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Improved LIS3DSH driver and related demos: improved bias and sensitivity handling. 

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9830 35acf78f-673a-0410-8e92-d51de3d6d3f4
This commit is contained in:
Rocco Marco Guglielmi 2016-09-30 14:37:45 +00:00
parent 52bdd5d866
commit 638d27eabf
5 changed files with 128 additions and 48 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

134
os/ex/ST/lis3dsh.c
View File

@ -107,21 +107,25 @@ static msg_t read_raw(void *ip, int32_t axes[LIS3DSH_NUMBER_OF_AXES]) {
#if LIS3DSH_USE_SPI
osalDbgAssert((((LIS3DSHDriver *)ip)->config->spip->state == SPI_READY),
"read_raw(), channel not ready");
#if LIS3DSH_SHARED_SPI
spiAcquireBus(((LIS3DSHDriver *)ip)->config->spip);
spiStart(((LIS3DSHDriver *)ip)->config->spip,
((LIS3DSHDriver *)ip)->config->spicfg);
#endif /* LIS3DSH_SHARED_SPI */
#endif /* LIS3DSH_SHARED_SPI */
lis3dshSPIReadRegister(((LIS3DSHDriver *)ip)->config->spip, LIS3DSH_AD_OUT_X_L,
LIS3DSH_NUMBER_OF_AXES * 2, buff);
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) {
tmp = buff[2*i] + (buff[2*i+1] << 8);
axes[i] = (int32_t)tmp;
}
#if LIS3DSH_SHARED_SPI
spiReleaseBus(((LIS3DSHDriver *)ip)->config->spip);
#endif /* LIS3DSH_SHARED_SPI */
#endif /* LIS3DSH_USE_SPI */
#endif /* LIS3DSH_USE_SPI */
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) {
tmp = buff[2*i] + (buff[2*i+1] << 8);
axes[i] = (int32_t)tmp;
}
return MSG_OK;
}
@ -244,13 +248,34 @@ static msg_t set_full_scale(void *ip, lis3dsh_fs_t fs) {
scale = newfs / ((LIS3DSHDriver *)ip)->fullscale;
((LIS3DSHDriver *)ip)->fullscale = newfs;
/* Updating register.*/
#if LIS3DSH_USE_SPI
#if LIS3DSH_SHARED_SPI
spiAcquireBus(((LIS3DSHDriver *)ip)->config->spip);
spiStart(((LIS3DSHDriver *)ip)->config->spip,
((LIS3DSHDriver *)ip)->config->spicfg);
#endif /* LIS3DSH_SHARED_SPI */
lis3dshSPIReadRegister(((LIS3DSHDriver *)ip)->config->spip,
LIS3DSH_AD_CTRL_REG5, 1, &cr);
#if LIS3DSH_SHARED_SPI
spiReleaseBus(((LIS3DSHDriver *)ip)->config->spip);
#endif /* LIS3DSH_SHARED_SPI */
#endif /* LIS3DSH_USE_SPI */
cr &= ~(LIS3DSH_CTRL_REG5_FS_MASK);
cr |= fs;
#if LIS3DSH_USE_SPI
#if LIS3DSH_SHARED_SPI
spiAcquireBus(((LIS3DSHDriver *)ip)->config->spip);
spiStart(((LIS3DSHDriver *)ip)->config->spip,
((LIS3DSHDriver *)ip)->config->spicfg);
#endif /* LIS3DSH_SHARED_SPI */
lis3dshSPIWriteRegister(((LIS3DSHDriver *)ip)->config->spip,
LIS3DSH_AD_CTRL_REG5, 1, &cr);
#if LIS3DSH_SHARED_SPI
spiReleaseBus(((LIS3DSHDriver *)ip)->config->spip);
#endif /* LIS3DSH_SHARED_SPI */
#endif /* LIS3DSH_USE_SPI */
/* Scaling sensitivity and bias. Re-calibration is suggested anyway. */
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) {
@ -294,7 +319,7 @@ void lis3dshObjectInit(LIS3DSHDriver *devp) {
devp->vmt_lis3dsh = &vmt_lis3dsh;
devp->config = NULL;
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
devp->bias[i] = 0;
devp->bias[i] = 0.0f;
devp->state = LIS3DSH_STOP;
}
@ -315,13 +340,6 @@ void lis3dshStart(LIS3DSHDriver *devp, const LIS3DSHConfig *config) {
devp->config = config;
#if LIS3DSH_USE_SPI
#if LIS3DSH_SHARED_SPI
spiAcquireBus((devp)->config->spip);
#endif /* LIS3DSH_SHARED_SPI */
spiStart((devp)->config->spip,
(devp)->config->spicfg);
/* Control register 4 configuration block.*/
{
cr = LIS3DSH_CTRL_REG4_XEN | LIS3DSH_CTRL_REG4_YEN | LIS3DSH_CTRL_REG4_ZEN |
@ -330,9 +348,21 @@ void lis3dshStart(LIS3DSHDriver *devp, const LIS3DSHConfig *config) {
cr |= devp->config->blockdataupdate;
#endif
}
#if LIS3DSH_USE_SPI
#if LIS3DSH_SHARED_SPI
spiAcquireBus((devp)->config->spip);
#endif /* LIS3DSH_SHARED_SPI */
spiStart((devp)->config->spip, (devp)->config->spicfg);
lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG4,
1, &cr);
#if LIS3DSH_SHARED_SPI
spiReleaseBus((devp)->config->spip);
#endif /* LIS3DSH_SHARED_SPI */
#endif /* LIS3DSH_USE_SPI */
/* Control register 5 configuration block.*/
{
cr = devp->config->fullscale;
