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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 #if LIS3DSH_USE_SPI
osalDbgAssert((((LIS3DSHDriver *)ip)->config->spip->state == SPI_READY), osalDbgAssert((((LIS3DSHDriver *)ip)->config->spip->state == SPI_READY),
"read_raw(), channel not ready"); "read_raw(), channel not ready");
#if LIS3DSH_SHARED_SPI #if LIS3DSH_SHARED_SPI
spiAcquireBus(((LIS3DSHDriver *)ip)->config->spip); spiAcquireBus(((LIS3DSHDriver *)ip)->config->spip);
spiStart(((LIS3DSHDriver *)ip)->config->spip, spiStart(((LIS3DSHDriver *)ip)->config->spip,
((LIS3DSHDriver *)ip)->config->spicfg); ((LIS3DSHDriver *)ip)->config->spicfg);
#endif /* LIS3DSH_SHARED_SPI */ #endif /* LIS3DSH_SHARED_SPI */
lis3dshSPIReadRegister(((LIS3DSHDriver *)ip)->config->spip, LIS3DSH_AD_OUT_X_L, lis3dshSPIReadRegister(((LIS3DSHDriver *)ip)->config->spip, LIS3DSH_AD_OUT_X_L,
LIS3DSH_NUMBER_OF_AXES * 2, buff); 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 #if LIS3DSH_SHARED_SPI
spiReleaseBus(((LIS3DSHDriver *)ip)->config->spip); spiReleaseBus(((LIS3DSHDriver *)ip)->config->spip);
#endif /* LIS3DSH_SHARED_SPI */ #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; return MSG_OK;
} }
@ -244,13 +248,34 @@ static msg_t set_full_scale(void *ip, lis3dsh_fs_t fs) {
scale = newfs / ((LIS3DSHDriver *)ip)->fullscale; scale = newfs / ((LIS3DSHDriver *)ip)->fullscale;
((LIS3DSHDriver *)ip)->fullscale = newfs; ((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, lis3dshSPIReadRegister(((LIS3DSHDriver *)ip)->config->spip,
LIS3DSH_AD_CTRL_REG5, 1, &cr); 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 &= ~(LIS3DSH_CTRL_REG5_FS_MASK);
cr |= fs; 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, lis3dshSPIWriteRegister(((LIS3DSHDriver *)ip)->config->spip,
LIS3DSH_AD_CTRL_REG5, 1, &cr); 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. */ /* Scaling sensitivity and bias. Re-calibration is suggested anyway. */
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) { for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) {
@ -294,7 +319,7 @@ void lis3dshObjectInit(LIS3DSHDriver *devp) {
devp->vmt_lis3dsh = &vmt_lis3dsh; devp->vmt_lis3dsh = &vmt_lis3dsh;
devp->config = NULL; devp->config = NULL;
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
devp->bias[i] = 0; devp->bias[i] = 0.0f;
devp->state = LIS3DSH_STOP; devp->state = LIS3DSH_STOP;
} }
@ -315,13 +340,6 @@ void lis3dshStart(LIS3DSHDriver *devp, const LIS3DSHConfig *config) {
devp->config = 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.*/ /* Control register 4 configuration block.*/
{ {
cr = LIS3DSH_CTRL_REG4_XEN | LIS3DSH_CTRL_REG4_YEN | LIS3DSH_CTRL_REG4_ZEN | 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; cr |= devp->config->blockdataupdate;
#endif #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, lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG4,
1, &cr); 1, &cr);
#if LIS3DSH_SHARED_SPI
spiReleaseBus((devp)->config->spip);
#endif /* LIS3DSH_SHARED_SPI */
#endif /* LIS3DSH_USE_SPI */
/* Control register 5 configuration block.*/ /* Control register 5 configuration block.*/
{ {
cr = devp->config->fullscale; cr = devp->config->fullscale;
@ -340,9 +370,21 @@ void lis3dshStart(LIS3DSHDriver *devp, const LIS3DSHConfig *config) {
cr |= devp->config->antialiasing; cr |= devp->config->antialiasing;
#endif #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, lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG5,
1, &cr); 1, &cr);
#if LIS3DSH_SHARED_SPI
spiReleaseBus((devp)->config->spip);
#endif /* LIS3DSH_SHARED_SPI */
#endif /* LIS3DSH_USE_SPI */
/* Control register 6 configuration block.*/ /* Control register 6 configuration block.*/
{ {
cr = LIS3DSH_CTRL_REG6_ADD_INC; cr = LIS3DSH_CTRL_REG6_ADD_INC;
@ -350,42 +392,76 @@ void lis3dshStart(LIS3DSHDriver *devp, const LIS3DSHConfig *config) {
cr |= devp->config->blockdataupdate; cr |= devp->config->blockdataupdate;
#endif #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, lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG6,
1, &cr); 1, &cr);
#if LIS3DSH_SHARED_SPI #if LIS3DSH_SHARED_SPI
spiReleaseBus((devp)->config->spip); spiReleaseBus((devp)->config->spip);
#endif /* LIS3DSH_SHARED_SPI */ #endif /* LIS3DSH_SHARED_SPI */
#endif /* LIS3DSH_USE_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) { if(devp->config->fullscale == LIS3DSH_FS_2G) {
devp->fullscale = LIS3DSH_2G; devp->fullscale = LIS3DSH_2G;
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) if(devp->config->sensitivity == NULL)
devp->sensitivity[i] = LIS3DSH_SENS_2G; 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) { else if(devp->config->fullscale == LIS3DSH_FS_4G) {
devp->fullscale = LIS3DSH_4G; devp->fullscale = LIS3DSH_4G;
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) if(devp->config->sensitivity == NULL)
devp->sensitivity[i] = LIS3DSH_SENS_4G; 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) { else if(devp->config->fullscale == LIS3DSH_FS_6G) {
devp->fullscale = LIS3DSH_6G; devp->fullscale = LIS3DSH_6G;
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) if(devp->config->sensitivity == NULL)
devp->sensitivity[i] = LIS3DSH_SENS_6G; 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) { else if(devp->config->fullscale == LIS3DSH_FS_8G) {
devp->fullscale = LIS3DSH_8G; devp->fullscale = LIS3DSH_8G;
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) if(devp->config->sensitivity == NULL)
devp->sensitivity[i] = LIS3DSH_SENS_8G; 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) { else if(devp->config->fullscale == LIS3DSH_FS_16G) {
devp->fullscale = LIS3DSH_16G; devp->fullscale = LIS3DSH_16G;
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) if(devp->config->sensitivity == NULL)
devp->sensitivity[i] = LIS3DSH_SENS_16G; 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 { else {
osalDbgAssert(FALSE, "lis3dshStart(), accelerometer full scale issue"); 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 */ /* This is the Accelerometer transient recovery time */
osalThreadSleepMilliseconds(10); osalThreadSleepMilliseconds(10);
@ -406,8 +482,8 @@ void lis3dshStop(LIS3DSHDriver *devp) {
osalDbgAssert((devp->state == LIS3DSH_STOP) || (devp->state == LIS3DSH_READY), osalDbgAssert((devp->state == LIS3DSH_STOP) || (devp->state == LIS3DSH_READY),
"lis3dshStop(), invalid state"); "lis3dshStop(), invalid state");
if (devp->state == LIS3DSH_READY) {
#if (LIS3DSH_USE_SPI) #if (LIS3DSH_USE_SPI)
if (devp->state == LIS3DSH_STOP) {
#if LIS3DSH_SHARED_SPI #if LIS3DSH_SHARED_SPI
spiAcquireBus((devp)->config->spip); spiAcquireBus((devp)->config->spip);
spiStart((devp)->config->spip, spiStart((devp)->config->spip,
@ -420,9 +496,9 @@ void lis3dshStop(LIS3DSHDriver *devp) {
spiStop((devp)->config->spip); spiStop((devp)->config->spip);
#if LIS3DSH_SHARED_SPI #if LIS3DSH_SHARED_SPI
spiReleaseBus((devp)->config->spip); spiReleaseBus((devp)->config->spip);
#endif /* LIS3DSH_SHARED_SPI */ #endif /* LIS3DSH_SHARED_SPI */
}
#endif /* LIS3DSH_USE_SPI */ #endif /* LIS3DSH_USE_SPI */
}
devp->state = LIS3DSH_STOP; devp->state = LIS3DSH_STOP;
} }
/** @} */ /** @} */

