Updated LIS302DL driver
git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@11702 110e8d01-0319-4d1e-a829-52ad28d1bb01
This commit is contained in:
Rocco Marco Guglielmi
parent
77bc8a0909
commit
6fe823352b
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@ -1,5 +1,5 @@
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/*
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ChibiOS - Copyright (C) 2016 Rocco Marco Guglielmi
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ChibiOS - Copyright (C) 2016-2018 Rocco Marco Guglielmi
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This file is part of ChibiOS.
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@ -86,157 +86,291 @@ static void lis302dlSPIWriteRegister(SPIDriver *spip, uint8_t reg, size_t n,
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}
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#endif /* LIS302DL_USE_SPI */
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/*
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* Interface implementation.
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/**
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* @brief Return the number of axes of the BaseAccelerometer.
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*
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* @param[in] ip pointer to @p BaseAccelerometer interface.
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*
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* @return the number of axes.
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*/
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static size_t get_axes_number(void *ip) {
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static size_t acc_get_axes_number(void *ip) {
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(void)ip;
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osalDbgCheck(ip != NULL);
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return LIS302DL_NUMBER_OF_AXES;
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return LIS302DL_ACC_NUMBER_OF_AXES;
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}
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static msg_t read_raw(void *ip, int32_t axes[LIS302DL_NUMBER_OF_AXES]) {
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/**
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* @brief Retrieves raw data from the BaseAccelerometer.
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* @note This data is retrieved from MEMS register without any algebraical
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* manipulation.
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* @note The axes array must be at least the same size of the
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* BaseAccelerometer axes number.
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*
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* @param[in] ip pointer to @p BaseAccelerometer interface.
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* @param[out] axes a buffer which would be filled with raw data.
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*
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* @return The operation status.
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* @retval MSG_OK if the function succeeded.
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* @retval MSG_RESET if one or more I2C errors occurred, the errors can
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* be retrieved using @p i2cGetErrors().
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* @retval MSG_TIMEOUT if a timeout occurred before operation end.
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*/
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static msg_t acc_read_raw(void *ip, int32_t axes[]) {
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LIS302DLDriver* devp;
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uint8_t i, tmp;
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msg_t msg = MSG_OK;
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osalDbgCheck((ip != NULL) && (axes != NULL));
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osalDbgAssert((((LIS302DLDriver *)ip)->state == LIS302DL_READY),
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"read_raw(), invalid state");
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/* Getting parent instance pointer.*/
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devp = objGetInstance(LIS302DLDriver*, (BaseAccelerometer*)ip);
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osalDbgAssert((devp->state == LIS302DL_READY),
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"acc_read_raw(), invalid state");
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#if LIS302DL_USE_SPI
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osalDbgAssert((((LIS302DLDriver *)ip)->config->spip->state == SPI_READY),
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"read_raw(), channel not ready");
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#if LIS302DL_SHARED_SPI
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spiAcquireBus(((LIS302DLDriver *)ip)->config->spip);
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spiStart(((LIS302DLDriver *)ip)->config->spip,
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((LIS302DLDriver *)ip)->config->spicfg);
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osalDbgAssert((devp->config->spip->state == SPI_READY),
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"acc_read_raw(), channel not ready");
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spiAcquireBus(devp->config->spip);
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spiStart(devp->config->spip,
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devp->config->spicfg);
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#endif /* LIS302DL_SHARED_SPI */
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for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++) {
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lis302dlSPIReadRegister(((LIS302DLDriver *)ip)->config->spip,
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for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++) {
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lis302dlSPIReadRegister(devp->config->spip,
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LIS302DL_AD_OUT_X + (i * 2), 1, &tmp);
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axes[i] = (int32_t)((int8_t)tmp);
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}
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#if LIS302DL_SHARED_SPI
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spiReleaseBus(((LIS302DLDriver *)ip)->config->spip);
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spiReleaseBus(devp->config->spip);
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#endif /* LIS302DL_SHARED_SPI */
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#endif /* LIS302DL_USE_SPI */
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return MSG_OK;
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return msg;
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}
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static msg_t read_cooked(void *ip, float axes[]) {
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/**
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* @brief Retrieves cooked data from the BaseAccelerometer.
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* @note This data is manipulated according to the formula
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* cooked = (raw * sensitivity) - bias.
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* @note Final data is expressed as milli-G.
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* @note The axes array must be at least the same size of the
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* BaseAccelerometer axes number.
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*
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* @param[in] ip pointer to @p BaseAccelerometer interface.
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* @param[out] axes a buffer which would be filled with cooked data.
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*
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* @return The operation status.
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* @retval MSG_OK if the function succeeded.
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* @retval MSG_RESET if one or more I2C errors occurred, the errors can
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* be retrieved using @p i2cGetErrors().
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* @retval MSG_TIMEOUT if a timeout occurred before operation end.
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*/
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static msg_t acc_read_cooked(void *ip, float axes[]) {
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LIS302DLDriver* devp;
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uint32_t i;
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int32_t raw[LIS302DL_NUMBER_OF_AXES];
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int32_t raw[LIS302DL_ACC_NUMBER_OF_AXES];
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msg_t msg;
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osalDbgCheck((ip != NULL) && (axes != NULL));
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osalDbgAssert((((LIS302DLDriver *)ip)->state == LIS302DL_READY),
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"read_cooked(), invalid state");
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/* Getting parent instance pointer.*/
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devp = objGetInstance(LIS302DLDriver*, (BaseAccelerometer*)ip);
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msg = read_raw(ip, raw);
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for(i = 0; i < LIS302DL_NUMBER_OF_AXES ; i++){
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axes[i] = (raw[i] * ((LIS302DLDriver *)ip)->sensitivity[i]);
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axes[i] -= ((LIS302DLDriver *)ip)->bias[i];
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osalDbgAssert((devp->state == LIS302DL_READY),
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"acc_read_cooked(), invalid state");
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msg = acc_read_raw(ip, raw);
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for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++) {
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axes[i] = (raw[i] * devp->accsensitivity[i]) - devp->accbias[i];
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}
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return msg;
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}
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static msg_t set_bias(void *ip, float *bp) {
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/**
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* @brief Set bias values for the BaseAccelerometer.
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* @note Bias must be expressed as milli-G.
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* @note The bias buffer must be at least the same size of the
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* BaseAccelerometer axes number.
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*
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* @param[in] ip pointer to @p BaseAccelerometer interface.
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* @param[in] bp a buffer which contains biases.
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*
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* @return The operation status.
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* @retval MSG_OK if the function succeeded.
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*/
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static msg_t acc_set_bias(void *ip, float *bp) {
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LIS302DLDriver* devp;
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uint32_t i;
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msg_t msg = MSG_OK;
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osalDbgCheck((ip != NULL) && (bp != NULL));
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osalDbgAssert((((LIS302DLDriver *)ip)->state == LIS302DL_READY) ||
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(((LIS302DLDriver *)ip)->state == LIS302DL_STOP),
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"set_bias(), invalid state");
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/* Getting parent instance pointer.*/
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devp = objGetInstance(LIS302DLDriver*, (BaseAccelerometer*)ip);
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for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++) {
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((LIS302DLDriver *)ip)->bias[i] = bp[i];
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osalDbgAssert((devp->state == LIS302DL_READY),
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"acc_set_bias(), invalid state");
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for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++) {
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devp->accbias[i] = bp[i];
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}
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return MSG_OK;
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return msg;
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}
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static msg_t reset_bias(void *ip) {
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/**
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* @brief Reset bias values for the BaseAccelerometer.
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* @note Default biases value are obtained from device datasheet when
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* available otherwise they are considered zero.
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*
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* @param[in] ip pointer to @p BaseAccelerometer interface.
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*
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* @return The operation status.
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* @retval MSG_OK if the function succeeded.
