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Fixed Bug #943 

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@11985 110e8d01-0319-4d1e-a829-52ad28d1bb01
This commit is contained in:
Rocco Marco Guglielmi 2018-05-02 13:18:38 +00:00
parent e30edc0e9c
commit 021bd52c4a
23 changed files with 3129 additions and 3071 deletions
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34
doc/ex/Doxyfile_chm
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@ -38,7 +38,7 @@ PROJECT_NAME = ChibiOS/EX
# could be handy for archiving the generated documentation or if some version
# control system is used.
PROJECT_NUMBER = 1.0.0
PROJECT_NUMBER = 1.1.0
# Using the PROJECT_BRIEF tag one can provide an optional one line description
# for a project that appears at the top of each page and should give viewer a
@ -238,14 +238,30 @@ TAB_SIZE = 2
# "Side Effects:". You can put \n's in the value part of an alias to insert
# newlines.
ALIASES = "iclass=@par Function Class:\n This is an <b>I-Class</b> API, this function can be invoked from within a system lock zone by both threads and interrupt handlers." \
"sclass=@par Function Class:\n This is an <b>S-Class</b> API, this function can be invoked from within a system lock zone by threads only." \
"xclass=@par Function Class:\n This is an <b>X-Class</b> API, this function can be invoked from any context." \
"api=@par Function Class:\n Normal API, this function can be invoked by regular system threads but not from within a lock zone." \
"notapi=@par Function Class:\n Not an API, this function is for internal use only." \
"isr=@par Function Class:\n Interrupt handler, this function should not be directly invoked." \
"init=@par Function Class:\n Initializer, this function just initializes an object and can be invoked before the kernel is initialized." \
"special=@par Function Class:\n Special function, this function has special requirements see the notes."
ALIASES = "iclass=@par Function Class:<br> This is an \
<b>I-Class</b> API, this function can be \
invoked from within a system lock zone by both \
threads and interrupt handlers." \
"sclass=@par Function Class:<br> This is an \
<b>S-Class</b> API, this function can be \
invoked from within a system lock zone by threads \
only." \
"xclass=@par Function Class:<br> This is an \
<b>X-Class</b> API, this function can be \
invoked from any context." \
"api=@par Function Class:<br> Normal API, this \
function can be invoked by regular system threads \
but not from within a lock zone." \
"notapi=@par Function Class:<br> Not an API, this \
function is for internal use only." \
"isr=@par Function Class:<br> Interrupt handler, \
this function should not be directly invoked." \
"init=@par Function Class:<br> Initializer, this \
function just initializes an object and can be \
invoked before the kernel is initialized." \
"special=@par Function Class:<br> Special function, \
this function has special requirements see the \
notes."
# This tag can be used to specify a number of word-keyword mappings (TCL only).
# A mapping has the form "name=value". For example adding "class=itcl::class"

5017
doc/ex/Doxyfile_html
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2
os/ex/ST/hts221.c
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@ -460,7 +460,7 @@ static msg_t thermo_read_raw(void *ip, int32_t axes[]) {
* BaseThermometer axes number.
*
* @param[in] ip pointer to @p BaseThermometer interface.
* @param[out] axes a buffer which would be filled with cooked data.
* @param[out] axis a buffer which would be filled with cooked data.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.

4
os/ex/ST/hts221.h
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@ -44,7 +44,7 @@
/**
* @brief HTS221 driver version string.
*/
#define EX_HTS221_VERSION "1.1.0"
#define EX_HTS221_VERSION "1.1.1"
/**
* @brief HTS221 driver version major number.
@ -59,7 +59,7 @@
/**
* @brief HTS221 driver version patch number.
*/
#define EX_HTS221_PATCH 0
#define EX_HTS221_PATCH 1
/** @} */
/**

4
os/ex/ST/l3gd20.c
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@ -189,7 +189,7 @@ static msg_t gyro_read_cooked(void *ip, float axes[]) {
* @brief Samples bias values for the BaseGyroscope.
* @note The L3GD20 shall not be moved during the whole procedure.
* @note After this function internal bias is automatically updated.
* @note The behavior of this function depends on @P L3GD20_BIAS_ACQ_TIMES
* @note The behavior of this function depends on @p L3GD20_BIAS_ACQ_TIMES
* and @p L3GD20_BIAS_SETTLING_US.
*
* @param[in] ip pointer to @p BaseGyroscope interface.
@ -368,7 +368,7 @@ static msg_t gyro_reset_sensivity(void *ip) {
* previous and next fullscale value.
* @note A recalibration is highly suggested after calling this function.
*
* @param[in] ip pointer to @p BaseGyroscope interface.
* @param[in] devp pointer to @p BaseGyroscope interface.
* @param[in] fs new fullscale value.
*
* @return The operation status.