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

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

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

@ -71,7 +71,7 @@ endif
# Enables the use of FPU (no, softfp, hard). # Enables the use of FPU (no, softfp, hard).
ifeq ($(USE_FPU),) ifeq ($(USE_FPU),)
USE_FPU = hard USE_FPU = no
endif endif
# #
@ -114,7 +114,7 @@ CSRC = $(STARTUPSRC) \
$(HALSRC) \ $(HALSRC) \
$(PLATFORMSRC) \ $(PLATFORMSRC) \
$(BOARDSRC) \ $(BOARDSRC) \
$(LIS3DSHSRC) \ $(LIS3DSHSRC) \
$(STREAMSSRC) \ $(STREAMSSRC) \
$(SHELLSRC) \ $(SHELLSRC) \
usbcfg.c main.c 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_CLOCK48_REQUIRED TRUE
#define STM32_SW STM32_SW_PLL #define STM32_SW STM32_SW_PLL
#define STM32_PLLSRC STM32_PLLSRC_HSE #define STM32_PLLSRC STM32_PLLSRC_HSE
#if defined(BOARD_ST_STM32F4_DISCOVERY)
#define STM32_PLLM_VALUE 8 #define STM32_PLLM_VALUE 8
#else
#define STM32_PLLM_VALUE 12
#endif
#define STM32_PLLN_VALUE 336 #define STM32_PLLN_VALUE 336
#define STM32_PLLP_VALUE 2 #define STM32_PLLP_VALUE 2
#define STM32_PLLQ_VALUE 7 #define STM32_PLLQ_VALUE 7
@ -264,8 +268,8 @@
* SPI driver system settings. * SPI driver system settings.
*/ */
#define STM32_SPI_USE_SPI1 TRUE #define STM32_SPI_USE_SPI1 TRUE
#define STM32_SPI_USE_SPI2 TRUE #define STM32_SPI_USE_SPI2 FALSE
#define STM32_SPI_USE_SPI3 TRUE #define STM32_SPI_USE_SPI3 FALSE
#define STM32_SPI_SPI1_RX_DMA_STREAM STM32_DMA_STREAM_ID(2, 0) #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_SPI1_TX_DMA_STREAM STM32_DMA_STREAM_ID(2, 3)
#define STM32_SPI_SPI2_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 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 ** ** 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 **
The demo flashes the board LED using a thread, read data from LIS3DSH printing The application demonstrates the use of the STM32 USB (OTG) driver.
it on a BaseSequentialStream (SDU1, mapped on USB virtual COM port).
** Build Procedure ** ** 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. and YAGARTO.
Just modify the TRGT line in the makefile in order to use different GCC ports. Just modify the TRGT line in the makefile in order to use different GCC ports.