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ChibiOS/EX: improved MEMS get_axes functions 

Fixed bug related to LSM6DS0 get_temperature

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9390 35acf78f-673a-0410-8e92-d51de3d6d3f4
This commit is contained in:
Rocco Marco Guglielmi 2016-04-30 15:33:42 +00:00
parent 5c953ae7a2
commit 4ec01316ea
3 changed files with 91 additions and 90 deletions
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32
os/ex/ST/l3gd20.c
View File

@ -190,7 +190,7 @@ static size_t get_axes_number(void *ip) {
}
static msg_t read_raw(void *ip, int32_t axes[L3GD20_NUMBER_OF_AXES]) {
int16_t tmp;
osalDbgCheck((ip != NULL) && (axes != NULL));
osalDbgAssert((((L3GD20Driver *)ip)->state == L3GD20_READY),
@ -205,25 +205,25 @@ static msg_t read_raw(void *ip, int32_t axes[L3GD20_NUMBER_OF_AXES]) {
((L3GD20Driver *)ip)->config->spicfg);
#endif /* L3GD20_SHARED_SPI */
if(((L3GD20Driver *)ip)->config->axesenabling & L3GD20_AE_X){
axes[0] = (int16_t)(l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip,
L3GD20_AD_OUT_X_L));
axes[0] += (int16_t)(l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip,
L3GD20_AD_OUT_X_H) << 8);
axes[0] -= ((L3GD20Driver *)ip)->bias[0];
tmp = l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip,
L3GD20_AD_OUT_X_L);
tmp += l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip,
L3GD20_AD_OUT_X_H) << 8;
axes[0] = (int32_t)tmp + ((L3GD20Driver *)ip)->bias[0];
}
if(((L3GD20Driver *)ip)->config->axesenabling & L3GD20_AE_Y){
axes[1] = (int16_t)(l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip,
L3GD20_AD_OUT_Y_L));
axes[1] += (int16_t)(l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip,
L3GD20_AD_OUT_Y_H) << 8);
axes[1] -= ((L3GD20Driver *)ip)->bias[1];
tmp = l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip,
L3GD20_AD_OUT_Y_L);
tmp += l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip,
L3GD20_AD_OUT_Y_H) << 8;
axes[1] = (int32_t)tmp + ((L3GD20Driver *)ip)->bias[1];
}
if(((L3GD20Driver *)ip)->config->axesenabling & L3GD20_AE_Z){
axes[2] = (int16_t)(l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip,
L3GD20_AD_OUT_Z_L));
axes[2] += (int16_t)(l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip,
L3GD20_AD_OUT_Z_H) << 8);
axes[2] -= ((L3GD20Driver *)ip)->bias[2];
tmp = l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip,
L3GD20_AD_OUT_Z_L);
tmp += l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip,
L3GD20_AD_OUT_Z_H) << 8;
axes[2] = (int32_t)tmp + ((L3GD20Driver *)ip)->bias[2];
}
#if L3GD20_SHARED_SPI
spiReleaseBus(((L3GD20Driver *)ip)->config->spip);

