output Data Rate + */ + LSM6DS0_GYRO_ODR_t outputdatarate; + /** + * @brief Gyroscope Full Scale + */ + LSM6DS0_GYRO_FS_t fullscale; + /** + * @brief Gyroscope Output Selection + */ + LSM6DS0_GYRO_OUT_SEL_t outputselect; + /** + * @brief Gyroscope Interrupt Selection + */ + LSM6DS0_GYRO_INT_SEL_t irqselect; + /** + * @brief Gyroscope Low Power Mode + */ + LSM6DS0_GYRO_LP_MODE_t lowpowermode; + /** + * @brief Gyroscope High Pass Filter Cutoff Selection + */ + LSM6DS0_GYRO_HPCF_t HPCfrequency; + /** + * @brief Gyroscope Axes Enabling + */ + LSM6DS0_GYRO_AE_t axesenabling; + /** + * @brief Gyroscope Decimation Mode + */ + LSM6DS0_GYRO_DEC_t decimation; + /** + * @brief LSM6DS0 Endianness + */ + LSM6DS0_END_t endianess; + /** + * @brief LSM6DS0 Block Data Update + */ + LSM6DS0_BDU_t blockdataupdate; +} LSM6DS0_GYRO_Config; +/** @} */ +/*===========================================================================*/ +/* Driver macros. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +#ifdef __cplusplus +extern "C" { +#endif + + uint8_t lsm6ds0ReadRegister(I2CDriver *i2cp, uint8_t sad, uint8_t sub, + msg_t* message); + void lsm6ds0WriteRegister(I2CDriver *i2cp, uint8_t sad, uint8_t sub, + uint8_t value, msg_t* message); +#ifdef __cplusplus +} +#endif + +#endif /* _LSM6DS0_H_ */ + +/** @} */ diff --git a/ChibiOS_16.1.5/community/os/various/devices_lib/others/max7219.c b/ChibiOS_16.1.5/community/os/various/devices_lib/others/max7219.c new file mode 100644 index 0000000..0e51167 --- /dev/null +++ b/ChibiOS_16.1.5/community/os/various/devices_lib/others/max7219.c @@ -0,0 +1,94 @@ +/* + Pretty LAYer for ChibiOS/RT - Copyright (C) 2015 Rocco Marco Guglielmi + + This file is part of PLAY for ChibiOS/RT. + + PLAY 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. + + PLAY 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/>. +*/ + +/* + Special thanks to Giovanni Di Sirio for teachings, his moral support and + friendship. Note that some or every piece of this file could be part of + the ChibiOS project that is intellectual property of Giovanni Di Sirio. + Please refer to ChibiOS/RT license before use this file. + + For suggestion or Bug report - roccomarco.guglielmi@playembedded.org + */ + +/** + * @file max7219.c + * @brief MAX7219 display driver module code. + * + * @addtogroup max7219 + * @{ + */ + +#include "ch.h" +#include "hal.h" + +#include "max7219.h" + +/*===========================================================================*/ +/* Driver local definitions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver exported variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local variables and types. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local functions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver exported functions. */ +/*===========================================================================*/ + +/** + * @brief Reads a generic register value. + * @pre The SPI interface must be initialized and the driver started. + * + * @param[in] spip pointer to the SPI interface + * @param[in] adr address number + * @param[in] data data value. + */ +void max7219WriteRegister(SPIDriver *spip, uint16_t adr, uint8_t data) { + + switch (adr) { + default: + return; + case MAX7219_AD_DIGIT_0: + case MAX7219_AD_DIGIT_1: + case MAX7219_AD_DIGIT_2: + case MAX7219_AD_DIGIT_3: + case MAX7219_AD_DIGIT_4: + case MAX7219_AD_DIGIT_5: + case MAX7219_AD_DIGIT_6: + case MAX7219_AD_DIGIT_7: + case MAX7219_AD_DECODE_MODE: + case MAX7219_AD_INTENSITY: + case MAX7219_AD_SCAN_LIMIT: + case MAX7219_AD_SHUTDOWN: + case MAX7219_AD_DISPLAY_TEST: + spiSelect(spip); + uint16_t txbuf = {adr | data}; + spiSend(spip, 1, &txbuf); + spiUnselect(spip); + } +} +/** @} */ diff --git a/ChibiOS_16.1.5/community/os/various/devices_lib/others/max7219.h b/ChibiOS_16.1.5/community/os/various/devices_lib/others/max7219.h new file mode 100644 index 0000000..e672be9 --- /dev/null +++ b/ChibiOS_16.1.5/community/os/various/devices_lib/others/max7219.h @@ -0,0 +1,187 @@ +/* + Pretty LAYer for ChibiOS/RT - Copyright (C) 2015 Rocco Marco Guglielmi + + This file is part of PLAY for ChibiOS/RT. + + PLAY 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. + + PLAY 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/>. +*/ + +/* + Special thanks to Giovanni Di Sirio for teachings, his moral support and + friendship. Note that some or every piece of this file could be part of + the ChibiOS project that is intellectual property of Giovanni Di Sirio. + Please refer to ChibiOS/RT license before use this file. + + For suggestion or Bug report - roccomarco.guglielmi@playembedded.org + */ + +/** + * @file MAX7219.h + * @brief MAX7219 display driver module header. + * + * @{ + */ + +#ifndef _MAX7219_H_ +#define _MAX7219_H_ + +/*===========================================================================*/ +/* Driver constants. */ +/*===========================================================================*/ + +/** + * @name MAX7219 register names + * @{ + */ +/******************************************************************************/ +/* */ +/* MAX7219 display driver */ +/* */ +/******************************************************************************/ +/******************* Bit definition for SPI communication *******************/ +#define MAX7219_DI ((uint16_t)0x00FF) /*!< DI[7:0] Data input */ +#define MAX7219_DI_0 ((uint16_t)0x0001) /*!< bit 0 */ +#define MAX7219_DI_1 ((uint16_t)0x0002) /*!< bit 1 */ +#define MAX7219_DI_2 ((uint16_t)0x0004) /*!< bit 2 */ +#define MAX7219_DI_3 ((uint16_t)0x0008) /*!< bit 3 */ +#define MAX7219_DI_4 ((uint16_t)0x0010) /*!< bit 4 */ +#define MAX7219_DI_5 ((uint16_t)0x0020) /*!< bit 5 */ +#define MAX7219_DI_6 ((uint16_t)0x0040) /*!< bit 6 */ +#define MAX7219_DI_7 ((uint16_t)0x0080) /*!< bit 7 */ + +#define MAX7219_AD ((uint16_t)0x0F00) /*!< AD[11:8] Data input */ +#define MAX7219_AD_0 ((uint16_t)0x0100) /*!< bit 8 */ +#define MAX7219_AD_1 ((uint16_t)0x0200) /*!< bit 9 */ +#define MAX7219_AD_2 ((uint16_t)0x0400) /*!< bit 10 */ +#define MAX7219_AD_3 ((uint16_t)0x0800) /*!< bit 11 */ + +/****************** Bit definition for Registers Addresses *******************/ +#define MAX7219_AD_NOP ((uint16_t)0x0000) /*!< No operation */ +#define MAX7219_AD_DIGIT_0 ((uint16_t)0x0100) /*!< Digit 0 */ +#define MAX7219_AD_DIGIT_1 ((uint16_t)0x0200) /*!< Digit 1 */ +#define MAX7219_AD_DIGIT_2 ((uint16_t)0x0300) /*!< Digit 2 */ +#define MAX7219_AD_DIGIT_3 ((uint16_t)0x0400) /*!< Digit 3 */ +#define MAX7219_AD_DIGIT_4 ((uint16_t)0x0500) /*!< Digit 4 */ +#define MAX7219_AD_DIGIT_5 ((uint16_t)0x0600) /*!< Digit 5 */ +#define MAX7219_AD_DIGIT_6 ((uint16_t)0x0700) /*!< Digit 6 */ +#define MAX7219_AD_DIGIT_7 ((uint16_t)0x0800) /*!< Digit 7 */ +#define MAX7219_AD_DECODE_MODE ((uint16_t)0x0900) /*!< Decode mode */ +#define MAX7219_AD_INTENSITY ((uint16_t)0x0A00) /*!< Intensity */ +#define MAX7219_AD_SCAN_LIMIT ((uint16_t)0x0B00) /*!< Scan limit */ +#define MAX7219_AD_SHUTDOWN ((uint16_t)0x0C00) /*!< Shutdown */ +#define MAX7219_AD_DISPLAY_TEST ((uint16_t)0x0F00) /*!< Display test */ + +/*************** Bit definition for Registers Configuration *****************/ +/** @} */ + +/*===========================================================================*/ +/* Driver pre-compile time settings. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +#if !HAL_USE_SPI +#error "MAX7219 requires HAL_USE_SPI" +#endif +/*===========================================================================*/ +/* Driver data structures and types. */ +/*===========================================================================*/ + +/** + * @name MAX7219 data structures and types + * @{ + * + */ + +/** + * @brief MAX7219 operation mode + */ +typedef enum { + MAX7219_OM_Shutdown = 0x00, /*!< Shutdown mode */ + MAX7219_OM_Normal = 0x01 /*!< Normal mode */ +} MAX7219_OM_t; + +/** + * @brief MAX7219 decoder mode + */ +typedef enum { + MAX7219_DM_No_decode = 0x00, /*!< No decode */ + MAX7219_DM_CodeB_0 = 0x01, /*!< Code B on Digit 0 */ + MAX7219_DM_CodeB_1 = 0x03, /*!< Code B on Digits 0-1 */ + MAX7219_DM_CodeB_2 = 0x07, /*!< Code B on Digits from 0 to 2 */ + MAX7219_DM_CodeB_3 = 0x0F, /*!< Code B on Digits from 0 to 3 */ + MAX7219_DM_CodeB_4 = 0x1F, /*!< Code B on Digits from 0 to 4 */ + MAX7219_DM_CodeB_5 = 0x3F, /*!< Code B on Digits from 0 to 5 */ + MAX7219_DM_CodeB_6 = 0x7F, /*!< Code B on Digits from 0 to 6 */ + MAX7219_DM_CodeB_7 = 0xFF /*!< Code B on every digit */ +} MAX7219_DM_t; + +/** + * @brief MAX7219 intensity mode + */ +typedef enum { + MAX7219_IM_1_32 = 0x00, /*!< 1/32 intensity */ + MAX7219_IM_3_32 = 0x01, /*!< 3/32 intensity */ + MAX7219_IM_5_32 = 0x02, /*!< 5/32 intensity */ + MAX7219_IM_7_32 = 0x03, /*!< 7/32 intensity */ + MAX7219_IM_9_32 = 0x04, /*!< 9/32 intensity */ + MAX7219_IM_11_32 = 0x05, /*!< 11/32 intensity */ + MAX7219_IM_13_32 = 0x06, /*!< 13/32 intensity */ + MAX7219_IM_15_32 = 0x07, /*!< 15/32 intensity */ + MAX7219_IM_17_32 = 0x08, /*!< 17/32 intensity */ + MAX7219_IM_19_32 = 0x09, /*!< 19/32 intensity */ + MAX7219_IM_21_32 = 0x0A, /*!< 21/32 intensity */ + MAX7219_IM_23_32 = 0x0B, /*!< 23/32 intensity */ + MAX7219_IM_25_32 = 0x0C, /*!< 25/32 intensity */ + MAX7219_IM_27_32 = 0x0D, /*!< 27/32 intensity */ + MAX7219_IM_29_32 = 0x0E, /*!< 29/32 intensity */ + MAX7219_IM_31_32 = 0x0F /*!< 31/32 intensity */ +} MAX7219_IM_t; + +/** + * @brief MAX7219 scan line mode + */ +typedef enum { + MAX7219_SL_0 = 0x00, /*!< Scanned digit 0 only */ + MAX7219_SL_1 = 0x01, /*!< Scanned digit 0 & 1 */ + MAX7219_SL_2 = 0x02, /*!< Scanned digit 0 - 2 */ + MAX7219_SL_3 = 0x03, /*!< Scanned digit 0 - 3 */ + MAX7219_SL_4 = 0x04, /*!< Scanned digit 0 - 4 */ + MAX7219_SL_5 = 0x05, /*!< Scanned digit 0 - 5 */ + MAX7219_SL_6 = 0x06, /*!< Scanned digit 0 - 6 */ + MAX7219_SL_7 = 0x07 /*!< Scanned digit 0 - 7 */ +} MAX7219_SL_t; +/** @} */ +/*===========================================================================*/ +/* Driver macros. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +#ifdef __cplusplus +extern "C" { +#endif + + void max7219WriteRegister(SPIDriver *spip, uint16_t adr, uint8_t data); +#ifdef __cplusplus +} +#endif +#endif /* _MAX7219_H_ */ + +/** @} */ + diff --git a/ChibiOS_16.1.5/community/os/various/devices_lib/rf/nrf24l01.c b/ChibiOS_16.1.5/community/os/various/devices_lib/rf/nrf24l01.c new file mode 100644 index 0000000..f526fbe --- /dev/null +++ b/ChibiOS_16.1.5/community/os/various/devices_lib/rf/nrf24l01.c @@ -0,0 +1,440 @@ +/* + Pretty LAYer for ChibiOS/RT - Copyright (C) 2015 Rocco Marco Guglielmi + + This file is part of PLAY for ChibiOS/RT. + + PLAY 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. + + PLAY 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/>. +*/ + +/* + Special thanks to Giovanni Di Sirio for teachings, his moral support and + friendship. Note that some or every piece of this file could be part of + the ChibiOS project that is intellectual property of Giovanni Di Sirio. + Please refer to ChibiOS/RT license before use this file. + + For suggestion or Bug report - roccomarco.guglielmi@playembedded.org + */ + +/** + * @file nrf24l01.c + * @brief NRF24L01 interface module code. + * + * @addtogroup nrf24l01 + * @{ + */ + +#include "ch.h" +#include "hal.h" + +#include "nrf24l01.h" + +/*===========================================================================*/ +/* Driver local definitions. */ +/*===========================================================================*/ + +#define ACTIVATE 0x73 +/*===========================================================================*/ +/* Driver exported variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local variables and types. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local functions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver exported functions. */ +/*===========================================================================*/ + +/** + * @brief Gets the status register value. + * @pre The SPI interface must be initialized and the driver started. + * + * @param[in] spip pointer to the SPI interface + * + * @return the status register value + */ +NRF24L01_status_t nrf24l01GetStatus(SPIDriver *spip) { + uint8_t txbuf = NRF24L01_CMD_NOP; + uint8_t status; + spiSelect(spip); + spiExchange(spip, 1, &txbuf, &status); + spiUnselect(spip); + return status; +} + +/** + * @brief Reads a generic register value. + * + * @note Cannot be used to set addresses + * @pre The SPI interface must be initialized and the driver started. + * + * @param[in] spip pointer to the SPI interface + * @param[in] reg register number + * @param[out] pvalue pointer to a data buffer + * + * @return the status register value + */ +NRF24L01_status_t nrf24l01ReadRegister(SPIDriver *spip, uint8_t reg, + uint8_t* pvalue) { + uint8_t txbuf = (NRF24L01_CMD_READ | reg); + uint8_t status = 0xFF; + spiSelect(spip); + spiExchange(spip, 1, &txbuf, &status); + spiReceive(spip, 1, pvalue); + spiUnselect(spip); + return status; +} + +/** + * @brief Writes a generic register value. + * + * @note Cannot be used to set addresses + * @pre The SPI interface must be initialized and the driver started. + * + * @param[in] spip pointer to the SPI interface + * @param[in] reg register number + * @param[in] value data value + * + * @return the status register value + */ +NRF24L01_status_t nrf24l01WriteRegister(SPIDriver *spip, uint8_t reg, + uint8_t value) { + + uint8_t txbuf[2] = {(NRF24L01_CMD_WRITE | reg), value}; + uint8_t rxbuf[2] = {0xFF, 0xFF}; + switch (reg) { + + default: + /* Reserved register must not be written, according to the datasheet + * this could permanently damage the device. + */ + chDbgAssert(FALSE, "lg3d20WriteRegister(), reserved register"); + case NRF24L01_AD_OBSERVE_TX: + case NRF24L01_AD_CD: + case NRF24L01_AD_RX_ADDR_P0: + case NRF24L01_AD_RX_ADDR_P1: + case NRF24L01_AD_RX_ADDR_P2: + case NRF24L01_AD_RX_ADDR_P3: + case NRF24L01_AD_RX_ADDR_P4: + case NRF24L01_AD_RX_ADDR_P5: + case NRF24L01_AD_TX_ADDR: + /* Read only or addresses registers cannot be written, + * the command is ignored. + */ + return 0; + case NRF24L01_AD_CONFIG: + case NRF24L01_AD_EN_AA: + case NRF24L01_AD_EN_RXADDR: + case NRF24L01_AD_SETUP_AW: + case NRF24L01_AD_SETUP_RETR: + case NRF24L01_AD_RF_CH: + case NRF24L01_AD_RF_SETUP: + case NRF24L01_AD_STATUS: + case NRF24L01_AD_RX_PW_P0: + case NRF24L01_AD_RX_PW_P1: + case NRF24L01_AD_RX_PW_P2: + case NRF24L01_AD_RX_PW_P3: + case NRF24L01_AD_RX_PW_P4: + case NRF24L01_AD_RX_PW_P5: + case NRF24L01_AD_FIFO_STATUS: + case NRF24L01_AD_DYNPD: + case NRF24L01_AD_FEATURE: + spiSelect(spip); + spiExchange(spip, 2, txbuf, rxbuf); + spiUnselect(spip); + return rxbuf[0]; + } +} + + +/** + * @brief Writes an address. + * + * @pre The SPI interface must be initialized and the driver started. + * + * @param[in] spip pointer to the SPI interface + * @param[in] reg register number + * @param[in] pvalue pointer to address value + * @param[in] addlen address len + * + * @return the status register value + */ +NRF24L01_status_t nrf24l01WriteAddress(SPIDriver *spip, uint8_t reg, + uint8_t *pvalue, uint8_t addlen) { + + uint8_t txbuf[NRF24L01_MAX_ADD_LENGHT + 1]; + uint8_t rxbuf[NRF24L01_MAX_ADD_LENGHT + 1]; + unsigned i; + + if(addlen > NRF24L01_MAX_ADD_LENGHT) { + chDbgAssert(FALSE, "nrf24l01WriteAddress(), wrong address length"); + return 0; + } + txbuf[0] = (NRF24L01_CMD_WRITE | reg); + rxbuf[0] = 0xFF; + for(i = 1; i <= addlen; i++) { + txbuf[i] = *(pvalue + (i - 1)); + rxbuf[i] = 0xFF; + } + switch (reg) { + + default: + /* Reserved register must not be written, according to the datasheet + * this could permanently damage the device. + */ + chDbgAssert(FALSE, "nrf24l01WriteAddress(), reserved register"); + case NRF24L01_AD_OBSERVE_TX: + case NRF24L01_AD_CD: + case NRF24L01_AD_CONFIG: + case NRF24L01_AD_EN_AA: + case NRF24L01_AD_EN_RXADDR: + case NRF24L01_AD_SETUP_AW: + case NRF24L01_AD_SETUP_RETR: + case NRF24L01_AD_RF_CH: + case NRF24L01_AD_RF_SETUP: + case NRF24L01_AD_STATUS: + case NRF24L01_AD_RX_PW_P0: + case NRF24L01_AD_RX_PW_P1: + case NRF24L01_AD_RX_PW_P2: + case NRF24L01_AD_RX_PW_P3: + case NRF24L01_AD_RX_PW_P4: + case NRF24L01_AD_RX_PW_P5: + case NRF24L01_AD_FIFO_STATUS: + case NRF24L01_AD_DYNPD: + case NRF24L01_AD_FEATURE: + /* Not address registers cannot be written, the command is ignored.