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*/
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static msg_t acc_reset_bias(void *ip) {
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LIS302DLDriver* devp;
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uint32_t i;
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msg_t msg = MSG_OK;
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osalDbgCheck(ip != NULL);
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osalDbgAssert((((LIS302DLDriver *)ip)->state == LIS302DL_READY) ||
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(((LIS302DLDriver *)ip)->state == LIS302DL_STOP),
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"reset_bias(), invalid state");
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/* Getting parent instance pointer.*/
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devp = objGetInstance(LIS302DLDriver*, (BaseAccelerometer*)ip);
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for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)
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((LIS302DLDriver *)ip)->bias[i] = 0;
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return MSG_OK;
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osalDbgAssert((devp->state == LIS302DL_READY),
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"acc_reset_bias(), invalid state");
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for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++)
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devp->accbias[i] = LIS302DL_ACC_BIAS;
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return msg;
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}
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static msg_t set_sensivity(void *ip, float *sp) {
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/**
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* @brief Set sensitivity values for the BaseAccelerometer.
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* @note Sensitivity must be expressed as milli-G/LSB.
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* @note The sensitivity buffer must be at least the same size of the
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* BaseAccelerometer axes number.
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*
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* @param[in] ip pointer to @p BaseAccelerometer interface.
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* @param[in] sp a buffer which contains sensitivities.
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*
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* @return The operation status.
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* @retval MSG_OK if the function succeeded.
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*/
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static msg_t acc_set_sensivity(void *ip, float *sp) {
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LIS302DLDriver* devp;
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uint32_t i;
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msg_t msg = MSG_OK;
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/* Getting parent instance pointer.*/
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devp = objGetInstance(LIS302DLDriver*, (BaseAccelerometer*)ip);
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osalDbgCheck((ip != NULL) && (sp != NULL));
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osalDbgAssert((((LIS302DLDriver *)ip)->state == LIS302DL_READY),
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"set_sensivity(), invalid state");
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osalDbgAssert((devp->state == LIS302DL_READY),
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"acc_set_sensivity(), invalid state");
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for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++) {
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((LIS302DLDriver *)ip)->sensitivity[i] = sp[i];
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for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++) {
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devp->accsensitivity[i] = sp[i];
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}
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return MSG_OK;
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return msg;
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}
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static msg_t reset_sensivity(void *ip) {
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/**
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* @brief Reset sensitivity values for the BaseAccelerometer.
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* @note Default sensitivities value are obtained from device datasheet.
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*
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* @param[in] ip pointer to @p BaseAccelerometer interface.
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*
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* @return The operation status.
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* @retval MSG_OK if the function succeeded.
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* @retval MSG_RESET otherwise.
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*/
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static msg_t acc_reset_sensivity(void *ip) {
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LIS302DLDriver* devp;
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uint32_t i;
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msg_t msg = MSG_OK;
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osalDbgCheck(ip != NULL);
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osalDbgAssert((((LIS302DLDriver *)ip)->state == LIS302DL_READY),
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"reset_sensivity(), invalid state");
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/* Getting parent instance pointer.*/
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devp = objGetInstance(LIS302DLDriver*, (BaseAccelerometer*)ip);
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if(((LIS302DLDriver *)ip)->config->fullscale == LIS302DL_FS_2G)
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for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)
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((LIS302DLDriver *)ip)->sensitivity[i] = LIS302DL_SENS_2G;
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else if(((LIS302DLDriver *)ip)->config->fullscale == LIS302DL_FS_8G)
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for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)
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((LIS302DLDriver *)ip)->sensitivity[i] = LIS302DL_SENS_8G;
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osalDbgAssert((devp->state == LIS302DL_READY),
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"acc_reset_sensivity(), invalid state");
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if(devp->config->accfullscale == LIS302DL_ACC_FS_2G)
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for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++)
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devp->accsensitivity[i] = LIS302DL_ACC_SENS_2G;
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else if(devp->config->accfullscale == LIS302DL_ACC_FS_8G)
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for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++)
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devp->accsensitivity[i] = LIS302DL_ACC_SENS_8G;
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else {
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osalDbgAssert(FALSE, "reset_sensivity(), full scale issue");
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osalDbgAssert(FALSE,
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"acc_reset_sensivity(), accelerometer full scale issue");
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return MSG_RESET;
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}
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return MSG_OK;
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return msg;
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}
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static msg_t set_full_scale(void *ip, lis302dl_fs_t fs) {
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/**
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* @brief Changes the LIS302DLDriver accelerometer fullscale value.
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* @note This function also rescale sensitivities and biases based on
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* previous and next fullscale value.
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* @note A recalibration is highly suggested after calling this function.
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*
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* @param[in] ip pointer to @p LIS302DLDriver interface.
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* @param[in] fs new fullscale value.
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*
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* @return The operation status.
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* @retval MSG_OK if the function succeeded.
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* @retval MSG_RESET otherwise.
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*/
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static msg_t acc_set_full_scale(LIS302DLDriver *devp,
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lis302dl_acc_fs_t fs) {
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float newfs, scale;
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uint8_t i, cr;
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msg_t msg;
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if(fs == LIS302DL_FS_2G) {
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newfs = LIS302DL_2G;
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osalDbgCheck(devp != NULL);
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osalDbgAssert((devp->state == LIS302DL_READY),
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"acc_set_full_scale(), invalid state");
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osalDbgAssert((devp->config->spip->state == SPI_READY),
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"acc_set_full_scale(), channel not ready");
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/* Computing new fullscale value.*/
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if(fs == LIS302DL_ACC_FS_2G) {
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newfs = LIS302DL_ACC_2G;
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}
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else if(fs == LIS302DL_FS_8G) {
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newfs = LIS302DL_8G;
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else if(fs == LIS302DL_ACC_FS_8G) {
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newfs = LIS302DL_ACC_8G;