44
os/ex/ST/lis3mdl.c
View File

@ -189,7 +189,7 @@ static size_t get_axes_number(void *ip) {
}
static msg_t read_raw(void *ip, int32_t axes[LIS3MDL_NUMBER_OF_AXES]) {
uint16_t tmp;
osalDbgCheck((ip != NULL) && (axes != NULL));
osalDbgAssert((((LIS3MDLDriver *)ip)->state == LIS3MDL_READY),
"read_raw(), invalid state");
@ -203,29 +203,29 @@ static msg_t read_raw(void *ip, int32_t axes[LIS3MDL_NUMBER_OF_AXES]) {
((LIS3MDLDriver *)ip)->config->i2ccfg);
#endif /* LIS3MDL_SHARED_I2C */
axes[0] = (int16_t)(lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
((LIS3MDLDriver *)ip)->config->slaveaddress,
LIS3MDL_AD_OUT_X_L, NULL));
axes[0] += (int16_t)(lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
((LIS3MDLDriver *)ip)->config->slaveaddress,
LIS3MDL_AD_OUT_X_H, NULL) << 8);
axes[0] -= ((LIS3MDLDriver *)ip)->bias[0];
tmp = lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
((LIS3MDLDriver *)ip)->config->slaveaddress,
LIS3MDL_AD_OUT_X_L, NULL);
tmp += lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
((LIS3MDLDriver *)ip)->config->slaveaddress,
LIS3MDL_AD_OUT_X_H, NULL) << 8;
axes[0] = (int32_t)tmp - ((LIS3MDLDriver *)ip)->bias[0];
axes[1] = (int16_t)(lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
((LIS3MDLDriver *)ip)->config->slaveaddress,
LIS3MDL_AD_OUT_Y_L, NULL));
axes[1] += (int16_t)(lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
((LIS3MDLDriver *)ip)->config->slaveaddress,
LIS3MDL_AD_OUT_Y_H, NULL) << 8);
axes[1] -= ((LIS3MDLDriver *)ip)->bias[1];
tmp = lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
((LIS3MDLDriver *)ip)->config->slaveaddress,
LIS3MDL_AD_OUT_Y_L, NULL);
tmp += lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
((LIS3MDLDriver *)ip)->config->slaveaddress,
LIS3MDL_AD_OUT_Y_H, NULL) << 8;
axes[1] = (int32_t)tmp - ((LIS3MDLDriver *)ip)->bias[1];
axes[2] = (int16_t)(lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
((LIS3MDLDriver *)ip)->config->slaveaddress,
LIS3MDL_AD_OUT_Z_L, NULL));
axes[2] += (int16_t)(lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
((LIS3MDLDriver *)ip)->config->slaveaddress,
LIS3MDL_AD_OUT_Z_H, NULL) << 8);
axes[2] -= ((LIS3MDLDriver *)ip)->bias[2];
tmp = lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
((LIS3MDLDriver *)ip)->config->slaveaddress,
LIS3MDL_AD_OUT_Z_L, NULL);
tmp += lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
((LIS3MDLDriver *)ip)->config->slaveaddress,
LIS3MDL_AD_OUT_Z_H, NULL) << 8;
axes[2] = (int32_t)tmp - ((LIS3MDLDriver *)ip)->bias[2];
#if LIS3MDL_SHARED_I2C
i2cReleaseBus(((LIS3MDLDriver *)ip)->config->i2cp);