678
os/ex/ST/l3gd20.h
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@ -1,72 +1,72 @@
/*
ChibiOS - Copyright (C) 2016..2018 Rocco Marco Guglielmi
This file is part of ChibiOS.
ChibiOS is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 3 of the License, or
(at your option) any later version.
ChibiOS is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/**
* @file l3gd20.h
* @brief L3GD20 MEMS interface module header.
*
* @addtogroup L3GD20
* @ingroup EX_ST
* @{
*/
#ifndef _L3GD20_H_
#define _L3GD20_H_
#include "hal_gyroscope.h"
/*===========================================================================*/
/* Driver constants. */
/*===========================================================================*/
/**
* @name Version identification
* @{
*/
/**
* @brief L3GD20 driver version string.
*/
#define EX_L3GD20_VERSION "1.1.0"
/**
* @brief L3GD20 driver version major number.
*/
#define EX_L3GD20_MAJOR 1
/**
* @brief L3GD20 driver version minor number.
*/
#define EX_L3GD20_MINOR 1
/**
* @brief L3GD20 driver version patch number.
*/
#define EX_L3GD20_PATCH 0
/** @} */
/**
* @brief L3GD20 gyroscope system characteristics.
* @note Sensitivity is expressed as DPS/LSB whereas DPS stand for Degree
* per second [°/s].
* @note Bias is expressed as DPS.
*
* @{
/*
ChibiOS - Copyright (C) 2016..2018 Rocco Marco Guglielmi
This file is part of ChibiOS.
ChibiOS is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 3 of the License, or
(at your option) any later version.
ChibiOS is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/**
* @file l3gd20.h
* @brief L3GD20 MEMS interface module header.
*
* @addtogroup L3GD20
* @ingroup EX_ST
* @{
*/
#ifndef _L3GD20_H_
#define _L3GD20_H_
#include "hal_gyroscope.h"
/*===========================================================================*/
/* Driver constants. */
/*===========================================================================*/
/**
* @name Version identification
* @{
*/
/**
* @brief L3GD20 driver version string.
*/
#define EX_L3GD20_VERSION "1.1.1"
/**
* @brief L3GD20 driver version major number.
*/
#define EX_L3GD20_MAJOR 1
/**
* @brief L3GD20 driver version minor number.
*/
#define EX_L3GD20_MINOR 1
/**
* @brief L3GD20 driver version patch number.
*/
#define EX_L3GD20_PATCH 1
/** @} */
/**
* @brief L3GD20 gyroscope system characteristics.
* @note Sensitivity is expressed as DPS/LSB whereas DPS stand for Degree
* per second [°/s].
* @note Bias is expressed as DPS.
*
* @{
*/
#define L3GD20_GYRO_NUMBER_OF_AXES 3U
@ -76,8 +76,8 @@
#define L3GD20_GYRO_SENS_250DPS 0.00875f
#define L3GD20_GYRO_SENS_500DPS 0.01750f
#define L3GD20_GYRO_SENS_2000DPS 0.07000f
#define L3GD20_GYRO_SENS_2000DPS 0.07000f
#define L3GD20_GYRO_BIAS 0.0f
/** @} */
@ -194,36 +194,36 @@
#define L3GD20_CTRL_REG5_FIFO_EN (1 << 6)
#define L3GD20_CTRL_REG5_BOOT (1 << 7)
/** @} */
/**
* @name L3GD20_INT1_CFG register bits definitions
* @{
*/
#define L3GD20_INT1_CFG_MASK 0xFF
#define L3GD20_INT1_CFG_XLIE (1 << 0)
#define L3GD20_INT1_CFG_XHIE (1 << 1)
#define L3GD20_INT1_CFG_YLIE (1 << 2)
#define L3GD20_INT1_CFG_YHIE (1 << 3)
#define L3GD20_INT1_CFG_ZLIE (1 << 4)
#define L3GD20_INT1_CFG_ZHIE (1 << 5)
#define L3GD20_INT1_CFG_LIR (1 << 6)
#define L3GD20_INT1_CFG_AND_OR (1 << 7)
/** @} */
/**
* @name L3GD20_INT1_SRC register bits definitions
* @{
*/
#define L3GD20_INT1_SRC_MASK 0x7F
#define L3GD20_INT1_SRC_XL (1 << 0)
#define L3GD20_INT1_SRC_XH (1 << 1)
#define L3GD20_INT1_SRC_YL (1 << 2)
#define L3GD20_INT1_SRC_YH (1 << 3)
#define L3GD20_INT1_SRC_ZL (1 << 4)
#define L3GD20_INT1_SRC_ZH (1 << 5)
#define L3GD20_INT1_SRC_IA (1 << 6)
/** @} */
/**
* @name L3GD20_INT1_CFG register bits definitions
* @{
*/
#define L3GD20_INT1_CFG_MASK 0xFF
#define L3GD20_INT1_CFG_XLIE (1 << 0)
#define L3GD20_INT1_CFG_XHIE (1 << 1)
#define L3GD20_INT1_CFG_YLIE (1 << 2)
#define L3GD20_INT1_CFG_YHIE (1 << 3)
#define L3GD20_INT1_CFG_ZLIE (1 << 4)
#define L3GD20_INT1_CFG_ZHIE (1 << 5)
#define L3GD20_INT1_CFG_LIR (1 << 6)
#define L3GD20_INT1_CFG_AND_OR (1 << 7)
/** @} */
/**
* @name L3GD20_INT1_SRC register bits definitions
* @{
*/
#define L3GD20_INT1_SRC_MASK 0x7F
#define L3GD20_INT1_SRC_XL (1 << 0)
#define L3GD20_INT1_SRC_XH (1 << 1)
#define L3GD20_INT1_SRC_YL (1 << 2)
#define L3GD20_INT1_SRC_YH (1 << 3)
#define L3GD20_INT1_SRC_ZL (1 << 4)
#define L3GD20_INT1_SRC_ZH (1 << 5)
#define L3GD20_INT1_SRC_IA (1 << 6)
/** @} */
/*===========================================================================*/
/* Driver pre-compile time settings. */
/*===========================================================================*/
@ -232,52 +232,52 @@
* @name Configuration options
* @{
*/
/**
* @brief L3GD20 SPI interface switch.
* @details If set to @p TRUE the support for SPI is included.
* @note The default is @p TRUE.
*/
#if !defined(L3GD20_USE_SPI) || defined(__DOXYGEN__)
#define L3GD20_USE_SPI TRUE
#endif
/**
* @brief L3GD20 shared SPI switch.
* @details If set to @p TRUE the device acquires SPI bus ownership
* on each transaction.
* @note The default is @p FALSE. Requires SPI_USE_MUTUAL_EXCLUSION.
*/
#if !defined(L3GD20_SHARED_SPI) || defined(__DOXYGEN__)
#define L3GD20_SHARED_SPI FALSE
#endif
/**
* @brief L3GD20 I2C interface switch.
* @details If set to @p TRUE the support for I2C is included.
* @note The default is @p FALSE.
*/
#if !defined(L3GD20_USE_I2C) || defined(__DOXYGEN__)
#define L3GD20_USE_I2C FALSE
#endif
/**
* @brief L3GD20 shared I2C switch.
* @details If set to @p TRUE the device acquires I2C bus ownership
* on each transaction.
* @note The default is @p FALSE. Requires I2C_USE_MUTUAL_EXCLUSION.
*/
#if !defined(L3GD20_SHARED_I2C) || defined(__DOXYGEN__)
#define L3GD20_SHARED_I2C FALSE
#endif
/**
* @brief L3GD20 accelerometer subsystem advanced configurations
* switch.
* @details If set to @p TRUE more configurations are available.
* @note The default is @p FALSE.
*/
#if !defined(L3GD20_GYRO_USE_ADVANCED) || defined(__DOXYGEN__)
#define L3GD20_GYRO_USE_ADVANCED FALSE
/**
* @brief L3GD20 SPI interface switch.
* @details If set to @p TRUE the support for SPI is included.
* @note The default is @p TRUE.
*/
#if !defined(L3GD20_USE_SPI) || defined(__DOXYGEN__)
#define L3GD20_USE_SPI TRUE
#endif
/**
* @brief L3GD20 shared SPI switch.
* @details If set to @p TRUE the device acquires SPI bus ownership
* on each transaction.
* @note The default is @p FALSE. Requires SPI_USE_MUTUAL_EXCLUSION.
*/
#if !defined(L3GD20_SHARED_SPI) || defined(__DOXYGEN__)
#define L3GD20_SHARED_SPI FALSE
#endif
/**
* @brief L3GD20 I2C interface switch.
* @details If set to @p TRUE the support for I2C is included.
* @note The default is @p FALSE.
*/
#if !defined(L3GD20_USE_I2C) || defined(__DOXYGEN__)
#define L3GD20_USE_I2C FALSE
#endif
/**
* @brief L3GD20 shared I2C switch.
* @details If set to @p TRUE the device acquires I2C bus ownership
* on each transaction.
* @note The default is @p FALSE. Requires I2C_USE_MUTUAL_EXCLUSION.
*/
#if !defined(L3GD20_SHARED_I2C) || defined(__DOXYGEN__)
#define L3GD20_SHARED_I2C FALSE
#endif
/**
* @brief L3GD20 accelerometer subsystem advanced configurations
* switch.
* @details If set to @p TRUE more configurations are available.
* @note The default is @p FALSE.
*/
#if !defined(L3GD20_GYRO_USE_ADVANCED) || defined(__DOXYGEN__)
#define L3GD20_GYRO_USE_ADVANCED FALSE
#endif
/**
@ -302,32 +302,32 @@
/* Derived constants and error checks. */
/*===========================================================================*/
#if !(L3GD20_USE_SPI ^ L3GD20_USE_I2C)
#error "L3GD20_USE_SPI and L3GD20_USE_I2C cannot be both true or both false"
#endif
#if L3GD20_USE_SPI && !HAL_USE_SPI
#error "L3GD20_USE_SPI requires HAL_USE_SPI"
#endif
#if L3GD20_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION
#error "L3GD20_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION"
#endif
#if L3GD20_USE_I2C && !HAL_USE_I2C
#error "L3GD20_USE_I2C requires HAL_USE_I2C"
#endif
#if L3GD20_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION
#error "L3GD20_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION"
#endif
/**
* @todo Add support for L3GD20 over I2C.
*/
#if L3GD20_USE_I2C
#error "L3GD20 over I2C still not supported"
#endif
#if !(L3GD20_USE_SPI ^ L3GD20_USE_I2C)
#error "L3GD20_USE_SPI and L3GD20_USE_I2C cannot be both true or both false"
#endif
#if L3GD20_USE_SPI && !HAL_USE_SPI
#error "L3GD20_USE_SPI requires HAL_USE_SPI"
#endif
#if L3GD20_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION
#error "L3GD20_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION"
#endif
#if L3GD20_USE_I2C && !HAL_USE_I2C
#error "L3GD20_USE_I2C requires HAL_USE_I2C"
#endif
#if L3GD20_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION
#error "L3GD20_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION"
#endif
/**
* @todo Add support for L3GD20 over I2C.
*/
#if L3GD20_USE_I2C
#error "L3GD20 over I2C still not supported"
#endif
/*===========================================================================*/
/* Driver data structures and types. */
@ -336,11 +336,11 @@
/**
* @name L3GD20 data structures and types.
* @{
*/
/**
* @brief Structure representing a L3GD20 driver.
*/
typedef struct L3GD20Driver L3GD20Driver;
*/
/**
* @brief Structure representing a L3GD20 driver.
*/
typedef struct L3GD20Driver L3GD20Driver;
/**
* @brief L3GD20 full scale.
@ -369,7 +369,7 @@ typedef enum {
L3GD20_BW1 = 0x40, /**< LPF1 bandwidth. Depends on ODR. */
L3GD20_BW2 = 0x80, /**< LPF1 bandwidth. Depends on ODR. */
L3GD20_BW3 = 0xC0 /**< LPF1 bandwidth. Depends on ODR. */
} l3gd20_bw_t;
} l3gd20_bw_t;
/**
* @brief L3GD20 block data update.
@ -430,7 +430,7 @@ typedef enum {
L3GD20_STOP = 1, /**< Stopped. */
L3GD20_READY = 2 /**< Ready. */
} l3gd20_state_t;