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}
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else {
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return MSG_RESET;
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msg = MSG_RESET;
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return msg;
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}
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if(newfs != ((LIS302DLDriver *)ip)->fullscale) {
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scale = newfs / ((LIS302DLDriver *)ip)->fullscale;
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((LIS302DLDriver *)ip)->fullscale = newfs;
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if(newfs != devp->accfullscale) {
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/* Computing scale value.*/
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scale = newfs / devp->accfullscale;
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devp->accfullscale = newfs;
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#if LIS302DL_USE_SPI
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#if LIS302DL_SHARED_SPI
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spiAcquireBus(((LIS302DLDriver *)ip)->config->spip);
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spiStart(((LIS302DLDriver *)ip)->config->spip,
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((LIS302DLDriver *)ip)->config->spicfg);
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spiAcquireBus(devp->config->spip);
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spiStart(devp->config->spip,
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devp->config->spicfg);
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#endif /* LIS302DL_SHARED_SPI */
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lis302dlSPIReadRegister(((LIS302DLDriver *)ip)->config->spip,
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LIS302DL_AD_CTRL_REG1, 1, &cr);
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/* Getting data from register.*/
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lis302dlSPIReadRegister(devp->config->spip, LIS302DL_AD_CTRL_REG1, 1, &cr);
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#if LIS302DL_SHARED_SPI
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spiReleaseBus(((LIS302DLDriver *)ip)->config->spip);
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spiReleaseBus(devp->config->spip);
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#endif /* LIS302DL_SHARED_SPI */
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#endif /* LIS302DL_USE_SPI */
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@ -245,34 +379,37 @@ static msg_t set_full_scale(void *ip, lis302dl_fs_t fs) {
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#if LIS302DL_USE_SPI
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#if LIS302DL_SHARED_SPI
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spiAcquireBus(((LIS302DLDriver *)ip)->config->spip);
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spiStart(((LIS302DLDriver *)ip)->config->spip,
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((LIS302DLDriver *)ip)->config->spicfg);
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spiAcquireBus(devp->config->spip);
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spiStart(devp->config->spip,
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devp->config->spicfg);
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#endif /* LIS302DL_SHARED_SPI */
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lis302dlSPIWriteRegister(((LIS302DLDriver *)ip)->config->spip,
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LIS302DL_AD_CTRL_REG1, 1, &cr);
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/* Getting data from register.*/
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lis302dlSPIWriteRegister(devp->config->spip, LIS302DL_AD_CTRL_REG1, 1, &cr);
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#if LIS302DL_SHARED_SPI
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spiReleaseBus(((LIS302DLDriver *)ip)->config->spip);
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spiReleaseBus(devp->config->spip);
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#endif /* LIS302DL_SHARED_SPI */
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#endif /* LIS302DL_USE_SPI */
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/* Scaling sensitivity and bias. Re-calibration is suggested anyway. */
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for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++) {
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((LIS302DLDriver *)ip)->sensitivity[i] *= scale;
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((LIS302DLDriver *)ip)->bias[i] *= scale;
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for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++) {
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devp->accsensitivity[i] *= scale;
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devp->accbias[i] *= scale;
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}
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}
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return MSG_OK;
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return msg;
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}
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static const struct BaseSensorVMT vmt_sensor = {
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get_axes_number, read_raw, read_cooked
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static const struct LIS302DLVMT vmt_device = {
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(size_t)0,
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acc_set_full_scale
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};
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static const struct LIS302DLAccelerometerVMT vmt_accelerometer = {
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get_axes_number, read_raw, read_cooked,
|
||||
set_bias, reset_bias, set_sensivity, reset_sensivity,
|
||||
set_full_scale
|
||||
static const struct BaseAccelerometerVMT vmt_accelerometer = {
|
||||
sizeof(struct LIS302DLVMT*),
|
||||
acc_get_axes_number, acc_read_raw, acc_read_cooked,
|
||||
acc_set_bias, acc_reset_bias, acc_set_sensivity, acc_reset_sensivity
|
||||
};
|
||||
|
||||
/*===========================================================================*/
|
||||
|
|
@ -287,12 +424,13 @@ static const struct LIS302DLAccelerometerVMT vmt_accelerometer = {
|
|||
* @init
|
||||
*/
|
||||
void lis302dlObjectInit(LIS302DLDriver *devp) {
|
||||
uint32_t i;
|
||||
devp->vmt_sensor = &vmt_sensor;
|
||||
devp->vmt_accelerometer = &vmt_accelerometer;
|
||||
devp->vmt = &vmt_device;
|
||||
devp->acc_if.vmt = &vmt_accelerometer;
|
||||
|
||||
devp->config = NULL;
|
||||
for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)
|
||||
devp->bias[i] = 0.0f;
|
||||
|
||||
devp->accaxes = LIS302DL_ACC_NUMBER_OF_AXES;
|
||||
|
||||
devp->state = LIS302DL_STOP;
|
||||
}
|
||||
|
||||
|
|
@ -318,15 +456,15 @@ void lis302dlStart(LIS302DLDriver *devp, const LIS302DLConfig *config) {
|
|||
{
|
||||
cr[0] = LIS302DL_CTRL_REG1_XEN | LIS302DL_CTRL_REG1_YEN |
|
||||
LIS302DL_CTRL_REG1_ZEN | LIS302DL_CTRL_REG1_PD |
|
||||
devp->config->outputdatarate |
|
||||
devp->config->fullscale;
|
||||
devp->config->accoutputdatarate |
|
||||
devp->config->accfullscale;
|
||||
}
|
||||
|
||||
/* Control register 2 configuration block.*/
|
||||
{
|
||||
#if LIS302DL_USE_ADVANCED || defined(__DOXYGEN__)
|
||||
if(devp->config->hpmode != LIS302DL_HPM_BYPASSED)
|
||||
cr[1] = devp->config->highpass;
|
||||
cr[1] = devp->config->acchighpass;
|
||||
#endif
|
||||
}
|
||||
|
||||
|
|
@ -345,31 +483,35 @@ void lis302dlStart(LIS302DLDriver *devp, const LIS302DLConfig *config) {
|
|||
#endif /* LIS302DL_USE_SPI */
|
||||
|
||||
/* Storing sensitivity information according to full scale value */
|
||||
if(devp->config->fullscale == LIS302DL_FS_2G) {
|
||||
devp->fullscale = LIS302DL_2G;
|
||||
if(devp->config->sensitivity == NULL)
|
||||
for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)
|
||||
devp->sensitivity[i] = LIS302DL_SENS_2G;
|
||||
if(devp->config->accfullscale == LIS302DL_ACC_FS_2G) {
|
||||
devp->accfullscale = LIS302DL_ACC_2G;
|
||||
if(devp->config->accsensitivity == NULL)
|
||||
for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++)
|
||||
devp->accsensitivity[i] = LIS302DL_ACC_SENS_2G;
|
||||
else
|
||||
for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)
|
||||
devp->sensitivity[i] = devp->config->sensitivity[i];
|
||||
for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++)
|
||||
devp->accsensitivity[i] = devp->config->accsensitivity[i];
|
||||
}
|
||||
else if(devp->config->fullscale == LIS302DL_FS_8G) {
|
||||
devp->fullscale = LIS302DL_8G;
|
||||
if(devp->config->sensitivity == NULL)
|
||||
for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)
|
||||
devp->sensitivity[i] = LIS302DL_SENS_8G;
|
||||
else if(devp->config->accfullscale == LIS302DL_ACC_FS_8G) {
|
||||
devp->accfullscale = LIS302DL_ACC_8G;
|
||||
if(devp->config->accsensitivity == NULL)
|
||||
for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++)
|
||||
devp->accsensitivity[i] = LIS302DL_ACC_SENS_8G;
|
||||
else
|
||||
for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)
|
||||
devp->sensitivity[i] = devp->config->sensitivity[i];
|
||||
for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++)
|
||||
devp->accsensitivity[i] = devp->config->accsensitivity[i];
|
||||
}
|
||||
else {
|
||||
osalDbgAssert(FALSE, "lis302dlStart(), accelerometer full scale issue");
|
||||
}
|
||||
|
||||
if(devp->config->bias != NULL)
|
||||
for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)
|
||||
devp->bias[i] = devp->config->bias[i];
|
||||
/* Storing bias information according to user setting */
|
||||
if(devp->config->accbias != NULL)
|
||||
for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++)
|
||||
devp->accbias[i] = devp->config->accbias[i];
|
||||
else
|
||||
for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++)
|
||||
devp->accbias[i] = LIS302DL_ACC_BIAS;
|
||||
|
||||
/* This is the Accelerometer transient recovery time */
|
||||
osalThreadSleepMilliseconds(10);
|
||||
|
|
@ -388,7 +530,8 @@ void lis302dlStop(LIS302DLDriver *devp) {
|
|||
uint8_t cr1;
|
||||
osalDbgCheck(devp != NULL);
|
||||
|
||||
osalDbgAssert((devp->state == LIS302DL_STOP) || (devp->state == LIS302DL_READY),
|
||||
osalDbgAssert((devp->state == LIS302DL_STOP) ||
|
||||
(devp->state == LIS302DL_READY),
|
||||
"lis302dlStop(), invalid state");
|
||||
|
||||
if (devp->state == LIS302DL_READY) {
|
||||
|
|
@ -398,6 +541,7 @@ void lis302dlStop(LIS302DLDriver *devp) {
|
|||
spiStart((devp)->config->spip,
|
||||
(devp)->config->spicfg);
|
||||
#endif /* LIS302DL_SHARED_SPI */
|
||||
/* Disabling all axes and enabling power down mode.*/
|
||||
cr1 = 0;
|
||||
lis302dlSPIWriteRegister(devp->config->spip, LIS302DL_AD_CTRL_REG1, 1, &cr1);
|
||||
spiStop((devp)->config->spip);
|
||||
|
|
|
|||
|
|
@ -1,5 +1,5 @@
|
|||
/*
|
||||
ChibiOS - Copyright (C) 2016 Rocco Marco Guglielmi
|
||||
ChibiOS - Copyright (C) 2016-2018 Rocco Marco Guglielmi
|
||||
|
||||
This file is part of ChibiOS.