*/ + return 0; + case NRF24L01_AD_RX_ADDR_P0: + case NRF24L01_AD_RX_ADDR_P1: + case NRF24L01_AD_RX_ADDR_P2: + case NRF24L01_AD_RX_ADDR_P3: + case NRF24L01_AD_RX_ADDR_P4: + case NRF24L01_AD_RX_ADDR_P5: + case NRF24L01_AD_TX_ADDR: + spiSelect(spip); + spiExchange(spip, addlen + 1, txbuf, rxbuf); + spiUnselect(spip); + return rxbuf[0]; + } +} +/** + * @brief Reads RX payload from FIFO. + * + * @note Payload is deleted from FIFO after it is read. Used in RX mode. + * @pre The SPI interface must be initialized and the driver started. + * + * @param[in] spip pointer to the SPI interface + * @param[in] paylen payload length + * @param[in] rxbuf pointer to a buffer + * + * @return the status register value + */ +NRF24L01_status_t nrf24l01GetRxPl(SPIDriver *spip, uint8_t paylen, + uint8_t* rxbuf) { + + uint8_t txbuf = NRF24L01_CMD_R_RX_PAYLOAD; + uint8_t status; + if(paylen > NRF24L01_MAX_PL_LENGHT) { + return 0; + } + spiSelect(spip); + spiExchange(spip, 1, &txbuf, &status); + spiReceive(spip, paylen, rxbuf); + spiUnselect(spip); + return status; +} + +/** + * @brief Writes TX payload on FIFO. + * + * @note Used in TX mode. + * @pre The SPI interface must be initialized and the driver started. + * + * @param[in] spip pointer to the SPI interface + * @param[in] paylen payload length + * @param[in] rxbuf pointer to a buffer + * + * @return the status register value + */ +NRF24L01_status_t nrf24l01WriteTxPl(SPIDriver *spip, uint8_t paylen, + uint8_t* txbuf) { + + uint8_t cmd = NRF24L01_CMD_W_TX_PAYLOAD; + uint8_t status; + if(paylen > NRF24L01_MAX_PL_LENGHT) { + return 0; + } + spiSelect(spip); + spiExchange(spip, 1, &cmd, &status); + spiSend(spip, paylen, txbuf); + spiUnselect(spip); + return status; +} + +/** + * @brief Flush TX FIFO. + * + * @note Used in TX mode. + * @pre The SPI interface must be initialized and the driver started. + * + * @param[in] spip pointer to the SPI interface + * + * @return the status register value + */ +NRF24L01_status_t nrf24l01FlushTx(SPIDriver *spip) { + + uint8_t txbuf = NRF24L01_CMD_FLUSH_TX; + uint8_t status; + spiSelect(spip); + spiExchange(spip, 1, &txbuf, &status); + spiUnselect(spip); + return status; +} + +/** + * @brief Flush RX FIFO. + * + * @note Used in RX mode. Should not be executed during transmission of + acknowledge, that is, acknowledge package will not be completed. + * @pre The SPI interface must be initialized and the driver started. + * + * @param[in] spip pointer to the SPI interface + * + * @return the status register value + */ +NRF24L01_status_t nrf24l01FlushRx(SPIDriver *spip) { + + uint8_t txbuf = NRF24L01_CMD_FLUSH_RX; + uint8_t status; + spiSelect(spip); + spiExchange(spip, 1, &txbuf, &status); + spiUnselect(spip); + return status; +} + +#if NRF24L01_USE_FEATURE || defined(__DOXYGEN__) +/** + * @brief Activates the following features: + * R_RX_PL_WID -> (In order to enable DPL the EN_DPL bit in the + * FEATURE register must be set) + * W_ACK_PAYLOAD -> (In order to enable PL with ACK the EN_ACK_PAY + * bit in the FEATURE register must be set) + * W_TX_PAYLOAD_NOACK -> (In order to send a PL without ACK + * the EN_DYN_ACK it in the FEATURE register + * must be set) + * + * @note A new ACTIVATE command with the same data deactivates them again. + * This is executable in power down or stand by modes only. + * @pre The SPI interface must be initialized and the driver started. + * + * @param[in] spip pointer to the SPI interface + * + * @return the status register value + */ +NRF24L01_status_t nrf24l01Activate(SPIDriver *spip) { + + uint8_t txbuf[2] = {NRF24L01_CMD_FLUSH_RX, ACTIVATE}; + uint8_t rxbuf[2]; + spiSelect(spip); + spiExchange(spip, 2, txbuf, rxbuf); + spiUnselect(spip); + return rxbuf[0]; +} + +/** + * @brief Reads RX payload lenght for the top R_RX_PAYLOAD + * in the RX FIFO when Dynamic Payload Length is activated. + * + * @note R_RX_PL_WID must be set and activated. + * @pre The SPI interface must be initialized and the driver started. + * + * @param[in] spip pointer to the SPI interface + * @param[in] ppaylen pointer to the payload length variable + * + * @return the status register value + */ +NRF24L01_status_t nrf24l01ReadRxPlWid(SPIDriver *spip, uint8_t *ppaylen) { + + uint8_t txbuf[2] = {NRF24L01_CMD_R_RX_PL_WID, 0xFF}; + uint8_t rxbuf[2]; + spiSelect(spip); + spiExchange(spip, 2, txbuf, rxbuf); + spiUnselect(spip); + *ppaylen = rxbuf[1]; + return rxbuf[0]; +} + +/** + * @brief Writes TX payload associateted to ACK. + * + * @note Used in RX mode. Write Payload to be transmitted together with + * ACK packet on PIPE PPP. (PPP valid in the range from 000 to 101). + * @note EN_ACK_PAY must be set and activated. + * @pre The SPI interface must be initialized and the driver started. + * + * @param[in] spip pointer to the SPI interface + * @param[in] paylen payload length + * @param[in] rxbuf pointer to a buffer + * + * @return the status register value + */ +NRF24L01_status_t nrf24l01WriteAckPl(SPIDriver *spip, uint8_t ppp, uint8_t paylen, + uint8_t* payload){ + + payload[0] = NRF24L01_CMD_W_ACK_PAYLOAD | NRF24L01_MAX_PPP; + uint8_t status; + if((paylen > NRF24L01_MAX_PL_LENGHT) || (ppp > NRF24L01_MAX_PPP)) { + return 0; + } + spiSelect(spip); + spiExchange(spip, 1, payload, &status); + spiSend(spip, paylen, payload); + spiUnselect(spip); + return status; +} + +/** + * @brief Writes next TX payload without ACK. + * + * @note Used in TX mode. + * @note EN_DYN_ACK must be set and activated. + * @pre The SPI interface must be initialized and the driver started. + * + * @param[in] spip pointer to the SPI interface + * @param[in] paylen payload length + * @param[in] rxbuf pointer to a buffer + * + * @return the status register value + */ +NRF24L01_status_t nrf24l01WriteTxPlNoAck(SPIDriver *spip, uint8_t paylen, + uint8_t* txbuf) { + + txbuf[0] = NRF24L01_CMD_W_TX_PAYLOAD_NOACK; + uint8_t status; + if(paylen > NRF24L01_MAX_PL_LENGHT) { + return 0; + } + spiSelect(spip); + spiExchange(spip, 1, txbuf, &status); + spiSend(spip, paylen, txbuf); + spiUnselect(spip); + return status; +} +#endif /* NRF24L01_USE_FEATURE */ + +/** @} */ diff --git a/ChibiOS_16.1.5/community/os/various/devices_lib/rf/nrf24l01.h b/ChibiOS_16.1.5/community/os/various/devices_lib/rf/nrf24l01.h new file mode 100644 index 0000000..86ba127 --- /dev/null +++ b/ChibiOS_16.1.5/community/os/various/devices_lib/rf/nrf24l01.h @@ -0,0 +1,575 @@ +/* + Pretty LAYer for ChibiOS/RT - Copyright (C) 2015 Rocco Marco Guglielmi + + This file is part of PLAY for ChibiOS/RT. + + PLAY 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. + + PLAY 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/>. +*/ + +/* + Special thanks to Giovanni Di Sirio for teachings, his moral support and + friendship. Note that some or every piece of this file could be part of + the ChibiOS project that is intellectual property of Giovanni Di Sirio. + Please refer to ChibiOS/RT license before use this file. + + For suggestion or Bug report - roccomarco.guglielmi@playembedded.org + */ + +/** + * @file nrf24l01.h + * @brief NRF24L01 Radio frequency module interface module header. + * + * @{ + */ + +#ifndef _NRF24L01_H_ +#define _NRF24L01_H_ + +/*===========================================================================*/ +/* Driver constants. */ +/*===========================================================================*/ + +#define NRF24L01_MAX_ADD_LENGHT ((uint8_t) 5) +#define NRF24L01_MAX_PL_LENGHT ((uint8_t) 32) +#define NRF24L01_MAX_PPP ((uint8_t) 5) + +/** + * @brief Enables Advanced Features. + */ +#if !defined(NRF24L01_USE_FEATURE) || defined(__DOXYGEN__) +#define NRF24L01_USE_FEATURE TRUE +#endif + +/** + * @name NRF24L01 register names + * @{ + */ +/******************************************************************************/ +/* */ +/* NRF24L01 RF Transceiver */ +/* */ +/******************************************************************************/ +/****************** Bit definition for SPI communication ********************/ +#define NRF24L01_DI ((uint8_t)0xFF) /*!< DI[7:0] Data input */ +#define NRF24L01_DI_0 ((uint8_t)0x01) /*!< bit 0 */ +#define NRF24L01_DI_1 ((uint8_t)0x02) /*!< bit 1 */ +#define NRF24L01_DI_2 ((uint8_t)0x04) /*!< bit 2 */ +#define NRF24L01_DI_3 ((uint8_t)0x08) /*!< bit 3 */ +#define NRF24L01_DI_4 ((uint8_t)0x10) /*!< bit 4 */ +#define NRF24L01_DI_5 ((uint8_t)0x20) /*!< bit 5 */ +#define NRF24L01_DI_6 ((uint8_t)0x40) /*!< bit 6 */ +#define NRF24L01_DI_7 ((uint8_t)0x80) /*!< bit 7 */ + +#define NRF24L01_AD ((uint8_t)0x1F) /*!< AD[4:0] Address Data */ +#define NRF24L01_AD_0 ((uint8_t)0x01) /*!< bit 0 */ +#define NRF24L01_AD_1 ((uint8_t)0x02) /*!< bit 1 */ +#define NRF24L01_AD_2 ((uint8_t)0x04) /*!< bit 2 */ +#define NRF24L01_AD_3 ((uint8_t)0x08) /*!< bit 3 */ +#define NRF24L01_AD_4 ((uint8_t)0x10) /*!< bit 4 */ + +#define NRF24L01_CMD_READ ((uint8_t)0x00) /*!< Read command */ +#define NRF24L01_CMD_WRITE ((uint8_t)0x20) /*!< Write command */ +#define NRF24L01_CMD_R_RX_PAYLOAD ((uint8_t)0x61) /*!< Read RX-payload*/ +#define NRF24L01_CMD_W_TX_PAYLOAD ((uint8_t)0xA0) /*!< Write TX-payload */ +#define NRF24L01_CMD_FLUSH_TX ((uint8_t)0xE1) /*!< Flush TX FIFO */ +#define NRF24L01_CMD_FLUSH_RX ((uint8_t)0xE2) /*!< Flush RX FIFO */ +#define NRF24L01_CMD_REUSE_TX_PL ((uint8_t)0xE3) /*!< Used for a PTX device */ +#define NRF24L01_CMD_ACTIVATE ((uint8_t)0x50) /*!< Activate command */ +#define NRF24L01_CMD_R_RX_PL_WID ((uint8_t)0x60) /*!< Read RX-payload width */ +#define NRF24L01_CMD_W_ACK_PAYLOAD ((uint8_t)0xA8) /*!< Write Payload for ACK */ +#define NRF24L01_CMD_W_TX_PAYLOAD_NOACK ((uint8_t)0xB0) /*!< Disables AUTOACK*/ +#define NRF24L01_CMD_NOP ((uint8_t)0xFF) /*!< No Operation */ + +/****************** Bit definition for Registers Addresses *******************/ +#define NRF24L01_AD_CONFIG ((uint8_t)0x00) /*!< Configuration Register */ +#define NRF24L01_AD_EN_AA ((uint8_t)0x01) /*!< Enable ‘Auto Acknowledgment’ */ +#define NRF24L01_AD_EN_RXADDR ((uint8_t)0x02) /*!< Enabled RX Addresses */ +#define NRF24L01_AD_SETUP_AW ((uint8_t)0x03) /*!< Setup of Address Widths */ +#define NRF24L01_AD_SETUP_RETR ((uint8_t)0x04) /*!< Setup of Automatic Retransmission */ +#define NRF24L01_AD_RF_CH ((uint8_t)0x05) /*!< RF Channel */ +#define NRF24L01_AD_RF_SETUP ((uint8_t)0x06) /*!< RF Setup Register */ +#define NRF24L01_AD_STATUS ((uint8_t)0x07) /*!< Status Register */ +#define NRF24L01_AD_OBSERVE_TX ((uint8_t)0x08) /*!< Transmit observe register */ +#define NRF24L01_AD_CD ((uint8_t)0x09) /*!< CD */ +#define NRF24L01_AD_RX_ADDR_P0 ((uint8_t)0x0A) /*!< Receive address data pipe 0 */ +#define NRF24L01_AD_RX_ADDR_P1 ((uint8_t)0x0B) /*!< Receive address data pipe 1 */ +#define NRF24L01_AD_RX_ADDR_P2 ((uint8_t)0x0C) /*!< Receive address data pipe 2 */ +#define NRF24L01_AD_RX_ADDR_P3 ((uint8_t)0x0D) /*!< Receive address data pipe 3 */ +#define NRF24L01_AD_RX_ADDR_P4 ((uint8_t)0x0E) /*!< Receive address data pipe 4 */ +#define NRF24L01_AD_RX_ADDR_P5 ((uint8_t)0x0F) /*!< Receive address data pipe 5 */ +#define NRF24L01_AD_TX_ADDR ((uint8_t)0x10) /*!< Transmit address */ +#define NRF24L01_AD_RX_PW_P0 ((uint8_t)0x11) /*!< Number of bytes in RX payload in data pipe 0 */ +#define NRF24L01_AD_RX_PW_P1 ((uint8_t)0x12) /*!< Number of bytes in RX payload in data pipe 1 */ +#define NRF24L01_AD_RX_PW_P2 ((uint8_t)0x13) /*!< Number of bytes in RX payload in data pipe 2 */ +#define NRF24L01_AD_RX_PW_P3 ((uint8_t)0x14) /*!< Number of bytes in RX payload in data pipe 3 */ +#define NRF24L01_AD_RX_PW_P4 ((uint8_t)0x15) /*!< Number of bytes in RX payload in data pipe 4 */ +#define NRF24L01_AD_RX_PW_P5 ((uint8_t)0x16) /*!< Number of bytes in RX payload in data pipe 5 */ +#define NRF24L01_AD_FIFO_STATUS ((uint8_t)0x17) /*!< FIFO Status Register */ +#define NRF24L01_AD_DYNPD ((uint8_t)0x1C) /*!< Enable dynamic payload length */ +#define NRF24L01_AD_FEATURE ((uint8_t)0x1D) /*!< Feature Register */ + +/*************** Bit definition for Registers Configuration *****************/ +#define NRF24L01_DI_CONFIG ((uint8_t)0x7F) /*!< CONTROL REGISTER BIT MASK*/ +#define NRF24L01_DI_CONFIG_PRIM_RX ((uint8_t)0x01) /*!< RX/TX control - 1: PRX, 0: PTX */ +#define NRF24L01_DI_CONFIG_PWR_UP ((uint8_t)0x02) /*!< 1: POWER UP, 0:POWER DOWN */ +#define NRF24L01_DI_CONFIG_CRCO ((uint8_t)0x04) /*!< CRC encoding scheme - 1:two bytes, 0:one byte */ +#define NRF24L01_DI_CONFIG_EN_CRC ((uint8_t)0x08) /*!< Enable CRC. Forced high if one of the bits in the EN_AA is high */ +#define NRF24L01_DI_CONFIG_MASK_MAX_RT ((uint8_t)0x10) /*!< Mask interrupt caused by MAX_RT - 1: Interrupt disabled, 0: Interrupt reflected on IRQ pin */ +#define NRF24L01_DI_CONFIG_MASK_TX_DS ((uint8_t)0x20) /*!< Mask interrupt caused by TX_DS - 1: Interrupt disabled, 0: Interrupt reflected on IRQ pin */ +#define NRF24L01_DI_CONFIG_MASK_RX_DR ((uint8_t)0x40) /*!< Mask interrupt caused by RX_DR - 1: Interrupt disabled, 0: Interrupt reflected on IRQ pin */ + +#define NRF24L01_DI_EN_AA ((uint8_t)0x3F) /*!< ENABLE AUTO ACKNOLEDGMENT REGISTER BIT MASK */ +#define NRF24L01_DI_EN_AA_P0 ((uint8_t)0x01) /*!< Enable auto acknowledgement data pipe 0 */ +#define NRF24L01_DI_EN_AA_P1 ((uint8_t)0x02) /*!< Enable auto acknowledgement data pipe 1 */ +#define NRF24L01_DI_EN_AA_P2 ((uint8_t)0x04) /*!< Enable auto acknowledgement data pipe 2 */ +#define NRF24L01_DI_EN_AA_P3 ((uint8_t)0x08) /*!< Enable auto acknowledgement data pipe 3 */ +#define NRF24L01_DI_EN_AA_P4 ((uint8_t)0x10) /*!< Enable auto acknowledgement data pipe 4 */ +#define NRF24L01_DI_EN_AA_P5 ((uint8_t)0x20) /*!< Enable auto acknowledgement data pipe 5 */ + +#define NRF24L01_DI_EN_RXADDR ((uint8_t)0x3F) /*!< ENABLE RX ADDRESSES REGISTER BIT MASK */ +#define NRF24L01_DI_EN_RXADDR_P0 ((uint8_t)0x01) /*!< Enable data pipe 0 */ +#define NRF24L01_DI_EN_RXADDR_P1 ((uint8_t)0x02) /*!< Enable data pipe 1 */ +#define NRF24L01_DI_EN_RXADDR_P2 ((uint8_t)0x04) /*!< Enable data pipe 2 */ +#define NRF24L01_DI_EN_RXADDR_P3 ((uint8_t)0x08) /*!< Enable data pipe 3 */ +#define NRF24L01_DI_EN_RXADDR_P4 ((uint8_t)0x10) /*!< Enable data pipe 4 */ +#define NRF24L01_DI_EN_RXADDR_P5 ((uint8_t)0x20) /*!< Enable data pipe 5 */ + +#define NRF24L01_DI_SETUP_AW ((uint8_t)0x03) /*!< SETUP OF ADDRESSES WIDTHS REGISTER BIT MASK */ +#define NRF24L01_DI_SETUP_AW_0 ((uint8_t)0x01) /*!< Addressed widths bit 0 */ +#define NRF24L01_DI_SETUP_AW_1 ((uint8_t)0x02) /*!< Addressed widths bit 1 */ + +#define NRF24L01_DI_SETUP_RETR ((uint8_t)0xFF) /*!< SETUP OF AUTOMATIC RETRANSMISSION REGISTER BIT MASK */ +#define NRF24L01_DI_SETUP_RETR_ARC_0 ((uint8_t)0x01) /*!< Auto Retransmit Count bit 0 */ +#define NRF24L01_DI_SETUP_RETR_ARC_1 ((uint8_t)0x02) /*!< Auto Retransmit Count bit 1 */ +#define NRF24L01_DI_SETUP_RETR_ARC_2 ((uint8_t)0x04) /*!< Auto Retransmit Count bit 2 */ +#define NRF24L01_DI_SETUP_RETR_ARC_3 ((uint8_t)0x08) /*!< Auto Retransmit Count bit 3 */ +#define NRF24L01_DI_SETUP_RETR_ARD_0 ((uint8_t)0x10) /*!< Auto Retransmit Delay bit 0 */ +#define NRF24L01_DI_SETUP_RETR_ARD_1 ((uint8_t)0x20) /*!< Auto Retransmit Delay bit 1 */ +#define NRF24L01_DI_SETUP_RETR_ARD_2 ((uint8_t)0x40) /*!< Auto Retransmit Delay bit 2 */ +#define NRF24L01_DI_SETUP_RETR_ARD_3 ((uint8_t)0x80) /*!< Auto Retransmit Delay bit 3 */ + + +#define NRF24L01_DI_RF_CH ((uint8_t)0x7F) /*!< RF CHANNEL REGISTER BIT MASK */ +#define NRF24L01_DI_RF_CH_0 ((uint8_t)0x01) /*!< RF channel bit 0 */ +#define NRF24L01_DI_RF_CH_1 ((uint8_t)0x02) /*!< RF channel bit 1 */ +#define NRF24L01_DI_RF_CH_2 ((uint8_t)0x04) /*!< RF channel bit 2 */ +#define NRF24L01_DI_RF_CH_3 ((uint8_t)0x08) /*!< RF channel bit 3 */ +#define NRF24L01_DI_RF_CH_4 ((uint8_t)0x10) /*!< RF channel bit 4 */ +#define NRF24L01_DI_RF_CH_5 ((uint8_t)0x20) /*!< RF channel bit 5 */ +#define NRF24L01_DI_RF_CH_6 ((uint8_t)0x40) /*!< RF channel bit 6 */ + + +#define NRF24L01_DI_RF_SETUP ((uint8_t)0x1F) /*!< RF SETUP REGISTER BIT MASK */ +#define NRF24L01_DI_RF_SETUP_LNA_HCURR ((uint8_t)0x01) /*!< Setup LNA gain */ +#define NRF24L01_DI_RF_SETUP_RF_PWR_0 ((uint8_t)0x02) /*!< RF output power bit 0 */ +#define NRF24L01_DI_RF_SETUP_RF_PWR_1 ((uint8_t)0x04) /*!< RF output power bit 1 */ +#define NRF24L01_DI_RF_SETUP_RF_DR ((uint8_t)0x08) /*!< Air Data rate - 0: 1Mbps, 1: 2Mbps */ +#define NRF24L01_DI_RF_SETUP_PLL_LOCK ((uint8_t)0x10) /*!< Force PLL lock signal */ + +#define NRF24L01_DI_STATUS ((uint8_t)0x7F) /*!< STATUS REGISTER BIT MASK */ +#define NRF24L01_DI_STATUS_TX_FULL ((uint8_t)0x01) /*!< TX FIFO full flag - 0: Available locations, 1: Full */ +#define NRF24L01_DI_STATUS_RX_P_NO_0 ((uint8_t)0x02) /*!< RX payload number bit 0 */ +#define NRF24L01_DI_STATUS_RX_P_NO_1 ((uint8_t)0x04) /*!