@ -340,9 +370,21 @@ void lis3dshStart(LIS3DSHDriver *devp, const LIS3DSHConfig *config) {
cr |= devp->config->antialiasing;
#endif
}
#if LIS3DSH_USE_SPI
#if LIS3DSH_SHARED_SPI
spiAcquireBus((devp)->config->spip);
spiStart((devp)->config->spip, (devp)->config->spicfg);
#endif /* LIS3DSH_SHARED_SPI */
lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG5,
1, &cr);
#if LIS3DSH_SHARED_SPI
spiReleaseBus((devp)->config->spip);
#endif /* LIS3DSH_SHARED_SPI */
#endif /* LIS3DSH_USE_SPI */
/* Control register 6 configuration block.*/
{
cr = LIS3DSH_CTRL_REG6_ADD_INC;
@ -350,42 +392,76 @@ void lis3dshStart(LIS3DSHDriver *devp, const LIS3DSHConfig *config) {
cr |= devp->config->blockdataupdate;
#endif
}
#if LIS3DSH_USE_SPI
#if LIS3DSH_SHARED_SPI
spiAcquireBus((devp)->config->spip);
spiStart((devp)->config->spip, (devp)->config->spicfg);
#endif /* LIS3DSH_SHARED_SPI */
lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG6,
1, &cr);
#if LIS3DSH_SHARED_SPI
spiReleaseBus((devp)->config->spip);
#endif /* LIS3DSH_SHARED_SPI */
#endif /* LIS3DSH_USE_SPI */
/* Storing sensitivity information according to full scale value */
/* Storing sensitivity information according to user setting */
if(devp->config->fullscale == LIS3DSH_FS_2G) {
devp->fullscale = LIS3DSH_2G;
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = LIS3DSH_SENS_2G;
if(devp->config->sensitivity == NULL)
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = LIS3DSH_SENS_2G;
else
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = devp->config->sensitivity[i];
}
else if(devp->config->fullscale == LIS3DSH_FS_4G) {
devp->fullscale = LIS3DSH_4G;
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = LIS3DSH_SENS_4G;
if(devp->config->sensitivity == NULL)
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = LIS3DSH_SENS_4G;
else
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = devp->config->sensitivity[i];
}
else if(devp->config->fullscale == LIS3DSH_FS_6G) {
devp->fullscale = LIS3DSH_6G;
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = LIS3DSH_SENS_6G;
if(devp->config->sensitivity == NULL)
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = LIS3DSH_SENS_6G;
else
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = devp->config->sensitivity[i];
}
else if(devp->config->fullscale == LIS3DSH_FS_8G) {
devp->fullscale = LIS3DSH_8G;
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = LIS3DSH_SENS_8G;
if(devp->config->sensitivity == NULL)
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = LIS3DSH_SENS_8G;
else
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = devp->config->sensitivity[i];
}
else if(devp->config->fullscale == LIS3DSH_FS_16G) {
devp->fullscale = LIS3DSH_16G;
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = LIS3DSH_SENS_16G;
if(devp->config->sensitivity == NULL)
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = LIS3DSH_SENS_16G;
else
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = devp->config->sensitivity[i];
}
else {
osalDbgAssert(FALSE, "lis3dshStart(), accelerometer full scale issue");
}
/* Storing bias information according to user setting */
if(devp->config->bias != NULL)
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
devp->bias[i] = devp->config->bias[i];
/* This is the Accelerometer transient recovery time */
osalThreadSleepMilliseconds(10);
@ -406,8 +482,8 @@ void lis3dshStop(LIS3DSHDriver *devp) {
osalDbgAssert((devp->state == LIS3DSH_STOP) || (devp->state == LIS3DSH_READY),
"lis3dshStop(), invalid state");
if (devp->state == LIS3DSH_READY) {
#if (LIS3DSH_USE_SPI)
if (devp->state == LIS3DSH_STOP) {
#if LIS3DSH_SHARED_SPI
spiAcquireBus((devp)->config->spip);
spiStart((devp)->config->spip,
@ -420,9 +496,9 @@ void lis3dshStop(LIS3DSHDriver *devp) {
spiStop((devp)->config->spip);
#if LIS3DSH_SHARED_SPI
spiReleaseBus((devp)->config->spip);
#endif /* LIS3DSH_SHARED_SPI */
}
#endif /* LIS3DSH_SHARED_SPI */
#endif /* LIS3DSH_USE_SPI */
}
devp->state = LIS3DSH_STOP;
}
/** @} */

20
os/ex/ST/lis3dsh.h
View File

@ -41,7 +41,7 @@
/**
* @brief LIS3DSH driver version string.
*/
#define EX_LIS3DSH_VERSION "1.0.1"
#define EX_LIS3DSH_VERSION "1.0.2"
/**
* @brief LIS3DSH driver version major number.
@ -56,7 +56,7 @@
/**
* @brief LIS3DSH driver version patch number.
*/
#define EX_LIS3DSH_PATCH 1
#define EX_LIS3DSH_PATCH 2
/** @} */
/**
@ -435,28 +435,28 @@ typedef struct {
/**
* @brief LIS3DSH initial sensitivity.
*/
float sensitivity[LIS3DSH_NUMBER_OF_AXES];
float *sensitivity;
/**
* @brief LIS3DSH initial bias.
*/
float bias[LIS3DSH_NUMBER_OF_AXES];
float *bias;
/**
* @brief LIS3DSH full scale value.
*/
lis3dsh_fs_t fullscale;
lis3dsh_fs_t fullscale;
/**
* @brief LIS3DSH output data rate selection.
*/
lis3dsh_odr_t outputdatarate;
lis3dsh_odr_t outputdatarate;
#if LIS3DSH_USE_ADVANCED || defined(__DOXYGEN__)
/**
* @brief LIS3DSH anti-aliasing bandwidth.
*/
lis3dsh_bw_t antialiasing;
lis3dsh_bw_t antialiasing;
/**
* @brief LIS3DSH block data update.
*/
lis3dsh_bdu_t blockdataupdate;
lis3dsh_bdu_t blockdataupdate;
#endif
} LIS3DSHConfig;
@ -488,9 +488,9 @@ struct LIS3DSHVMT {
#define _lis3dsh_data \
_base_accelerometer_data \
/* Driver state.*/ \
lis3dsh_state_t state; \
lis3dsh_state_t state; \
/* Current configuration data.*/ \
const LIS3DSHConfig *config; \
const LIS3DSHConfig *config; \
/* Current sensitivity.*/ \
float sensitivity[LIS3DSH_NUMBER_OF_AXES]; \
/* Bias data.*/ \

4
testex/STM32/STM32F4xx/SPI-LIS3DSH/Makefile
View File

@ -71,7 +71,7 @@ endif
# Enables the use of FPU (no, softfp, hard).
ifeq ($(USE_FPU),)
USE_FPU = hard
USE_FPU = no
endif
#
@ -114,7 +114,7 @@ CSRC = $(STARTUPSRC) \
$(HALSRC) \
$(PLATFORMSRC) \
$(BOARDSRC) \
$(LIS3DSHSRC) \
$(LIS3DSHSRC) \
$(STREAMSSRC) \
$(SHELLSRC) \
usbcfg.c main.c

8
testex/STM32/STM32F4xx/SPI-LIS3DSH/mcuconf.h
View File

@ -44,7 +44,11 @@
#define STM32_CLOCK48_REQUIRED TRUE
#define STM32_SW STM32_SW_PLL
#define STM32_PLLSRC STM32_PLLSRC_HSE
#if defined(BOARD_ST_STM32F4_DISCOVERY)
#define STM32_PLLM_VALUE 8
#else
#define STM32_PLLM_VALUE 12
#endif
#define STM32_PLLN_VALUE 336
#define STM32_PLLP_VALUE 2
#define STM32_PLLQ_VALUE 7
@ -264,8 +268,8 @@
* SPI driver system settings.
*/
#define STM32_SPI_USE_SPI1 TRUE
#define STM32_SPI_USE_SPI2 TRUE
#define STM32_SPI_USE_SPI3 TRUE
#define STM32_SPI_USE_SPI2 FALSE
#define STM32_SPI_USE_SPI3 FALSE
#define STM32_SPI_SPI1_RX_DMA_STREAM STM32_DMA_STREAM_ID(2, 0)
#define STM32_SPI_SPI1_TX_DMA_STREAM STM32_DMA_STREAM_ID(2, 3)
#define STM32_SPI_SPI2_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 3)

10
testex/STM32/STM32F4xx/SPI-LIS3DSH/readme.txt
View File

@ -1,19 +1,19 @@
*****************************************************************************
** ChibiOS/HAL + ChibiOS/EX - SPI + LIS3DSH demo for STM32F4xx. **
** ChibiOS/HAL - USB-CDC driver demo for STM32. **
*****************************************************************************
** TARGET **
The demo runs on an STM32F407 Discovery board rev MB997C and MB997D.
The demo runs on both Olimex STM32-E407 or STM32F4-Discovery boards, just
change the board reference in the Makefile.
** The Demo **
The demo flashes the board LED using a thread, read data from LIS3DSH printing
it on a BaseSequentialStream (SDU1, mapped on USB virtual COM port).
The application demonstrates the use of the STM32 USB (OTG) driver.
** Build Procedure **
The demo has been tested by using the free Codesourcery GCC-based toolchain
The demo has been tested using the free Codesourcery GCC-based toolchain
and YAGARTO.
Just modify the TRGT line in the makefile in order to use different GCC ports.