|
||||
|
||||
|
|
@ -43,7 +43,7 @@
|
|||
/**
|
||||
* @brief LIS302DL driver version string.
|
||||
*/
|
||||
#define EX_LIS302DL_VERSION "1.0.4"
|
||||
#define EX_LIS302DL_VERSION "1.0.5"
|
||||
|
||||
/**
|
||||
* @brief LIS302DL driver version major number.
|
||||
|
|
@ -58,21 +58,26 @@
|
|||
/**
|
||||
* @brief LIS302DL driver version patch number.
|
||||
*/
|
||||
#define EX_LIS302DL_PATCH 4
|
||||
#define EX_LIS302DL_PATCH 5
|
||||
/** @} */
|
||||
|
||||
/**
|
||||
* @brief LIS302DL characteristics.
|
||||
* @brief LIS302DL accelerometer subsystem characteristics.
|
||||
* @note Sensitivity is expressed as milli-G/LSB whereas
|
||||
* 1 milli-G = 0.00980665 m/s^2.
|
||||
* @note Bias is expressed as milli-G.
|
||||
*
|
||||
* @{
|
||||
*/
|
||||
#define LIS302DL_NUMBER_OF_AXES 3U
|
||||
#define LIS302DL_ACC_NUMBER_OF_AXES 3U
|
||||
|
||||
#define LIS302DL_2G 2.0f
|
||||
#define LIS302DL_8G 8.0f
|
||||
#define LIS302DL_ACC_2G 2.0f
|
||||
#define LIS302DL_ACC_8G 8.0f
|
||||
|
||||
#define LIS302DL_SENS_2G 18.0f
|
||||
#define LIS302DL_SENS_8G 72.0f
|
||||
#define LIS302DL_ACC_SENS_2G 18.0f
|
||||
#define LIS302DL_ACC_SENS_8G 72.0f
|
||||
|
||||
#define LIS302DL_ACC_BIAS 0.0f
|
||||
/** @} */
|
||||
|
||||
/**
|
||||
|
|
@ -121,45 +126,45 @@
|
|||
* @name LIS302DL_CTRL_REG1 register bits definitions
|
||||
* @{
|
||||
*/
|
||||
#define LIS302DL_CTRL_REG1_MASK 0xFF /**< LIS302DL_CTRL_REG1 mask */
|
||||
#define LIS302DL_CTRL_REG1_XEN (1 << 0) /**< X axis enable */
|
||||
#define LIS302DL_CTRL_REG1_YEN (1 << 1) /**< Y axis enable */
|
||||
#define LIS302DL_CTRL_REG1_ZEN (1 << 2) /**< Z axis enable */
|
||||
#define LIS302DL_CTRL_REG1_STM (1 << 3) /**< Self test P-M */
|
||||
#define LIS302DL_CTRL_REG1_STP (1 << 4) /**< Self test P-M */
|
||||
#define LIS302DL_CTRL_REG1_FS_MASK 0x20 /**< Full scale field mask */
|
||||
#define LIS302DL_CTRL_REG1_FS (1 << 5) /**< Full scale */
|
||||
#define LIS302DL_CTRL_REG1_PD (1 << 6) /**< Power-down mode enable */
|
||||
#define LIS302DL_CTRL_REG1_DR (1 << 7) /**< Output data rate */
|
||||
#define LIS302DL_CTRL_REG1_MASK 0xFF
|
||||
#define LIS302DL_CTRL_REG1_XEN (1 << 0)
|
||||
#define LIS302DL_CTRL_REG1_YEN (1 << 1)
|
||||
#define LIS302DL_CTRL_REG1_ZEN (1 << 2)
|
||||
#define LIS302DL_CTRL_REG1_STM (1 << 3)
|
||||
#define LIS302DL_CTRL_REG1_STP (1 << 4)
|
||||
#define LIS302DL_CTRL_REG1_FS_MASK 0x20
|
||||
#define LIS302DL_CTRL_REG1_FS (1 << 5)
|
||||
#define LIS302DL_CTRL_REG1_PD (1 << 6)
|
||||
#define LIS302DL_CTRL_REG1_DR (1 << 7)
|
||||
/** @} */
|
||||
|
||||
/**
|
||||
* @name LIS302DL_CTRL_REG2 register bits definitions
|
||||
* @{
|
||||
*/
|
||||
#define LIS302DL_CTRL_REG2_MASK 0xDF /**< LIS302DL_CTRL_REG2 mask */
|
||||
#define LIS302DL_CTRL_REG2_HPCF1 (1 << 0) /**< HP filter cutoff bit 0 */
|
||||
#define LIS302DL_CTRL_REG2_HPCF2 (1 << 1) /**< HP filter cutoff bit 1 */
|
||||
#define LIS302DL_CTRL_REG2_HPFFWU1 (1 << 2) /**< HP filter cutoff bit 2 */
|
||||
#define LIS302DL_CTRL_REG2_HPFFWU2 (1 << 3) /**< HP filter cutoff bit 3 */
|
||||
#define LIS302DL_CTRL_REG2_FDS (1 << 4) /**< HP filter mode bit 0 */
|
||||
#define LIS302DL_CTRL_REG2_BOOT (1 << 6) /**< HP filter mode bit 1 */
|
||||
#define LIS302DL_CTRL_REG2_SIM (1 << 7) /**< HP filter mode bit 1 */
|
||||
#define LIS302DL_CTRL_REG2_MASK 0xDF
|
||||
#define LIS302DL_CTRL_REG2_HPCF1 (1 << 0)
|
||||
#define LIS302DL_CTRL_REG2_HPCF2 (1 << 1)
|
||||
#define LIS302DL_CTRL_REG2_HPFFWU1 (1 << 2)
|
||||
#define LIS302DL_CTRL_REG2_HPFFWU2 (1 << 3)
|
||||
#define LIS302DL_CTRL_REG2_FDS (1 << 4)
|
||||
#define LIS302DL_CTRL_REG2_BOOT (1 << 6)
|
||||
#define LIS302DL_CTRL_REG2_SIM (1 << 7)
|
||||
/** @} */
|
||||
|
||||
/**
|
||||
* @name LIS302DL_CTRL_REG3 register bits definitions
|
||||
* @{
|
||||
*/
|
||||
#define LIS302DL_CTRL_REG3_MASK 0xFF /**< LIS302DL_CTRL_REG3 mask */
|
||||
#define LIS302DL_CTRL_REG3_I1CFG0 (1 << 0) /**< Interrupt 1 config bit 0 */
|
||||
#define LIS302DL_CTRL_REG3_I1CFG1 (1 << 1) /**< Interrupt 1 config bit 1 */
|
||||
#define LIS302DL_CTRL_REG3_I1CFG2 (1 << 2) /**< Interrupt 1 config bit 2 */
|
||||
#define LIS302DL_CTRL_REG3_I2CFG0 (1 << 3) /**< Interrupt 2 config bit 0 */
|
||||
#define LIS302DL_CTRL_REG3_I2CFG1 (1 << 4) /**< Interrupt 2 config bit 1 */
|
||||
#define LIS302DL_CTRL_REG3_I2CFG2 (1 << 5) /**< Interrupt 2 config bit 2 */
|
||||
#define LIS302DL_CTRL_REG3_PP_OD (1 << 6) /**< Push-pull open-drain */
|
||||
#define LIS302DL_CTRL_REG3_IHL (1 << 7) /**< Int active high low */
|
||||
#define LIS302DL_CTRL_REG3_MASK 0xFF
|
||||
#define LIS302DL_CTRL_REG3_I1CFG0 (1 << 0)
|
||||
#define LIS302DL_CTRL_REG3_I1CFG1 (1 << 1)
|
||||
#define LIS302DL_CTRL_REG3_I1CFG2 (1 << 2)
|
||||
#define LIS302DL_CTRL_REG3_I2CFG0 (1 << 3)
|
||||
#define LIS302DL_CTRL_REG3_I2CFG1 (1 << 4)
|
||||
#define LIS302DL_CTRL_REG3_I2CFG2 (1 << 5)
|
||||
#define LIS302DL_CTRL_REG3_PP_OD (1 << 6)
|
||||
#define LIS302DL_CTRL_REG3_IHL (1 << 7)
|
||||
/** @} */
|
||||
|
||||
/*===========================================================================*/
|
||||
|
|
@ -179,6 +184,16 @@
|
|||
#define LIS302DL_USE_SPI TRUE
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief LIS302DL shared SPI switch.