105
os/ex/ST/lsm6ds0.c
View File

@ -44,7 +44,8 @@
#define LSM6DS0_GYRO_SENS_500DPS ((float)0.01750f)
#define LSM6DS0_GYRO_SENS_2000DPS ((float)0.07000f)
#define LSM6DS0_TEMP_SENS ((float)0.0625f)
#define LSM6DS0_TEMP_SENS ((float)16.0f)
#define LSM6DS0_TEMP_SENS_OFF ((float)25.0f)
#define LSM6DS0_DI ((uint8_t)0xFF)
#define LSM6DS0_DI_0 ((uint8_t)0x01)
@ -289,7 +290,7 @@ static size_t sens_get_axes_number(void *ip) {
}
static msg_t acc_read_raw(void *ip, int32_t axes[]) {
int16_t tmp;
osalDbgCheck(((ip != NULL) && (axes != NULL)) &&
(((LSM6DS0Driver *)ip)->config->acccfg != NULL));
osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),
@ -304,31 +305,31 @@ static msg_t acc_read_raw(void *ip, int32_t axes[]) {
((LSM6DS0Driver *)ip)->config->i2ccfg);
#endif /* LSM6DS0_SHARED_I2C */
if(((LSM6DS0Driver *)ip)->config->acccfg->axesenabling & LSM6DS0_ACC_AE_X){
axes[0] = (int16_t)(lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->slaveaddress,
LSM6DS0_AD_OUT_X_L_XL, NULL));
axes[0] += (int16_t)(lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->slaveaddress,
LSM6DS0_AD_OUT_X_H_XL, NULL) << 8);
axes[0] -= ((LSM6DS0Driver *)ip)->accbias[0];
tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->slaveaddress,
LSM6DS0_AD_OUT_X_L_XL, NULL);
tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->slaveaddress,
LSM6DS0_AD_OUT_X_H_XL, NULL) << 8;
axes[0] = (int32_t)tmp - ((LSM6DS0Driver *)ip)->accbias[0];
}
if(((LSM6DS0Driver *)ip)->config->acccfg->axesenabling & LSM6DS0_ACC_AE_Y){
axes[1] = (int16_t)(lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->slaveaddress,
LSM6DS0_AD_OUT_Y_L_XL, NULL));
axes[1] += (int16_t)(lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->slaveaddress,
LSM6DS0_AD_OUT_Y_H_XL, NULL) << 8);
axes[1] -= ((LSM6DS0Driver *)ip)->accbias[1];
tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->slaveaddress,
LSM6DS0_AD_OUT_Y_L_XL, NULL);
tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->slaveaddress,
LSM6DS0_AD_OUT_Y_H_XL, NULL) << 8;
axes[1] = (int32_t)tmp - ((LSM6DS0Driver *)ip)->accbias[1];
}
if(((LSM6DS0Driver *)ip)->config->acccfg->axesenabling & LSM6DS0_ACC_AE_Z){
axes[2] = (int16_t)(lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->slaveaddress,
LSM6DS0_AD_OUT_Z_L_XL, NULL));
axes[2] += (int16_t)(lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->slaveaddress,
LSM6DS0_AD_OUT_Z_H_XL, NULL) << 8);
axes[2] -= ((LSM6DS0Driver *)ip)->accbias[2];
tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->slaveaddress,
LSM6DS0_AD_OUT_Z_L_XL, NULL);
tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->slaveaddress,
LSM6DS0_AD_OUT_Z_H_XL, NULL) << 8;
axes[2] = (int32_t)tmp - ((LSM6DS0Driver *)ip)->accbias[2];
}
#if LSM6DS0_SHARED_I2C
i2cReleaseBus(((LSM6DS0Driver *)ip)->config->i2cp);
@ -338,7 +339,7 @@ static msg_t acc_read_raw(void *ip, int32_t axes[]) {
}
static msg_t gyro_read_raw(void *ip, int32_t axes[]) {
int16_t tmp;
osalDbgCheck(((ip != NULL) && (axes != NULL)) &&
(((LSM6DS0Driver *)ip)->config->gyrocfg != NULL));
osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),
@ -353,31 +354,31 @@ static msg_t gyro_read_raw(void *ip, int32_t axes[]) {
((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);
axes[0] -= ((LSM6DS0Driver *)ip)->gyrobias[0];
tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->slaveaddress,
LSM6DS0_AD_OUT_X_L_G, NULL);
tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->slaveaddress,
LSM6DS0_AD_OUT_X_H_G, NULL) << 8;
axes[0] = (int32_t)tmp - ((LSM6DS0Driver *)ip)->gyrobias[0];
}
if(((LSM6DS0Driver *)ip)->config->acccfg->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);
axes[1] -= ((LSM6DS0Driver *)ip)->gyrobias[1];
tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->slaveaddress,
LSM6DS0_AD_OUT_Y_L_G, NULL);
tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->slaveaddress,
LSM6DS0_AD_OUT_Y_H_G, NULL) << 8;
axes[1] = (int32_t)tmp - ((LSM6DS0Driver *)ip)->gyrobias[1];
}
if(((LSM6DS0Driver *)ip)->config->acccfg->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);
axes[2] -= ((LSM6DS0Driver *)ip)->gyrobias[2];
tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->slaveaddress,
LSM6DS0_AD_OUT_Z_L_G, NULL);
tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->slaveaddress,
LSM6DS0_AD_OUT_Z_H_G, NULL) << 8;
axes[2] = (int32_t)tmp - ((LSM6DS0Driver *)ip)->gyrobias[2];
}
#if LSM6DS0_SHARED_I2C
i2cReleaseBus(((LSM6DS0Driver *)ip)->config->i2cp);
@ -624,17 +625,17 @@ static msg_t sens_get_temperature(void *ip, float* tempp) {
i2cStart(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->i2ccfg);
#endif /* LSM6DS0_SHARED_I2C */
temp = (int16_t)(lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->slaveaddress,
LSM6DS0_AD_OUT_TEMP_L, NULL));
temp += (int16_t)(lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->slaveaddress,
LSM6DS0_AD_OUT_TEMP_H, NULL) << 8);
temp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->slaveaddress,
LSM6DS0_AD_OUT_TEMP_L, NULL);
temp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->slaveaddress,
LSM6DS0_AD_OUT_TEMP_H, NULL) << 8;
#if LSM6DS0_SHARED_I2C
i2cReleaseBus(((LSM6DS0Driver *)ip)->config->i2cp);
#endif /* LSM6DS0_SHARED_I2C */
#endif /* LSM6DS0_USE_I2C */
*tempp = (float)temp * LSM6DS0_TEMP_SENS;
*tempp = ((float)temp / LSM6DS0_TEMP_SENS) + LSM6DS0_TEMP_SENS_OFF;
return MSG_OK;
}