/**
* @brief L3GD20 configuration structure.
*/
@ -463,7 +463,7 @@ typedef struct {
/**
* @brief L3GD20 gyroscope system initial bias.
*/
float *gyrobias;
float *gyrobias;
/**
* @brief L3GD20 gyroscope system initial full scale value.
*/
@ -500,20 +500,20 @@ typedef struct {
l3gd20_lp2m_t gyrolp2mode;
#endif
} L3GD20Config;
/**
* @brief @p L3GD20 specific methods.
*/
#define _l3gd20_methods_alone \
/* Change full scale value of L3GD20.*/ \
msg_t (*gyro_set_full_scale)(L3GD20Driver *devp, l3gd20_fs_t fs);
/**
* @brief @p L3GD20 specific methods.
*/
#define _l3gd20_methods_alone \
/* Change full scale value of L3GD20.*/ \
msg_t (*gyro_set_full_scale)(L3GD20Driver *devp, l3gd20_fs_t fs);
/**
* @brief @p L3GD20 specific methods with inherited ones.
*/
#define _l3gd20_methods \
_base_object_methods \
_l3gd20_methods_alone
_l3gd20_methods_alone
/**
* @extends BaseObjectVMT
@ -532,8 +532,8 @@ struct L3GD20VMT {
/* Driver state.*/ \
l3gd20_state_t state; \
/* Current configuration data.*/ \
const L3GD20Config *config; \
/* Gyroscope subsystem axes number.*/ \
const L3GD20Config *config; \
/* Gyroscope subsystem axes number.*/ \
size_t gyroaxes; \
/* Gyroscope subsystem current sensitivity.*/ \
float gyrosensitivity[L3GD20_GYRO_NUMBER_OF_AXES]; \
@ -547,8 +547,8 @@ struct L3GD20VMT {
*/
struct L3GD20Driver {
/** @brief Virtual Methods Table. */
const struct L3GD20VMT *vmt;
/** @brief Base gyroscope interface.*/
const struct L3GD20VMT *vmt;
/** @brief Base gyroscope interface.*/
BaseGyroscope gyro_if;
_l3gd20_data
};
@ -557,154 +557,154 @@ struct L3GD20Driver {
/*===========================================================================*/
/* Driver macros. */
/*===========================================================================*/
/**
* @brief Return the number of axes of the BaseGyroscope.
*
* @param[in] devp pointer to @p L3GD20Driver.
*
* @return the number of axes.
*
* @api
*/
#define l3gd20GyroscopeGetAxesNumber(devp) \
gyroscopeGetAxesNumber(&((devp)->gyro_if))
/**
* @brief Return the number of axes of the BaseGyroscope.
*
* @param[in] devp pointer to @p L3GD20Driver.
*
* @return the number of axes.
*
* @api
*/
#define l3gd20GyroscopeGetAxesNumber(devp) \
gyroscopeGetAxesNumber(&((devp)->gyro_if))
/**
* @brief Retrieves raw data from the BaseGyroscope.
* @note This data is retrieved from MEMS register without any algebraical
* manipulation.
* @note The axes array must be at least the same size of the
* BaseGyroscope axes number.
*
* @param[in] devp pointer to @p L3GD20Driver.
* @param[out] axes a buffer which would be filled with raw data.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*
* @api
*/
#define l3gd20GyroscopeReadRaw(devp, axes) \
/**
* @brief Retrieves raw data from the BaseGyroscope.
* @note This data is retrieved from MEMS register without any algebraical
* manipulation.
* @note The axes array must be at least the same size of the
* BaseGyroscope axes number.
*
* @param[in] devp pointer to @p L3GD20Driver.
* @param[out] axes a buffer which would be filled with raw data.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*
* @api
*/
#define l3gd20GyroscopeReadRaw(devp, axes) \
gyroscopeReadRaw(&((devp)->gyro_if), axes)
/**
* @brief Retrieves cooked data from the BaseGyroscope.
* @note This data is manipulated according to the formula
* cooked = (raw * sensitivity) - bias.
* @note Final data is expressed as DPS.
* @note The axes array must be at least the same size of the
* BaseGyroscope axes number.
*
* @param[in] devp pointer to @p L3GD20Driver.
* @param[out] axes a buffer which would be filled with cooked data.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*
* @api
*/
#define l3gd20GyroscopeReadCooked(devp, axes) \
gyroscopeReadCooked(&((devp)->gyro_if), axes)
/**
* @brief Samples bias values for the BaseGyroscope.
* @note The L3GD20 shall not be moved during the whole procedure.
* @note After this function internal bias is automatically updated.
* @note The behavior of this function depends on @P L3GD20_BIAS_ACQ_TIMES
* and @p L3GD20_BIAS_SETTLING_US.
*
* @param[in] devp pointer to @p L3GD20Driver.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*
* @api
*/
#define l3gd20GyroscopeSampleBias(devp) \
gyroscopeSampleBias(&((devp)->gyro_if))
/**
* @brief Set bias values for the BaseGyroscope.
* @note Bias must be expressed as DPS.
* @note The bias buffer must be at least the same size of the BaseGyroscope
* axes number.
*
* @param[in] devp pointer to @p L3GD20Driver.
* @param[in] bp a buffer which contains biases.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*
* @api
*/
#define l3gd20GyroscopeSetBias(devp, bp) \
gyroscopeSetBias(&((devp)->gyro_if), bp)
/**
* @brief Reset bias values for the BaseGyroscope.
* @note Default biases value are obtained from device datasheet when
* available otherwise they are considered zero.
*
* @param[in] devp pointer to @p L3GD20Driver.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*
* @api
*/
#define l3gd20GyroscopeResetBias(devp) \
gyroscopeResetBias(&((devp)->gyro_if))
/**
* @brief Set sensitivity values for the BaseGyroscope.
* @note Sensitivity must be expressed as DPS/LSB.
* @note The sensitivity buffer must be at least the same size of the
* BaseGyroscope axes number.
*
* @param[in] devp pointer to @p L3GD20Driver.
* @param[in] sp a buffer which contains sensitivities.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*
* @api
*/
#define l3gd20GyroscopeSetSensitivity(devp, sp) \
gyroscopeSetSensitivity(&((devp)->gyro_if), sp)
/**
* @brief Reset sensitivity values for the BaseGyroscope.
* @note Default sensitivities value are obtained from device datasheet.
*
* @param[in] devp pointer to @p L3GD20Driver.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
* @retval MSG_RESET otherwise.
*
* @api
*/
#define l3gd20GyroscopeResetSensitivity(devp) \
gyroscopeResetSensitivity(&((devp)->gyro_if))
/**
* @brief Changes the L3GD20Driver gyroscope fullscale value.
* @note This function also rescale sensitivities and biases based on
* previous and next fullscale value.
* @note A recalibration is highly suggested after calling this function.
*
* @param[in] devp pointer to @p L3GD20Driver.
* @param[in] fs new fullscale value.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
* @retval MSG_RESET otherwise.
*
* @api
*/
#define l3gd20GyroscopeSetFullScale(devp, fs) \
(devp)->vmt->acc_set_full_scale(devp, fs)
/**
* @brief Retrieves cooked data from the BaseGyroscope.
* @note This data is manipulated according to the formula
* cooked = (raw * sensitivity) - bias.
* @note Final data is expressed as DPS.
* @note The axes array must be at least the same size of the
* BaseGyroscope axes number.
*
* @param[in] devp pointer to @p L3GD20Driver.
* @param[out] axes a buffer which would be filled with cooked data.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*
* @api
*/
#define l3gd20GyroscopeReadCooked(devp, axes) \
gyroscopeReadCooked(&((devp)->gyro_if), axes)
/**
* @brief Samples bias values for the BaseGyroscope.
* @note The L3GD20 shall not be moved during the whole procedure.
* @note After this function internal bias is automatically updated.
* @note The behavior of this function depends on @p L3GD20_BIAS_ACQ_TIMES
* and @p L3GD20_BIAS_SETTLING_US.
*
* @param[in] devp pointer to @p L3GD20Driver.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*
* @api
*/
#define l3gd20GyroscopeSampleBias(devp) \
gyroscopeSampleBias(&((devp)->gyro_if))
/**
* @brief Set bias values for the BaseGyroscope.
* @note Bias must be expressed as DPS.
* @note The bias buffer must be at least the same size of the BaseGyroscope
* axes number.
*
* @param[in] devp pointer to @p L3GD20Driver.
* @param[in] bp a buffer which contains biases.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*
* @api
*/
#define l3gd20GyroscopeSetBias(devp, bp) \
gyroscopeSetBias(&((devp)->gyro_if), bp)
/**
* @brief Reset bias values for the BaseGyroscope.
* @note Default biases value are obtained from device datasheet when
* available otherwise they are considered zero.
*
* @param[in] devp pointer to @p L3GD20Driver.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*
* @api
*/
#define l3gd20GyroscopeResetBias(devp) \
gyroscopeResetBias(&((devp)->gyro_if))
/**
* @brief Set sensitivity values for the BaseGyroscope.
* @note Sensitivity must be expressed as DPS/LSB.
* @note The sensitivity buffer must be at least the same size of the
* BaseGyroscope axes number.
*
* @param[in] devp pointer to @p L3GD20Driver.
* @param[in] sp a buffer which contains sensitivities.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*
* @api
*/
#define l3gd20GyroscopeSetSensitivity(devp, sp) \
gyroscopeSetSensitivity(&((devp)->gyro_if), sp)
/**
* @brief Reset sensitivity values for the BaseGyroscope.
* @note Default sensitivities value are obtained from device datasheet.
*
* @param[in] devp pointer to @p L3GD20Driver.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
* @retval MSG_RESET otherwise.
*
* @api
*/
#define l3gd20GyroscopeResetSensitivity(devp) \
gyroscopeResetSensitivity(&((devp)->gyro_if))
/**
* @brief Changes the L3GD20Driver gyroscope fullscale value.
* @note This function also rescale sensitivities and biases based on
* previous and next fullscale value.
* @note A recalibration is highly suggested after calling this function.
*
* @param[in] devp pointer to @p L3GD20Driver.
* @param[in] fs new fullscale value.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
* @retval MSG_RESET otherwise.
*
* @api
*/
#define l3gd20GyroscopeSetFullScale(devp, fs) \
(devp)->vmt->acc_set_full_scale(devp, fs)
/*===========================================================================*/
/* External declarations. */