|
||||
* @details If set to @p TRUE the device acquires SPI bus ownership
|
||||
* on each transaction.
|
||||
* @note The default is @p FALSE. Requires SPI_USE_MUTUAL_EXCLUSION.
|
||||
*/
|
||||
#if !defined(LIS302DL_SHARED_SPI) || defined(__DOXYGEN__)
|
||||
#define LIS302DL_SHARED_SPI FALSE
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief LIS302DL I2C interface switch.
|
||||
* @details If set to @p TRUE the support for I2C is included.
|
||||
|
|
@ -189,22 +204,23 @@
|
|||
#endif
|
||||
|
||||
/**
|
||||
* @brief LIS302DL advanced configurations switch.
|
||||
* @details If set to @p TRUE more configurations are available.
|
||||
* @note The default is @p FALSE.
|
||||
* @brief LIS302DL shared I2C switch.
|
||||
* @details If set to @p TRUE the device acquires I2C bus ownership
|
||||
* on each transaction.
|
||||
* @note The default is @p FALSE. Requires I2C_USE_MUTUAL_EXCLUSION.
|
||||
*/
|
||||
#if !defined(LIS302DL_USE_ADVANCED) || defined(__DOXYGEN__)
|
||||
#define LIS302DL_USE_ADVANCED FALSE
|
||||
#if !defined(LIS302DL_SHARED_I2C) || defined(__DOXYGEN__)
|
||||
#define LIS302DL_SHARED_I2C FALSE
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief LIS302DL shared SPI switch.
|
||||
* @details If set to @p TRUE the device acquires SPI bus ownership
|
||||
* on each transaction.
|
||||
* @note The default is @p FALSE. Requires SPI_USE_MUTUAL_EXCLUSION.
|
||||
* @brief LIS302DL accelerometer subsystem advanced configurations
|
||||
* switch.
|
||||
* @details If set to @p TRUE more configurations are available.
|
||||
* @note The default is @p FALSE.
|
||||
*/
|
||||
#if !defined(LIS302DL_SHARED_SPI) || defined(__DOXYGEN__)
|
||||
#define LIS302DL_SHARED_SPI FALSE
|
||||
#if !defined(LIS302DL_ACC_USE_ADVANCED) || defined(__DOXYGEN__)
|
||||
#define LIS302DL_ACC_USE_ADVANCED FALSE
|
||||
#endif
|
||||
/** @} */
|
||||
|
||||
|
|
@ -220,12 +236,23 @@
|
|||
#error "LIS302DL_USE_SPI requires HAL_USE_SPI"
|
||||
#endif
|
||||
|
||||
#if LIS302DL_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION
|
||||
#error "LIS302DL_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION"
|
||||
#endif
|
||||
|
||||
#if LIS302DL_USE_I2C && !HAL_USE_I2C
|
||||
#error "LIS302DL_USE_I2C requires HAL_USE_I2C"
|
||||
#endif
|
||||
|
||||
#if LIS302DL_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION
|
||||
#error "LIS302DL_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION"
|
||||
#if LIS302DL_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION
|
||||
#error "LIS302DL_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION"
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @todo Add support for LIS302DL over I2C.
|
||||
*/
|
||||
#if LIS302DL_USE_I2C
|
||||
#error "LIS302DL over I2C still not supported"
|
||||
#endif
|
||||
|
||||
/*===========================================================================*/
|
||||
|
|
@ -236,32 +263,37 @@
|
|||
* @name LIS302DL data structures and types
|
||||
* @{
|
||||
*/
|
||||
/**
|
||||
* @brief Structure representing a LIS302DL driver.
|
||||
*/
|
||||
typedef struct LIS302DLDriver LIS302DLDriver;
|
||||
|
||||
/**
|
||||
* @brief LIS302DL full scale.
|
||||
*/
|
||||
typedef enum {
|
||||
LIS302DL_FS_2G = 0x00, /**< Full scale ±2g. */
|
||||
LIS302DL_FS_8G = 0x20 /**< Full scale ±8g. */
|
||||
}lis302dl_fs_t;
|
||||
LIS302DL_ACC_FS_2G = 0x00, /**< Full scale ±2g. */
|
||||
LIS302DL_ACC_FS_8G = 0x20 /**< Full scale ±8g. */
|
||||
}lis302dl_acc_fs_t;
|
||||
|
||||
/**
|
||||
* @brief LIS302DL output data rate and bandwidth.
|
||||
*/
|
||||
typedef enum {
|
||||
LIS302DL_ODR_100HZ = 0x00, /**< ODR 100 Hz. */
|
||||
LIS302DL_ODR_400HZ = 0x80 /**< ODR 400 Hz. */
|
||||
}lis302dl_odr_t;
|
||||
LIS302DL_ACC_ODR_100HZ = 0x00, /**< ODR 100 Hz. */
|
||||
LIS302DL_ACC_ODR_400HZ = 0x80 /**< ODR 400 Hz. */
|
||||
}lis302dl_acc_odr_t;
|
||||
|
||||
/**
|
||||
* @brief LIS302DL high pass filtering.
|
||||
*/
|
||||
typedef enum {
|
||||
LIS302DL_HP_DISABLED = 0x00, /**< HP bypassed. */
|
||||
LIS302DL_HP_0 = 0x10, /**< HP cutoff 2Hz (ODR 100Hz) or 8Hz */
|
||||
LIS302DL_HP_1 = 0x11, /**< HP cutoff 1Hz or 4Hz */
|
||||
LIS302DL_HP_2 = 0x12, /**< HP cutoff 0.5Hz or 2Hz */
|
||||
LIS302DL_HP_3 = 0x13 /**< HP cutoff 0.25Hz or 1Hz */
|
||||
}lis302dl_hp_t;
|
||||
LIS302DL_ACC_HP_DISABLED = 0x00, /**< HP bypassed. */
|
||||
LIS302DL_ACC_HP_0 = 0x10, /**< HP cutoff 2Hz (ODR 100Hz) or 8Hz */
|
||||
LIS302DL_ACC_HP_1 = 0x11, /**< HP cutoff 1Hz or 4Hz */
|
||||
LIS302DL_ACC_HP_2 = 0x12, /**< HP cutoff 0.5Hz or 2Hz */
|
||||
LIS302DL_ACC_HP_3 = 0x13 /**< HP cutoff 0.25Hz or 1Hz */
|
||||
}lis302dl_acc_hp_t;
|
||||
|
||||
/**
|
||||
* @brief Driver state machine possible states.
|
||||
|
|
@ -298,52 +330,51 @@ typedef struct {
|
|||
const I2CConfig *i2ccfg;
|
||||
#endif /* LIS302DL_USE_I2C */
|
||||
/**
|
||||
* @brief LIS302DL initial sensitivity.
|
||||
* @brief LIS302DL accelerometer subsystem initial sensitivity.
|
||||
*/
|
||||
float *sensitivity;
|
||||
float *accsensitivity;
|
||||
/**
|
||||
* @brief LIS302DL initial bias.
|
||||
* @brief LIS302DL accelerometer subsystem initial bias.
|
||||
*/
|
||||
float *bias;
|
||||
float *accbias;
|
||||
/**
|
||||
* @brief LIS302DL full scale value.
|
||||
* @brief LIS302DL accelerometer subsystem initial full scale.
