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EX: added get temperature for L3GD20, improved related demos 

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9341 35acf78f-673a-0410-8e92-d51de3d6d3f4
This commit is contained in:
Rocco Marco Guglielmi 2016-04-22 21:32:32 +00:00
parent 213d63733b
commit 4061297c2a
5 changed files with 57 additions and 55 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

26
os/ex/ST/l3gd20.c
View File

@ -336,16 +336,12 @@ static msg_t reset_sensivity(void *ip) {
return MSG_OK;
}
static msg_t enable_temperature_compensation(void *ip) {
(void) ip;
/* TODO complete this function */
return 0;
}
static msg_t get_temperature(void *ip, float* tempp) {
static msg_t disable_temperature_compensation(void *ip) {
(void) ip;
/* TODO complete this function */
return 0;
*tempp = (int8_t)l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip,
L3GD20_AD_OUT_TEMP);
return MSG_OK;
}
static const struct BaseSensorVMT vmt_basesensor = {
@ -355,9 +351,13 @@ static const struct BaseSensorVMT vmt_basesensor = {
static const struct BaseGyroscopeVMT vmt_basegyroscope = {
get_axes_number, read_raw, read_cooked,
sample_bias, set_bias, reset_bias,
set_sensivity, reset_sensivity,
enable_temperature_compensation,
disable_temperature_compensation
set_sensivity, reset_sensivity
};
static const struct L3GD20VMT vmt_l3gd20 = {
get_axes_number, read_raw, read_cooked,
sample_bias, set_bias, reset_bias,
set_sensivity, reset_sensivity, get_temperature
};
/*===========================================================================*/
@ -376,7 +376,7 @@ void l3gd20ObjectInit(L3GD20Driver *devp) {
devp->vmt_basesensor = &vmt_basesensor;
devp->vmt_basegyroscope = &vmt_basegyroscope;
devp->vmt = (struct L3GD20VMT*) &vmt_basegyroscope;
devp->vmt_l3gd20 = &vmt_l3gd20;
devp->state = L3GD20_STOP;
devp->config = NULL;
for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)

30
os/ex/ST/l3gd20.h
View File

@ -245,7 +245,10 @@ typedef struct L3GD20Driver L3GD20Driver;
* @brief @p L3GD20 specific methods.
*/
#define _l3gd20_methods \
_base_gyroscope_methods
_base_gyroscope_methods \
/* Retrieve the temperature of L3GD20 chip.*/ \
msg_t (*get_temperature)(void *instance, float* temperature);
/**
* @extends BaseGyroscopeVMT
@ -278,12 +281,14 @@ struct L3GD20VMT {
* driver implementation.
*/
struct L3GD20Driver {
/** @brief Virtual Methods Table.*/
/** @brief Base Sensor Virtual Methods Table.*/
const struct BaseSensorVMT *vmt_basesensor;
/** @brief Virtual Methods Table.*/
/** @brief Base Gyroscope Virtual Methods Table.
* @note Extend BaseSensor VMT.*/
const struct BaseGyroscopeVMT *vmt_basegyroscope;
/** @brief Virtual Methods Table.*/
const struct L3GD20VMT *vmt;
/** @brief L3GD20 Virtual Methods Table.
* @note Extend BaseGyroscope VMT.*/
const struct L3GD20VMT *vmt_l3gd20;
_l3gd20_data
};
/** @} */
@ -292,6 +297,21 @@ struct L3GD20Driver {
/* Driver macros. */
/*===========================================================================*/
/**
* @brief Get current MEMS temperature.
* @detail This information is very useful especially for high accuracy IMU
*
* @param[in] ip pointer to a @p BaseGyroscope class.
* @param[out] temp the MEMS temperature as single precision floating.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
* @retval MSG_RESET if one or more errors occurred.
* @api
*/
#define gyroscopeGetTemp(ip, tpp) \
(ip)->vmt_l3gd20->get_temperature(ip, tpp)
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/