7
os/ex/ST/lis302dl.c
View File

@ -322,15 +322,14 @@ static msg_t acc_reset_sensivity(void *ip) {
* previous and next fullscale value.
* @note A recalibration is highly suggested after calling this function.
*
* @param[in] ip pointer to @p LIS302DLDriver interface.
* @param[in] devp pointer to @p LIS302DLDriver interface.
* @param[in] fs new fullscale value.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
* @retval MSG_RESET otherwise.
*/
static msg_t acc_set_full_scale(LIS302DLDriver *devp,
lis302dl_acc_fs_t fs) {
static msg_t acc_set_full_scale(LIS302DLDriver *devp, lis302dl_acc_fs_t fs) {
float newfs, scale;
uint8_t i, cr;
msg_t msg;
@ -448,7 +447,7 @@ void lis302dlStart(LIS302DLDriver *devp, const LIS302DLConfig *config) {
osalDbgCheck((devp != NULL) && (config != NULL));
osalDbgAssert((devp->state == LIS302DL_STOP) || (devp->state == LIS302DL_READY),
"lis302dlStart(), invalid state");
"lis302dlStart(), invalid state");
devp->config = config;

5
os/ex/ST/lis3dsh.c
View File

@ -336,15 +336,14 @@ static msg_t acc_reset_sensivity(void *ip) {
* previous and next fullscale value.
* @note A recalibration is highly suggested after calling this function.
*
* @param[in] ip pointer to @p LIS3DSHDriver interface.
* @param[in] devp pointer to @p LIS3DSHDriver interface.
* @param[in] fs new fullscale value.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
* @retval MSG_RESET otherwise.
*/
static msg_t acc_set_full_scale(LIS3DSHDriver *devp,
lis3dsh_acc_fs_t fs) {
static msg_t acc_set_full_scale(LIS3DSHDriver *devp, lis3dsh_acc_fs_t fs) {
float newfs, scale;
uint8_t i, cr;
msg_t msg;

4
os/ex/ST/lis3dsh.h
View File

@ -43,7 +43,7 @@
/**
* @brief LIS3DSH driver version string.
*/
#define EX_LIS3DSH_VERSION "1.1.0"
#define EX_LIS3DSH_VERSION "1.1.1"
/**
* @brief LIS3DSH driver version major number.
@ -58,7 +58,7 @@
/**
* @brief LIS3DSH driver version patch number.
*/
#define EX_LIS3DSH_PATCH 0
#define EX_LIS3DSH_PATCH 1
/** @} */
/**

5
os/ex/ST/lis3mdl.c
View File

@ -335,15 +335,14 @@ static msg_t comp_reset_sensivity(void *ip) {
* previous and next fullscale value.
* @note A recalibration is highly suggested after calling this function.
*
* @param[in] ip pointer to @p LIS3MDLDriver interface.
* @param[in] devp pointer to @p LIS3MDLDriver interface.
* @param[in] fs new fullscale value.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
* @retval MSG_RESET otherwise.
*/
static msg_t comp_set_full_scale(LIS3MDLDriver *devp,
lis3mdl_comp_fs_t fs) {
static msg_t comp_set_full_scale(LIS3MDLDriver *devp, lis3mdl_comp_fs_t fs) {
float newfs, scale;
uint8_t i, buff[2];
msg_t msg;