|
||||
*/
|
||||
lis302dl_fs_t fullscale;
|
||||
lis302dl_acc_fs_t accfullscale;
|
||||
/**
|
||||
* @brief LIS302DL output data rate selection.
|
||||
*/
|
||||
lis302dl_odr_t outputdatarate;
|
||||
lis302dl_acc_odr_t accoutputdatarate;
|
||||
#if LIS302DL_USE_ADVANCED || defined(__DOXYGEN__)
|
||||
/**
|
||||
* @brief LIS302DL high pass filtering.
|
||||
*/
|
||||
lis302dl_hp_t highpass;
|
||||
lis302dl_acc_hp_t acchighpass;
|
||||
#endif
|
||||
} LIS302DLConfig;
|
||||
|
||||
/**
|
||||
* @brief @p LIS302DL accelerometer subsystem specific methods.
|
||||
* @brief @p LIS302DL specific methods.
|
||||
*/
|
||||
#define _lis302dl_accelerometer_methods_alone \
|
||||
#define _lis302dl_methods_alone \
|
||||
/* Change full scale value of LIS302DL .*/ \
|
||||
msg_t (*set_full_scale)(void *instance, lis302dl_fs_t fs);
|
||||
msg_t (*set_full_scale)(LIS302DLDriver *devp, lis302dl_acc_fs_t fs);
|
||||
|
||||
|
||||
/**
|
||||
* @brief @p LIS302DL accelerometer subsystem specific methods with inherited
|
||||
* ones.
|
||||
* @brief @p LIS302DL specific methods with inherited ones.
|
||||
*/
|
||||
#define _lis302dl_accelerometer_methods \
|
||||
_base_accelerometer_methods \
|
||||
_lis302dl_accelerometer_methods_alone
|
||||
#define _lis302dl_methods \
|
||||
_base_object_methods \
|
||||
_lis302dl_methods_alone
|
||||
|
||||
/**
|
||||
* @extends BaseAccelerometerVMT
|
||||
* @extends BaseObjectVMT
|
||||
*
|
||||
* @brief @p LIS302DL accelerometer virtual methods table.
|
||||
*/
|
||||
struct LIS302DLAccelerometerVMT {
|
||||
_lis302dl_accelerometer_methods
|
||||
struct LIS302DLVMT {
|
||||
_lis302dl_methods
|
||||
};
|
||||
|
||||
/**
|
||||
|
|
@ -354,34 +385,25 @@ struct LIS302DLAccelerometerVMT {
|
|||
lis302dl_state_t state; \
|
||||
/* Current configuration data.*/ \
|
||||
const LIS302DLConfig *config; \
|
||||
/* Accelerometer subsystem axes number.*/ \
|
||||
size_t accaxes; \
|
||||
/* Current sensitivity.*/ \
|
||||
float sensitivity[LIS302DL_NUMBER_OF_AXES]; \
|
||||
float accsensitivity[LIS302DL_ACC_NUMBER_OF_AXES]; \
|
||||
/* Bias data.*/ \
|
||||
int32_t bias[LIS302DL_NUMBER_OF_AXES]; \
|
||||
int32_t accbias[LIS302DL_ACC_NUMBER_OF_AXES]; \
|
||||
/* Current full scale value.*/ \
|
||||
float fullscale;
|
||||
float accfullscale;
|
||||
|
||||
/**
|
||||
* @extends BaseAccelerometer
|
||||
*
|
||||
* @brief LIS302DL 3-axis accelerometer class.
|
||||
* @details This class extends @p BaseAccelerometer by adding physical
|
||||
* driver implementation.
|
||||
*/
|
||||
struct LIS302DLDriver {
|
||||
/** @brief BaseSensor Virtual Methods Table. */
|
||||
const struct BaseSensorVMT *vmt_sensor;
|
||||
_base_sensor_data
|
||||
/** @brief BaseAccelerometer Virtual Methods Table. */
|
||||
const struct LIS302DLAccelerometerVMT *vmt_accelerometer;
|
||||
_base_accelerometer_data
|
||||
/** @brief Virtual Methods Table.*/
|
||||
const struct LIS302DLVMT *vmt;
|
||||
/** @brief Base accelerometer interface.*/
|
||||
BaseAccelerometer acc_if;
|
||||
_lis302dl_data
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief Structure representing a LIS302DL driver.
|
||||
*/
|
||||
typedef struct LIS302DLDriver LIS302DLDriver;
|
||||
/** @} */
|
||||
|
||||
/*===========================================================================*/
|
||||
|
|
@ -389,19 +411,141 @@ typedef struct LIS302DLDriver LIS302DLDriver;
|
|||
/*===========================================================================*/
|
||||
|
||||
/**
|
||||
* @brief Change accelerometer fullscale value.
|
||||
* @brief Return the number of axes of the BaseAccelerometer.
|
||||
*
|
||||
* @param[in] ip pointer to a @p LIS302DLDriver class.
|
||||
* @param[in] fs the new full scale value.
|
||||
* @param[in] devp pointer to @p LIS302DLDriver.
|
||||
*
|
||||
* @return the number of axes.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
#define lis302dlAccelerometerGetAxesNumber(devp) \
|
||||
accelerometerGetAxesNumber(&((devp)->acc_if))
|
||||
|
||||
/**
|
||||
* @brief Retrieves raw data from the BaseAccelerometer.
|
||||
* @note This data is retrieved from MEMS register without any algebraical
|
||||
* manipulation.
|
||||
* @note The axes array must be at least the same size of the
|
||||
* BaseAccelerometer axes number.
|
||||
*
|
||||
* @param[in] devp pointer to @p LIS302DLDriver.
|
||||
* @param[out] axes a buffer which would be filled with raw data.
|
||||
*
|
||||
* @return The operation status.
|
||||
* @retval MSG_OK if the function succeeded.
|
||||
* @retval MSG_RESET if one or more errors occurred.
|
||||
* @retval MSG_RESET if one or more I2C errors occurred, the errors can
|
||||
* be retrieved using @p i2cGetErrors().
|
||||
* @retval MSG_TIMEOUT if a timeout occurred before operation end.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
#define accelerometerSetFullScale(ip, fs) \
|
||||
(ip)->vmt_accelerometer->set_full_scale(ip, fs)
|
||||
#define lis302dlAccelerometerReadRaw(devp, axes) \
|
||||
accelerometerReadRaw(&((devp)->acc_if), axes)
|
||||
|
||||
/**
|
||||
* @brief Retrieves cooked data from the BaseAccelerometer.
|
||||
* @note This data is manipulated according to the formula
|
||||
* cooked = (raw * sensitivity) - bias.
|
||||
* @note Final data is expressed as milli-G.
|
||||
* @note The axes array must be at least the same size of the
|
||||
* BaseAccelerometer axes number.
|
||||
*
|
||||
* @param[in] devp pointer to @p LIS302DLDriver.
|
||||
* @param[out] axes a buffer which would be filled with cooked data.
|
||||
*
|
||||
* @return The operation status.
|
||||
* @retval MSG_OK if the function succeeded.
|
||||
* @retval MSG_RESET if one or more I2C errors occurred, the errors can
|
||||
* be retrieved using @p i2cGetErrors().
|
||||
* @retval MSG_TIMEOUT if a timeout occurred before operation end.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
#define lis302dlAccelerometerReadCooked(devp, axes) \
|
||||
accelerometerReadCooked(&((devp)->acc_if), axes)
|
||||
|
||||
/**
|
||||
* @brief Set bias values for the BaseAccelerometer.
|
||||
* @note Bias must be expressed as milli-G.
|
||||
* @note The bias buffer must be at least the same size of the
|
||||
* BaseAccelerometer axes number.
|
||||
*
|
||||
* @param[in] devp pointer to @p LIS302DLDriver.
|
||||
* @param[in] bp a buffer which contains biases.
|
||||
*
|
||||
* @return The operation status.
