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Fixed l3gd20 and lsm6ds0 makefiles. Resumed development on lsm6ds0 gyro subsystem 

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9120 35acf78f-673a-0410-8e92-d51de3d6d3f4
This commit is contained in:
Rocco Marco Guglielmi 2016-03-15 20:24:03 +00:00
parent 1c4d0b86a8
commit 1a503b3dfa
4 changed files with 143 additions and 8 deletions
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2
os/ex/ST/l3gd20.mk
View File

@ -2,5 +2,5 @@
L3GD20SRC := $(CHIBIOS)/os/ex/ST/l3gd20.c
# Required include directories
L3GD20INC := $(CHIBIOS)/os/hal/lib/peripherals/sensors/include \
L3GD20INC := $(CHIBIOS)/os/hal/lib/peripherals/sensors \
$(CHIBIOS)/os/ex/ST

126
os/ex/ST/lsm6ds0.c
View File

@ -265,14 +265,15 @@ msg_t lsm6ds0I2CWriteRegister(I2CDriver *i2cp, lsm6ds0_sad_t sad, uint8_t reg,
*/
static size_t acc_get_axes_number(void *ip) {
osalDbgCheck(ip != NULL);
osalDbgCheck((ip != NULL) &&
(((LSM6DS0Driver *)ip)->config->acccfg != NULL));
return LSM6DS0_ACC_NUMBER_OF_AXES;
}
static msg_t acc_read_raw(void *ip, int32_t axes[LSM6DS0_ACC_NUMBER_OF_AXES]) {
osalDbgCheck((ip != NULL) && (axes != NULL));
osalDbgCheck(((ip != NULL) && (axes != NULL)) &&
(((LSM6DS0Driver *)ip)->config->acccfg != NULL));
osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),
"acc_read_raw(), invalid state");
@ -320,10 +321,11 @@ static msg_t acc_read_cooked(void *ip, float axes[]) {
int32_t raw[LSM6DS0_ACC_NUMBER_OF_AXES];
msg_t msg;
osalDbgCheck((ip != NULL) && (axes != NULL));
osalDbgCheck(((ip != NULL) && (axes != NULL)) &&
(((LSM6DS0Driver *)ip)->config->acccfg != NULL));
osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),
"read_cooked(), invalid state");
"acc_read_cooked(), invalid state");
msg = acc_read_raw(ip, raw);
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES ; i++){
@ -338,10 +340,123 @@ static msg_t acc_read_cooked(void *ip, float axes[]) {
return msg;
}
static size_t gyro_get_axes_number(void *ip) {
osalDbgCheck((ip != NULL) &&
(((LSM6DS0Driver *)ip)->config->gyrocfg != NULL));
return LSM6DS0_GYRO_NUMBER_OF_AXES;
}
static msg_t gyro_read_raw(void *ip, int32_t axes[LSM6DS0_GYRO_NUMBER_OF_AXES]) {
osalDbgCheck(((ip != NULL) && (axes != NULL)) &&
(((LSM6DS0Driver *)ip)->config->gyrocfg != NULL));
osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),
"gyro_read_raw(), invalid state");
#if LSM6DS0_USE_I2C
osalDbgAssert((((LSM6DS0Driver *)ip)->config->i2cp->state == I2C_READY),
"gyro_read_raw(), channel not ready");
#if LSM6DS0_SHARED_I2C
i2cAcquireBus(((LSM6DS0Driver *)ip)->config->i2cp);
i2cStart(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->i2ccfg);
#endif /* LSM6DS0_SHARED_I2C */
if(((LSM6DS0Driver *)ip)->config->gyrocfg->axesenabling & LSM6DS0_GYRO_AE_X){
axes[0] = (int16_t)(lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->slaveaddress,
LSM6DS0_AD_OUT_X_L_G, NULL));
axes[0] += (int16_t)(lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->slaveaddress,
LSM6DS0_AD_OUT_X_H_G, NULL) << 8);
}
if(((LSM6DS0Driver *)ip)->config->gyrocfg->axesenabling & LSM6DS0_GYRO_AE_Y){
axes[1] = (int16_t)(lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->slaveaddress,
LSM6DS0_AD_OUT_Y_L_G, NULL));
axes[1] += (int16_t)(lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->slaveaddress,
LSM6DS0_AD_OUT_Y_H_G, NULL) << 8);
}
if(((LSM6DS0Driver *)ip)->config->gyrocfg->axesenabling & LSM6DS0_GYRO_AE_Z){
axes[2] = (int16_t)(lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->slaveaddress,
LSM6DS0_AD_OUT_Z_L_G, NULL));
axes[2] += (int16_t)(lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->slaveaddress,
LSM6DS0_AD_OUT_Z_H_G, NULL) << 8);
}
#if LSM6DS0_SHARED_I2C
i2cReleaseBus(((LSM6DS0Driver *)ip)->config->i2cp);
#endif /* LSM6DS0_SHARED_I2C */
#endif
return MSG_OK;
}
static msg_t gyro_read_cooked(void *ip, float axes[]) {
uint32_t i;
int32_t raw[LSM6DS0_GYRO_NUMBER_OF_AXES];
msg_t msg;
osalDbgCheck(((ip != NULL) && (axes != NULL)) &&
(((LSM6DS0Driver *)ip)->config->gyrocfg != NULL));
osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),
"gyro_read_cooked(), invalid state");
msg = acc_read_raw(ip, raw);
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES ; i++){
axes[i] = raw[i] * ((LSM6DS0Driver *)ip)->gyrosens;
}
return msg;
}
static msg_t gyro_reset_calibration(void *ip) {
uint32_t i;
osalDbgCheck(ip != NULL);
osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY) ||
(((LSM6DS0Driver *)ip)->state == LSM6DS0_STOP),
"reset_calibration(), invalid state");
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++)
((LSM6DS0Driver *)ip)->gyrobias[i] = 0;
return MSG_OK;
}
static msg_t gyro_calibrate(void *ip) {
uint32_t i, j;
int32_t raw[LSM6DS0_GYRO_NUMBER_OF_AXES];
int32_t buff[LSM6DS0_GYRO_NUMBER_OF_AXES] = {0, 0, 0};
osalDbgCheck(ip != NULL);
osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),
"gyro_calibrate(), invalid state");
for(i = 0; i < LSM6DS0_GYRO_BIAS_ACQ_TIMES; i++){
gyro_read_raw(ip, raw);
for(j = 0; j < LSM6DS0_GYRO_NUMBER_OF_AXES; j++){
buff[j] += raw[j];
}
osalThreadSleepMicroseconds(LSM6DS0_GYRO_BIAS_SETTLING_uS);
}
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++){
((LSM6DS0Driver *)ip)->gyrobias[i] = buff[i] / LSM6DS0_GYRO_BIAS_ACQ_TIMES;
}
return MSG_OK;
}
static const struct LSM6DS0ACCVMT vmt_baseaccelerometer = {
acc_get_axes_number, acc_read_raw, acc_read_cooked
};
static const struct LSM6DS0GYROVMT vmt_basegyroscope = {
gyro_get_axes_number, gyro_read_raw, gyro_read_cooked,
gyro_reset_calibration, gyro_calibrate
};
/*===========================================================================*/
/* Driver exported functions. */
/*===========================================================================*/
@ -356,6 +471,7 @@ static const struct LSM6DS0ACCVMT vmt_baseaccelerometer = {
void lsm6ds0ObjectInit(LSM6DS0Driver *devp) {
devp->vmt_baseaccelerometer = &vmt_baseaccelerometer;
devp->vmt_basegyroscope = &vmt_basegyroscope;
devp->state = LSM6DS0_STOP;
devp->config = NULL;
}

21
os/ex/ST/lsm6ds0.h
View File

@ -74,6 +74,23 @@
#if !defined(LSM6DS0_SHARED_I2C) || defined(__DOXYGEN__)
#define LSM6DS0_SHARED_I2C FALSE
#endif
/**
* @brief Number of acquisitions for gyroscope bias removal
* @details This is the number of acquisitions performed to compute the
* bias. A repetition is required in order to remove noise.
*/
#if !defined(LSM6DS0_GYRO_BIAS_ACQ_TIMES) || defined(__DOXYGEN__)
#define LSM6DS0_GYRO_BIAS_ACQ_TIMES 50
#endif
/**
* @brief Settling time for gyroscope bias removal
* @details This is the time between each bias acquisition.
*/
#if !defined(LSM6DS0_GYRO_BIAS_SETTLING_uS) || defined(__DOXYGEN__)
#define LSM6DS0_GYRO_BIAS_SETTLING_uS 5000
#endif
/** @} */
/*===========================================================================*/
@ -518,7 +535,9 @@ struct LSM6DS0GYROVMT {
/* Current accelerometer sensitivity.*/ \
float accsens; \
/* Current gyroscope sensitivity.*/ \
float gyrosens;
float gyrosens; \
/* Bias data.*/ \
int32_t gyrobias[LSM6DS0_GYRO_NUMBER_OF_AXES];
/**
* @brief LSM6DS0 6-axis accelerometer/gyroscope class.

2
os/ex/ST/lsm6ds0.mk
View File

@ -2,5 +2,5 @@
LSM6DS0SRC := $(CHIBIOS)/os/ex/ST/lsm6ds0.c
# Required include directories
LSM6DS0INC := $(CHIBIOS)/os/hal/lib/peripherals/sensors/include \
LSM6DS0INC := $(CHIBIOS)/os/hal/lib/peripherals/sensors \
$(CHIBIOS)/os/ex/ST