13
os/ex/ST/lis3mdl.h
View File

@ -42,7 +42,7 @@
/**
* @brief LIS3MDL driver version string.
*/
#define EX_LIS3MDL_VERSION "1.1.0"
#define EX_LIS3MDL_VERSION "1.1.1"
/**
* @brief LIS3MDL driver version major number.
@ -57,7 +57,7 @@
/**
* @brief LIS3MDL driver version patch number.
*/
#define EX_LIS3MDL_PATCH 0
#define EX_LIS3MDL_PATCH 1
/** @} */
/**
@ -282,6 +282,9 @@
*/
typedef struct LIS3MDLDriver LIS3MDLDriver;
/**
* @brief LIS3MDL slave address
*/
typedef enum {
LIS3MDL_SAD_GND = 0x1C, /**< Slave Address when SA1 is to GND */
LIS3MDL_SAD_VCC = 0x1E /**< Slave Address when SA1 is to VCC */
@ -529,7 +532,7 @@ struct LIS3MDLDriver {
* @note The axes array must be at least the same size of the
* BaseCompass axes number.
*
* @param[in] ip pointer to @p BaseCompass interface.
* @param[in] devp pointer to @p BaseCompass interface.
* @param[out] axes a buffer which would be filled with raw data.
*
* @return The operation status.
@ -551,7 +554,7 @@ struct LIS3MDLDriver {
* @note The axes array must be at least the same size of the
* BaseCompass axes number.
*
* @param[in] ip pointer to @p BaseCompass interface.
* @param[in] devp pointer to @p BaseCompass interface.
* @param[out] axes a buffer which would be filled with cooked data.
*
* @return The operation status.
@ -571,7 +574,7 @@ struct LIS3MDLDriver {
* @note The bias buffer must be at least the same size of the
* BaseCompass axes number.
*
* @param[in] ip pointer to @p BaseCompass interface.
* @param[in] devp pointer to @p BaseCompass interface.
* @param[in] bp a buffer which contains biases.
*
* @return The operation status.

2
os/ex/ST/lps22hb.c
View File

@ -372,7 +372,7 @@ static msg_t thermo_read_raw(void *ip, int32_t axes[]) {
* BaseThermometer axes number.
*
* @param[in] ip pointer to @p BaseThermometer interface.
* @param[out] axes a buffer which would be filled with cooked data.
* @param[out] axis a buffer which would be filled with cooked data.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.

2
os/ex/ST/lps25h.c
View File

@ -379,7 +379,7 @@ static msg_t thermo_read_raw(void *ip, int32_t axes[]) {
* BaseThermometer axes number.
*
* @param[in] ip pointer to @p BaseThermometer interface.
* @param[out] axes a buffer which would be filled with cooked data.
* @param[out] axis a buffer which would be filled with cooked data.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.

366
os/ex/ST/lps25h.h
View File

@ -43,7 +43,7 @@
/**
* @brief LPS25H driver version string.
*/
#define EX_LPS25H_VERSION "1.1.0"
#define EX_LPS25H_VERSION "1.1.1"
/**
* @brief LPS25H driver version major number.
@ -58,22 +58,22 @@
/**
* @brief LPS25H driver version patch number.
*/
#define EX_LPS25H_PATCH 0
#define EX_LPS25H_PATCH 1
/** @} */
/**
* @brief LPS25H barometer subsystem characteristics.
* @brief LPS25H barometer subsystem characteristics.
* @note Sensitivity is expressed as hPa/LSB whereas hPa stand for
* hectopascal.
* @note Bias is expressed as hPa.
*
* @{
*/
#define LPS25H_BARO_NUMBER_OF_AXES 1U
*/
#define LPS25H_BARO_NUMBER_OF_AXES 1U
#define LPS25H_BARO_SENS 0.00024414f
#define LPS25H_BARO_BIAS 0.0f
/** @} */
#define LPS25H_BARO_BIAS 0.0f
/** @} */
/**
* @brief LPS25H thermometer subsystem characteristics.
@ -87,65 +87,65 @@
#define LPS25H_THERMO_SENS 0.00208333f
#define LPS25H_THERMO_BIAS -42.5f
/** @} */
/**
* @name LPS25H communication interfaces related bit masks
* @{
*/
#define LPS25H_DI_MASK 0xFF
#define LPS25H_DI(n) (1 << n)
#define LPS25H_AD_MASK 0x3F
#define LPS25H_AD(n) (1 << n)
#define LPS25H_MS (1 << 6)
/**
* @name LPS25H communication interfaces related bit masks
* @{
*/
#define LPS25H_DI_MASK 0xFF
#define LPS25H_DI(n) (1 << n)
#define LPS25H_AD_MASK 0x3F
#define LPS25H_AD(n) (1 << n)
#define LPS25H_MS (1 << 6)
#define LPS25H_RW (1 << 7)
#define LPS25H_SUB_MS (1 << 7)
/** @} */
/**
* @name LPS25H register addresses
* @{
*/
#define LPS25H_SUB_MS (1 << 7)
/** @} */
/**
* @name LPS25H register addresses
* @{
*/
#define LPS25H_AD_REF_P_XL 0x08
#define LPS25H_AD_REF_P_L 0x09
#define LPS25H_AD_REF_P_H 0x0A
#define LPS25H_AD_WHO_AM_I 0x0F
#define LPS25H_AD_RES_CONF 0x10
#define LPS25H_AD_CTRL_REG1 0x20
#define LPS25H_AD_CTRL_REG2 0x21
#define LPS25H_AD_CTRL_REG3 0x22
#define LPS25H_AD_RES_CONF 0x10
#define LPS25H_AD_CTRL_REG1 0x20
#define LPS25H_AD_CTRL_REG2 0x21
#define LPS25H_AD_CTRL_REG3 0x22
#define LPS25H_AD_CTRL_REG4 0x23
#define LPS25H_AD_INT_CFG 0x24
#define LPS25H_AD_INT_SRC 0x25
#define LPS25H_AD_STATUS_REG 0x27
#define LPS25H_AD_PRESS_OUT_XL 0x28
#define LPS25H_AD_PRESS_OUT_L 0x29
#define LPS25H_AD_PRESS_OUT_H 0x2A
#define LPS25H_AD_TEMP_OUT_L 0x2B
#define LPS25H_AD_TEMP_OUT_H 0x2C
#define LPS25H_AD_FIFO_CTRL 0x2E
#define LPS25H_AD_FIFO_SRC 0x2F
#define LPS25H_AD_STATUS_REG 0x27
#define LPS25H_AD_PRESS_OUT_XL 0x28
#define LPS25H_AD_PRESS_OUT_L 0x29
#define LPS25H_AD_PRESS_OUT_H 0x2A
#define LPS25H_AD_TEMP_OUT_L 0x2B
#define LPS25H_AD_TEMP_OUT_H 0x2C
#define LPS25H_AD_FIFO_CTRL 0x2E
#define LPS25H_AD_FIFO_SRC 0x2F
#define LPS25H_AD_THS_P_L 0x30
#define LPS25H_AD_THS_P_H 0x31
#define LPS25H_AD_RPDS_L 0x39
#define LPS25H_AD_RPDS_H 0x3A
/** @} */
/**
* @name LPS25H_CTRL_REG1 register bits definitions
* @{
*/
#define LPS25H_CTRL_REG1_MASK 0xFF
#define LPS25H_CTRL_REG1_SIM (1 << 0)
#define LPS25H_CTRL_REG1_RESET_AZ (1 << 1)
#define LPS25H_CTRL_REG1_BDU (1 << 2)
#define LPS25H_CTRL_REG1_DIFF_EN (1 << 3)
#define LPS25H_CTRL_REG1_ODR0 (1 << 4)
#define LPS25H_CTRL_REG1_ODR1 (1 << 5)
#define LPS25H_CTRL_REG1_ODR2 (1 << 6)
#define LPS25H_CTRL_REG1_PD (1 << 7)
/** @} */
#define LPS25H_AD_RPDS_H 0x3A
/** @} */
/**
* @name LPS25H_CTRL_REG1 register bits definitions
* @{
*/
#define LPS25H_CTRL_REG1_MASK 0xFF
#define LPS25H_CTRL_REG1_SIM (1 << 0)
#define LPS25H_CTRL_REG1_RESET_AZ (1 << 1)
#define LPS25H_CTRL_REG1_BDU (1 << 2)
#define LPS25H_CTRL_REG1_DIFF_EN (1 << 3)
#define LPS25H_CTRL_REG1_ODR0 (1 << 4)
#define LPS25H_CTRL_REG1_ODR1 (1 << 5)
#define LPS25H_CTRL_REG1_ODR2 (1 << 6)
#define LPS25H_CTRL_REG1_PD (1 << 7)
/** @} */
/**
* @name LPS25H_CTRL_REG2 register bits definitions
* @{
@ -158,8 +158,8 @@
#define LPS25H_CTRL_REG2_WTM_EN (1 << 5)
#define LPS25H_CTRL_REG2_FIFO_EN (1 << 6)
#define LPS25H_CTRL_REG2_BOOT (1 << 7)
/** @} */
/** @} */
/**
* @name LPS25H_CTRL_REG3 register bits definitions
* @{
@ -180,7 +180,7 @@
#define LPS25H_CTRL_REG4_P1_OVERRUN (1 << 1)
#define LPS25H_CTRL_REG4_P1_WTM (1 << 2)
#define LPS25H_CTRL_REG4_P1_EMPTY (1 << 3)
/** @} */
/** @} */
/**
* @name LPS25H_INT1_CFG register bits definitions
@ -202,10 +202,10 @@
#define LPS25H_INT1_SRC_IA (1 << 2)
/** @} */
/*===========================================================================*/
/* Driver pre-compile time settings. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver pre-compile time settings. */
/*===========================================================================*/
/**
* @name Configuration options
* @{
@ -257,12 +257,12 @@
#if !defined(LPS25H_USE_ADVANCED) || defined(__DOXYGEN__)
#define LPS25H_USE_ADVANCED FALSE
#endif
/** @} */
/*===========================================================================*/
/* Derived constants and error checks. */
/*===========================================================================*/
/** @} */
/*===========================================================================*/
/* Derived constants and error checks. */
/*===========================================================================*/
#if !(LPS25H_USE_SPI ^ LPS25H_USE_I2C)
#error "LPS25H_USE_SPI and LPS25H_USE_I2C cannot be both true or both false"
#endif
@ -290,13 +290,13 @@
#error "LPS25H over SPI still not supported"
#endif
/*===========================================================================*/
/* Driver data structures and types. */
/*===========================================================================*/
/**
* @name LPS25H data structures and types.
* @{
/*===========================================================================*/
/* Driver data structures and types. */
/*===========================================================================*/
/**
* @name LPS25H data structures and types.
* @{
*/
/**
* @brief Structure representing a LPS25H driver.
@ -310,17 +310,17 @@ typedef enum {
LPS25H_SAD_GND = 0x5C, /**< Slave Address when SA0 is to GND */
LPS25H_SAD_VCC = 0x5D /**< Slave Address when SA0 is to VCC */
}lps25h_sad_t;
/**
* @brief LPS25H output data rate and bandwidth.
*/
/**
* @brief LPS25H output data rate and bandwidth.
*/
typedef enum {
LPS25H_ODR_ONE_SHOT = 0x00, /**< One shot. */
LPS25H_ODR_1HZ = 0x10, /**< Output data rate 1 Hz. */
LPS25H_ODR_7HZ = 0x20, /**< Output data rate 7 Hz. */
LPS25H_ODR_12P5HZ = 0x30, /**< Output data rate 12.5 Hz. */
LPS25H_ODR_25HZ = 0x40 /**< Output data rate 25 Hz. */
}lps25h_odr_t;
LPS25H_ODR_ONE_SHOT = 0x00, /**< One shot. */
LPS25H_ODR_1HZ = 0x10, /**< Output data rate 1 Hz. */
LPS25H_ODR_7HZ = 0x20, /**< Output data rate 7 Hz. */
LPS25H_ODR_12P5HZ = 0x30, /**< Output data rate 12.5 Hz. */
LPS25H_ODR_25HZ = 0x40 /**< Output data rate 25 Hz. */
}lps25h_odr_t;
/**
* @brief LPS25H pressure resolution.
@ -341,60 +341,60 @@ typedef enum {
LPS25H_AVGT_128 = 0x08, /**< Number of internal average is 128. */
LPS25H_AVGT_512 = 0x0C, /**< Number of internal average is 512. */
}lps25h_avgt_t;
/**
* @brief LPS25H block data update.
*/
typedef enum {
LPS25H_BDU_CONTINUOUS = 0x00, /**< Block data continuously updated. */
LPS25H_BDU_BLOCKED = 0x40 /**< Block data updated after reading. */
}lps25h_bdu_t;
/**
* @brief Driver state machine possible states.
*/
typedef enum {
LPS25H_UNINIT = 0, /**< Not initialized. */
LPS25H_STOP = 1, /**< Stopped. */
LPS25H_READY = 2, /**< Ready. */
} lps25h_state_t;
/**
* @brief LPS25H configuration structure.
*/
typedef struct {
#if LPS25H_USE_SPI || defined(__DOXYGEN__)
/**
* @brief SPI driver associated to this LPS25H.
*/
SPIDriver *spip;
/**
* @brief SPI configuration associated to this LPS25H.
*/
const SPIConfig *spicfg;
#endif /* LPS25H_USE_SPI */
#if LPS25H_USE_I2C || defined(__DOXYGEN__)
/**
* @brief I2C driver associated to this LPS25H.
*/
I2CDriver *i2cp;
/**
* @brief I2C configuration associated to this LPS25H.
*/
/**
* @brief LPS25H block data update.
*/
typedef enum {
LPS25H_BDU_CONTINUOUS = 0x00, /**< Block data continuously updated. */
LPS25H_BDU_BLOCKED = 0x40 /**< Block data updated after reading. */
}lps25h_bdu_t;
/**
* @brief Driver state machine possible states.
*/
typedef enum {
LPS25H_UNINIT = 0, /**< Not initialized. */
LPS25H_STOP = 1, /**< Stopped. */
LPS25H_READY = 2, /**< Ready. */
} lps25h_state_t;
/**
* @brief LPS25H configuration structure.
*/
typedef struct {
#if LPS25H_USE_SPI || defined(__DOXYGEN__)
/**
* @brief SPI driver associated to this LPS25H.
*/
SPIDriver *spip;
/**
* @brief SPI configuration associated to this LPS25H.
*/
const SPIConfig *spicfg;
#endif /* LPS25H_USE_SPI */
#if LPS25H_USE_I2C || defined(__DOXYGEN__)
/**
* @brief I2C driver associated to this LPS25H.
*/
I2CDriver *i2cp;
/**
* @brief I2C configuration associated to this LPS25H.
*/
const I2CConfig *i2ccfg;
/**
* @brief LPS25H slave address
*/
lps25h_sad_t slaveaddress;
#endif /* LPS25H_USE_I2C */
/**
* @brief LPS25H barometer subsystem initial sensitivity.
*/
float *barosensitivity;
/**
* @brief LPS25H barometer subsystem initial bias.
*/
lps25h_sad_t slaveaddress;
#endif /* LPS25H_USE_I2C */
/**
* @brief LPS25H barometer subsystem initial sensitivity.
*/
float *barosensitivity;
/**
* @brief LPS25H barometer subsystem initial bias.
*/
float *barobias;
/**
* @brief LPS25H thermometer subsystem initial sensitivity.
@ -403,15 +403,15 @@ typedef struct {
/**
* @brief LPS25H thermometer subsystem initial bias.
*/
float *thermobias;
/**
* @brief LPS25H output data rate selection.
*/
lps25h_odr_t outputdatarate;
#if LPS25H_USE_ADVANCED || defined(__DOXYGEN__)
/**
* @brief LPS25H block data update.
*/
float *thermobias;
/**
* @brief LPS25H output data rate selection.
*/
lps25h_odr_t outputdatarate;
#if LPS25H_USE_ADVANCED || defined(__DOXYGEN__)
/**
* @brief LPS25H block data update.
*/
lps25h_bdu_t blockdataupdate;
/**
* @brief LPS25H barometer subsystem resolution.
@ -420,8 +420,8 @@ typedef struct {
/**
* @brief LPS25H thermometer subsystem resolution.
*/
lps25h_avgt_t thermoresolution;
#endif
lps25h_avgt_t thermoresolution;
#endif
} LPS25HConfig;
/**
@ -445,15 +445,15 @@ typedef struct {
struct LPS25HVMT {
_lps25h_methods
};
/**
* @brief @p LPS25HDriver specific data.
*/
#define _lps25h_data \
/* Driver state.*/ \
lps25h_state_t state; \
/* Current configuration data.*/ \
const LPS25HConfig *config; \
/**
* @brief @p LPS25HDriver specific data.
*/
#define _lps25h_data \
/* Driver state.*/ \
lps25h_state_t state; \
/* Current configuration data.*/ \
const LPS25HConfig *config; \
/* Barometer subsystem axes number.*/ \
size_t baroaxes; \
/* Barometer subsystem current sensitivity.*/ \
@ -465,25 +465,25 @@ struct LPS25HVMT {
/* Thermometer subsystem current sensitivity.*/ \
float thermosensitivity; \
/* Thermometer subsystem current bias.*/ \
float thermobias;
float thermobias;
/**
* @brief LPS25H 2-axis barometer/thermometer class.
*/
struct LPS25HDriver {
*/
struct LPS25HDriver {
/** @brief Virtual Methods Table.*/
const struct LPS25HVMT *vmt;
/** @brief Base barometer interface.*/
BaseBarometer baro_if;
/** @brief Base thermometer interface.*/
BaseThermometer thermo_if;
_lps25h_data
};
/** @} */
/*===========================================================================*/
/* Driver macros. */
/*===========================================================================*/
_lps25h_data
};
/** @} */
/*===========================================================================*/
/* Driver macros. */
/*===========================================================================*/
/**
* @brief Return the number of axes of the BaseBarometer.
@ -720,22 +720,22 @@ struct LPS25HDriver {
*/
#define lps25hThermometerResetSensitivity(devp) \
thermometerResetSensitivity(&((devp)->thermo_if))
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
#ifdef __cplusplus
extern "C" {
#endif
void lps25hObjectInit(LPS25HDriver *devp);
void lps25hStart(LPS25HDriver *devp, const LPS25HConfig *config);
void lps25hStop(LPS25HDriver *devp);
#ifdef __cplusplus
}
#endif
#endif /* _LPS25H_H_ */
/** @} */
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
#ifdef __cplusplus
extern "C" {
#endif
void lps25hObjectInit(LPS25HDriver *devp);
void lps25hStart(LPS25HDriver *devp, const LPS25HConfig *config);
void lps25hStop(LPS25HDriver *devp);
#ifdef __cplusplus
}
#endif
#endif /* _LPS25H_H_ */
/** @} */

2
os/ex/ST/lsm303agr.c
View File

@ -345,7 +345,7 @@ static msg_t acc_reset_sensivity(void *ip) {
* previous and next fullscale value.
* @note A recalibration is highly suggested after calling this function.
*
* @param[in] ip pointer to @p LSM303AGRDriver interface.
* @param[in] devp pointer to @p LSM303AGRDriver interface.
* @param[in] fs new fullscale value.
*
* @return The operation status.

6
os/ex/ST/lsm303agr.h
View File

@ -811,7 +811,7 @@ struct LSM303AGRDriver {
* @note The axes array must be at least the same size of the
* BaseCompass axes number.
*
* @param[in] ip pointer to @p BaseCompass interface.
* @param[in] devp pointer to @p BaseCompass interface.
* @param[out] axes a buffer which would be filled with raw data.
*
* @return The operation status.
@ -833,7 +833,7 @@ struct LSM303AGRDriver {
* @note The axes array must be at least the same size of the
* BaseCompass axes number.
*
* @param[in] ip pointer to @p BaseCompass interface.
* @param[in] devp pointer to @p BaseCompass interface.
* @param[out] axes a buffer which would be filled with cooked data.
*
* @return The operation status.
@ -853,7 +853,7 @@ struct LSM303AGRDriver {
* @note The bias buffer must be at least the same size of the
* BaseCompass axes number.
*
* @param[in] ip pointer to @p BaseCompass interface.
* @param[in] devp pointer to @p BaseCompass interface.
* @param[in] bp a buffer which contains biases.
*
* @return The operation status.

4
os/ex/ST/lsm303dlhc.c
View File

@ -337,7 +337,7 @@ static msg_t acc_reset_sensivity(void *ip) {
* previous and next fullscale value.
* @note A recalibration is highly suggested after calling this function.
*
* @param[in] ip pointer to @p LSM303DLHCDriver interface.
* @param[in] devp pointer to @p LSM303DLHCDriver interface.
* @param[in] fs new fullscale value.
*
* @return The operation status.
@ -721,7 +721,7 @@ static msg_t comp_reset_sensivity(void *ip) {
* previous and next fullscale value.
* @note A recalibration is highly suggested after calling this function.
*
* @param[in] ip pointer to @p LSM303DLHCDriver interface.
* @param[in] devp pointer to @p LSM303DLHCDriver interface.
* @param[in] fs new fullscale value.
*
* @return The operation status.

10
os/ex/ST/lsm303dlhc.h
View File

@ -43,7 +43,7 @@
/**
* @brief LSM303DLHC driver version string.
*/
#define EX_LSM303DLHC_VERSION "1.1.0"
#define EX_LSM303DLHC_VERSION "1.1.1"
/**
* @brief LSM303DLHC driver version major number.
@ -58,7 +58,7 @@
/**
* @brief LSM303DLHC driver version patch number.
*/
#define EX_LSM303DLHC_PATCH 0
#define EX_LSM303DLHC_PATCH 1
/** @} */
/**
@ -829,7 +829,7 @@ struct LSM303DLHCDriver {
* @note The axes array must be at least the same size of the
* BaseCompass axes number.
*
* @param[in] ip pointer to @p BaseCompass interface.
* @param[in] devp pointer to @p BaseCompass interface.
* @param[out] axes a buffer which would be filled with raw data.
*
* @return The operation status.
@ -851,7 +851,7 @@ struct LSM303DLHCDriver {
* @note The axes array must be at least the same size of the
* BaseCompass axes number.
*
* @param[in] ip pointer to @p BaseCompass interface.
* @param[in] devp pointer to @p BaseCompass interface.
* @param[out] axes a buffer which would be filled with cooked data.
*
* @return The operation status.
@ -871,7 +871,7 @@ struct LSM303DLHCDriver {
* @note The bias buffer must be at least the same size of the
* BaseCompass axes number.
*
* @param[in] ip pointer to @p BaseCompass interface.
* @param[in] devp pointer to @p BaseCompass interface.
* @param[in] bp a buffer which contains biases.
*
* @return The operation status.

9
os/ex/ST/lsm6ds0.c
View File

@ -329,15 +329,14 @@ static msg_t acc_reset_sensivity(void *ip) {
* previous and next fullscale value.
* @note A recalibration is highly suggested after calling this function.
*
* @param[in] ip pointer to @p LSM6DS0Driver interface.
* @param[in] devp pointer to @p LSM6DS0Driver interface.
* @param[in] fs new fullscale value.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
* @retval MSG_RESET otherwise.
*/
static msg_t acc_set_full_scale(LSM6DS0Driver *devp,
lsm6ds0_acc_fs_t fs) {
static msg_t acc_set_full_scale(LSM6DS0Driver *devp, lsm6ds0_acc_fs_t fs) {
float newfs, scale;
uint8_t i, buff[2];
msg_t msg;
@ -528,7 +527,7 @@ static msg_t gyro_read_cooked(void *ip, float axes[]) {
* @brief Samples bias values for the BaseGyroscope.
* @note The LSM6DS0 shall not be moved during the whole procedure.
* @note After this function internal bias is automatically updated.
* @note The behavior of this function depends on @P LSM6DS0_BIAS_ACQ_TIMES
* @note The behavior of this function depends on @p LSM6DS0_BIAS_ACQ_TIMES
* and @p LSM6DS0_BIAS_SETTLING_US.
*
* @param[in] ip pointer to @p BaseGyroscope interface.
@ -707,7 +706,7 @@ static msg_t gyro_reset_sensivity(void *ip) {
* previous and next fullscale value.
* @note A recalibration is highly suggested after calling this function.
*
* @param[in] ip pointer to @p BaseGyroscope interface.
* @param[in] devp pointer to @p BaseGyroscope interface.
* @param[in] fs new fullscale value.
*
* @return The operation status.

6
os/ex/ST/lsm6ds0.h
View File

@ -43,7 +43,7 @@
/**
* @brief LSM6DS0 driver version string.
*/
#define EX_LSM6DS0_VERSION "1.1.0"
#define EX_LSM6DS0_VERSION "1.1.1"
/**
* @brief LSM6DS0 driver version major number.
@ -58,7 +58,7 @@
/**
* @brief LSM6DS0 driver version patch number.
*/
#define EX_LSM6DS0_PATCH 0
#define EX_LSM6DS0_PATCH 1
/** @} */
/**
@ -939,7 +939,7 @@ struct LSM6DS0Driver {
* @brief Samples bias values for the BaseGyroscope.
* @note The LSM6DS0 shall not be moved during the whole procedure.
* @note After this function internal bias is automatically updated.
* @note The behavior of this function depends on @P LSM6DS0_BIAS_ACQ_TIMES
* @note The behavior of this function depends on @p LSM6DS0_BIAS_ACQ_TIMES
* and @p LSM6DS0_BIAS_SETTLING_US.
*
* @param[in] devp pointer to @p LSM6DS0Driver.

9
os/ex/ST/lsm6dsl.c
View File

@ -329,15 +329,14 @@ static msg_t acc_reset_sensivity(void *ip) {
* previous and next fullscale value.
* @note A recalibration is highly suggested after calling this function.
*
* @param[in] ip pointer to @p LSM6DSLDriver interface.
* @param[in] devp pointer to @p LSM6DSLDriver interface.
* @param[in] fs new fullscale value.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
* @retval MSG_RESET otherwise.
*/
static msg_t acc_set_full_scale(LSM6DSLDriver *devp,
lsm6dsl_acc_fs_t fs) {
static msg_t acc_set_full_scale(LSM6DSLDriver *devp, lsm6dsl_acc_fs_t fs) {
float newfs, scale;
uint8_t i, buff[2];
msg_t msg;
@ -528,7 +527,7 @@ static msg_t gyro_read_cooked(void *ip, float axes[]) {
* @brief Samples bias values for the BaseGyroscope.
* @note The LSM6DSL shall not be moved during the whole procedure.
* @note After this function internal bias is automatically updated.
* @note The behavior of this function depends on @P LSM6DSL_BIAS_ACQ_TIMES
* @note The behavior of this function depends on @p LSM6DSL_BIAS_ACQ_TIMES
* and @p LSM6DSL_BIAS_SETTLING_US.
*
* @param[in] ip pointer to @p BaseGyroscope interface.
@ -712,7 +711,7 @@ static msg_t gyro_reset_sensivity(void *ip) {
* previous and next fullscale value.
* @note A recalibration is highly suggested after calling this function.
*
* @param[in] ip pointer to @p BaseGyroscope interface.
* @param[in] devp pointer to @p BaseGyroscope interface.
* @param[in] fs new fullscale value.
*
* @return The operation status.

2
os/ex/ST/lsm6dsl.h
View File

@ -960,7 +960,7 @@ struct LSM6DSLDriver {
* @brief Samples bias values for the BaseGyroscope.
* @note The LSM6DSL shall not be moved during the whole procedure.
* @note After this function internal bias is automatically updated.
* @note The behavior of this function depends on @P LSM6DSL_BIAS_ACQ_TIMES
* @note The behavior of this function depends on @p LSM6DSL_BIAS_ACQ_TIMES
* and @p LSM6DSL_BIAS_SETTLING_US.
*
* @param[in] devp pointer to @p LSM6DSLDriver.

9
readme.txt
View File

@ -105,6 +105,14 @@
grow to include more functionalities.
RT and NIL will contain only the core functionalities, everything else
is shared library code.
- EX. Global version number moved to 1.2.0.
- EX: Updated HTS221 to 1.1.1 (backported to 18.2.2).
- EX: Updated L3GD20 to 1.1.1 (backported to 18.2.2).
- EX: Updated LIS3DSH to 1.1.1 (backported to 18.2.2).
- EX: Updated LIS3MDL to 1.1.1 (backported to 18.2.2).
- EX: Updated LPS25H to 1.1.1 (backported to 18.2.2).
- EX: Updated LSM303DLHC to 1.1.1 (backported to 18.2.2).
- EX: Updated LSM6DS0 to 1.1.1 (backported to 18.2.2).
- EX: Updated HTS221 to 1.1.0 (backported to 18.2.1).
- EX: Updated L3GD20 to 1.1.0 (backported to 18.2.1).
- EX: Updated LIS3DSH to 1.1.0 (backported to 18.2.1).
@ -112,6 +120,7 @@
- EX: Updated LIS302DL to 1.1.0 (backported to 18.2.1).
- EX: Updated LPS25H to 1.1.0 (backported to 18.2.1).
- EX: Updated LSM303DLHC to 1.1.0 (backported to 18.2.1).
- EX: Fixed ChibiOS/EX documentation misalignments (bug #943).
- HAL: Fixed invalid settings in STM32F769I-Discovery board files (bug #942)
(backported to 18.2.1 and 17.6.5).
- OTH: Fixed short branch to _unhandled_exception in vectors.S (bug #941)