< RX payload number bit 1 */ +#define NRF24L01_DI_STATUS_RX_P_NO_2 ((uint8_t)0x08) /*!< RX payload number bit 2 */ +#define NRF24L01_DI_STATUS_MAX_RT ((uint8_t)0x10) /*!< Maximum number of TX retransmits interrupt */ +#define NRF24L01_DI_STATUS_TX_DS ((uint8_t)0x20) /*!< Data Sent TX FIFO interrupt */ +#define NRF24L01_DI_STATUS_RX_DR ((uint8_t)0x40) /*!< Data Ready RX FIFO interrupt */ + +#define NRF24L01_DI_OBSERVE_TX ((uint8_t)0xFF) /*!< TRANSMIT OBSERVE REGISTER BIT MASK */ +#define NRF24L01_DI_ARC_CNT_0 ((uint8_t)0x01) /*!< Count retransmitted packets bit 0 */ +#define NRF24L01_DI_ARC_CNT_1 ((uint8_t)0x02) /*!< Count retransmitted packets bit 1 */ +#define NRF24L01_DI_ARC_CNT_2 ((uint8_t)0x04) /*!< Count retransmitted packets bit 2 */ +#define NRF24L01_DI_ARC_CNT_3 ((uint8_t)0x08) /*!< Count retransmitted packets bit 3 */ +#define NRF24L01_DI_PLOS_CNT_0 ((uint8_t)0x10) /*!< Count lost packets bit 0 */ +#define NRF24L01_DI_PLOS_CNT_1 ((uint8_t)0x20) /*!< Count lost packets bit 1 */ +#define NRF24L01_DI_PLOS_CNT_2 ((uint8_t)0x40) /*!< Count lost packets bit 2 */ +#define NRF24L01_DI_PLOS_CNT_3 ((uint8_t)0x80) /*!< Count lost packets bit 3 */ + +#define NRF24L01_DI_CD ((uint8_t)0x01) /*!< REGISTER BIT MASK */ +#define NRF24L01_DI_CARRIER_DETECT ((uint8_t)0x01) /*!< Carrier detect */ + +#define NRF24L01_DI_RX_PW_P0 ((uint8_t)0x3F) /*!< RX PAYLOAD WIDTH FOR PIPE 0 REGISTER BIT MASK */ +#define NRF24L01_DI_RX_PW_P0_0 ((uint8_t)0x01) /*!< Bit 0 */ +#define NRF24L01_DI_RX_PW_P0_1 ((uint8_t)0x02) /*!< Bit 1 */ +#define NRF24L01_DI_RX_PW_P0_2 ((uint8_t)0x04) /*!< Bit 2 */ +#define NRF24L01_DI_RX_PW_P0_3 ((uint8_t)0x08) /*!< Bit 3 */ +#define NRF24L01_DI_RX_PW_P0_4 ((uint8_t)0x10) /*!< Bit 4 */ +#define NRF24L01_DI_RX_PW_P0_5 ((uint8_t)0x20) /*!< Bit 5 */ + +#define NRF24L01_DI_RX_PW_P1 ((uint8_t)0x3F) /*!< RX PAYLOAD WIDTH FOR PIPE 1 REGISTER BIT MASK */ +#define NRF24L01_DI_RX_PW_P1_0 ((uint8_t)0x01) /*!< Bit 0 */ +#define NRF24L01_DI_RX_PW_P1_1 ((uint8_t)0x02) /*!< Bit 1 */ +#define NRF24L01_DI_RX_PW_P1_2 ((uint8_t)0x04) /*!< Bit 2 */ +#define NRF24L01_DI_RX_PW_P1_3 ((uint8_t)0x08) /*!< Bit 3 */ +#define NRF24L01_DI_RX_PW_P1_4 ((uint8_t)0x10) /*!< Bit 4 */ +#define NRF24L01_DI_RX_PW_P1_5 ((uint8_t)0x20) /*!< Bit 5 */ + +#define NRF24L01_DI_RX_PW_P2 ((uint8_t)0x3F) /*!< RX PAYLOAD WIDTH FOR PIPE 2 REGISTER BIT MASK */ +#define NRF24L01_DI_RX_PW_P2_0 ((uint8_t)0x01) /*!< Bit 0 */ +#define NRF24L01_DI_RX_PW_P2_1 ((uint8_t)0x02) /*!< Bit 1 */ +#define NRF24L01_DI_RX_PW_P2_2 ((uint8_t)0x04) /*!< Bit 2 */ +#define NRF24L01_DI_RX_PW_P2_3 ((uint8_t)0x08) /*!< Bit 3 */ +#define NRF24L01_DI_RX_PW_P2_4 ((uint8_t)0x10) /*!< Bit 4 */ +#define NRF24L01_DI_RX_PW_P2_5 ((uint8_t)0x20) /*!< Bit 5 */ + +#define NRF24L01_DI_RX_PW_P3 ((uint8_t)0x3F) /*!< RX PAYLOAD WIDTH FOR PIPE 3 REGISTER BIT MASK */ +#define NRF24L01_DI_RX_PW_P3_0 ((uint8_t)0x01) /*!< Bit 0 */ +#define NRF24L01_DI_RX_PW_P3_1 ((uint8_t)0x02) /*!< Bit 1 */ +#define NRF24L01_DI_RX_PW_P3_2 ((uint8_t)0x04) /*!< Bit 2 */ +#define NRF24L01_DI_RX_PW_P3_3 ((uint8_t)0x08) /*!< Bit 3 */ +#define NRF24L01_DI_RX_PW_P3_4 ((uint8_t)0x10) /*!< Bit 4 */ +#define NRF24L01_DI_RX_PW_P3_5 ((uint8_t)0x20) /*!< Bit 5 */ + +#define NRF24L01_DI_RX_PW_P4 ((uint8_t)0x3F) /*!< RX PAYLOAD WIDTH FOR PIPE 4 REGISTER BIT MASK */ +#define NRF24L01_DI_RX_PW_P4_0 ((uint8_t)0x01) /*!< Bit 0 */ +#define NRF24L01_DI_RX_PW_P4_1 ((uint8_t)0x02) /*!< Bit 1 */ +#define NRF24L01_DI_RX_PW_P4_2 ((uint8_t)0x04) /*!< Bit 2 */ +#define NRF24L01_DI_RX_PW_P4_3 ((uint8_t)0x08) /*!< Bit 3 */ +#define NRF24L01_DI_RX_PW_P4_4 ((uint8_t)0x10) /*!< Bit 4 */ +#define NRF24L01_DI_RX_PW_P4_5 ((uint8_t)0x20) /*!< Bit 5 */ + +#define NRF24L01_DI_RX_PW_P5 ((uint8_t)0x3F) /*!< RX PAYLOAD WIDTH FOR PIPE 5 REGISTER BIT MASK */ +#define NRF24L01_DI_RX_PW_P5_0 ((uint8_t)0x01) /*!< Bit 0 */ +#define NRF24L01_DI_RX_PW_P5_1 ((uint8_t)0x02) /*!< Bit 1 */ +#define NRF24L01_DI_RX_PW_P5_2 ((uint8_t)0x04) /*!< Bit 2 */ +#define NRF24L01_DI_RX_PW_P5_3 ((uint8_t)0x08) /*!< Bit 3 */ +#define NRF24L01_DI_RX_PW_P5_4 ((uint8_t)0x10) /*!< Bit 4 */ +#define NRF24L01_DI_RX_PW_P5_5 ((uint8_t)0x20) /*!< Bit 5 */ + +#define NRF24L01_DI_FIFO_STATUS ((uint8_t)0x73) /*!< FIFO STATUS REGISTER BIT MASK*/ +#define NRF24L01_DI_FIFO_STATUS_RX_EMPTY ((uint8_t)0x01) /*!< RX FIFO empty flag - 0:Data in RX FIFO, 1:RX FIFO empty */ +#define NRF24L01_DI_FIFO_STATUS_RX_FULL ((uint8_t)0x02) /*!< RX FIFO full flag - 0:Available locations in RX FIFO, 1:RX FIFO empty */ +#define NRF24L01_DI_FIFO_STATUS_TX_EMPTY ((uint8_t)0x10) /*!< TX FIFO empty flag - 0:Data in TX FIFO, 1:TX FIFO empty */ +#define NRF24L01_DI_FIFO_STATUS_TX_FULL ((uint8_t)0x20) /*!< TX FIFO full flag - 0:Available locations in TX FIFO, 1:TX FIFO empty */ +#define NRF24L01_DI_FIFO_STATUS_TX_REUSE ((uint8_t)0x40) /*!< Reuse last transmitted data packet if set high */ + +#define NRF24L01_DI_DYNPD ((uint8_t)0x3F) /*!< ENABLE DYNAMIC PAYLOAD LENGHT REGISTER BIT MASK */ +#define NRF24L01_DI_DYNPD_DPL_P0 ((uint8_t)0x01) /*!< Enable dyn. payload length data pipe 0 */ +#define NRF24L01_DI_DYNPD_DPL_P1 ((uint8_t)0x02) /*!< Enable dyn. payload length data pipe 1 */ +#define NRF24L01_DI_DYNPD_DPL_P2 ((uint8_t)0x04) /*!< Enable dyn. payload length data pipe 2 */ +#define NRF24L01_DI_DYNPD_DPL_P3 ((uint8_t)0x08) /*!< Enable dyn. payload length data pipe 3 */ +#define NRF24L01_DI_DYNPD_DPL_P4 ((uint8_t)0x10) /*!< Enable dyn. payload length data pipe 4 */ +#define NRF24L01_DI_DYNPD_DPL_P5 ((uint8_t)0x20) /*!< Enable dyn. payload length data pipe 5 */ + +#define NRF24L01_DI_FEATURE ((uint8_t)0x07) /*!< FEATURE REGISTER REGISTER BIT MASK */ +#define NRF24L01_DI_FEATURE_EN_DYN_ACK ((uint8_t)0x01) /*!< Enables the W_TX_PAYLOAD_NOACK command */ +#define NRF24L01_DI_FEATURE_EN_ACK_PAY ((uint8_t)0x02) /*!< Enables Payload with ACK */ +#define NRF24L01_DI_FEATURE_EN_DPL ((uint8_t)0x04) /*!< Enables Dynamic Payload Length */ +/** @} */ + +/*===========================================================================*/ +/* Driver pre-compile time settings. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +#if !(HAL_USE_SPI) +#error "RF_NRF24L01 requires HAL_USE_SPI." +#endif + +#if !(HAL_USE_EXT) +#error "RF_NRF24L01 requires HAL_USE_EXT." +#endif +/*===========================================================================*/ +/* Driver data structures and types. */ +/*===========================================================================*/ + +/** + * @name RF Transceiver data structures and types + * @{ + */ + +/** + * @brief RF Transceiver RX/TX Address field width + */ +typedef enum { + + NRF24L01_AW_3_bytes = 0x01, /*!< 3 bytes width */ + NRF24L01_AW_4_bytes = 0x02, /*!< 4 bytes width */ + NRF24L01_AW_5_bytes = 0x03 /*!< 5 bytes width */ +} NRF24L01_AW_t; + +/** + * @brief RF Transceiver Auto Retransmit Delay + */ +typedef enum { + + NRF24L01_ARD_250us = 0x00, /*!< Wait 250us */ + NRF24L01_ARD_500us = 0x10, /*!< Wait 500us */ + NRF24L01_ARD_750us = 0x20, /*!< Wait 750us */ + NRF24L01_ARD_1000us = 0x30, /*!< Wait 1000us */ + NRF24L01_ARD_1250us = 0x40, /*!< Wait 1250us */ + NRF24L01_ARD_1500us = 0x50, /*!< Wait 1500us */ + NRF24L01_ARD_1750us = 0x60, /*!< Wait 1750us */ + NRF24L01_ARD_2000us = 0x70, /*!< Wait 2000us */ + NRF24L01_ARD_2250us = 0x80, /*!< Wait 2250us */ + NRF24L01_ARD_2500us = 0x90, /*!< Wait 2500us */ + NRF24L01_ARD_2750us = 0xA0, /*!< Wait 2750us */ + NRF24L01_ARD_3000us = 0xB0, /*!< Wait 3000us */ + NRF24L01_ARD_3250us = 0xC0, /*!< Wait 3250us */ + NRF24L01_ARD_3500us = 0xD0, /*!< Wait 3500us */ + NRF24L01_ARD_3750us = 0xE0, /*!< Wait 3750us */ + NRF24L01_ARD_4000us = 0xF0 /*!< Wait 4000us */ +} NRF24L01_ARD_t; + +/** + * @brief RF Transceiver Auto Retransmit Count + */ +typedef enum { + + NRF24L01_ARC_disabled = 0x00, /*!< Re-Transmit disabled */ + NRF24L01_ARC_1_time = 0x01, /*!< Up to 1 Re-Transmit on fail of AA */ + NRF24L01_ARC_2_times = 0x02, /*!< Up to 2 Re-Transmit on fail of AA */ + NRF24L01_ARC_3_times = 0x03, /*!< Up to 3 Re-Transmit on fail of AA */ + NRF24L01_ARC_4_times = 0x04, /*!< Up to 4 Re-Transmit on fail of AA */ + NRF24L01_ARC_5_times = 0x05, /*!< Up to 5 Re-Transmit on fail of AAs */ + NRF24L01_ARC_6_times = 0x06, /*!< Up to 6 Re-Transmit on fail of AA */ + NRF24L01_ARC_7_times = 0x07, /*!< Up to 7 Re-Transmit on fail of AA */ + NRF24L01_ARC_8_times = 0x08, /*!< Up to 8 Re-Transmit on fail of AA */ + NRF24L01_ARC_9_times = 0x09, /*!< Up to 9 Re-Transmit on fail of AA */ + NRF24L01_ARC_10_times = 0x0A, /*!< Up to 10 Re-Transmit on fail of AA */ + NRF24L01_ARC_11_times = 0x0B, /*!< Up to 11 Re-Transmit on fail of AA */ + NRF24L01_ARC_12_times = 0x0C, /*!< Up to 12 Re-Transmit on fail of AA */ + NRF24L01_ARC_13_times = 0x0D, /*!< Up to 13 Re-Transmit on fail of AA */ + NRF24L01_ARC_14_times = 0x0E, /*!< Up to 14 Re-Transmit on fail of AA */ + NRF24L01_ARC_15_times = 0x0F /*!< Up to 15 Re-Transmit on fail of AA */ +} NRF24L01_ARC_t; + + +/** + * @brief RF Transceiver configuration typedef. + * + * @detail This will select frequency channel beetween 2,4 GHz and 2,525 GHz + * @detail according to formula 2,4GHz + RF_CH[MHz]. This value must be included + * @detail between 0 and 125. + */ +typedef uint8_t NRF24L01_RF_CH_t; + +/** + * @brief RF Transceiver Air Data Rate + */ +typedef enum { + + NRF24L01_ADR_1Mbps = 0x00, /*!< Air data rate 1 Mbps */ + NRF24L01_ADR_2Mbps = 0x08 /*!< Air data rate 2 Mbps */ +} NRF24L01_ADR_t; + +/** + * @brief RF Transceiver Output Power + */ +typedef enum { + + NRF24L01_PWR_0dBm = 0x06, /*!< RF output power 0 dBm */ + NRF24L01_PWR_neg6dBm = 0x04, /*!< RF output power -6 dBm */ + NRF24L01_PWR_neg12dBm = 0x02, /*!< RF output power -12 dBm */ + NRF24L01_PWR_neg18dBm = 0x00 /*!< RF output power -18 dBm */ +} NRF24L01_PWR_t; + +/** + * @brief RF Transceiver Low Noise Amplifier + * + * @details Reduce current consumption in RX mode with 0.8 mA at cost of 1.5dB + * reduction in receiver sensitivity. + */ +typedef enum { + NRF24L01_LNA_enabled = 0x01, /*!< LNA_CURR enabled */ + NRF24L01_LNA_disabled = 0x00 /*!< LNA_CURR disabled */ +} NRF24L01_LNA_t; + +/** + * @brief RF Transceiver Backward Compatibility + * + * @details This type specifies if trasmission must be compatible to receive + * from an nRF2401/nRF2402/nRF24E1/nRF24E. + */ +typedef bool_t NRF24L01_bckwrdcmp_t; + +#if NRF24L01_USE_FEATURE || defined(__doxigen__) +/** + * @brief RF Transceiver Dynamic Payload enabler + * + * @details Enables Dynamic Payload Length + */ +typedef enum { + NRF24L01_DPL_enabled = 0x04, /*!< EN_DPL enabled */ + NRF24L01_DPL_disabled = 0x00 /*!< EN_DPL disabled */ +} NRF24L01_DPL_t; + +/** + * @brief RF Transceiver Dynamic Acknowledge with Payload enabler + * + * @details Enables Payload with ACK + */ +typedef enum { + NRF24L01_ACK_PAY_enabled = 0x02, /*!< EN_ACK_PAY enabled */ + NRF24L01_ACK_PAY_disabled = 0x00 /*!< EN_ACK_PAY disabled */ +} NRF24L01_ACK_PAY_t; + +/** + * @brief RF Transceiver Dynamic Acknowledge enabler + * + * @details Enables the W_TX_PAYLOAD_NOACK command + */ +typedef enum { + NRF24L01_DYN_ACK_enabled = 0x01, /*!< EN_DYN_ACK enabled */ + NRF24L01_DYN_ACK_disabled = 0x00 /*!< EN_DYN_ACK disabled */ +} NRF24L01_DYN_ACK_t; +#endif /* NRF24L01_USE_FEATURE */ + +/** + * @brief RF Transceiver configuration structure. + */ +typedef struct { + + /** + * @brief The chip enable line port. + */ + ioportid_t ceport; + /** + * @brief The chip enable line pad number. + */ + uint16_t cepad; + /** + * @brief The interrupt line port. + */ + ioportid_t irqport; + /** + * @brief The interrupt line pad number. + */ + uint16_t irqpad; + /** + * @brief Pointer to the SPI driver associated to this RF. + */ + SPIDriver *spip; + /** + * @brief Pointer to the SPI configuration . + */ + const SPIConfig *spicfg; + /** + * @brief Pointer to the EXT driver associated to this RF. + */ + EXTDriver *extp; + /** + * @brief EXT configuration. + */ + EXTConfig *extcfg; + /** + * @brief RF Transceiver auto retransmit count. + */ + NRF24L01_ARC_t auto_retr_count; + /** + * @brief RF Transceiver auto retransmit delay. + */ + NRF24L01_ARD_t auto_retr_delay; + /** + * @brief RF Transceiver address width. + */ + NRF24L01_AW_t address_width; + /** + * @brief RF Transceiver channel frequency. + */ + NRF24L01_RF_CH_t channel_freq; + /** + * @brief RF Transceiver air data rate. + */ + NRF24L01_ADR_t data_rate; + /** + * @brief RF Transceiver output power. + */ + NRF24L01_PWR_t out_pwr; + /** + * @brief RF Transceiver Low Noise Amplifier + */ + NRF24L01_LNA_t lna; +#if NRF24L01_USE_FEATURE || defined(__doxigen__) + /** + * @brief RF Transceiver Dynamic Payload enabler + */ + NRF24L01_DPL_t en_dpl; + + /** + * @brief RF Transceiver Dynamic Acknowledge with Payload enabler + */ + NRF24L01_ACK_PAY_t en_ack_pay; + + /** + * @brief RF Transceiver Dynamic Acknowledge enabler + */ + NRF24L01_DYN_ACK_t en_dyn_ack; +#endif /* NRF24L01_USE_FEATURE */ +} NRF24L01_Config; + +/** + * @brief RF Transceiver status register value. + */ +typedef uint8_t NRF24L01_status_t; +/** @} */ +/*===========================================================================*/ +/* Driver macros. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +/** + * @brief Flushes FIFOs and resets all Status flags. + * + * @pre The SPI interface must be initialized and the driver started. + * + * @param[in] spip pointer to the SPI interface + * + * @return the status register value + */ +#define nrf24l01Reset(spip) { \ + \ + nrf24l01WriteRegister(spip, NRF24L01_AD_STATUS, \ + NRF24L01_DI_STATUS_MAX_RT | \ + NRF24L01_DI_STATUS_RX_DR | \ + NRF24L01_DI_STATUS_TX_DS); \ +} + +#ifdef __cplusplus +extern "C" { +#endif +NRF24L01_status_t nrf24l01GetStatus(SPIDriver *spip); +NRF24L01_status_t nrf24l01ReadRegister(SPIDriver *spip, uint8_t reg, + uint8_t* pvalue); +NRF24L01_status_t nrf24l01WriteRegister(SPIDriver *spip, uint8_t reg, + uint8_t value); +NRF24L01_status_t nrf24l01WriteAddress(SPIDriver *spip, uint8_t reg, + uint8_t *pvalue, uint8_t addlen); +NRF24L01_status_t nrf24l01GetRxPl(SPIDriver *spip, uint8_t paylen, + uint8_t* rxbuf); +NRF24L01_status_t nrf24l01WriteTxPl(SPIDriver *spip, uint8_t paylen, + uint8_t* txbuf); +NRF24L01_status_t nrf24l01FlushTx(SPIDriver *spip); +NRF24L01_status_t nrf24l01FlushRx(SPIDriver *spip); +#if NRF24L01_USE_FEATURE || defined(__DOXYGEN__) +NRF24L01_status_t nrf24l01Activate(SPIDriver *spip); +NRF24L01_status_t nrf24l01ReadRxPlWid(SPIDriver *spip, uint8_t* ppaylen); +NRF24L01_status_t nrf24l01WriteAckPl(SPIDriver *spip, uint8_t ppp, uint8_t paylen, + uint8_t* payload); +NRF24L01_status_t nrf24l01WriteTxPlNoAck(SPIDriver *spip, uint8_t paylen, + uint8_t* txbuf); +#endif /* NRF24L01_USE_FEATURE */ +#ifdef __cplusplus +} +#endif + +#endif /* _NRF24L01_H_ */ + +/** @} */ diff --git a/ChibiOS_16.1.5/community/os/various/devices_lib/sensors/hdc1000.c b/ChibiOS_16.1.5/community/os/various/devices_lib/sensors/hdc1000.c new file mode 100644 index 0000000..39e47ec --- /dev/null +++ b/ChibiOS_16.1.5/community/os/various/devices_lib/sensors/hdc1000.c @@ -0,0 +1,265 @@ +/* + HDC100x for ChibiOS/RT - Copyright (C) 2016 Stephane D'Alu + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. +*/ + +/** + * @file HDC1000.c + * @brief HDC1000 interface module code. + * + * @addtogroup hdc1000 + * @{ + */ + +#define I2C_HELPERS_AUTOMATIC_DRV TRUE + +#include "hal.h" +#include "i2c_helpers.h" +#include "hdc1000.h" + +/* DOC: http://www.ti.com/lit/ds/symlink/hdc1008.pdf + */ + +/*===========================================================================*/ +/* Driver local definitions. */ +/*===========================================================================*/ + +/* I2C Register */ +#define HDC1000_REG_TEMP_HUMID 0x00 +#define HDC1000_REG_TEMP 0x00 +#define HDC1000_REG_HUMID 0x01 +#define HDC1000_REG_CONFIG 0x02 +#define HDC1000_REG_SERIAL 0xFB +#define HDC1000_REG_SERIAL_1 0xFB +#define HDC1000_REG_SERIAL_2 0xFC +#define HDC1000_REG_SERIAL_3 0xFD +#define HDC1000_REG_MANUF_ID 0xFE +#define HDC1000_REG_DEVICE_ID 0xFF + +/* Configuration */ +#define HDC1000_CONFIG_RST (1 << 15) +#define HDC1000_CONFIG_HEATER (1 << 13) +#define HDC1000_CONFIG_MODE_ONE (0 << 12) +#define HDC1000_CONFIG_MODE_BOTH (1 << 12) +#define HDC1000_CONFIG_BATT (1 << 11) +#define HDC1000_CONFIG_TRES_14 (0) +#define HDC1000_CONFIG_TRES_11 (1 << 10) +#define HDC1000_CONFIG_HRES_14 (0) +#define HDC1000_CONFIG_HRES_11 (1 << 8) +#define HDC1000_CONFIG_HRES_8 (1 << 9) + +/* Value */ +#define HDC1000_MANUF_ID 0x5449 +#define HDC1000_DEVICE_ID 0x1000 + +/* Delay in micro seconds */ +#define HDC1000_DELAY_ACQUIRE_SAFETY 1000 +#define HDC1000_DELAY_ACQUIRE_TRES_14 6350 +#define HDC1000_DELAY_ACQUIRE_TRES_11 3650 +#define HDC1000_DELAY_ACQUIRE_HRES_14 6500 +#define HDC1000_DELAY_ACQUIRE_HRES_11 3850 +#define HDC1000_DELAY_ACQUIRE_HRES_8 2500 +#define HDC1000_DELAY_STARTUP 15000 + +// Deefault config (high res) +#define HDC1000_CONFIG_RES (HDC1000_CONFIG_TRES_14 | \ + HDC1000_CONFIG_HRES_14) +#define HDC1000_DELAY_ACQUIRE (HDC1000_DELAY_ACQUIRE_TRES_14 + \ + HDC1000_DELAY_ACQUIRE_HRES_14) + +/*===========================================================================*/ +/* Driver exported variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local variables and types. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local functions. */ +/*===========================================================================*/ + +static inline msg_t +_apply_config(HDC1000_drv *drv) { + struct __attribute__((packed)) { + uint8_t reg; + uint16_t conf; + } tx = { HDC1000_REG_CONFIG, cpu_to_be16(drv->cfg) }; + + return i2c_send((uint8_t*)&tx, sizeof(tx)); +} + +static inline msg_t +_decode_measure(HDC1000_drv *drv, + uint32_t val, float *temperature, float *humidity) { + (void)drv; + + /* Temperature */ + if (temperature) { + float temp = (val >> 16); + temp /= 65536; + temp *= 165; + temp -= 40; + *temperature = temp; + } + + /* Humidiy */ + if (humidity) { + float hum = (val & 0xFFFF); + hum /= 65535; + hum *= 100; + *humidity = hum; + } + + /* ok */ + return MSG_OK; +} + +/*===========================================================================*/ +/* Driver exported functions. */ +/*===========================================================================*/ + +void +HDC1000_init(HDC1000_drv *drv, HDC1000_config *config) { + drv->config = config; + drv->cfg = HDC1000_CONFIG_RST | HDC1000_CONFIG_MODE_BOTH | + HDC1000_CONFIG_RES; + drv->delay = (HDC1000_DELAY_ACQUIRE + + HDC1000_DELAY_ACQUIRE_SAFETY) / 1000; + drv->state = SENSOR_INIT; +} + +msg_t +HDC1000_check(HDC1000_drv *drv) { + uint16_t manuf, device; + + msg_t msg; + if (((msg = i2c_reg_recv16_be(HDC1000_REG_MANUF_ID, &manuf )) < MSG_OK) || + ((msg = i2c_reg_recv16_be(HDC1000_REG_DEVICE_ID, &device)) < MSG_OK)) + return msg; + + if ((manuf != HDC1000_MANUF_ID) || (device != HDC1000_DEVICE_ID)) + return SENSOR_NOTFOUND; + + return MSG_OK; +} + + +msg_t +HDC1000_start(HDC1000_drv *drv) { + osalDbgAssert((drv->state == SENSOR_INIT ) || + (drv->state == SENSOR_ERROR ) || + (drv->state == SENSOR_STOPPED), + "invalid state"); + msg_t msg; + if ((msg = _apply_config(drv)) < MSG_OK) { + drv->state = SENSOR_ERROR; + return msg; + } + drv->state = SENSOR_STARTED; + return MSG_OK; +} + +msg_t +HDC1000_stop(HDC1000_drv *drv) { + drv->state = SENSOR_STOPPED; + return MSG_OK; +} + +msg_t +HDC1000_setHeater(HDC1000_drv *drv, bool on) { + if (on) { drv->cfg |= HDC1000_CONFIG_HEATER; } + else { drv->cfg &= ~HDC1000_CONFIG_HEATER; } + + msg_t msg; + if ((msg = _apply_config(drv)) < MSG_OK) { + drv->state = SENSOR_ERROR; + return msg; + } + return MSG_OK; +} + +msg_t +HDC1000_startMeasure(HDC1000_drv *drv) { + msg_t msg; + osalDbgAssert(drv->state == SENSOR_STARTED, "invalid state"); + if ((msg = i2c_reg(HDC1000_REG_TEMP_HUMID)) < MSG_OK) + return msg; + drv->state = SENSOR_MEASURING; + return MSG_OK; +} + + +msg_t +HDC1000_readSerial(HDC1000_drv *drv, uint8_t *serial) { + msg_t msg; + osalDbgAssert(drv->state == SENSOR_STARTED, "invalid state"); + + if (((msg = i2c_reg_recv16(HDC1000_REG_SERIAL_1, + (uint16_t*)&serial[0])) < MSG_OK) || + ((msg = i2c_reg_recv16(HDC1000_REG_SERIAL_2, + (uint16_t*)&serial[2])) < MSG_OK) || + ((msg = i2c_reg_recv8 (HDC1000_REG_SERIAL_3, + (uint8_t*) &serial[4])) < MSG_OK)) + return msg; + return MSG_OK; +} + + +msg_t +HDC1000_readMeasure(HDC1000_drv *drv, + float *temperature, float *humidity) { + msg_t msg; + uint32_t val; + + osalDbgAssert((drv->state == SENSOR_MEASURING) || + (drv->state == SENSOR_READY ), + "invalid state"); + + if ((msg = i2c_recv32_be(&val)) < MSG_OK) { + drv->state = SENSOR_ERROR; + return msg; + } + + drv->state = SENSOR_STARTED; + + return _decode_measure(drv, val, temperature, humidity); +} + +msg_t +HDC1000_readTemperatureHumidity(HDC1000_drv *drv, + float *temperature, float *humidity) { + msg_t msg; + uint32_t val; + + osalDbgAssert(drv->state == SENSOR_STARTED, "invalid state"); + + /* Request value */ + if ((msg = i2c_reg(HDC1000_REG_TEMP_HUMID)) < MSG_OK) + return msg; + + /* Wait */ + osalThreadSleepMilliseconds(drv->delay); + + /* Get value */ + if ((msg = i2c_recv32_be(&val)) < MSG_OK) { + drv->state = SENSOR_ERROR; + return msg; + } + + return _decode_measure(drv, val, temperature, humidity); +} + + +/** @} */ diff --git a/ChibiOS_16.1.5/community/os/various/devices_lib/sensors/hdc1000.h b/ChibiOS_16.1.5/community/os/various/devices_lib/sensors/hdc1000.h new file mode 100644 index 0000000..e4eae4c --- /dev/null +++ b/ChibiOS_16.1.5/community/os/various/devices_lib/sensors/hdc1000.h @@ -0,0 +1,240 @@ +/* + HDC100x for ChibiOS/RT - Copyright (C) 2016 Stephane D'Alu + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. +*/ + +/** + * @file hdc1000.h + * @brief HDC1000 Temperature/Humidiry sensor interface module header. + * + * When changing sensor settings, you generally need to wait + * for 2 * getAquisitionTime(), as usually the first acquisition + * will be corrupted by the change of settings. + * + * No locking is done. + * + * @{ + */ + +#ifndef _SENSOR_HDC1000_H_ +#define _SENSOR_HDC1000_H_ + +#include <math.h> +#include <stdbool.h> +#include "i2c_helpers.h" +#include "sensor.h" + + +/*===========================================================================*/ +/* Driver constants. */ +/*===========================================================================*/ + +#define HDC1000_CONTINUOUS_ACQUISITION_SUPPORTED FALSE + +/* I2C address */ +#define HDC1000_I2CADDR_1 0x40 +#define HDC1000_I2CADDR_2 0x41 +#define HDC1000_I2CADDR_3 0x42 +#define HDC1000_I2CADDR_4 0x43 + +#define HDC1000_SERIAL_SIZE 5 /**< @brief Size of serial (40bits) */ + +/** + * @brief Time necessary for the sensor to boot + */ +#define HDC1000_BOOTUP_TIME 15 + +/** + * @brief Time necessary for the sensor to start + */ +#define HDC1000_STARTUP_TIME 0 + + +/*===========================================================================*/ +/* Driver pre-compile time settings. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +#define HDC1000_I2CADDR_DEFAULT HDC1000_I2CADDR_1 + + +/*===========================================================================*/ +/* Driver data structures and types. */ +/*===========================================================================*/ + +/** + * @brief HDC1000 configuration structure. + */ +typedef struct { + I2CHelper i2c; /* keep it first */ +} HDC1000_config; + +/** + * @brief HDC1000 configuration structure. + */ +typedef struct { + HDC1000_config *config; + sensor_state_t state; + unsigned int delay; + uint16_t cfg; +} HDC1000_drv; + +/*===========================================================================*/ +/* Driver macros. */ +/*===========================================================================*/ + + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +/** + * @brief Initialize the sensor driver + */ +void +HDC1000_init(HDC1000_drv *drv, + HDC1000_config *config); + +/** + * @brief Start the sensor + */ +msg_t +HDC1000_start(HDC1000_drv *drv); + +/** + * @brief Stop the sensor + * + * @details If the sensor support it, it will be put in low energy mode. + */ +msg_t +HDC1000_stop(HDC1000_drv *drv); + +/** + * @brief Check that the sensor is really present + */ +msg_t +HDC1000_check(HDC1000_drv *drv); + + +msg_t +HDC1000_readSerial(HDC1000_drv *drv, uint8_t *serial); + +/** + * @brief Control the HD1000 heater. + */ +msg_t +HDC1000_setHeater(HDC1000_drv *drv, + bool on); + + + +/** + * @brief Time in milli-seconds necessary for acquiring a naw measure + * + * @returns + * unsigned int time in millis-seconds + */ +static inline unsigned int +HDC1000_getAcquisitionTime(HDC1000_drv *drv) { + return drv->delay; +} + +/** + * @brief Trigger a mesure acquisition + */ +msg_t +HDC1000_startMeasure(HDC1000_drv *drv); + +/** + * @brief Read the newly acquiered measure + * + * @note According the the sensor design the measure read + * can be any value acquired after the acquisition time + * and the call to readMeasure. + */ +msg_t +HDC1000_readMeasure(HDC1000_drv *drv, + float *temperature, float *humidity); + + +/** + * @brief Read temperature and humidity + * + * @details According to the sensor specification/configuration + * (see #HDC1000_CONTINUOUS_ACQUISITION_SUPPORTED), + * if the sensor is doing continuous measurement + * it's value will be requested and returned immediately. + * Otherwise a measure is started, the necessary amount of + * time for acquiring the value is spend sleeping (not spinning), + * and finally the measure is read. + * + * @note In continuous measurement mode, if you just started + * the sensor, you will need to wait getAcquisitionTime() + * in addition to the usual #HDC1000_STARTUP_TIME + + * @note If using several sensors, it is better to start all the + * measure together, wait for the sensor having the longuest + * aquisition time, and finally read all the values + */ +msg_t +HDC1000_readTemperatureHumidity(HDC1000_drv *drv, + float *temperature, float *humidity); + +/** + * @brief Return the humidity value in percent. + * + * @details Use readTemperatureHumidity() for returning the humidity value. + * + * @note Prefere readTemperatureHumidity(), if you need both temperature + * and humidity, or if you need better error handling. + * + * @returns + * float humidity percent + * NAN on failure + */ +static inline float +HDC1000_getHumidity(HDC1000_drv *drv) { + float humidity = NAN; + HDC1000_readTemperatureHumidity(drv, NULL, &humidity); + return humidity; +} + +/** + * @brief Return the temperature value in °C. + * + * @details Use readTemperatureHumidity() for returning the humidity value. + * + * @note Prefere readTemperatureHumidity(), if you need both temperature + * and humidity, or if you need better error handling. + * + * @returns + * float humidity percent + * NAN on failure + */ +static inline float +HDC1000_getTemperature(HDC1000_drv *drv) { + float temperature = NAN; + HDC1000_readTemperatureHumidity(drv, &temperature, NULL); + return temperature; +} + + +#endif + +/** + * @} + */ diff --git a/ChibiOS_16.1.5/community/os/various/devices_lib/sensors/mcp9808.c b/ChibiOS_16.1.5/community/os/various/devices_lib/sensors/mcp9808.c new file mode 100644 index 0000000..4b22ea9 --- /dev/null +++ b/ChibiOS_16.1.5/community/os/various/devices_lib/sensors/mcp9808.c @@ -0,0 +1,207 @@ +/* + MCP9808 for ChibiOS/RT - Copyright (C) 2016 Stephane D'Alu + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. +*/ + +#define I2C_HELPERS_AUTOMATIC_DRV TRUE + +#include "hal.h" +#include "i2c_helpers.h" +#include "mcp9808.h" + +// http://www.mouser.com/ds/2/268/25095A-15487.pdf +// http://ww1.microchip.com/downloads/en/DeviceDoc/25095A.pdf + + +/*===========================================================================*/ +/* Driver local definitions. */ +/*===========================================================================*/ + +/* I2C Register */ +#define MCP9808_REG_CONFIG 0x01 +#define MCP9808_REG_UPPER_TEMP 0x02 +#define MCP9808_REG_LOWER_TEMP 0x03 +#define MCP9808_REG_CRIT_TEMP 0x04 +#define MCP9808_REG_AMBIENT_TEMP 0x05 +#define MCP9808_REG_MANUF_ID 0x06 +#define MCP9808_REG_DEVICE_ID 0x07 +#define MCP9808_REG_RESOLUTION 0x08 + +/* Config */ +#define MCP9808_REG_CONFIG_SHUTDOWN 0x0100 +#define MCP9808_REG_CONFIG_CRITLOCKED 0x0080 +#define MCP9808_REG_CONFIG_WINLOCKED 0x0040 +#define MCP9808_REG_CONFIG_INTCLR 0x0020 +#define MCP9808_REG_CONFIG_ALERTSTAT 0x0010 +#define MCP9808_REG_CONFIG_ALERTCTRL 0x0008 +#define MCP9808_REG_CONFIG_ALERTSEL 0x0002 +#define MCP9808_REG_CONFIG_ALERTPOL 0x0002 +#define MCP9808_REG_CONFIG_ALERTMODE 0x0001 + +/* Device Id */ +#define MCP9808_MANUF_ID 0x0054 +#define MCP9808_DEVICE_ID 0x0400 + +/* Resolution */ +#define MCP9808_RES_2 0x00 /* 1/2 = 0.5 */ +#define MCP9808_RES_4 0x01 /* 1/4 = 0.25 */ +#define MCP9808_RES_8 0x10 /* 1/8 = 0.125 */ +#define MCP9808_RES_16 0x11 /* 1/16 = 0.0625 */ + +/* Time in milli-seconds */ +#define MCP9808_DELAY_ACQUIRE_RES_2 30 +#define MCP9808_DELAY_ACQUIRE_RES_4 65 +#define MCP9808_DELAY_ACQUIRE_RES_8 130 +#define MCP9808_DELAY_ACQUIRE_RES_16 250 + +/*===========================================================================*/ +/* Driver exported variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local variables and types. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local functions. */ +/*===========================================================================*/ + +static inline msg_t +_apply_config(MCP9808_drv *drv) { + struct __attribute__((packed)) { + uint8_t reg; + uint16_t conf; + } tx = { MCP9808_REG_CONFIG, cpu_to_be16(drv->cfg) }; + + return i2c_send((uint8_t*)&tx, sizeof(tx)); +} + +static inline msg_t +_decode_measure(MCP9808_drv *drv, + uint16_t val, float *temperature) { + + /* Temperature */ + if (temperature) { + float temp = val & 0x0fff; + if (val & 0x1000) temp -= 0x1000; + + float factor = 16.0F; + switch(drv->resolution) { + case RES_2 : factor = 2.0F; break; + case RES_4 : factor = 4.0F; break; + case RES_8 : factor = 8.0F; break; + case RES_16: factor = 16.0F; break; + } + + *temperature = temp / factor; + } + + /* Ok */ + return MSG_OK; +} + + +/*===========================================================================*/ +/* Driver exported functions. */ +/*===========================================================================*/ + +void +MCP9808_init(MCP9808_drv *drv, MCP9808_config *config) { + drv->config = config; + drv->cfg = 0; + drv->resolution = RES_16; /* power up default */ + drv->state = SENSOR_INIT; +} + +msg_t +MCP9808_check(MCP9808_drv *drv) { + uint16_t manuf, device; + + msg_t msg; + if (((msg = i2c_reg_recv16_be(MCP9808_REG_MANUF_ID, &manuf )) < MSG_OK) || + ((msg = i2c_reg_recv16_be(MCP9808_REG_DEVICE_ID, &device)) < MSG_OK)) + return msg; + + if ((manuf != MCP9808_MANUF_ID) || (device != MCP9808_DEVICE_ID)) + return SENSOR_NOTFOUND; + + return MSG_OK; +} + +msg_t +MCP9808_setResolution(MCP9808_drv *drv, MCP9808_resolution_t res) { + struct __attribute__((packed)) { + uint8_t reg; + uint8_t resolution; + } tx = { MCP9808_REG_RESOLUTION, res }; + + msg_t msg; + if ((msg = i2c_send((uint8_t*)&tx, sizeof(tx))) < MSG_OK) + return msg; + + drv->resolution = res; + return MSG_OK; +} + +msg_t +MCP9808_start(MCP9808_drv *drv) { + drv->cfg &= ~(MCP9808_REG_CONFIG_SHUTDOWN); + return _apply_config(drv); +} + +msg_t +MCP9808_stop(MCP9808_drv *drv) { + drv->cfg |= (MCP9808_REG_CONFIG_SHUTDOWN); + return _apply_config(drv); +} + +unsigned int +MCP9808_getAcquisitionTime(MCP9808_drv *drv) { + switch(drv->resolution) { + case RES_2 : return MCP9808_DELAY_ACQUIRE_RES_2; + case RES_4 : return MCP9808_DELAY_ACQUIRE_RES_4; + case RES_8 : return MCP9808_DELAY_ACQUIRE_RES_8; + case RES_16: return MCP9808_DELAY_ACQUIRE_RES_16; + } + osalDbgAssert(false, "OOPS"); + return 0; +} + +msg_t +MCP9808_readMeasure(MCP9808_drv *drv, + float *temperature) { + + msg_t msg; + uint16_t val; + + if ((msg = i2c_reg_recv16_be(MCP9808_REG_AMBIENT_TEMP, &val)) < MSG_OK) + return msg; + + return _decode_measure(drv, val, temperature); +} + + +msg_t +MCP9808_readTemperature(MCP9808_drv *drv, + float *temperature) { + osalDbgAssert(drv->state == SENSOR_STARTED, "invalid state"); + + msg_t msg; + uint16_t val; + + if ((msg = i2c_reg_recv16_be(MCP9808_REG_AMBIENT_TEMP, &val)) < MSG_OK) + return msg; + + return _decode_measure(drv, val, temperature); +} diff --git a/ChibiOS_16.1.5/community/os/various/devices_lib/sensors/mcp9808.h b/ChibiOS_16.1.5/community/os/various/devices_lib/sensors/mcp9808.h new file mode 100644 index 0000000..857f2f9 --- /dev/null +++ b/ChibiOS_16.1.5/community/os/various/devices_lib/sensors/mcp9808.h @@ -0,0 +1,204 @@ +/* + MCP9808 for ChibiOS/RT - Copyright (C) 2016 Stephane D'Alu + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. +*/ + +#ifndef _SENSOR_MCP9808_H_ +#define _SENSOR_MCP9808_H_ + +#include <math.h> +#include "i2c_helpers.h" +#include "sensor.h" + +/*===========================================================================*/ +/* Driver constants. */ +/*===========================================================================*/ + +#define MCP9808_CONTINUOUS_ACQUISITION_SUPPORTED TRUE + + +#define MCP9808_I2CADDR_FIXED 0x18 + +/** + * @brief Time necessary for the sensor to boot + */ +#define MCP9808_BOOTUP_TIME 0 + +/** + * @brief Time necessary for the sensor to start + */ +#define MCP9808_STARTUP_TIME 0 + +/*===========================================================================*/ +/* Driver pre-compile time settings. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +#define MCP9808_I2CADDR_DEFAULT MCP9808_I2CADDR_FIXED + +/*===========================================================================*/ +/* Driver data structures and types. */ +/*===========================================================================*/ + +/** + * @brief Different possible resolution + */ +typedef enum { + RES_2 = 0x00, /**< @brief Resolution of 1/2 = 0.5 */ + RES_4 = 0x01, /**< @brief Resolution of 1/4 = 0.25 */ + RES_8 = 0x10, /**< @brief Resolution of 1/8 = 0.125 */ + RES_16 = 0x11, /**< @brief Resolution of 1/16 = 0.0625 */ +} MCP9808_resolution_t; + +/** + * @brief MCP9808 configuration structure. + */ +typedef struct { + I2CHelper i2c; /* keep it first */ +} MCP9808_config; + +/** + * @brief MCP9808 configuration structure. + */ +typedef struct { + MCP9808_config *config; + sensor_state_t state; + MCP9808_resolution_t resolution; + uint16_t cfg; +} MCP9808_drv; + +/** + * @brief MCP9808 measure reading + */ +typedef struct { + float temperature; +} MCP9808_measure; + +/*===========================================================================*/ +/* Driver macros. */ +/*===========================================================================*/ + + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +/** + * @brief Initialize the sensor driver + */ +void +MCP9808_init(MCP9808_drv *drv, + MCP9808_config *config); + +/** + * @brief Check that the sensor is really present + */ +msg_t +MCP9808_check(MCP9808_drv *drv); + +/** + * @brief Start the sensor + */ +msg_t +MCP9808_start(MCP9808_drv *drv); + +/** + * @brief Stop the sensor + * + * @details If the sensor support it, it will be put in low energy mode. + */ +msg_t +MCP9808_stop(MCP9808_drv *drv); + +/** + * @brief Control the MCP9809 resolution. + */ +msg_t +MCP9808_setResolution(MCP9808_drv *drv, + MCP9808_resolution_t res); + +/** + * @brief Time in milli-seconds necessary for acquiring a naw measure + * + * @returns + * unsigned int time in millis-seconds + */ +unsigned int +MCP9808_getAcquisitionTime(MCP9808_drv *drv); + +/** + * @brief Trigger a mesure acquisition + */ +static inline msg_t +MCP9808_startMeasure(MCP9808_drv *drv) { + (void)drv; + return MSG_OK; +} + +/** + * @brief Read the newly acquiered measure + * + * @note According the the sensor design the measure read + * can be any value acquired after the acquisition time + * and the call to readMeasure. + */ +msg_t +MCP9808_readMeasure(MCP9808_drv *drv, + float *temperature); + + +/** + * @brief Read temperature and humidity + * + * @details According to the sensor specification/configuration + * (see #MCP9808_CONTINUOUS_ACQUISITION_SUPPORTED), + * if the sensor is doing continuous measurement + * it's value will be requested and returned immediately. + * Otherwise a measure is started, the necessary amount of + * time for acquiring the value is spend sleeping (not spinning), + * and finally the measure is read. + * + * @note In continuous measurement mode, if you just started + * the sensor, you will need to wait getAcquisitionTime() + * in addition to the usual getStartupTime() + + * @note If using several sensors, it is better to start all the + * measure together, wait for the sensor having the longuest + * aquisition time, and finally read all the values + */ +msg_t +MCP9808_readTemperature(MCP9808_drv *drv, + float *temperature); + +/** + * @brief Return the temperature value in °C. + * + * @note Prefere readTemperature(), if you need better error handling. + * + * @return The temperature in °C + * @retval float humidity percent + * @retval NAN on failure + */ +static inline float +MCP9808_getTemperature(MCP9808_drv *drv) { + float temperature = NAN; + MCP9808_readTemperature(drv, &temperature); + return temperature; +} + +#endif + diff --git a/ChibiOS_16.1.5/community/os/various/devices_lib/sensors/sensor.h b/ChibiOS_16.1.5/community/os/various/devices_lib/sensors/sensor.h new file mode 100644 index 0000000..bd544b1 --- /dev/null +++ b/ChibiOS_16.1.5/community/os/various/devices_lib/sensors/sensor.h @@ -0,0 +1,81 @@ +/* + Copyright (C) 2016 Stephane D'Alu + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. +*/ + +/** + * + * Example of function calls. + * + * @code + * static SENSOR_config sensor_config = { + * }; + * static SENSOR_drv sensor_drv; + * @endcode + * + * + * @code + * osalThreadSleepMilliseconds(SENSOR_BOOTUP_TIME); + * SENSOR_init(&sensor_drv); + * @endcode + * + * @code + * SENSOR_start(&sensor_drv, &sensor_config); + * osalThreadSleepMilliseconds(SENSOR_STARTUP_TIME); + * @endcode + * + * If using SENSOR_startMeasure()/SENSOR_readMeasure() + * @code + * while(true) { + * SENSOR_startMeasure(&sensor_drv); + * osalThreadSleepMilliseconds(SENSOR_getAcquisitionTime()); + * SENSOR_readMeasure(&sensor_drv, ...); + * } + * @endcode + * + * If using SENSOR_readValue() or SENSOR_getValue() + * @code + * #if SENSOR_CONTINUOUS_ACQUISITION_SUPPORTED == TRUE + * osalThreadSleepMilliseconds(SENSOR_getAcquisitionTime()) + * #endif + * + * while(true) { + * SENSOR_readValue(&sensor_drv, ...); + * } + * @encode + */ +#ifndef _SENSOR_H_ +#define _SENSOR_H_ + +#define SENSOR_OK MSG_OK /**< @brief Operation successful. */ +#define SENSOR_TIMEOUT MSG_TIMEOUT /**< @brief Communication timeout */ +#define SENSOR_RESET MSG_REST /**< @brief Communication error. */ +#define SENSOR_NOTFOUND (msg_t)-20 /**< @brief Sensor not found. */ + + +/** + * @brief Driver state machine possible states. + */ +typedef enum __attribute__ ((__packed__)) { + SENSOR_UNINIT = 0, /**< Not initialized. */ + SENSOR_INIT = 1, /**< Initialized. */ + SENSOR_STARTED = 2, /**< Started. */ + SENSOR_MEASURING = 4, /**< Measuring. */ + SENSOR_READY = 3, /**< Ready. */ + SENSOR_STOPPED = 5, /**< Stopped. */ + SENSOR_ERROR = 6, /**< Error. */ +} sensor_state_t; + +#endif + + diff --git a/ChibiOS_16.1.5/community/os/various/devices_lib/sensors/tsl2561.c b/ChibiOS_16.1.5/community/os/various/devices_lib/sensors/tsl2561.c new file mode 100644 index 0000000..a4ac8ec --- /dev/null +++ b/ChibiOS_16.1.5/community/os/various/devices_lib/sensors/tsl2561.c @@ -0,0 +1,386 @@ +/* + TSL2561 for ChibiOS/RT - Copyright (C) 2016 Stephane D'Alu + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. +*/ + +/** + * Illuminance calculation code provided by www.taosinc.com + * DOC: http://ams.com/eng/content/download/250096/975518/143687 + */ +#define I2C_HELPERS_AUTOMATIC_DRV TRUE + +#include "hal.h" +#include "i2c_helpers.h" +#include "tsl2561.h" + +/*===========================================================================*/ +/* Driver local definitions. */ +/*===========================================================================*/ + +// Integration time in µs +#define TSL2561_DELAY_INTTIME_SHORT 13700 // 13.7 ms +#define TSL2561_DELAY_INTTIME_MEDIUM 120000 // 120.0 ms +#define TSL2561_DELAY_INTTIME_LONG 450000 // 450.0 ms + + +#define TSL2561_COMMAND_BIT (0x80) +#define TSL2561_CLEAR_BIT (0x40) +#define TSL2561_WORD_BIT (0x20) +#define TSL2561_BLOCK_BIT (0x10) + +#define TSL2561_CONTROL_POWERON (0x03) +#define TSL2561_CONTROL_POWEROFF (0x00) + +#define TSL2561_LUX_LUXSCALE (14) +#define TSL2561_LUX_RATIOSCALE (9) +#define TSL2561_LUX_CHSCALE (10) // Scale channel values by 2^10 +#define TSL2561_LUX_CHSCALE_TINT0 (0x7517) // 322/11 * 2^TSL2561_LUX_CHSCALE +#define TSL2561_LUX_CHSCALE_TINT1 (0x0FE7) // 322/81 * 2^TSL2561_LUX_CHSCALE + + +// I2C Register +#define TSL2561_REG_CONTROL 0x00 +#define TSL2561_REG_TIMING 0x01 +#define TSL2561_REG_THRESHHOLDLLOW 0x02 +#define TSL2561_REG_THRESHHOLDLHIGH 0x03 +#define TSL2561_REG_THRESHHOLDHLOW 0x04 +#define TSL2561_REG_THRESHHOLDHHIGH 0x05 +#define TSL2561_REG_INTERRUPT 0x06 +#define TSL2561_REG_CRC 0x08 +#define TSL2561_REG_ID 0x0A +#define TSL2561_REG_DATA0LOW 0x0C +#define TSL2561_REG_DATA0HIGH 0x0D +#define TSL2561_REG_DATA1LOW 0x0E +#define TSL2561_REG_DATA1HIGH 0x0F + + +// Auto-gain thresholds +#define TSL2561_AGC_THI_SHORT (4850) // Max value at Ti 13ms = 5047 +#define TSL2561_AGC_TLO_SHORT (100) +#define TSL2561_AGC_THI_MEDIUM (36000) // Max value at Ti 101ms = 37177 +#define TSL2561_AGC_TLO_MEDIUM (200) +#define TSL2561_AGC_THI_LONG (63000) // Max value at Ti 402ms = 65535 +#define TSL2561_AGC_TLO_LONG (500) + +// Clipping thresholds +#define TSL2561_CLIPPING_SHORT (4900) +#define TSL2561_CLIPPING_MEDIUM (37000) +#define TSL2561_CLIPPING_LONG (65000) + +// T, FN and CL package values +#define TSL2561_LUX_K1T (0x0040) // 0.125 * 2^RATIO_SCALE +#define TSL2561_LUX_B1T (0x01f2) // 0.0304 * 2^LUX_SCALE +#define TSL2561_LUX_M1T (0x01be) // 0.0272 * 2^LUX_SCALE +#define TSL2561_LUX_K2T (0x0080) // 0.250 * 2^RATIO_SCALE +#define TSL2561_LUX_B2T (0x0214) // 0.0325 * 2^LUX_SCALE +#define TSL2561_LUX_M2T (0x02d1) // 0.0440 * 2^LUX_SCALE +#define TSL2561_LUX_K3T (0x00c0) // 0.375 * 2^RATIO_SCALE +#define TSL2561_LUX_B3T (0x023f) // 0.0351 * 2^LUX_SCALE +#define TSL2561_LUX_M3T (0x037b) // 0.0544 * 2^LUX_SCALE +#define TSL2561_LUX_K4T (0x0100) // 0.50 * 2^RATIO_SCALE +#define TSL2561_LUX_B4T (0x0270) // 0.0381 * 2^LUX_SCALE +#define TSL2561_LUX_M4T (0x03fe) // 0.0624 * 2^LUX_SCALE +#define TSL2561_LUX_K5T (0x0138) // 0.61 * 2^RATIO_SCALE +#define TSL2561_LUX_B5T (0x016f) // 0.0224 * 2^LUX_SCALE +#define TSL2561_LUX_M5T (0x01fc) // 0.0310 * 2^LUX_SCALE +#define TSL2561_LUX_K6T (0x019a) // 0.80 * 2^RATIO_SCALE +#define TSL2561_LUX_B6T (0x00d2) // 0.0128 * 2^LUX_SCALE +#define TSL2561_LUX_M6T (0x00fb) // 0.0153 * 2^LUX_SCALE +#define TSL2561_LUX_K7T (0x029a) // 1.3 * 2^RATIO_SCALE +#define TSL2561_LUX_B7T (0x0018) // 0.00146 * 2^LUX_SCALE +#define TSL2561_LUX_M7T (0x0012) // 0.00112 * 2^LUX_SCALE +#define TSL2561_LUX_K8T (0x029a) // 1.3 * 2^RATIO_SCALE +#define TSL2561_LUX_B8T (0x0000) // 0.000 * 2^LUX_SCALE +#define TSL2561_LUX_M8T (0x0000) // 0.000 * 2^LUX_SCALE + +// CS package values +#define TSL2561_LUX_K1C (0x0043) // 0.130 * 2^RATIO_SCALE +#define TSL2561_LUX_B1C (0x0204) // 0.0315 * 2^LUX_SCALE +#define TSL2561_LUX_M1C (0x01ad) // 0.0262 * 2^LUX_SCALE +#define TSL2561_LUX_K2C (0x0085) // 0.260 * 2^RATIO_SCALE +#define TSL2561_LUX_B2C (0x0228) // 0.0337 * 2^LUX_SCALE +#define TSL2561_LUX_M2C (0x02c1) // 0.0430 * 2^LUX_SCALE +#define TSL2561_LUX_K3C (0x00c8) // 0.390 * 2^RATIO_SCALE +#define TSL2561_LUX_B3C (0x0253) // 0.0363 * 2^LUX_SCALE +#define TSL2561_LUX_M3C (0x0363) // 0.0529 * 2^LUX_SCALE +#define TSL2561_LUX_K4C (0x010a) // 0.520 * 2^RATIO_SCALE +#define TSL2561_LUX_B4C (0x0282) // 0.0392 * 2^LUX_SCALE +#define TSL2561_LUX_M4C (0x03df) // 0.0605 * 2^LUX_SCALE +#define TSL2561_LUX_K5C (0x014d) // 0.65 * 2^RATIO_SCALE +#define TSL2561_LUX_B5C (0x0177) // 0.0229 * 2^LUX_SCALE +#define TSL2561_LUX_M5C (0x01dd) // 0.0291 * 2^LUX_SCALE +#define TSL2561_LUX_K6C (0x019a) // 0.80 * 2^RATIO_SCALE +#define TSL2561_LUX_B6C (0x0101) // 0.0157 * 2^LUX_SCALE +#define TSL2561_LUX_M6C (0x0127) // 0.0180 * 2^LUX_SCALE +#define TSL2561_LUX_K7C (0x029a) // 1.3 * 2^RATIO_SCALE +#define TSL2561_LUX_B7C (0x0037) // 0.00338 * 2^LUX_SCALE +#define TSL2561_LUX_M7C (0x002b) // 0.00260 * 2^LUX_SCALE +#define TSL2561_LUX_K8C (0x029a) // 1.3 * 2^RATIO_SCALE +#define TSL2561_LUX_B8C (0x0000) // 0.000 * 2^LUX_SCALE +#define TSL2561_LUX_M8C (0x0000) // 0.000 * 2^LUX_SCALE + + +/*===========================================================================*/ +/* Driver exported variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local variables and types. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local functions. */ +/*===========================================================================*/ + +#define CEILING(x,y) (((x) + (y) - 1) / (y)) + +static inline unsigned int +calculateIlluminance(TSL2561_integration_time_t integration_time, + TSL2561_gain_t gain, + uint16_t broadband, uint16_t ir, + unsigned int partno) { + unsigned long channel_1; + unsigned long channel_0; + + /* Get value for channel scaling, and clipping */ + uint16_t clip_threshold = 0; + unsigned long channel_scale = 0; + switch (integration_time) { + case TSL2561_INTEGRATIONTIME_SHORT: + clip_threshold = TSL2561_CLIPPING_SHORT; + channel_scale = TSL2561_LUX_CHSCALE_TINT0; + break; + case TSL2561_INTEGRATIONTIME_MEDIUM: + clip_threshold = TSL2561_CLIPPING_MEDIUM; + channel_scale = TSL2561_LUX_CHSCALE_TINT1; + break; + case TSL2561_INTEGRATIONTIME_LONG: + clip_threshold = TSL2561_CLIPPING_LONG; + channel_scale = (1 << TSL2561_LUX_CHSCALE); + break; + default: + // assert failed + break; + } + + /* Check for saturated sensor (ie: clipping) */ + if ((broadband > clip_threshold) || (ir > clip_threshold)) { + return TSL2561_OVERLOADED; + } + + /* Scale for gain (1x or 16x) */ + if (gain == TSL2561_GAIN_1X) + channel_scale <<= 4; + + /* Scale the channel values */ + channel_0 = (broadband * channel_scale) >> TSL2561_LUX_CHSCALE; + channel_1 = (ir * channel_scale) >> TSL2561_LUX_CHSCALE; + + /* Find the ratio of the channel values (Channel_1/Channel_0) */ + unsigned long _ratio = 0; + if (channel_0 != 0) + _ratio = (channel_1 << (TSL2561_LUX_RATIOSCALE+1)) / channel_0; + unsigned long ratio = (_ratio + 1) >> 1; /* round the ratio value */ + + /* Find linear approximation */ + unsigned int b = 0; + unsigned int m = 0; + + switch (partno) { +#if TSL2561_WITH_CS + case 0x1: // 0001 = TSL2561 CS + if ((ratio >= 0) && (ratio <= TSL2561_LUX_K1C)) + { b=TSL2561_LUX_B1C; m=TSL2561_LUX_M1C; } + else if (ratio <= TSL2561_LUX_K2C) + { b=TSL2561_LUX_B2C; m=TSL2561_LUX_M2C; } + else if (ratio <= TSL2561_LUX_K3C) + { b=TSL2561_LUX_B3C; m=TSL2561_LUX_M3C; } + else if (ratio <= TSL2561_LUX_K4C) + { b=TSL2561_LUX_B4C; m=TSL2561_LUX_M4C; } + else if (ratio <= TSL2561_LUX_K5C) + { b=TSL2561_LUX_B5C; m=TSL2561_LUX_M5C; } + else if (ratio <= TSL2561_LUX_K6C) + { b=TSL2561_LUX_B6C; m=TSL2561_LUX_M6C; } + else if (ratio <= TSL2561_LUX_K7C) + { b=TSL2561_LUX_B7C; m=TSL2561_LUX_M7C; } + else if (ratio > TSL2561_LUX_K8C) + { b=TSL2561_LUX_B8C; m=TSL2561_LUX_M8C; } + break; +#endif +#if TSL2561_WITH_T_FN_CL + case 0x5: // 0101 = TSL2561 T/FN/CL + if ((ratio >= 0) && (ratio <= TSL2561_LUX_K1T)) + { b=TSL2561_LUX_B1T; m=TSL2561_LUX_M1T; } + else if (ratio <= TSL2561_LUX_K2T) + { b=TSL2561_LUX_B2T; m=TSL2561_LUX_M2T; } + else if (ratio <= TSL2561_LUX_K3T) + { b=TSL2561_LUX_B3T; m=TSL2561_LUX_M3T; } + else if (ratio <= TSL2561_LUX_K4T) + { b=TSL2561_LUX_B4T; m=TSL2561_LUX_M4T; } + else if (ratio <= TSL2561_LUX_K5T) + { b=TSL2561_LUX_B5T; m=TSL2561_LUX_M5T; } + else if (ratio <= TSL2561_LUX_K6T) + { b=TSL2561_LUX_B6T; m=TSL2561_LUX_M6T; } + else if (ratio <= TSL2561_LUX_K7T) + { b=TSL2561_LUX_B7T; m=TSL2561_LUX_M7T; } + else if (ratio > TSL2561_LUX_K8T) + { b=TSL2561_LUX_B8T; m=TSL2561_LUX_M8T; } + break; +#endif + default: + // assert failed + break; + } + + /* Compute illuminance */ + long ill = ((channel_0 * b) - (channel_1 * m)); + if (ill < 0) ill = 0; /* Do not allow negative lux value */ + ill += (1 << (TSL2561_LUX_LUXSCALE-1)); /* Round lsb (2^(LUX_SCALE-1)) */ + ill >>= TSL2561_LUX_LUXSCALE; /* Strip fractional part */ + + /* Signal I2C had no errors */ + return ill; +} + +static inline msg_t +_readChannel(TSL2561_drv *drv, uint16_t *broadband, uint16_t *ir) { + msg_t msg; + if (((msg = i2c_reg_recv16_le( + TSL2561_COMMAND_BIT | TSL2561_WORD_BIT | TSL2561_REG_DATA0LOW, + broadband)) < MSG_OK) || + ((msg = i2c_reg_recv16_le( + TSL2561_COMMAND_BIT | TSL2561_WORD_BIT | TSL2561_REG_DATA1LOW, + ir )) < MSG_OK)) + return msg; + return MSG_OK; +} + +/*===========================================================================*/ +/* Driver exported functions. */ +/*===========================================================================*/ + +void +TSL2561_init(TSL2561_drv *drv, TSL2561_config *config) { + drv->config = config; + drv->gain = TSL2561_GAIN_1X; + drv->integration_time = TSL2561_INTEGRATIONTIME_LONG; + drv->state = SENSOR_INIT; + + i2c_reg_recv8(TSL2561_COMMAND_BIT | TSL2561_REG_ID, + (uint8_t*)&drv->id); +} + +msg_t +TSL2561_check(TSL2561_drv *drv) { + uint8_t rx; + + msg_t msg; + if ((msg = i2c_reg_recv8(TSL2561_REG_ID, &rx)) < MSG_OK) + return msg; + if (!