|
||||
* @retval MSG_OK if the function succeeded.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
#define lis302dlAccelerometerSetBias(devp, bp) \
|
||||
accelerometerSetBias(&((devp)->acc_if), bp)
|
||||
|
||||
/**
|
||||
* @brief Reset bias values for the BaseAccelerometer.
|
||||
* @note Default biases value are obtained from device datasheet when
|
||||
* available otherwise they are considered zero.
|
||||
*
|
||||
* @param[in] devp pointer to @p LIS302DLDriver.
|
||||
*
|
||||
* @return The operation status.
|
||||
* @retval MSG_OK if the function succeeded.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
#define lis302dlAccelerometerResetBias(devp) \
|
||||
accelerometerResetBias(&((devp)->acc_if))
|
||||
|
||||
/**
|
||||
* @brief Set sensitivity values for the BaseAccelerometer.
|
||||
* @note Sensitivity must be expressed as milli-G/LSB.
|
||||
* @note The sensitivity buffer must be at least the same size of the
|
||||
* BaseAccelerometer axes number.
|
||||
*
|
||||
* @param[in] devp pointer to @p LIS302DLDriver.
|
||||
* @param[in] sp a buffer which contains sensitivities.
|
||||
*
|
||||
* @return The operation status.
|
||||
* @retval MSG_OK if the function succeeded.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
#define lis302dlAccelerometerSetSensitivity(devp, sp) \
|
||||
accelerometerSetSensitivity(&((devp)->acc_if), sp)
|
||||
|
||||
/**
|
||||
* @brief Reset sensitivity values for the BaseAccelerometer.
|
||||
* @note Default sensitivities value are obtained from device datasheet.
|
||||
*
|
||||
* @param[in] devp pointer to @p LIS302DLDriver.
|
||||
*
|
||||
* @return The operation status.
|
||||
* @retval MSG_OK if the function succeeded.
|
||||
* @retval MSG_RESET otherwise.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
#define lis302dlAccelerometerResetSensitivity(devp) \
|
||||
accelerometerResetSensitivity(&((devp)->acc_if))
|
||||
|
||||
/**
|
||||
* @brief Changes the LIS302DLDriver accelerometer fullscale value.
|
||||
* @note This function also rescale sensitivities and biases based on
|
||||
* previous and next fullscale value.
|
||||
* @note A recalibration is highly suggested after calling this function.
|
||||
*
|
||||
* @param[in] devp pointer to @p LIS302DLDriver.
|
||||
* @param[in] fs new fullscale value.
|
||||
*
|
||||
* @return The operation status.
|
||||
* @retval MSG_OK if the function succeeded.
|
||||
* @retval MSG_RESET otherwise.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
#define lis302dlAccelerometerSetFullScale(devp, fs) \
|
||||
(devp)->vmt->acc_set_full_scale(devp, fs)
|
||||
|
||||
/*===========================================================================*/
|
||||
/* External declarations. */
|
||||
|
|
|
|||
|
|
@ -71,7 +71,7 @@ endif
|
|||
|
||||
# Enables the use of FPU (no, softfp, hard).
|
||||
ifeq ($(USE_FPU),)
|
||||
USE_FPU = hard
|
||||
USE_FPU = no
|
||||
endif
|
||||
|
||||
#
|
||||
|
|
@ -87,6 +87,9 @@ PROJECT = ch
|
|||
|
||||
# Imported source files and paths
|
||||
CHIBIOS = ../../../..
|
||||
|
||||
# Licensing files.
|
||||
include $(CHIBIOS)/os/license/license.mk
|
||||
# Startup files.
|
||||
include $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f4xx.mk
|
||||
# HAL-OSAL files (optional).
|
||||
|
|
@ -97,10 +100,10 @@ include $(CHIBIOS)/os/hal/osal/rt/osal.mk
|
|||
# RTOS files (optional).
|
||||
include $(CHIBIOS)/os/rt/rt.mk
|
||||
include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk
|
||||
# Other files (optional).
|
||||
# EX files (optional)..
|
||||
include $(CHIBIOS)/os/ex/ST/lis302dl.mk
|
||||
# Other files (optional).
|
||||
include $(CHIBIOS)/os/hal/lib/streams/streams.mk
|
||||
include $(CHIBIOS)/os/various/shell/shell.mk
|
||||
|
||||
# Define linker script file here
|
||||
LDSCRIPT= $(STARTUPLD)/STM32F407xG.ld
|
||||
|
|
@ -114,14 +117,20 @@ CSRC = $(STARTUPSRC) \
|
|||
$(HALSRC) \
|
||||
$(PLATFORMSRC) \
|
||||
$(BOARDSRC) \
|
||||
$(LIS302DLSRC) \
|
||||
$(LIS3DSHSRC) \
|
||||
$(STREAMSSRC) \
|
||||
$(SHELLSRC) \
|
||||
usbcfg.c main.c
|
||||
|
||||
# C sources that can be compiled in ARM or THUMB mode depending on the global
|
||||
# setting.
|
||||
CSRC = $(ALLCSRC) \
|
||||
$(TESTSRC) \
|
||||
usbcfg.c main.c
|
||||
|
||||
# C++ sources that can be compiled in ARM or THUMB mode depending on the global
|
||||
# setting.
|
||||
CPPSRC =
|
||||
CPPSRC = $(ALLCPPSRC)
|
||||
|
||||
# C sources to be compiled in ARM mode regardless of the global setting.
|
||||
# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
|
||||
|
|
@ -147,10 +156,7 @@ TCPPSRC =
|
|||
ASMSRC =
|
||||
ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
|
||||
|
||||
INCDIR = $(CHIBIOS)/os/license \
|
||||
$(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
|
||||
$(HALINC) $(PLATFORMINC) $(BOARDINC) $(LIS302DLINC) \
|
||||
$(STREAMSINC) $(SHELLINC)
|
||||
INCDIR = $(ALLINC) $(TESTINC)
|
||||
|
||||
#
|
||||
# Project, sources and paths
|
||||
|
|
@ -200,7 +206,7 @@ CPPWARN = -Wall -Wextra -Wundef
|
|||
#
|
||||
|
||||
# List all user C define here, like -D_DEBUG=1
|
||||
UDEFS = -DCHPRINTF_USE_FLOAT=1 -DSHELL_CMD_TEST_ENABLED=0 \
|
||||
UDEFS = -DCHPRINTF_USE_FLOAT=1 \
|
||||
-DLIS302DL_USE_ADVANCED=0 -DLIS302DL_SHARED_SPI=0
|
||||
|
||||
# Define ASM defines here
|
||||
|
|
|
|||
|
|
@ -18,12 +18,11 @@
|
|||
#include "hal.h"
|
||||
|
||||
#include "usbcfg.h"
|
||||
#include "string.h"
|
||||
#include "shell.h"
|
||||
#include "chprintf.h"
|
||||
|
||||
#include "lis302dl.h"
|
||||
|
||||
#define cls(chp) chprintf(chp, "\033[2J\033[1;1H")
|
||||
|
||||
/*===========================================================================*/
|
||||
/* LIS302DL related. */
|
||||
/*===========================================================================*/
|
||||
|
|
@ -31,10 +30,11 @@
|
|||
/* LIS302DL Driver: This object represent an LIS302DL instance */
|
||||
static LIS302DLDriver LIS302DLD1;
|
||||
|
||||
static int32_t rawdata[LIS302DL_NUMBER_OF_AXES];
|
||||
static float cookeddata[LIS302DL_NUMBER_OF_AXES];
|
||||
static int32_t accraw[LIS302DL_ACC_NUMBER_OF_AXES];
|
||||
|
||||