34
os/hal/lib/peripherals/sensors/hal_gyroscope.h
View File

@ -56,11 +56,7 @@
/* Invoke the set sensitivity procedure.*/ \
msg_t (*set_sensitivity)(void *instance, float sensitivities[]); \
/* Restore sensitivity stored data to default.*/ \
msg_t (*reset_sensitivity)(void *instance); \
/* Enable temperature drift effect compensation.*/ \
msg_t (*enable_temperature_compensation)(void *instance); \
/* Disable temperature drift effect compensation.*/ \
msg_t (*disable_temperature_compensation)(void *instance);
msg_t (*reset_sensitivity)(void *instance);
/**
@ -221,34 +217,6 @@ typedef struct {
*/
#define gyroscopeResetSensitivity(ip) \
(ip)->vmt_basegyroscope->reset_sensitivity(ip)
/**
* @brief Enables data compensation removing temperature drift.
*
* @param[in] ip pointer to a @p BaseGyroscope class.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
* @retval MSG_RESET if one or more errors occurred.
*
* @api
*/
#define gyroscopeEnableTempCompensation(ip) \
(ip)->vmt_basegyroscope->enable_temperature_compensation(ip)
/**
* @brief Disable data compensation.
*
* @param[in] ip pointer to a @p BaseGyroscope class.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
* @retval MSG_RESET if one or more errors occurred.
*
* @api
*/
#define gyroscopeDisableTempCompensation(ip) \
(ip)->vmt_basegyroscope->disable_temperature_compensation(ip)
/** @} */
/*===========================================================================*/

11
testhal/STM32/STM32F3xx/SPI-L3GD20/main.c
View File

@ -38,6 +38,7 @@ static L3GD20Driver L3GD20D1;
static int32_t rawdata[L3GD20_NUMBER_OF_AXES];
static float cookeddata[L3GD20_NUMBER_OF_AXES];
static float temperature;
static char axesID[L3GD20_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};
static uint32_t i;
@ -136,7 +137,10 @@ int main(void) {
gyroscopeReadCooked(&L3GD20D1, cookeddata);
for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
chprintf(chp, "COOKED-%c:%f\r\n", axesID[i], cookeddata[i]);
chprintf(chp, "COOKED-%c:%.3f\r\n", axesID[i], cookeddata[i]);
gyroscopeGetTemp(&L3GD20D1, &temperature);
chprintf(chp, "TEMP:%.1f C°\r\n", temperature);
chprintf(chp, "Press Button to continue...\r\n");
chThdSleepMilliseconds(150);
@ -167,7 +171,10 @@ int main(void) {
gyroscopeReadCooked(&L3GD20D1, cookeddata);
for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
chprintf(chp, "COOKED-%c:%f\r\n", axesID[i], cookeddata[i]);
chprintf(chp, "COOKED-%c:%.3f\r\n", axesID[i], cookeddata[i]);
gyroscopeGetTemp(&L3GD20D1, &temperature);
chprintf(chp, "TEMP:%.1f C°\r\n", temperature);
chThdSleepMilliseconds(150);
#if CHPRINTF_USE_ANSI_CODE

11
testhal/STM32/STM32L4xx/SPI-L3GD20/main.c
View File

@ -30,6 +30,7 @@ static L3GD20Driver L3GD20D1;
static int32_t rawdata[L3GD20_NUMBER_OF_AXES];
static float cookeddata[L3GD20_NUMBER_OF_AXES];
static float temperature;
static char axesID[L3GD20_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};
static uint32_t i;
@ -109,7 +110,10 @@ int main(void) {
gyroscopeReadCooked(&L3GD20D1, cookeddata);
for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
chprintf(chp, "COOKED-%c:%f\r\n", axesID[i], cookeddata[i]);
chprintf(chp, "COOKED-%c:%.3f\r\n", axesID[i], cookeddata[i]);
gyroscopeGetTemp(&L3GD20D1, &temperature);
chprintf(chp, "TEMP:%.1f C°\r\n", temperature);
chprintf(chp, "Press JOY to continue...\r\n");
chThdSleepMilliseconds(150);
@ -140,7 +144,10 @@ int main(void) {
gyroscopeReadCooked(&L3GD20D1, cookeddata);
for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
chprintf(chp, "COOKED-%c:%f\r\n", axesID[i], cookeddata[i]);
chprintf(chp, "COOKED-%c:%.3f\r\n", axesID[i], cookeddata[i]);
gyroscopeGetTemp(&L3GD20D1, &temperature);
chprintf(chp, "TEMP:%.1f C°\r\n", temperature);
chThdSleepMilliseconds(150);
#if CHPRINTF_USE_ANSI_CODE