(rx & 0x0A)) + return SENSOR_NOTFOUND; + return MSG_OK; +} + +msg_t +TSL2561_stop(TSL2561_drv *drv) { + struct __attribute__((packed)) { + uint8_t reg; + uint8_t conf; + } tx = { TSL2561_COMMAND_BIT | TSL2561_REG_CONTROL, + TSL2561_CONTROL_POWEROFF }; + + return i2c_send((uint8_t*)&tx, sizeof(tx)); +} + +msg_t +TSL2561_start(TSL2561_drv *drv) { + struct __attribute__((packed)) { + uint8_t reg; + uint8_t conf; + } tx = { TSL2561_COMMAND_BIT | TSL2561_REG_CONTROL, + TSL2561_CONTROL_POWERON }; + + return i2c_send((uint8_t*)&tx, sizeof(tx)); +} + +msg_t +TSL2561_setIntegrationTime(TSL2561_drv *drv, + TSL2561_integration_time_t time) { + struct __attribute__((packed)) { + uint8_t reg; + uint8_t conf; + } tx = { TSL2561_COMMAND_BIT | TSL2561_REG_TIMING, + (uint8_t)(time | drv->gain) }; + + msg_t msg; + if ((msg = i2c_send((uint8_t*)&tx, sizeof(tx))) < MSG_OK) + return msg; + + drv->integration_time = time; + + return MSG_OK; +} + +msg_t +TSL2561_setGain(TSL2561_drv *drv, + TSL2561_gain_t gain) { + struct __attribute__((packed)) { + uint8_t reg; + uint8_t conf; + } tx = { TSL2561_COMMAND_BIT | TSL2561_REG_TIMING, + (uint8_t)(drv->integration_time | gain) }; + + msg_t msg; + if ((msg = i2c_send((uint8_t*)&tx, sizeof(tx))) < MSG_OK) + return msg; + + drv->gain = gain; + + return MSG_OK; +} + +unsigned int +TSL2561_getAcquisitionTime(TSL2561_drv *drv) { + switch (drv->integration_time) { + case TSL2561_INTEGRATIONTIME_SHORT: + return CEILING(TSL2561_DELAY_INTTIME_SHORT , 1000); + case TSL2561_INTEGRATIONTIME_MEDIUM: + return CEILING(TSL2561_DELAY_INTTIME_MEDIUM, 1000); + case TSL2561_INTEGRATIONTIME_LONG: + return CEILING(TSL2561_DELAY_INTTIME_LONG , 1000); + } + return -1; +} + + +msg_t +TSL2561_readIlluminance(TSL2561_drv *drv, + unsigned int *illuminance) { + uint16_t broadband; + uint16_t ir; + + /* Read channels */ + msg_t msg; + if ((msg = _readChannel(drv, &broadband, &ir)) < MSG_OK) + return msg; + + /* Calculate illuminance */ + *illuminance = + calculateIlluminance(drv->integration_time, drv->gain, + broadband, ir, drv->id.partno); + /* Ok */ + return SENSOR_OK; +} + diff --git a/ChibiOS_16.1.5/community/os/various/devices_lib/sensors/tsl2561.h b/ChibiOS_16.1.5/community/os/various/devices_lib/sensors/tsl2561.h new file mode 100644 index 0000000..75e7c78 --- /dev/null +++ b/ChibiOS_16.1.5/community/os/various/devices_lib/sensors/tsl2561.h @@ -0,0 +1,241 @@ +/* + TSL2561 for ChibiOS/RT - Copyright (C) 2016 Stephane D'Alu + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. +*/ + +/** + * @file tsl2561.h + * @brief TSL2561 Light sensor interface module header. + * + * @{ + */ + +#ifndef _SENSOR_TSL2561_H_ +#define _SENSOR_TSL2561_H_ + +#include <math.h> +#include "i2c_helpers.h" +#include "sensor.h" + + +/*===========================================================================*/ +/* Driver constants. */ +/*===========================================================================*/ + +#define TSL2561_CONTINUOUS_ACQUISITION_SUPPORTED TRUE + +#define TSL2561_OVERLOADED (-1) + + +/* I2C address */ +#define TSL2561_I2CADDR_LOW (0x29) +#define TSL2561_I2CADDR_FLOAT (0x39) +#define TSL2561_I2CADDR_HIGH (0x49) + +/** + * @brief Time necessary for the sensor to boot + */ +#define TSL2561_BOOTUP_TIME 0 + +/** + * @brief Time necessary for the sensor to start + */ +#define TSL2561_STARTUP_TIME 0 + + + +/*===========================================================================*/ +/* Driver pre-compile time settings. */ +/*===========================================================================*/ + +#ifndef TSL2561_WITH_CS +#define TSL2561_WITH_CS 0 +#endif + +#ifndef TSL2561_WITH_T_FN_CL +#define TSL2561_WITH_T_FN_CL 1 +#endif + + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + + +#define TSL2561_I2CADDR_DEFAULT TSL2561_I2CADDR_FLOAT + + +/*===========================================================================*/ +/* Driver data structures and types. */ +/*===========================================================================*/ + +/** + * @brief TSL2561 configuration structure. + */ +typedef struct { + I2CHelper i2c; /* keep it first */ +} TSL2561_config; + +/** + * @brief Available integration time + * + * @details Available integration time are: + * 13.7ms, 101ms, 402ms + */ +typedef enum { + TSL2561_INTEGRATIONTIME_SHORT = 0x00, /**< @brief 13.7ms */ + TSL2561_INTEGRATIONTIME_MEDIUM = 0x01, /**< @brief 101.0ms */ + TSL2561_INTEGRATIONTIME_LONG = 0x02, /**< @brief 402.0ms */ +} TSL2561_integration_time_t; + +/** + * @brief Available gain + * + * @details Available gain are 1x, 16x + */ +typedef enum { + TSL2561_GAIN_1X = 0x00, /**< @brief 1x gain */ + TSL2561_GAIN_16X = 0x10, /**< @brief 16x gain */ +} TSL2561_gain_t; + +/** + * @brief TSL2561 configuration structure. + */ +typedef struct { + TSL2561_config *config; + sensor_state_t state; + TSL2561_gain_t gain; + TSL2561_integration_time_t integration_time; + struct PACKED { + uint8_t revno : 4; + uint8_t partno : 4; } id; +} TSL2561_drv; + +/*===========================================================================*/ +/* Driver macros. */ +/*===========================================================================*/ + + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +/** + * @brief Initialize the sensor driver + */ +void +TSL2561_init(TSL2561_drv *drv, + TSL2561_config *config); + +/** + * @brief Start the sensor + */ +msg_t +TSL2561_start(TSL2561_drv *drv); + +/** + * @brief Stop the sensor + * + * @details If the sensor support it, it will be put in low energy mode. + */ +msg_t +TSL2561_stop(TSL2561_drv *drv); + +/** + * @brief Check that the sensor is really present + */ +msg_t +TSL2561_check(TSL2561_drv *drv); + +/** + * @brief Time in milli-seconds necessary for acquiring a naw measure + * + * @returns + * unsigned int time in millis-seconds + */ +unsigned int +TSL2561_getAcquisitionTime(TSL2561_drv *drv); + +/** + * @brief Trigger a mesure acquisition + */ +static inline msg_t +TSL2561_startMeasure(TSL2561_drv *drv) { + (void)drv; + return MSG_OK; +}; + +/** + * @brief Read the newly acquiered measure + * + * @note According the the sensor design the measure read + * can be any value acquired after the acquisition time + * and the call to readMeasure. + */ +msg_t +TSL2561_readMeasure(TSL2561_drv *drv, + unsigned int illuminance); + +msg_t +TSL2561_setGain(TSL2561_drv *drv, + TSL2561_gain_t gain); + +msg_t +TSL2561_setIntegrationTime(TSL2561_drv *drv, + TSL2561_integration_time_t time); + +/** + * @brief Read temperature and humidity + * + * @details According to the sensor specification/configuration + * (see #TSL2561_CONTINUOUS_ACQUISITION_SUPPORTED), + * if the sensor is doing continuous measurement + * it's value will be requested and returned immediately. + * Otherwise a measure is started, the necessary amount of + * time for acquiring the value is spend sleeping (not spinning), + * and finally the measure is read. + * + * @note In continuous measurement mode, if you just started + * the sensor, you will need to wait getAcquisitionTime() + * in addition to the usual getStartupTime() + + * @note If using several sensors, it is better to start all the + * measure together, wait for the sensor having the longuest + * aquisition time, and finally read all the values + */ +msg_t +TSL2561_readIlluminance(TSL2561_drv *drv, + unsigned int *illuminance); + +/** + * @brief Return the illuminance value in Lux + * + * @details Use readIlluminance() for returning the humidity value. + * + * @note Prefere readIlluminance()if you need better error handling. + * + * @return Illuminance in Lux + * @retval unsigned int illuminace value + * @retval -1 on failure + */ +static inline unsigned int +TSL2561_getIlluminance(TSL2561_drv *drv) { + unsigned int illuminance = -1; + TSL2561_readIlluminance(drv, &illuminance); + return illuminance; +} + + +#endif + diff --git a/ChibiOS_16.1.5/community/os/various/devices_lib/sensors/tsl2591.c b/ChibiOS_16.1.5/community/os/various/devices_lib/sensors/tsl2591.c new file mode 100644 index 0000000..c0bbee0 --- /dev/null +++ b/ChibiOS_16.1.5/community/os/various/devices_lib/sensors/tsl2591.c @@ -0,0 +1,272 @@ +/* + TSL2591 for ChibiOS/RT - Copyright (C) 2016 Stephane D'Alu + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. +*/ + +/** + * + * DOC: http://ams.com/eng/content/download/389383/1251117/221235 + */ + +#define I2C_HELPERS_AUTOMATIC_DRV TRUE + +#include "hal.h" +#include "i2c_helpers.h" +#include "tsl2591.h" + +/*===========================================================================*/ +/* Driver local definitions. */ +/*===========================================================================*/ + +#define TSL2591_LUX_DF (408.0F) +#define TSL2591_LUX_COEFB (1.64F) // CH0 coefficient +#define TSL2591_LUX_COEFC (0.59F) // CH1 coefficient A +#define TSL2591_LUX_COEFD (0.86F) // CH2 coefficient B + +/* I2C registers */ +#define TSL2591_REG_ENABLE 0x00 +#define TSL2591_REG_CONFIG 0x01 /**< @brief gain and integration */ +#define TSL2591_REG_AILTL 0x04 +#define TSL2591_REG_AILTH 0x05 +#define TSL2591_REG_AIHTL 0x06 +#define TSL2591_REG_AIHTH 0x07 +#define TSL2591_REG_NPAILTL 0x08 +#define TSL2591_REG_NPAILTH 0x09 +#define TSL2591_REG_NPAIHTL 0x0A +#define TSL2591_REG_NPAIHTH 0x0B +#define TSL2591_REG_PERSIST 0x0C +#define TSL2591_REG_PID 0x11 /**< @brief Package ID */ +#define TSL2591_REG_ID 0x12 /**< @brief Device ID */ +#define TSL2591_REG_STATUS 0x13 /**< @brief Device status */ +#define TSL2591_REG_C0DATAL 0x14 /**< @brief CH0 ADC low data byte */ +#define TSL2591_REG_C0DATAH 0x15 /**< @brief CH0 ADC high data byte */ +#define TSL2591_REG_C1DATAL 0x16 /**< @brief CH1 ADC low data byte */ +#define TSL2591_REG_C1DATAH 0x17 /**< @brief CH1 ADC high data byte */ + +#define TSL2591_REG_COMMAND 0x80 /**< @brief Select command register */ +#define TSL2591_REG_NORMAL 0x20 /**< @brief Normal opearation */ +#define TSL2591_REG_SPECIAL 0x60 /**< @brief Special function */ + +#define TSL2591_ID_TSL2591 0x50 + +#define TSL2591_VISIBLE (2) // channel 0 - channel 1 +#define TSL2591_INFRARED (1) // channel 1 +#define TSL2591_FULLSPECTRUM (0) // channel 0 + +#define TSL2591_ENABLE_POWERON (0x01) +#define TSL2591_ENABLE_POWEROFF (0x00) +#define TSL2591_ENABLE_AEN (0x02) +#define TSL2591_ENABLE_AIEN (0x10) + +#define TSL2591_CONTROL_RESET (0x80) + + +/*===========================================================================*/ +/* Driver exported variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local variables and types. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local functions. */ +/*===========================================================================*/ + +static inline uint32_t +calculateIlluminance(TSL2591_integration_time_t integration_time, + TSL2591_gain_t gain, + uint16_t broadband, uint16_t ir) { + uint16_t atime, again; + + /* Check for overflow conditions first */ + if ((broadband == 0xFFFF) | (ir == 0xFFFF)) { + return 0xFFFFFFFF; /* Signal overflow */ + } + + switch (integration_time) { + case TSL2591_INTEGRATIONTIME_100MS : atime = 100; break; + case TSL2591_INTEGRATIONTIME_200MS : atime = 200; break; + case TSL2591_INTEGRATIONTIME_300MS : atime = 300; break; + case TSL2591_INTEGRATIONTIME_400MS : atime = 400; break; + case TSL2591_INTEGRATIONTIME_500MS : atime = 500; break; + case TSL2591_INTEGRATIONTIME_600MS : atime = 600; break; + } + + switch (gain) { + case TSL2591_GAIN_1X : again = 1; break; + case TSL2591_GAIN_25X : again = 25; break; + case TSL2591_GAIN_415X : again = 415; break; + case TSL2591_GAIN_10000X : again = 10000; break; + } + + // cpl = (ATIME * AGAIN) / DF + float cpl = ((float)(atime * again)) / ((float)TSL2591_LUX_DF); + float lux1 = ( ((float)broadband) - (TSL2591_LUX_COEFB * (float)ir) ) / cpl; + float lux2 = ( (TSL2591_LUX_COEFC * (float)broadband) - + (TSL2591_LUX_COEFD * (float)ir ) ) / cpl; + + return (uint32_t) (lux1 > lux2 ? lux1 : lux2); +} + +static inline msg_t +_readChannel(TSL2591_drv *drv, uint16_t *broadband, uint16_t *ir) { + msg_t msg; + if (((msg = i2c_reg_recv16_le( + TSL2591_REG_COMMAND | TSL2591_REG_NORMAL | TSL2591_REG_C0DATAL, + broadband)) < MSG_OK) || + ((msg = i2c_reg_recv16_le( + TSL2591_REG_COMMAND | TSL2591_REG_NORMAL | TSL2591_REG_C1DATAL, + ir )) < MSG_OK)) + return msg; + + return MSG_OK; +} + +/*===========================================================================*/ +/* Driver exported functions. */ +/*===========================================================================*/ + +void +TSL2591_init(TSL2591_drv *drv, TSL2591_config *config) { + drv->config = config; + drv->gain = TSL2591_GAIN_1X; + drv->integration_time = TSL2591_INTEGRATIONTIME_100MS; + drv->state = SENSOR_INIT; +} + +msg_t +TSL2591_check(TSL2591_drv *drv) { + uint8_t id; + + msg_t msg; + if ((msg = i2c_reg_recv8(TSL2591_REG_COMMAND | TSL2591_REG_NORMAL | + TSL2591_REG_ID, &id)) < MSG_OK) + return msg; + + if (id != TSL2591_ID_TSL2591) + return SENSOR_NOTFOUND; + + return MSG_OK; +} + +msg_t +TSL2591_start(TSL2591_drv *drv) { + struct __attribute__((packed)) { + uint8_t reg; + uint8_t conf; + } tx_config = { + TSL2591_REG_COMMAND | TSL2591_REG_NORMAL | TSL2591_REG_CONFIG, + (uint8_t)(drv->integration_time | drv->gain) }; + + struct __attribute__((packed)) { + uint8_t reg; + uint8_t conf; + } tx_start = { + TSL2591_REG_COMMAND | TSL2591_REG_NORMAL | TSL2591_REG_ENABLE, + TSL2591_ENABLE_POWERON }; + + msg_t msg; + + if (((msg = i2c_send((uint8_t*)&tx_config, sizeof(tx_config))) < MSG_OK) || + ((msg = i2c_send((uint8_t*)&tx_start, sizeof(tx_start ))) < MSG_OK)) { + drv->state = SENSOR_ERROR; + return msg; + } + + drv->state = SENSOR_STARTED; + return MSG_OK; +} + +msg_t +TSL2591_stop(TSL2591_drv *drv) { + struct __attribute__((packed)) { + uint8_t reg; + uint8_t conf; + } tx_stop = { + TSL2591_REG_COMMAND | TSL2591_REG_NORMAL | TSL2591_REG_ENABLE, + TSL2591_ENABLE_POWEROFF }; + + return i2c_send((uint8_t*)&tx_stop, sizeof(tx_stop)); +} + +msg_t +TSL2591_setIntegrationTime(TSL2591_drv *drv, + TSL2591_integration_time_t time) { + struct __attribute__((packed)) { + uint8_t reg; + uint8_t conf; + } tx = { TSL2591_REG_COMMAND | TSL2591_REG_NORMAL | TSL2591_REG_CONFIG, + (uint8_t)(time | drv->gain) }; + + msg_t msg; + if ((msg = i2c_send((uint8_t*)&tx, sizeof(tx))) < MSG_OK) + return msg; + + drv->integration_time = time; + + return MSG_OK; +} + +msg_t +TSL2591_setGain(TSL2591_drv *drv, + TSL2591_gain_t gain) { + struct __attribute__((packed)) { + uint8_t reg; + uint8_t conf; + } tx = { TSL2591_REG_COMMAND | TSL2591_REG_NORMAL | TSL2591_REG_CONFIG, + (uint8_t)(drv->integration_time | gain) }; + + msg_t msg; + if ((msg = i2c_send((uint8_t*)&tx, sizeof(tx))) < MSG_OK) + return msg; + + drv->gain = gain; + + return MSG_OK; +} + +unsigned int +TSL2591_getAcquisitionTime(TSL2591_drv *drv) { + switch (drv->integration_time) { + case TSL2591_INTEGRATIONTIME_100MS : return 100; + case TSL2591_INTEGRATIONTIME_200MS : return 200; + case TSL2591_INTEGRATIONTIME_300MS : return 300; + case TSL2591_INTEGRATIONTIME_400MS : return 400; + case TSL2591_INTEGRATIONTIME_500MS : return 500; + case TSL2591_INTEGRATIONTIME_600MS : return 600; + } + return -1; +} + + +msg_t +TSL2591_readIlluminance(TSL2591_drv *drv, + unsigned int *illuminance) { + uint16_t broadband; + uint16_t ir; + + /* Read channels */ + msg_t msg; + if ((msg = _readChannel(drv, &broadband, &ir)) < MSG_OK) + return msg; + + /* Calculate illuminance */ + *illuminance = + calculateIlluminance(drv->integration_time, drv->gain, + broadband, ir); + /* Ok */ + return SENSOR_OK; +} + diff --git a/ChibiOS_16.1.5/community/os/various/devices_lib/sensors/tsl2591.h b/ChibiOS_16.1.5/community/os/various/devices_lib/sensors/tsl2591.h new file mode 100644 index 0000000..8320eb8 --- /dev/null +++ b/ChibiOS_16.1.5/community/os/various/devices_lib/sensors/tsl2591.h @@ -0,0 +1,238 @@ +/* + TSL2591 for ChibiOS/RT - Copyright (C) 2016 Stephane D'Alu + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. +*/ + +/** + * @file tsl2591.h + * @brief TSL2591 Light sensor interface module header. + * + * @{ + */ + +#ifndef _SENSOR_TSL2591_H_ +#define _SENSOR_TSL2591_H_ + +#include <math.h> +#include "i2c_helpers.h" +#include "sensor.h" + + +/*===========================================================================*/ +/* Driver constants. */ +/*===========================================================================*/ + +/** + * @brief Device sensor continuous acquisition support. + */ +#define TSL2591_CONTINUOUS_ACQUISITION_SUPPORTED TRUE + +/** + * @brief I2C address. + */ +#define TSL2591_I2CADDR_FIXED 0x29 + +/** + * @brief Time necessary for the sensor to boot + */ +#define TSL2591_BOOTUP_TIME 0 + +/** + * @brief Time necessary for the sensor to start + */ +#define TSL2591_STARTUP_TIME 0 + + + +/*===========================================================================*/ +/* Driver pre-compile time settings. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +/** + * @brief Default I2C address (when pin unconfigured) + */ +#define TSL2591_I2CADDR_DEFAULT TSL2591_I2CADDR_FIXED + + +/*===========================================================================*/ +/* Driver data structures and types. */ +/*===========================================================================*/ + +/** + * @brief TSL2591 configuration structure. + */ +typedef struct { + I2CHelper i2c; /* keep it first */ +} TSL2591_config; + +/** + * @brief Available integration time + * + * @details Available integration time are: + * 100ms, 200ms, 300ms, 400ms, 500ms and 600ms + */ +typedef enum { + TSL2591_INTEGRATIONTIME_100MS = 0x00, /**< @brief 100ms */ + TSL2591_INTEGRATIONTIME_200MS = 0x01, /**< @brief 200ms */ + TSL2591_INTEGRATIONTIME_300MS = 0x02, /**< @brief 300ms */ + TSL2591_INTEGRATIONTIME_400MS = 0x03, /**< @brief 400ms */ + TSL2591_INTEGRATIONTIME_500MS = 0x04, /**< @brief 500ms */ + TSL2591_INTEGRATIONTIME_600MS = 0x05, /**< @brief 600ms */ +} TSL2591_integration_time_t; + +/** + * @brief Available gain + * + * @details Available gain are 1x, 25x, 415x, 10000x + */ +typedef enum { + TSL2591_GAIN_1X = 0x00, /**< @brief 1x gain */ + TSL2591_GAIN_25X = 0x10, /**< @brief 25x gain */ + TSL2591_GAIN_415X = 0x20, /**< @brief 415x gain */ + TSL2591_GAIN_10000X = 0x30, /**< @brief 10000x gain */ +} TSL2591_gain_t; + +/** + * @brief TSL2591 configuration structure. + */ +typedef struct { + TSL2591_config *config; + sensor_state_t state; + TSL2591_gain_t gain; + TSL2591_integration_time_t integration_time; +} TSL2591_drv; + +/*===========================================================================*/ +/* Driver macros. */ +/*===========================================================================*/ + + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +/** + * @brief Initialize the sensor driver + */ +void +TSL2591_init(TSL2591_drv *drv, + TSL2591_config *config); + +/** + * @brief Start the sensor + */ +msg_t +TSL2591_start(TSL2591_drv *drv); + +/** + * @brief Stop the sensor + * + * @details If the sensor support it, it will be put in low energy mode. + */ +msg_t +TSL2591_stop(TSL2591_drv *drv); + +/** + * @brief Check that the sensor is really present + */ +msg_t +TSL2591_check(TSL2591_drv *drv); + +/** + * @brief Time in milli-seconds necessary for acquiring a naw measure + * + * @returns + * unsigned int time in millis-seconds + */ +unsigned int +TSL2591_getAcquisitionTime(TSL2591_drv *drv); + +/** + * @brief Trigger a mesure acquisition + */ +static inline msg_t +TSL2591_startMeasure(TSL2591_drv *drv) { + (void)drv; + return MSG_OK; +}; + + +msg_t +TSL2591_setGain(TSL2591_drv *drv, + TSL2591_gain_t gain); + +msg_t +TSL2591_setIntegrationTime(TSL2591_drv *drv, + TSL2591_integration_time_t time); + +/** + * @brief Read the newly acquiered measure + * + * @note According the the sensor design the measure read + * can be any value acquired after the acquisition time + * and the call to readMeasure. + */ +msg_t +TSL2591_readMeasure(TSL2591_drv *drv, + unsigned int illuminance); + + +/** + * @brief Read temperature and humidity + * + * @details According to the sensor specification/configuration + * (see #TSL2591_CONTINUOUS_ACQUISITION_SUPPORTED), + * if the sensor is doing continuous measurement + * it's value will be requested and returned immediately. + * Otherwise a measure is started, the necessary amount of + * time for acquiring the value is spend sleeping (not spinning), + * and finally the measure is read. + * + * @note In continuous measurement mode, if you just started + * the sensor, you will need to wait getAcquisitionTime() + * in addition to the usual getStartupTime() + + * @note If using several sensors, it is better to start all the + * measure together, wait for the sensor having the longuest + * aquisition time, and finally read all the values + */ +msg_t +TSL2591_readIlluminance(TSL2591_drv *drv, + unsigned int *illuminance); + +/** + * @brief Return the illuminance value in Lux + * + * @details Use readIlluminance() for returning the humidity value. + * + * @note Prefere readIlluminance()if you need better error handling. + * + * @return Illuminance in Lux + * @retval unsigned int illuminace value + * @retval -1 on failure + */ +static inline unsigned int +TSL2591_getIlluminance(TSL2591_drv *drv) { + unsigned int illuminance = -1; + TSL2591_readIlluminance(drv, &illuminance); + return illuminance; +} + + +#endif + diff --git a/ChibiOS_16.1.5/community/os/various/gdb.mk b/ChibiOS_16.1.5/community/os/various/gdb.mk new file mode 100644 index 0000000..aa636a8 --- /dev/null +++ b/ChibiOS_16.1.5/community/os/various/gdb.mk @@ -0,0 +1,13 @@ +GDB ?= arm-none-eabi-gdb +GDB_PROGRAM ?= $(BUILDDIR)/$(PROJECT).elf +GDB_PORT ?= 2331 +GDB_START_ADDRESS ?= 0 +GDB_BREAK ?= main + +gdb-debug: + printf "target remote localhost:$(GDB_PORT)\nmem $(GDB_START_ADDRESS) 0\nbreak $(GDB_BREAK)\nload\nmon reset\ncontinue" > .gdbinit + $(GDB) --command=.gdbinit $(GDB_PROGRAM) + + + +.PHONY: gdb-debug diff --git a/ChibiOS_16.1.5/community/os/various/i2c_helpers.h b/ChibiOS_16.1.5/community/os/various/i2c_helpers.h new file mode 100644 index 0000000..4b57174 --- /dev/null +++ b/ChibiOS_16.1.5/community/os/various/i2c_helpers.h @@ -0,0 +1,283 @@ +/* + Copyright (C) 2016 Stephane D'Alu + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. +*/ + +#ifndef I2C_HELPERS_H +#define I2C_HELPERS_H + +#include "hal.h" +#include "bswap.h" + + +typedef struct { + /** + * @brief Pointer to the I2C driver. + */ + I2CDriver *driver; + /** + * @brief I2C address. + */ + i2caddr_t addr; +} I2CHelper; + + + +#if !defined(I2C_HELPERS_AUTOMATIC_DRV) || (I2C_HELPERS_AUTOMATIC_DRV == FALSE) + +#define i2c_send(i2c, txbuf, txbytes) \ + _i2c_send(i2c, txbuf, txbytes) +#define i2c_transmit(i2c, txbuf, txbytes, rxbuf, rxbytes) \ + _i2c_transmit(i2c, txbuf, txbytes, rxbuf, rxbytes) +#define i2c_receive(i2, rxbuf, rxbytes) \ + _i2c_receive(i2c, rxbuf, rxbytes) + +#define i2c_send_timeout(i2c, txbuf, txbytes) \ + _i2c_send(i2c, txbuf, txbytes) +#define i2c_transmit_timeout(i2c, txbuf, txbytes, rxbuf, rxbytes) \ + _i2c_transmit(i2c, txbuf, txbytes, rxbuf, rxbytes) +#define i2c_receive_timeout(i2, rxbuf, rxbytes) \ + _i2c_receive(i2c, rxbuf, rxbytes) + +#define i2c_reg(i2c, reg) \ + _i2c_reg(i2c, reg) + +#define i2c_reg_recv8(i2c, reg, val) \ + _i2c_reg_recv8(i2c, reg, val) +#define i2c_reg_recv16(i2c, reg, val) \ + _i2c_reg_recv16(i2c, reg, val) +#define i2c_reg_recv16_le(i2c, reg, val) \ + _i2c_reg_recv16_le(i2c, reg, val) +#define i2c_reg_recv16_be(i2c, reg, val) \ + _i2c_reg_recv16_be(i2c, reg, val) +#define i2c_reg_recv32(i2c, reg, val) \ + _i2c_reg_recv32(i2c, reg, val) +#define i2c_reg_recv32_le(i2c, reg, val) \ + _i2c_reg_recv32_le(i2c, reg, val) +#define i2c_reg_recv32_be(i2c, reg, val) \ + _i2c_reg_recv32_be(i2c, reg, val) + +#define i2c_recv8(i2c, val) \ + _i2c_recv8(i2c, val) +#define i2c_recv16(i2c, val) \ + _i2c_recv16(i2c, val) +#define i2c_recv16_le(i2c, val) \ + _i2c_recv16_le(i2c, val) +#define i2c_recv16_be(i2c, val) \ + _i2c_recv16_be(i2c, val) +#define i2c_recv32(i2c, val) \ + _i2c_recv32(i2c, val) +#define i2c_recv32_le(i2c, val) \ + _i2c_recv32_le(i2c, val) +#define i2c_recv32_be(i2c, val) \ + _i2c_recv32_be(i2c, val) + +#else + +#define i2c_send(txbuf, txbytes) \ + _i2c_send(&drv->config->i2c, txbuf, txbytes) +#define i2c_transmit(txbuf, txbytes, rxbuf, rxbytes) \ + _i2c_transmit(&drv->config->i2c, txbuf, txbytes, rxbuf, rxbytes) +#define i2c_receive(rxbuf, rxbytes) \ + _i2c_receive(&drv->config->i2c, rxbuf, rxbytes) + +#define i2c_send_timeout(txbuf, txbytes) \ + _i2c_send(&drv->config->i2c, txbuf, txbytes) +#define i2c_transmit_timeout(txbuf, txbytes, rxbuf, rxbytes) \ + _i2c_transmit(&drv->config->i2c, txbuf, txbytes, rxbuf, rxbytes) +#define i2c_receive_timeout(rxbuf, rxbytes) \ + _i2c_receive(&drv->config->i2c, rxbuf, rxbytes) + + +#define i2c_reg(reg) \ + _i2c_reg(&drv->config->i2c, reg) + +#define i2c_reg_recv8(reg, val) \ + _i2c_reg_recv8(&drv->config->i2c, reg, val) +#define i2c_reg_recv16(reg, val) \ + _i2c_reg_recv16(&drv->config->i2c, reg, val) +#define i2c_reg_recv16_le(reg, val) \ + _i2c_reg_recv16_le(&drv->config->i2c, reg, val) +#define i2c_reg_recv16_be(reg, val) \ + _i2c_reg_recv16_be(&drv->config->i2c, reg, val) +#define i2c_reg_recv32(reg, val) \ + _i2c_reg_recv32(&drv->config->i2c, reg, val) +#define i2c_reg_recv32_le(reg, val) \ + _i2c_reg_recv32_le(&drv->config->i2c, reg, val) +#define i2c_reg_recv32_be(reg, val) \ + _i2c_reg_recv32_be(&drv->config->i2c, reg, val) + +#define i2c_recv8(val) \ + _i2c_recv8(&drv->config->i2c, val) +#define i2c_recv16(val) \ + _i2c_recv16(&drv->config->i2c, val) +#define i2c_recv16_le(val) \ + _i2c_recv16_le(&drv->config->i2c, val) +#define i2c_recv16_be(val) \ + _i2c_recv16_be(&drv->config->i2c, val) +#define i2c_recv32(val) \ + _i2c_recv32(&drv->config->i2c, val) +#define i2c_recv32_le(val) \ + _i2c_recv32_le(&drv->config->i2c, val) +#define i2c_recv32_be(val) \ + _i2c_recv32_be(&drv->config->i2c, val) + +#endif + + + + + +static inline msg_t +_i2c_send(I2CHelper *i2c, const uint8_t *txbuf, size_t txbytes) { + return i2cMasterTransmitTimeout(i2c->driver, i2c->addr, + txbuf, txbytes, NULL, 0, TIME_INFINITE); +}; + +static inline msg_t +_i2c_transmit(I2CHelper *i2c, const uint8_t *txbuf, size_t txbytes, + uint8_t *rxbuf, size_t rxbytes) { + return i2cMasterTransmitTimeout(i2c->driver, i2c->addr, + txbuf, txbytes, rxbuf, rxbytes, TIME_INFINITE); +} + +static inline msg_t +_i2c_receive(I2CHelper *i2c, uint8_t *rxbuf, size_t rxbytes) { + return i2cMasterReceiveTimeout(i2c->driver, i2c->addr, + rxbuf, rxbytes, TIME_INFINITE); +}; + + + +static inline msg_t +_i2c_send_timeout(I2CHelper *i2c, const uint8_t *txbuf, size_t txbytes, + systime_t timeout) { + return i2cMasterTransmitTimeout(i2c->driver, i2c->addr, + txbuf, txbytes, NULL, 0, timeout); +}; + +static inline msg_t +_i2c_transmit_timeout(I2CHelper *i2c, const uint8_t *txbuf, size_t txbytes, + uint8_t *rxbuf, size_t rxbytes, systime_t timeout) { + return i2cMasterTransmitTimeout(i2c->driver, i2c->addr, + txbuf, txbytes, rxbuf, rxbytes, timeout); +} + +static inline msg_t +_i2c_receive_timeout(I2CHelper *i2c, uint8_t *rxbuf, size_t rxbytes, systime_t timeout) { + return i2cMasterReceiveTimeout(i2c->driver, i2c->addr, + rxbuf, rxbytes, timeout); +}; + + +/*======================================================================*/ + + +static inline msg_t +_i2c_reg(I2CHelper *i2c, uint8_t reg) { + return _i2c_transmit(i2c, ®, sizeof(reg), NULL, 0); +}; + +/*======================================================================*/ + +static inline msg_t +_i2c_reg_recv8(I2CHelper *i2c, uint8_t reg, uint8_t *val) { + return _i2c_transmit(i2c, ®, sizeof(reg), (uint8_t*)val, sizeof(val)); +}; + +static inline msg_t +_i2c_reg_recv16(I2CHelper *i2c, uint8_t reg, uint16_t *val) { + return _i2c_transmit(i2c, ®, sizeof(reg), (uint8_t*)val, sizeof(val)); +}; + +static inline msg_t +_i2c_reg_recv16_le(I2CHelper *i2c, uint8_t reg, uint16_t *val) { + int msg = _i2c_reg_recv16(i2c, reg, val); + if (msg >= 0) *val = le16_to_cpu(*val); + return msg; +}; + +static inline msg_t +_i2c_reg_recv16_be(I2CHelper *i2c, uint8_t reg, uint16_t *val) { + int msg = _i2c_reg_recv16(i2c, reg, val); + if (msg >= 0) *val = be16_to_cpu(*val); + return msg; +}; + +static inline msg_t +_i2c_reg_recv32(I2CHelper *i2c, uint8_t reg, uint32_t *val) { + return _i2c_transmit(i2c, ®, sizeof(reg), (uint8_t*)val, sizeof(val)); +}; + +static inline msg_t +_i2c_reg_recv32_le(I2CHelper *i2c, uint8_t reg, uint32_t *val) { + int msg = _i2c_reg_recv32(i2c, reg, val); + if (msg >= 0) *val = le32_to_cpu(*val); + return msg; +}; + +static inline msg_t +_i2c_reg_recv32_be(I2CHelper *i2c, uint8_t reg, uint32_t *val) { + int msg = _i2c_reg_recv32(i2c, reg, val); + if (msg >= 0) *val = be32_to_cpu(*val); + return msg; +}; + + +/*======================================================================*/ + +static inline msg_t +_i2c_recv8(I2CHelper *i2c, uint8_t *val) { + return _i2c_receive(i2c, (uint8_t*)val, sizeof(val)); +}; + +static inline msg_t +_i2c_recv16(I2CHelper *i2c, uint16_t *val) { + return _i2c_receive(i2c, (uint8_t*)val, sizeof(val)); +}; + +static inline msg_t +_i2c_recv16_le(I2CHelper *i2c, uint16_t *val) { + int msg = _i2c_recv16(i2c, val); + if (msg >= 0) *val = le16_to_cpu(*val); + return msg; +}; + +static inline msg_t +_i2c_recv16_be(I2CHelper *i2c, uint16_t *val) { + int msg = _i2c_recv16(i2c, val); + if (msg >= 0) *val = be16_to_cpu(*val); + return msg; +}; + +static inline msg_t +_i2c_recv32(I2CHelper *i2c, uint32_t *val) { + return _i2c_receive(i2c, (uint8_t*)val, sizeof(val)); +}; + +static inline msg_t +_i2c_recv32_le(I2CHelper *i2c, uint32_t *val) { + int msg = _i2c_recv32(i2c, val); + if (msg >= 0) *val = le32_to_cpu(*val); + return msg; +}; + +static inline msg_t +_i2c_recv32_be(I2CHelper *i2c, uint32_t *val) { + int msg = _i2c_recv32(i2c, val); + if (msg >= 0) *val = be32_to_cpu(*val); + return msg; +}; + +#endif diff --git a/ChibiOS_16.1.5/community/os/various/jlink.mk b/ChibiOS_16.1.5/community/os/various/jlink.mk new file mode 100644 index 0000000..1a13bd3 --- /dev/null +++ b/ChibiOS_16.1.5/community/os/various/jlink.mk @@ -0,0 +1,33 @@ +JLINK ?= JLinkExe +JLINK_GDB_SERVER ?= JLinkGDBServer +JLINK_GDB_PORT ?= 2331 +JLINK_IF ?= swd +JLINK_SPEED ?= 2000 +JLINK_START_ADDRESS ?= 0 +JLINK_BURN ?= $(BUILDDIR)/$(PROJECT).bin +JLINK_COMMON_OPTS ?= -device $(JLINK_DEVICE) -if $(JLINK_IF) -speed $(JLINK_SPEED) + +jlink-flash: + printf "$(JLINK_PRE_FLASH)\nloadbin $(JLINK_BURN) $(JLINK_START_ADDRESS)\nverifybin $(JLINK_BURN) $(JLINK_START_ADDRESS)\nr\ng\nexit\n" > $(BUILDDIR)/flash.jlink + $(JLINK) $(JLINK_COMMON_OPTS) $(BUILDDIR)/flash.jlink + +ifneq ($(SOFTDEVICE),) +jlink-flash-softdevice: + printf "w4 4001e504 1\nloadbin $(NRF51SDK)/components/softdevice/$(SOFTDEVICE)/hex/$(SOFTDEVICE)_nrf51_$(SOFTDEVICE_RELEASE)_softdevice.hex 0\nr\ng\nexit\n" > $(BUILDDIR)/flash.softdevice.jlink + $(JLINK) $(JLINK_COMMON_OPTS) $(BUILDDIR)/flash.softdevice.jlink +endif + +ifneq ($(JLINK_ERASE_ALL),) +jlink-erase-all: + printf "$(JLINK_ERASE_ALL)\nr\nexit\n" > $(BUILDDIR)/erase-all.jlink + $(JLINK) $(JLINK_COMMON_OPTS) $(BUILDDIR)/erase-all.jlink +endif + +jlink-reset: + printf "r\nexit\n" > $(BUILDDIR)/reset.jlink + $(JLINK) $(JLINK_COMMON_OPTS) $(BUILDDIR)/reset.jlink + +jlink-debug-server: + $(JLINK_GDB_SERVER) $(JLINK_COMMON_OPTS) -port $(JLINK_GDB_PORT) + +.PHONY: jlink-flash jlink-flash-softdevice jlink-erase-all jlink-reset jlink-debug-server diff --git a/ChibiOS_16.1.5/community/os/various/memtest.cpp b/ChibiOS_16.1.5/community/os/various/memtest.cpp new file mode 100644 index 0000000..b924308 --- /dev/null +++ b/ChibiOS_16.1.5/community/os/various/memtest.cpp @@ -0,0 +1,310 @@ +/* + ChibiOS/RT - Copyright (C) 2013-2014 Uladzimir Pylinsky aka barthess + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. +*/ + +#include <cstdint> +#include <cstddef> +#include <cstdlib> +#include <cstring> + +#include "memtest.h" + +static unsigned int prng_seed = 42; + +/* + * + */ +template <typename T> +class Generator { +public: + Generator(void) : pattern(0) {;} + virtual T get(void) = 0; + virtual testtype get_type(void) = 0; + virtual void init(T seed) { + pattern = seed; + } +protected: + T pattern; +}; + +/* + * + */ +template <typename T> +class GeneratorWalkingOne : public Generator<T> { + T get(void) { + T ret = this->pattern; + + this->pattern <<= 1; + if (0 == this->pattern) + this->pattern = 1; + + return ret; + } + + testtype get_type(void) { + return MEMTEST_WALKING_ONE; + } +}; + +/* + * + */ +template <typename T> +class GeneratorWalkingZero : public Generator<T> { + T get(void) { + T ret = ~this->pattern; + + this->pattern <<= 1; + if (0 == this->pattern) + this->pattern = 1; + + return ret; + } + + testtype get_type(void) { + return MEMTEST_WALKING_ZERO; + } +}; + +/* + * + */ +template <typename T> +class GeneratorOwnAddress : public Generator<T> { + T get(void) { + T ret = this->pattern; + this->pattern++; + return ret; + } + + testtype get_type(void) { + return MEMTEST_OWN_ADDRESS; + } +}; + +/* + * + */ +template <typename T> +class GeneratorMovingInv : public Generator<T> { + T get(void) { + T ret = this->pattern; + this->pattern = ~this->pattern; + return ret; + } + + testtype get_type(void) { + if ((this->pattern == 0) || ((this->pattern & 0xFF) == 0xFF)) + return MEMTEST_MOVING_INVERSION_ZERO; + else + return MEMTEST_MOVING_INVERSION_55AA; + } +}; + +/* + * + */ +template <typename T> +class GeneratorMovingInvRand : public Generator<T> { +public: + GeneratorMovingInvRand(void) : step(0), prev(0){;} + void init(T seed) { + srand(seed); + step = 0; + prev = 0; + } + + T get(void) { + T ret; + + if ((step & 1) == 0) { + ret = 0; + ret |= rand(); + // for uint64_t we need to call rand() twice + if (8 == sizeof(T)) { + // multiplication used instead of 32 bit shift for warning avoidance + ret *= 0x100000000; + ret |= rand(); + } + prev = ret; + } + else { + ret = ~prev; + } + step++; + + return ret; + } + + testtype get_type(void) { + return MEMTEST_MOVING_INVERSION_RAND; + } + +private: + size_t step; + T prev; +}; + +/* + * + */ +template <typename T> +static void memtest_sequential(memtest_t *testp, Generator<T> &generator, T seed) { + const size_t steps = testp->size / sizeof(T); + size_t i; + T *mem = static_cast<T *>(testp->start); + T got; + T expect; + + /* fill ram */ + generator.init(seed); + for (i=0; i<steps; i++) + mem[i] = generator.get(); + + /* read back and compare */ + generator.init(seed); + for (i=0; i<steps; i++) { + got = mem[i]; + expect = generator.get(); + if ((got != expect) && (nullptr != testp->errcb)) { + testp->errcb(testp, generator.get_type(), i, sizeof(T), got, expect); + return; + } + } +} + +template <typename T> +static void walking_one(memtest_t *testp) { + GeneratorWalkingOne<T> generator; + memtest_sequential<T>(testp, generator, 1); +} + +template <typename T> +static void walking_zero(memtest_t *testp) { + GeneratorWalkingZero<T> generator; + memtest_sequential<T>(testp, generator, 1); +} + +template <typename T> +static void own_address(memtest_t *testp) { + GeneratorOwnAddress<T> generator; + memtest_sequential<T>(testp, generator, 0); +} + +template <typename T> +static void moving_inversion_zero(memtest_t *testp) { + GeneratorMovingInv<T> generator; + T seed; + seed = 0; + memtest_sequential<T>(testp, generator, seed); + seed = ~seed; + memtest_sequential<T>(testp, generator, seed); +} + +template <typename T> +static void moving_inversion_55aa(memtest_t *testp) { + GeneratorMovingInv<T> generator; + T seed; + memset(&seed, 0x55, sizeof(seed)); + memtest_sequential<T>(testp, generator, seed); + seed = ~seed; + memtest_sequential<T>(testp, generator, seed); +} + +template <typename T> +static void moving_inversion_rand(memtest_t *testp) { + GeneratorMovingInvRand<T> generator; + T mask = -1; + prng_seed++; + memtest_sequential<T>(testp, generator, prng_seed & mask); +} + +/* + * + */ +static void memtest_wrapper(memtest_t *testp, + void (*p_u8) (memtest_t *testp), + void (*p_u16)(memtest_t *testp), + void (*p_u32)(memtest_t *testp), + void (*p_u64)(memtest_t *testp)) { + + if (testp->width_mask & MEMTEST_WIDTH_8) + p_u8(testp); + + if (testp->width_mask & MEMTEST_WIDTH_16) + p_u16(testp); + + if (testp->width_mask & MEMTEST_WIDTH_32) + p_u32(testp); + + if (testp->width_mask & MEMTEST_WIDTH_64) + p_u64(testp); +} + +/* + * + */ +void memtest_run(memtest_t *testp, uint32_t testmask) { + + if (testmask & MEMTEST_WALKING_ONE) { + memtest_wrapper(testp, + walking_one<uint8_t>, + walking_one<uint16_t>, + walking_one<uint32_t>, + walking_one<uint64_t>); + } + + if (testmask & MEMTEST_WALKING_ZERO) { + memtest_wrapper(testp, + walking_zero<uint8_t>, + walking_zero<uint16_t>, + walking_zero<uint32_t>, + walking_zero<uint64_t>); + } + + if (testmask & MEMTEST_OWN_ADDRESS) { + memtest_wrapper(testp, + own_address<uint8_t>, + own_address<uint16_t>, + own_address<uint32_t>, + own_address<uint64_t>); + } + + if (testmask & MEMTEST_MOVING_INVERSION_ZERO) { + memtest_wrapper(testp, + moving_inversion_zero<uint8_t>, + moving_inversion_zero<uint16_t>, + moving_inversion_zero<uint32_t>, + moving_inversion_zero<uint64_t>); + } + + if (testmask & MEMTEST_MOVING_INVERSION_55AA) { + memtest_wrapper(testp, + moving_inversion_55aa<uint8_t>, + moving_inversion_55aa<uint16_t>, + moving_inversion_55aa<uint32_t>, + moving_inversion_55aa<uint64_t>); + } + + if (testmask & MEMTEST_MOVING_INVERSION_RAND) { + memtest_wrapper(testp, + moving_inversion_rand<uint8_t>, + moving_inversion_rand<uint16_t>, + moving_inversion_rand<uint32_t>, + moving_inversion_rand<uint64_t>); + } +} + diff --git a/ChibiOS_16.1.5/community/os/various/memtest.h b/ChibiOS_16.1.5/community/os/various/memtest.h new file mode 100644 index 0000000..9c31b54 --- /dev/null +++ b/ChibiOS_16.1.5/community/os/various/memtest.h @@ -0,0 +1,90 @@ +/* + ChibiOS/RT - Copyright (C) 2013-2014 Uladzimir Pylinsky aka barthess + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. +*/ + +#ifndef MEMTEST_H_ +#define MEMTEST_H_ + +/* + * Memtest types + */ +#define MEMTEST_WALKING_ONE (1 << 0) +#define MEMTEST_WALKING_ZERO (1 << 1) +#define MEMTEST_OWN_ADDRESS (1 << 2) +#define MEMTEST_MOVING_INVERSION_ZERO (1 << 3) +#define MEMTEST_MOVING_INVERSION_55AA (1 << 4) +#define MEMTEST_MOVING_INVERSION_RAND (1 << 5) + +/* + * combined types for convenient + */ +#define MEMTEST_RUN_ALL (MEMTEST_WALKING_ONE | \ + MEMTEST_WALKING_ZERO | \ + MEMTEST_OWN_ADDRESS | \ + MEMTEST_MOVING_INVERSION_ZERO | \ + MEMTEST_MOVING_INVERSION_55AA | \ + MEMTEST_MOVING_INVERSION_RAND) + +/* + * Memtest data widths + */ +#define MEMTEST_WIDTH_8 (1 << 0) +#define MEMTEST_WIDTH_16 (1 << 1) +#define MEMTEST_WIDTH_32 (1 << 2) +#define MEMTEST_WIDTH_64 (1 << 3) + +typedef struct memtest_t memtest_t; +typedef uint32_t testtype; + +/* + * Error call back. + */ +typedef void (*memtestecb_t)(memtest_t *testp, testtype type, size_t index, + size_t current_width, uint32_t got, uint32_t expect); + +/* + * + */ +struct memtest_t { + /* + * Pointer to the test area start. Must be word aligned. + */ + void *start; + /* + * Test area size in bytes. + */ + size_t size; + /* + * Allowable data widths mask. + */ + uint32_t width_mask; + /* + * Error callback pointer. Set to NULL if unused. + */ + memtestecb_t errcb; +}; + +/* + * + */ +#ifdef __cplusplus +extern "C" { +#endif + void memtest_run(memtest_t *testp, uint32_t testmask); +#ifdef __cplusplus +} +#endif + +#endif /* MEMTEST_H_ */ diff --git a/ChibiOS_16.1.5/community/os/various/tribuf.c b/ChibiOS_16.1.5/community/os/various/tribuf.c new file mode 100644 index 0000000..80eb258 --- /dev/null +++ b/ChibiOS_16.1.5/community/os/various/tribuf.c @@ -0,0 +1,214 @@ +/*
+ Copyright (C) 2014..2015 Andrea Zoppi
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+*/
+
+#include "osal.h"
+#include "tribuf.h"
+
+/**
+ * @file tribuf.c
+ * @brief Triple buffer handler source.
+ *
+ * @addtogroup TriBuf
+ * @{
+ */
+
+/*===========================================================================*/
+/* Driver local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local variables and types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local functions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver interrupt handlers. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Initializes the tribuf handler object.
+ *
+ * @param[in] handler Pointer to the tribuf handler object.
+ * @param[in] front Pointer to the initial front buffer.
+ * @param[in] back Pointer to the initial back buffer.
+ * @param[in] orphan Pointer to the initial orphan buffer.
+ *
+ * @init
+ */
+void tribufObjectInit(tribuf_t *handler, void *front, void *back, void *orphan) {
+
+ handler->front = front;
+ handler->back = back;
+ handler->orphan = orphan;
+#if (TRIBUF_USE_WAIT == TRUE)
+ chSemObjectInit(&handler->ready, (cnt_t)0);
+#else
+ handler->ready = false;
+#endif
+}
+
+/**
+ * @brief Gets the current front buffer.
+ *
+ * @param[in] handler Pointer to the tribuf handler object.
+ * @return Pointer to the current front buffer.
+ *
+ * @api
+ */
+void *tribufGetFront(tribuf_t *handler) {
+
+ void *front;
+
+ osalSysLock();
+ front = tribufGetFrontI(handler);
+ osalSysUnlock();
+ return front;
+}
+
+/**
+ * @brief Swaps the current front buffer.
+ *
+ * @details Exchanges the pointer of the current front buffer, which will be
+ * dismissed, with the pointer of the current orphan buffer, which
+ * holds the content of the new front buffer.
+ *
+ * @pre The orphan buffer holds new data, swapped by the back buffer.
+ * @pre The fron buffer is ready for swap.
+ * @post The orphan buffer can be used as new back buffer in the future.
+ *
+ * @param[in] handler Pointer to the tribuf handler object.
+ *
+ * @iclass
+ */
+void tribufSwapFrontI(tribuf_t *handler) {
+
+ void *front;
+
+ osalDbgCheckClassI();
+
+ front = handler->orphan;
+ handler->orphan = handler->front;
+ handler->front = front;
+}
+
+/**
+ * @brief Swaps the current front buffer.
+ *
+ * @details Exchanges the pointer of the current front buffer, which will be
+ * dismissed, with the pointer of the current orphan buffer, which
+ * holds the content of the new front buffer.
+ *
+ * @pre The orphan buffer holds new data, swapped by the back buffer.
+ * @pre The fron buffer is ready for swap.
+ * @post The orphan buffer can be used as new back buffer in the future.
+ *
+ * @param[in] handler Pointer to the tribuf handler object.
+ *
+ * @api
+ */
+void tribufSwapFront(tribuf_t *handler) {
+
+ osalSysLock();
+ tribufSwapFrontI(handler);
+ osalSysUnlock();
+}
+
+/**
+ * @brief Gets the current back buffer.
+ *
+ * @param[in] handler Pointer to the tribuf handler object.
+ * @return Pointer to the current back buffer.
+ *
+ * @api
+ */
+void *tribufGetBack(tribuf_t *handler) {
+
+ void *back;
+
+ osalSysLock();
+ back = tribufGetBackI(handler);
+ osalSysUnlock();
+ return back;
+}
+
+/**
+ * @brief Swaps the current back buffer.
+ *
+ * @details Exchanges the pointer of the current back buffer, which holds new
+ * useful data, with the pointer of the current orphan buffer.
+ *
+ * @pre The orphan buffer holds no meaningful data.
+ * @post The orphan buffer is candidate for new front buffer.
+ * @post A new front buffer is ready and signaled.
+ *
+ * @param[in] handler Pointer to the tribuf handler object.
+ *
+ * @iclass
+ */
+void tribufSwapBackI(tribuf_t *handler) {
+
+ void *back;
+
+ osalDbgCheckClassI();
+
+ back = handler->orphan;
+ handler->orphan = handler->back;
+ handler->back = back;
+
+#if (TRIBUF_USE_WAIT == TRUE)
+ if (chSemGetCounterI(&handler->ready) < (cnt_t)1)
+ chSemSignalI(&handler->ready);
+#else
+ handler->ready = true;
+#endif
+}
+
+/**
+ * @brief Swaps the current back buffer.
+ *
+ * @details Exchanges the pointer of the current back buffer, which holds new
+ * useful data, with the pointer of the current orphan buffer.
+ *
+ * @pre The orphan buffer holds no meaningful data.
+ * @post The orphan buffer is candidate for new front buffer.
+ * @post A new front buffer is ready and signaled.
+ *
+ * @param[in] handler Pointer to the tribuf handler object.
+ *
+ * @api
+ */
+void tribufSwapBack(tribuf_t *handler) {
+
+ osalSysLock();
+ tribufSwapBackI(handler);
+#if (TRIBUF_USE_WAIT == TRUE)
+ osalOsRescheduleS();
+#endif
+ osalSysUnlock();
+}
+
+/** @} */
diff --git a/ChibiOS_16.1.5/community/os/various/tribuf.h b/ChibiOS_16.1.5/community/os/various/tribuf.h new file mode 100644 index 0000000..4ba3f25 --- /dev/null +++ b/ChibiOS_16.1.5/community/os/various/tribuf.h @@ -0,0 +1,225 @@ +/*
+ Copyright (C) 2014..2015 Andrea Zoppi
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+*/
+
+/**
+ * @file tribuf.h
+ * @brief Triple buffer handler header.
+ *
+ * @addtogroup TriBuf
+ * @{
+ */
+
+#ifndef _TRIBUF_H_
+#define _TRIBUF_H_
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+/**
+ * @name Triple buffer configuration options
+ * @{
+ */
+
+/**
+ * @brief Triple buffers use blocking functions.
+ */
+#if !defined(TRIBUF_USE_WAIT) || defined(__DOXYGEN__)
+#define TRIBUF_USE_WAIT TRUE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver data structures and types. */
+/*===========================================================================*/
+
+/**
+ * @brief Triple buffer handler object.
+ */
+typedef struct {
+ void *front; /**< @brief Current front buffer pointer.*/
+ void *back; /**< @brief Current back buffer pointer.*/
+ void *orphan; /**< @brief Current orphan buffer pointer.*/
+#if (TRIBUF_USE_WAIT == TRUE)
+ semaphore_t ready; /**< @brief A new front buffer is ready.*/
+#else
+ bool ready; /**< @brief A new front buffer is ready.*/
+#endif
+} tribuf_t;
+
+/*===========================================================================*/
+/* Driver macros. */
+/*===========================================================================*/
+
+/**
+ * @brief Checks if a new front buffer is ready.
+ *
+ * @param[in] handler Pointer to the tribuf handler object.
+ * @return Availability of a new front buffer.
+ *
+ * @iclass
+ */
+static inline
+bool tribufIsReadyI(tribuf_t *handler)
+{
+ osalDbgCheckClassI();
+
+#if (TRIBUF_USE_WAIT == TRUE)
+ return (0 != chSemGetCounterI(&handler->ready));
+#else
+ return handler->ready;
+#endif
+}
+
+#if (TRIBUF_USE_WAIT == TRUE) || defined(__DOXYGEN__)
+
+/**
+ * @brief Waits until a new front buffer is ready, with timeout.
+ *
+ * @post The ready signal, result of the back buffer swap, is consumed.
+ *
+ * @param[in] handler Pointer to the tribuf handler object.
+ * @param[in] timeout Timeout of the wait operation.
+ * @return Timeout error code, as from @p chSemWaitTimeoutS.
+ *
+ * @see chSemWaitTimeoutS
+ * @sclass
+ */
+static inline
+msg_t tribufWaitReadyTimeoutS(tribuf_t *handler, systime_t timeout)
+{
+ osalDbgCheckClassS();
+
+ return chSemWaitTimeoutS(&handler->ready, timeout);
+}
+
+/**
+ * @brief Waits until a new front buffer is ready, with timeout.
+ *
+ * @post The ready signal, result of the back buffer swap, is consumed.
+ *
+ * @param[in] handler Pointer to the tribuf handler object.
+ * @param[in] timeout Timeout of the wait operation.
+ * @return Timeout error code, as from @p chSemWaitTimeout.
+ *
+ * @see chSemWaitTimeout
+ * @api
+ */
+static inline
+msg_t tribufWaitReadyTimeout(tribuf_t *handler, systime_t timeout)
+{
+ return chSemWaitTimeout(&handler->ready, timeout);
+}
+
+/**
+ * @brief Waits until a new front buffer is ready.
+ *
+ * @post The ready signal, result of the back buffer swap, is consumed.
+ *
+ * @param[in] handler Pointer to the tribuf handler object.
+ * @return Timeout error code, as from @p chSemWaitS.
+ *
+ * @see chSemWaitS
+ * @sclass
+ */
+static inline
+void tribufWaitReadyS(tribuf_t *handler)
+{
+ osalDbgCheckClassS();
+
+ chSemWaitS(&handler->ready);
+}
+
+/**
+ * @brief Waits until a new front buffer is ready.
+ *
+ * @post The ready signal, result of the back buffer swap, is consumed.
+ *
+ * @param[in] handler Pointer to the tribuf handler object.
+ * @return Timeout error code, as from @p chSemWait.
+ *
+ * @see chSemWait
+ * @api
+ */
+static inline
+void tribufWaitReady(tribuf_t *handler)
+{
+ chSemWait(&handler->ready);
+}
+
+#endif /* (TRIBUF_USE_WAIT == TRUE) || defined(__DOXYGEN__) */
+
+/**
+ * @brief Gets the current front buffer.
+ *
+ * @param[in] handler Pointer to the tribuf handler object.
+ * @return Pointer to the current front buffer.
+ *
+ * @iclass
+ */
+static inline
+void *tribufGetFrontI(tribuf_t *handler) {
+
+ osalDbgCheckClassI();
+
+ return handler->front;
+}
+
+/**
+ * @brief Gets the current back buffer.
+ *
+ * @param[in] handler Pointer to the tribuf handler object.
+ * @return Pointer to the current back buffer.
+ *
+ * @iclass
+ */
+static inline
+void *tribufGetBackI(tribuf_t *handler) {
+
+ osalDbgCheckClassI();
+
+ return handler->back;
+}
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void tribufObjectInit(tribuf_t *handler, void *front, void *back, void *orphan);
+ void *tribufGetFront(tribuf_t *handler);
+ void tribufSwapFrontI(tribuf_t *handler);
+ void tribufSwapFront(tribuf_t *handler);
+ void *tribufGetBack(tribuf_t *handler);
+ void tribufSwapBackI(tribuf_t *handler);
+ void tribufSwapBack(tribuf_t *handler);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _TRIBUF_H_ */
+/** @} */
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