static char axisID[LIS302DL_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};
|
||||
static float acccooked[LIS302DL_ACC_NUMBER_OF_AXES];
|
||||
|
||||
static char axisID[LIS302DL_ACC_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};
|
||||
static uint32_t i;
|
||||
|
||||
static const SPIConfig spicfg = {
|
||||
|
|
@ -46,100 +46,23 @@ static const SPIConfig spicfg = {
|
|||
0
|
||||
};
|
||||
|
||||
static LIS302DLConfig l3gd20cfg = {
|
||||
static LIS302DLConfig lis302dlcfg = {
|
||||
&SPID1,
|
||||
&spicfg,
|
||||
NULL,
|
||||
NULL,
|
||||
LIS302DL_FS_2G,
|
||||
LIS302DL_ODR_100HZ,
|
||||
#if LIS302DL_USE_ADVANCED || defined(__DOXYGEN__)
|
||||
LIS302DL_HP_DISABLED,
|
||||
LIS302DL_ACC_FS_2G,
|
||||
LIS302DL_ACC_ODR_100HZ,
|
||||
#if LIS302DL_USE_ADVANCED
|
||||
LIS302DL_ACC_HP_1,
|
||||
#endif
|
||||
};
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Command line related. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/* Enable use of special ANSI escape sequences.*/
|
||||
#define CHPRINTF_USE_ANSI_CODE TRUE
|
||||
#define SHELL_WA_SIZE THD_WORKING_AREA_SIZE(2048)
|
||||
|
||||
static void cmd_read(BaseSequentialStream *chp, int argc, char *argv[]) {
|
||||
(void)argv;
|
||||
if (argc != 1) {
|
||||
chprintf(chp, "Usage: read [raw|cooked]\r\n");
|
||||
return;
|
||||
}
|
||||
|
||||
while (chnGetTimeout((BaseChannel *)chp, 150) == Q_TIMEOUT) {
|
||||
if (!strcmp (argv[0], "raw")) {
|
||||
#if CHPRINTF_USE_ANSI_CODE
|
||||
chprintf(chp, "\033[2J\033[1;1H");
|
||||
#endif
|
||||
accelerometerReadRaw(&LIS302DLD1, rawdata);
|
||||
chprintf(chp, "LIS302DL Accelerometer raw data...\r\n");
|
||||
for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++) {
|
||||
chprintf(chp, "%c-axis: %d\r\n", axisID[i], rawdata[i]);
|
||||
}
|
||||
}
|
||||
else if (!strcmp (argv[0], "cooked")) {
|
||||
#if CHPRINTF_USE_ANSI_CODE
|
||||
chprintf(chp, "\033[2J\033[1;1H");
|
||||
#endif
|
||||
accelerometerReadCooked(&LIS302DLD1, cookeddata);
|
||||
chprintf(chp, "LIS302DL Accelerometer cooked data...\r\n");
|
||||
for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++) {
|
||||
chprintf(chp, "%c-axis: %.4f mg\r\n", axisID[i], cookeddata[i]);
|
||||
}
|
||||
}
|
||||
else {
|
||||
chprintf(chp, "Usage: read [raw|cooked]\r\n");
|
||||
return;
|
||||
}
|
||||
}
|
||||
chprintf(chp, "Stopped\r\n");
|
||||
}
|
||||
|
||||
static void cmd_fullscale(BaseSequentialStream *chp, int argc, char *argv[]) {
|
||||
(void)argv;
|
||||
if (argc != 1) {
|
||||
chprintf(chp, "Usage: fullscale [2G|8G]\r\n");
|
||||
return;
|
||||
}
|
||||
#if CHPRINTF_USE_ANSI_CODE
|
||||
chprintf(chp, "\033[2J\033[1;1H");
|
||||
#endif
|
||||
if(!strcmp (argv[0], "2G")) {
|
||||
accelerometerSetFullScale(&LIS302DLD1, LIS302DL_FS_2G);
|
||||
chprintf(chp, "LIS302DL Accelerometer full scale set to 2G...\r\n");
|
||||
}
|
||||
else if(!strcmp (argv[0], "8G")) {
|
||||
accelerometerSetFullScale(&LIS302DLD1, LIS302DL_FS_8G);
|
||||
chprintf(chp, "LIS302DL Accelerometer full scale set to 8G...\r\n");
|
||||
}
|
||||
else {
|
||||
chprintf(chp, "Usage: fullscale [2G|8G]\r\n");
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
static const ShellCommand commands[] = {
|
||||
{"read", cmd_read},
|
||||
{"fullscale", cmd_fullscale},
|
||||
{NULL, NULL}
|
||||
};
|
||||
|
||||
static const ShellConfig shell_cfg1 = {
|
||||
(BaseSequentialStream *)&SDU1,
|
||||
commands
|
||||
};
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Main code. */
|
||||
/* Generic code. */
|
||||
/*===========================================================================*/
|
||||
|
||||
static BaseSequentialStream* chp = (BaseSequentialStream*)&SDU1;
|
||||
/*
|
||||
* LED blinker thread, times are in milliseconds.
|
||||
*/
|
||||
|
|
@ -152,9 +75,7 @@ static THD_FUNCTION(Thread1, arg) {
|
|||
systime_t time;
|
||||
|
||||
time = serusbcfg.usbp->state == USB_ACTIVE ? 250 : 500;
|
||||
palClearLine(LINE_LED6);
|
||||
chThdSleepMilliseconds(time);
|
||||
palSetLine(LINE_LED6);
|
||||
palToggleLine(LINE_LED6);
|
||||
chThdSleepMilliseconds(time);
|
||||
}
|
||||
}
|
||||
|
|
@ -195,21 +116,23 @@ int main(void) {
|
|||
lis302dlObjectInit(&LIS302DLD1);
|
||||
|
||||
/* Activates the LIS302DL driver.*/
|
||||
lis302dlStart(&LIS302DLD1, &l3gd20cfg);
|
||||
lis302dlStart(&LIS302DLD1, &lis302dlcfg);
|
||||
|
||||
/* Shell manager initialization.*/
|
||||
shellInit();
|
||||
|
||||
while(TRUE) {
|
||||
if (SDU1.config->usbp->state == USB_ACTIVE) {
|
||||
thread_t *shelltp = chThdCreateFromHeap(NULL, SHELL_WA_SIZE,
|
||||
"shell", NORMALPRIO + 1,
|
||||
shellThread, (void *)&shell_cfg1);
|
||||
chThdWait(shelltp); /* Waiting termination. */
|
||||
/* Normal main() thread activity, printing MEMS data on the SDU1.*/
|
||||
while (true) {
|
||||
lis302dlAccelerometerReadRaw(&LIS302DLD1, accraw);
|
||||
chprintf(chp, "LIS302DL Accelerometer raw data...\r\n");
|
||||
for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++) {
|
||||
chprintf(chp, "%c-axis: %d\r\n", axisID[i], accraw[i]);
|
||||
}
|
||||
chThdSleepMilliseconds(1000);
|
||||
|
||||
lis302dlAccelerometerReadCooked(&LIS302DLD1, acccooked);
|
||||
chprintf(chp, "LIS302DL Accelerometer cooked data...\r\n");
|
||||
for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++) {
|
||||
chprintf(chp, "%c-axis: %.3f\r\n", axisID[i], acccooked[i]);
|
||||
}
|
||||
chThdSleepMilliseconds(100);
|
||||
cls(chp);
|
||||
}
|
||||
lis302dlStop(&LIS302DLD1);
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -4,12 +4,16 @@
|
|||
|
||||
** TARGET **
|
||||
|
||||
The demo runs on an STM32F407 Discovery board rev MB997B.
|
||||
The demo runs on an STM32F407 Discovery board REV B or previous.
|
||||
|
||||
** The Demo **
|
||||
|
||||
The demo flashes the board LED using a thread, read data from LIS302DL printing
|
||||
it on a BaseSequentialStream (SDU1, mapped on USB virtual COM port).
|
||||
The application demonstrates the use of the STM32F4xx SPI driver in order
|
||||
to acquire data from LIS302L using ChibiOS/EX.
|
||||
|
||||
** Board Setup **
|
||||
|
||||
None required.
|
||||
|
||||
** Build Procedure **
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue