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Updated LIS3DSH driver and demos 

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@11690 110e8d01-0319-4d1e-a829-52ad28d1bb01
This commit is contained in:
Rocco Marco Guglielmi 2018-03-10 23:02:03 +00:00
parent 1d00f3853b
commit a271d810c1
6 changed files with 665 additions and 470 deletions
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530
os/ex/ST/lis3dsh.c
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@ -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. This file is part of ChibiOS.
@ -57,7 +57,7 @@
* @param[in] n number of adjacent registers to write * @param[in] n number of adjacent registers to write
* @param[in] b pointer to a buffer. * @param[in] b pointer to a buffer.
*/ */
static void lis3dshSPIReadRegister(SPIDriver *spip, uint8_t reg, size_t n, static void lis3dshSPIReadRegister(SPIDriver *spip, uint8_t reg, size_t n,
uint8_t* b) { uint8_t* b) {
uint8_t cmd; uint8_t cmd;
cmd = reg | LIS3DSH_RW; cmd = reg | LIS3DSH_RW;
@ -88,177 +88,313 @@ static void lis3dshSPIWriteRegister(SPIDriver *spip, uint8_t reg, size_t n,
} }
#endif /* LIS3DSH_USE_SPI */ #endif /* LIS3DSH_USE_SPI */
/* /**
* Interface implementation. * @brief Return the number of axes of the BaseAccelerometer.
*
* @param[in] ip pointer to @p BaseAccelerometer interface.
*
* @return the number of axes.
*/ */
static size_t get_axes_number(void *ip) { static size_t acc_get_axes_number(void *ip) {
(void)ip;
osalDbgCheck(ip != NULL); return LIS3DSH_ACC_NUMBER_OF_AXES;
return LIS3DSH_NUMBER_OF_AXES;
} }
static msg_t read_raw(void *ip, int32_t axes[LIS3DSH_NUMBER_OF_AXES]) { /**
uint8_t buff [LIS3DSH_NUMBER_OF_AXES * 2], i; * @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] ip pointer to @p BaseAccelerometer interface.
* @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 I2C errors occurred, the errors can
* be retrieved using @p i2cGetErrors().
* @retval MSG_TIMEOUT if a timeout occurred before operation end.
*/
static msg_t acc_read_raw(void *ip, int32_t axes[]) {
LIS3DSHDriver* devp;
uint8_t buff [LIS3DSH_ACC_NUMBER_OF_AXES * 2], i;
int16_t tmp; int16_t tmp;
msg_t msg = MSG_OK;
osalDbgCheck((ip != NULL) && (axes != NULL)); osalDbgCheck((ip != NULL) && (axes != NULL));
osalDbgAssert((((LIS3DSHDriver *)ip)->state == LIS3DSH_READY), /* Getting parent instance pointer.*/
"read_raw(), invalid state"); devp = objGetInstance(LIS3DSHDriver*, (BaseAccelerometer*)ip);
osalDbgAssert((devp->state == LIS3DSH_READY),
"acc_read_raw(), invalid state");
#if LIS3DSH_USE_SPI #if LIS3DSH_USE_SPI
osalDbgAssert((((LIS3DSHDriver *)ip)->config->spip->state == SPI_READY),
"read_raw(), channel not ready");
#if LIS3DSH_SHARED_SPI #if LIS3DSH_SHARED_SPI
spiAcquireBus(((LIS3DSHDriver *)ip)->config->spip); osalDbgAssert((devp->config->spip->state == SPI_READY),
spiStart(((LIS3DSHDriver *)ip)->config->spip, "acc_read_raw(), channel not ready");
((LIS3DSHDriver *)ip)->config->spicfg);
spiAcquireBus(devp->config->spip);
spiStart(devp->config->spip,
devp->config->spicfg);
#endif /* LIS3DSH_SHARED_SPI */ #endif /* LIS3DSH_SHARED_SPI */
lis3dshSPIReadRegister(((LIS3DSHDriver *)ip)->config->spip, LIS3DSH_AD_OUT_X_L, lis3dshSPIReadRegister(devp->config->spip, LIS3DSH_AD_OUT_X_L,
LIS3DSH_NUMBER_OF_AXES * 2, buff); LIS3DSH_ACC_NUMBER_OF_AXES * 2, buff);
#if LIS3DSH_SHARED_SPI #if LIS3DSH_SHARED_SPI
spiReleaseBus(((LIS3DSHDriver *)ip)->config->spip); spiReleaseBus(devp->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); for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++) {
tmp = buff[2 * i] + (buff[2 * i + 1] << 8);
axes[i] = (int32_t)tmp; axes[i] = (int32_t)tmp;
} }
return MSG_OK;
}
static msg_t read_cooked(void *ip, float axes[]) {
uint32_t i;
int32_t raw[LIS3DSH_NUMBER_OF_AXES];
msg_t msg;
osalDbgCheck((ip != NULL) && (axes != NULL));
osalDbgAssert((((LIS3DSHDriver *)ip)->state == LIS3DSH_READY),
"read_cooked(), invalid state");
msg = read_raw(ip, raw);
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES ; i++){
axes[i] = (raw[i] * ((LIS3DSHDriver *)ip)->sensitivity[i]);
axes[i] -= ((LIS3DSHDriver *)ip)->bias[i];
}
return msg; return msg;
} }
static msg_t set_bias(void *ip, float *bp) { /**
* @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] ip pointer to @p BaseAccelerometer interface.
* @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.
*/
static msg_t acc_read_cooked(void *ip, float axes[]) {
LIS3DSHDriver* devp;
uint32_t i; uint32_t i;
int32_t raw[LIS3DSH_ACC_NUMBER_OF_AXES];
msg_t msg;
osalDbgCheck((ip != NULL) && (bp !=NULL)); osalDbgCheck((ip != NULL) && (axes != NULL));
osalDbgAssert((((LIS3DSHDriver *)ip)->state == LIS3DSH_READY) || /* Getting parent instance pointer.*/
(((LIS3DSHDriver *)ip)->state == LIS3DSH_STOP), devp = objGetInstance(LIS3DSHDriver*, (BaseAccelerometer*)ip);
"set_bias(), invalid state");
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) { osalDbgAssert((devp->state == LIS3DSH_READY),
((LIS3DSHDriver *)ip)->bias[i] = bp[i]; "acc_read_cooked(), invalid state");
msg = acc_read_raw(ip, raw);
for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++) {
axes[i] = (raw[i] * devp->accsensitivity[i]) - devp->accbias[i];
} }
return MSG_OK; return msg;
} }
static msg_t reset_bias(void *ip) { /**
* @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] ip pointer to @p BaseAccelerometer interface.
* @param[in] bp a buffer which contains biases.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*/
static msg_t acc_set_bias(void *ip, float *bp) {
LIS3DSHDriver* devp;
uint32_t i; uint32_t i;
msg_t msg = MSG_OK;
osalDbgCheck((ip != NULL) && (bp != NULL));
/* Getting parent instance pointer.*/
devp = objGetInstance(LIS3DSHDriver*, (BaseAccelerometer*)ip);
osalDbgAssert((devp->state == LIS3DSH_READY),
"acc_set_bias(), invalid state");
for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++) {
devp->accbias[i] = bp[i];
}
return msg;
}
/**
* @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] ip pointer to @p BaseAccelerometer interface.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*/
static msg_t acc_reset_bias(void *ip) {
LIS3DSHDriver* devp;
uint32_t i;
msg_t msg = MSG_OK;
osalDbgCheck(ip != NULL); osalDbgCheck(ip != NULL);
osalDbgAssert((((LIS3DSHDriver *)ip)->state == LIS3DSH_READY) || /* Getting parent instance pointer.*/
(((LIS3DSHDriver *)ip)->state == LIS3DSH_STOP), devp = objGetInstance(LIS3DSHDriver*, (BaseAccelerometer*)ip);
"reset_bias(), invalid state");
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) osalDbgAssert((devp->state == LIS3DSH_READY),
((LIS3DSHDriver *)ip)->bias[i] = 0; "acc_reset_bias(), invalid state");
return MSG_OK;
for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
devp->accbias[i] = LIS3DSH_ACC_BIAS;
return msg;
} }
static msg_t set_sensivity(void *ip, float *sp) { /**
* @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] ip pointer to @p BaseAccelerometer interface.
* @param[in] sp a buffer which contains sensitivities.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*/
static msg_t acc_set_sensivity(void *ip, float *sp) {
LIS3DSHDriver* devp;
uint32_t i; uint32_t i;
msg_t msg = MSG_OK;
osalDbgCheck((ip != NULL) && (sp !=NULL)); /* Getting parent instance pointer.*/
devp = objGetInstance(LIS3DSHDriver*, (BaseAccelerometer*)ip);
osalDbgAssert((((LIS3DSHDriver *)ip)->state == LIS3DSH_READY), osalDbgCheck((ip != NULL) && (sp != NULL));
"set_sensivity(), invalid state");
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) { osalDbgAssert((devp->state == LIS3DSH_READY),
((LIS3DSHDriver *)ip)->sensitivity[i] = sp[i]; "acc_set_sensivity(), invalid state");
for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++) {
devp->accsensitivity[i] = sp[i];
} }
return MSG_OK; return msg;
} }
static msg_t reset_sensivity(void *ip) { /**
* @brief Reset sensitivity values for the BaseAccelerometer.
* @note Default sensitivities value are obtained from device datasheet.
*
* @param[in] ip pointer to @p BaseAccelerometer interface.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
* @retval MSG_RESET otherwise.
*/
static msg_t acc_reset_sensivity(void *ip) {
LIS3DSHDriver* devp;
uint32_t i; uint32_t i;
msg_t msg = MSG_OK;
osalDbgCheck(ip != NULL); osalDbgCheck(ip != NULL);
osalDbgAssert((((LIS3DSHDriver *)ip)->state == LIS3DSH_READY), /* Getting parent instance pointer.*/
"reset_sensivity(), invalid state"); devp = objGetInstance(LIS3DSHDriver*, (BaseAccelerometer*)ip);
if(((LIS3DSHDriver *)ip)->config->fullscale == LIS3DSH_FS_2G) osalDbgAssert((devp->state == LIS3DSH_READY),
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) "acc_reset_sensivity(), invalid state");
((LIS3DSHDriver *)ip)->sensitivity[i] = LIS3DSH_SENS_2G;
else if(((LIS3DSHDriver *)ip)->config->fullscale == LIS3DSH_FS_4G) if(devp->config->accfullscale == LIS3DSH_ACC_FS_2G)
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
((LIS3DSHDriver *)ip)->sensitivity[i] = LIS3DSH_SENS_4G; devp->accsensitivity[i] = LIS3DSH_ACC_SENS_2G;
else if(((LIS3DSHDriver *)ip)->config->fullscale == LIS3DSH_FS_6G) else if(devp->config->accfullscale == LIS3DSH_ACC_FS_4G)
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
((LIS3DSHDriver *)ip)->sensitivity[i] = LIS3DSH_SENS_6G; devp->accsensitivity[i] = LIS3DSH_ACC_SENS_4G;
else if(((LIS3DSHDriver *)ip)->config->fullscale == LIS3DSH_FS_8G) else if(devp->config->accfullscale == LIS3DSH_ACC_FS_6G)
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
((LIS3DSHDriver *)ip)->sensitivity[i] = LIS3DSH_SENS_8G; devp->accsensitivity[i] = LIS3DSH_ACC_SENS_6G;
else if(((LIS3DSHDriver *)ip)->config->fullscale == LIS3DSH_FS_16G) else if(devp->config->accfullscale == LIS3DSH_ACC_FS_8G)
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
((LIS3DSHDriver *)ip)->sensitivity[i] = LIS3DSH_SENS_16G; devp->accsensitivity[i] = LIS3DSH_ACC_SENS_8G;
else if(devp->config->accfullscale == LIS3DSH_ACC_FS_16G)
for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
devp->accsensitivity[i] = LIS3DSH_ACC_SENS_16G;
else { else {
osalDbgAssert(FALSE, "reset_sensivity(), accelerometer full scale issue"); osalDbgAssert(FALSE,
"acc_reset_sensivity(), accelerometer full scale issue");
return MSG_RESET; return MSG_RESET;
} }
return MSG_OK; return msg;
} }
static msg_t set_full_scale(void *ip, lis3dsh_fs_t fs) { /**
* @brief Changes the LIS3DSHDriver 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] ip pointer to @p LIS3DSHDriver interface.
* @param[in] fs new fullscale value.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
* @retval MSG_RESET otherwise.
*/
static msg_t acc_set_full_scale(LIS3DSHDriver *devp,
lis3dsh_acc_fs_t fs) {
float newfs, scale; float newfs, scale;
uint8_t i, cr; uint8_t i, cr;
msg_t msg;
if(fs == LIS3DSH_FS_2G) { osalDbgCheck(devp != NULL);
newfs = LIS3DSH_2G;
osalDbgAssert((devp->state == LIS3DSH_READY),
"acc_set_full_scale(), invalid state");
osalDbgAssert((devp->config->spip->state == SPI_READY),
"acc_set_full_scale(), channel not ready");
/* Computing new fullscale value.*/
if(fs == LIS3DSH_ACC_FS_2G) {
newfs = LIS3DSH_ACC_2G;
} }
else if(fs == LIS3DSH_FS_4G) { else if(fs == LIS3DSH_ACC_FS_4G) {
newfs = LIS3DSH_4G; newfs = LIS3DSH_ACC_4G;
} }
else if(fs == LIS3DSH_FS_6G) { else if(fs == LIS3DSH_ACC_FS_6G) {
newfs = LIS3DSH_6G; newfs = LIS3DSH_ACC_6G;
} }
else if(fs == LIS3DSH_FS_8G) { else if(fs == LIS3DSH_ACC_FS_8G) {
newfs = LIS3DSH_8G; newfs = LIS3DSH_ACC_8G;
} }
else if(fs == LIS3DSH_FS_16G) { else if(fs == LIS3DSH_ACC_FS_16G) {
newfs = LIS3DSH_16G; newfs = LIS3DSH_ACC_16G;
} }
else { else {
return MSG_RESET; msg = MSG_RESET;
return msg;
} }
if(newfs != ((LIS3DSHDriver *)ip)->fullscale) { if(newfs != devp->accfullscale) {
scale = newfs / ((LIS3DSHDriver *)ip)->fullscale; /* Computing scale value.*/
((LIS3DSHDriver *)ip)->fullscale = newfs; scale = newfs / devp->accfullscale;
devp->accfullscale = newfs;
#if LIS3DSH_USE_SPI #if LIS3DSH_USE_SPI
#if LIS3DSH_SHARED_SPI #if LIS3DSH_SHARED_SPI
spiAcquireBus(((LIS3DSHDriver *)ip)->config->spip); spiAcquireBus(devp->config->spip);
spiStart(((LIS3DSHDriver *)ip)->config->spip, spiStart(devp->config->spip,
((LIS3DSHDriver *)ip)->config->spicfg); devp->config->spicfg);
#endif /* LIS3DSH_SHARED_SPI */ #endif /* LIS3DSH_SHARED_SPI */
lis3dshSPIReadRegister(((LIS3DSHDriver *)ip)->config->spip,
LIS3DSH_AD_CTRL_REG5, 1, &cr); /* Getting data from register.*/
lis3dshSPIReadRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG5, 1, &cr);
#if LIS3DSH_SHARED_SPI #if LIS3DSH_SHARED_SPI
spiReleaseBus(((LIS3DSHDriver *)ip)->config->spip); spiReleaseBus(devp->config->spip);
#endif /* LIS3DSH_SHARED_SPI */ #endif /* LIS3DSH_SHARED_SPI */
#endif /* LIS3DSH_USE_SPI */ #endif /* LIS3DSH_USE_SPI */
@ -267,34 +403,37 @@ static msg_t set_full_scale(void *ip, lis3dsh_fs_t fs) {
#if LIS3DSH_USE_SPI #if LIS3DSH_USE_SPI
#if LIS3DSH_SHARED_SPI #if LIS3DSH_SHARED_SPI
spiAcquireBus(((LIS3DSHDriver *)ip)->config->spip); spiAcquireBus(devp->config->spip);
spiStart(((LIS3DSHDriver *)ip)->config->spip, spiStart(devp->config->spip,
((LIS3DSHDriver *)ip)->config->spicfg); devp->config->spicfg);
#endif /* LIS3DSH_SHARED_SPI */ #endif /* LIS3DSH_SHARED_SPI */
lis3dshSPIWriteRegister(((LIS3DSHDriver *)ip)->config->spip,
LIS3DSH_AD_CTRL_REG5, 1, &cr); /* Getting data from register.*/
lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG5, 1, &cr);
#if LIS3DSH_SHARED_SPI #if LIS3DSH_SHARED_SPI
spiReleaseBus(((LIS3DSHDriver *)ip)->config->spip); spiReleaseBus(devp->config->spip);
#endif /* LIS3DSH_SHARED_SPI */ #endif /* LIS3DSH_SHARED_SPI */
#endif /* LIS3DSH_USE_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_ACC_NUMBER_OF_AXES; i++) {
((LIS3DSHDriver *)ip)->sensitivity[i] *= scale; devp->accsensitivity[i] *= scale;
((LIS3DSHDriver *)ip)->bias[i] *= scale; devp->accbias[i] *= scale;
} }
} }
return MSG_OK; return msg;
} }
static const struct BaseSensorVMT vmt_sensor = { static const struct LIS3DSHVMT vmt_device = {
get_axes_number, read_raw, read_cooked (size_t)0,
acc_set_full_scale
}; };
static const struct LIS3DSHVMT vmt_accelerometer = { static const struct BaseAccelerometerVMT vmt_accelerometer = {
get_axes_number, read_raw, read_cooked, sizeof(struct LIS3DSHVMT*),
set_bias, reset_bias, set_sensivity, reset_sensivity, acc_get_axes_number, acc_read_raw, acc_read_cooked,
set_full_scale acc_set_bias, acc_reset_bias, acc_set_sensivity, acc_reset_sensivity
}; };
/*===========================================================================*/ /*===========================================================================*/
@ -309,13 +448,14 @@ static const struct LIS3DSHVMT vmt_accelerometer = {
* @init * @init
*/ */
void lis3dshObjectInit(LIS3DSHDriver *devp) { void lis3dshObjectInit(LIS3DSHDriver *devp) {
uint32_t i; devp->vmt = &vmt_device;
devp->vmt_sensor = &vmt_sensor; devp->acc_if.vmt = &vmt_accelerometer;
devp->vmt_accelerometer = &vmt_accelerometer;
devp->config = NULL; devp->config = NULL;
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
devp->bias[i] = 0.0f; devp->accaxes = LIS3DSH_ACC_NUMBER_OF_AXES;
devp->state = LIS3DSH_STOP;
devp->state = LIS3DSH_STOP;
} }
/** /**
@ -328,55 +468,55 @@ void lis3dshObjectInit(LIS3DSHDriver *devp) {
*/ */
void lis3dshStart(LIS3DSHDriver *devp, const LIS3DSHConfig *config) { void lis3dshStart(LIS3DSHDriver *devp, const LIS3DSHConfig *config) {
uint32_t i; uint32_t i;
osalDbgCheck((devp != NULL) && (config != NULL));
uint8_t cr; uint8_t cr;
osalDbgAssert((devp->state == LIS3DSH_STOP) || (devp->state == LIS3DSH_READY), osalDbgCheck((devp != NULL) && (config != NULL));
"lis3dshStart(), invalid state");
osalDbgAssert((devp->state == LIS3DSH_STOP) ||
(devp->state == LIS3DSH_READY),
"lis3dshStart(), invalid state");
devp->config = config; devp->config = config;
/* 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 |
devp->config->outputdatarate; devp->config->accoutputdatarate;
#if LIS3DSH_USE_ADVANCED || defined(__DOXYGEN__) #if LIS3DSH_USE_ADVANCED || defined(__DOXYGEN__)
cr |= devp->config->blockdataupdate; cr |= devp->config->accblockdataupdate;
#endif #endif
} }
#if LIS3DSH_USE_SPI #if LIS3DSH_USE_SPI
#if LIS3DSH_SHARED_SPI #if LIS3DSH_SHARED_SPI
spiAcquireBus((devp)->config->spip); spiAcquireBus(devp->config->spip);
#endif /* LIS3DSH_SHARED_SPI */ #endif /* LIS3DSH_SHARED_SPI */
spiStart((devp)->config->spip, (devp)->config->spicfg); 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 #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 */
/* Control register 5 configuration block.*/ /* Control register 5 configuration block.*/
{ {
cr = devp->config->fullscale; cr = devp->config->accfullscale;
#if LIS3DSH_USE_ADVANCED || defined(__DOXYGEN__) #if LIS3DSH_USE_ADVANCED || defined(__DOXYGEN__)
cr |= devp->config->antialiasing; cr |= devp->config->accantialiasing;
#endif #endif
} }
#if LIS3DSH_USE_SPI #if LIS3DSH_USE_SPI
#if LIS3DSH_SHARED_SPI #if LIS3DSH_SHARED_SPI
spiAcquireBus((devp)->config->spip); spiAcquireBus(devp->config->spip);
spiStart((devp)->config->spip, (devp)->config->spicfg); spiStart(devp->config->spip, devp->config->spicfg);
#endif /* LIS3DSH_SHARED_SPI */ #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 #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 */
@ -384,78 +524,80 @@ void lis3dshStart(LIS3DSHDriver *devp, const LIS3DSHConfig *config) {
{ {
cr = LIS3DSH_CTRL_REG6_ADD_INC; cr = LIS3DSH_CTRL_REG6_ADD_INC;
#if LIS3DSH_USE_ADVANCED || defined(__DOXYGEN__) #if LIS3DSH_USE_ADVANCED || defined(__DOXYGEN__)
cr |= devp->config->blockdataupdate; cr |= devp->config->accblockdataupdate;
#endif #endif
} }
#if LIS3DSH_USE_SPI #if LIS3DSH_USE_SPI
#if LIS3DSH_SHARED_SPI #if LIS3DSH_SHARED_SPI
spiAcquireBus((devp)->config->spip); spiAcquireBus(devp->config->spip);
spiStart((devp)->config->spip, (devp)->config->spicfg); spiStart(devp->config->spip, devp->config->spicfg);
#endif /* LIS3DSH_SHARED_SPI */ #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 user setting */ /* Storing sensitivity information according to user setting */
if(devp->config->fullscale == LIS3DSH_FS_2G) { if(devp->config->accfullscale == LIS3DSH_ACC_FS_2G) {
devp->fullscale = LIS3DSH_2G; devp->accfullscale = LIS3DSH_ACC_2G;
if(devp->config->sensitivity == NULL) if(devp->config->accsensitivity == NULL)
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = LIS3DSH_SENS_2G; devp->accsensitivity[i] = LIS3DSH_ACC_SENS_2G;
else else
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = devp->config->sensitivity[i]; devp->accsensitivity[i] = devp->config->accsensitivity[i];
} }
else if(devp->config->fullscale == LIS3DSH_FS_4G) { else if(devp->config->accfullscale == LIS3DSH_ACC_FS_4G) {
devp->fullscale = LIS3DSH_4G; devp->accfullscale = LIS3DSH_ACC_4G;
if(devp->config->sensitivity == NULL) if(devp->config->accsensitivity == NULL)
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = LIS3DSH_SENS_4G; devp->accsensitivity[i] = LIS3DSH_ACC_SENS_4G;
else else
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = devp->config->sensitivity[i]; devp->accsensitivity[i] = devp->config->accsensitivity[i];
} }
else if(devp->config->fullscale == LIS3DSH_FS_6G) { else if(devp->config->accfullscale == LIS3DSH_ACC_FS_6G) {
devp->fullscale = LIS3DSH_6G; devp->accfullscale = LIS3DSH_ACC_6G;
if(devp->config->sensitivity == NULL) if(devp->config->accsensitivity == NULL)
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = LIS3DSH_SENS_6G; devp->accsensitivity[i] = LIS3DSH_ACC_SENS_6G;
else else
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = devp->config->sensitivity[i]; devp->accsensitivity[i] = devp->config->accsensitivity[i];
} }
else if(devp->config->fullscale == LIS3DSH_FS_8G) { else if(devp->config->accfullscale == LIS3DSH_ACC_FS_8G) {
devp->fullscale = LIS3DSH_8G; devp->accfullscale = LIS3DSH_ACC_8G;
if(devp->config->sensitivity == NULL) if(devp->config->accsensitivity == NULL)
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = LIS3DSH_SENS_8G; devp->accsensitivity[i] = LIS3DSH_ACC_SENS_8G;
else else
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = devp->config->sensitivity[i]; devp->accsensitivity[i] = devp->config->accsensitivity[i];
} }
else if(devp->config->fullscale == LIS3DSH_FS_16G) { else if(devp->config->accfullscale == LIS3DSH_ACC_FS_16G) {
devp->fullscale = LIS3DSH_16G; devp->accfullscale = LIS3DSH_ACC_16G;
if(devp->config->sensitivity == NULL) if(devp->config->accsensitivity == NULL)
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = LIS3DSH_SENS_16G; devp->accsensitivity[i] = LIS3DSH_ACC_SENS_16G;
else else
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = devp->config->sensitivity[i]; devp->accsensitivity[i] = devp->config->accsensitivity[i];
} }
else { else {
osalDbgAssert(FALSE, "lis3dshStart(), accelerometer full scale issue"); osalDbgAssert(FALSE, "lis3dshStart(), accelerometer full scale issue");
} }
/* Storing bias information according to user setting */ /* Storing bias information according to user setting */
if(devp->config->bias != NULL) if(devp->config->accbias != NULL)
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
devp->bias[i] = devp->config->bias[i]; devp->accbias[i] = devp->config->accbias[i];
else
for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
devp->accbias[i] = LIS3DSH_ACC_BIAS;
/* This is the Accelerometer transient recovery time */ /* This is the Accelerometer transient recovery time */
osalThreadSleepMilliseconds(10); osalThreadSleepMilliseconds(10);
@ -474,23 +616,25 @@ void lis3dshStop(LIS3DSHDriver *devp) {
uint8_t cr4; uint8_t cr4;
osalDbgCheck(devp != NULL); osalDbgCheck(devp != NULL);
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 (devp->state == LIS3DSH_READY) {
#if (LIS3DSH_USE_SPI) #if (LIS3DSH_USE_SPI)
#if LIS3DSH_SHARED_SPI #if LIS3DSH_SHARED_SPI
spiAcquireBus((devp)->config->spip); spiAcquireBus(devp->config->spip);
spiStart((devp)->config->spip, spiStart(devp->config->spip,
(devp)->config->spicfg); devp->config->spicfg);
#endif /* LIS3DSH_SHARED_SPI */ #endif /* LIS3DSH_SHARED_SPI */
/* Disabling all axes and enabling power down mode.*/ /* Disabling all axes and enabling power down mode.*/
cr4 = 0; cr4 = 0;
lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG4, lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG4,
1, &cr4); 1, &cr4);
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 */
} }

411
os/ex/ST/lis3dsh.h
View File

@ -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. This file is part of ChibiOS.
@ -43,7 +43,7 @@
/** /**
* @brief LIS3DSH driver version string. * @brief LIS3DSH driver version string.
*/ */
#define EX_LIS3DSH_VERSION "1.0.3" #define EX_LIS3DSH_VERSION "1.0.4"
/** /**
* @brief LIS3DSH driver version major number. * @brief LIS3DSH driver version major number.
@ -58,27 +58,32 @@
/** /**
* @brief LIS3DSH driver version patch number. * @brief LIS3DSH driver version patch number.
*/ */
#define EX_LIS3DSH_PATCH 3 #define EX_LIS3DSH_PATCH 4
/** @} */ /** @} */
/** /**
* @brief LIS3DSH characteristics. * @brief LIS3DSH 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 LIS3DSH_NUMBER_OF_AXES 3U #define LIS3DSH_ACC_NUMBER_OF_AXES 3U
#define LIS3DSH_2G 2.0f #define LIS3DSH_ACC_2G 2.0f
#define LIS3DSH_4G 4.0f #define LIS3DSH_ACC_4G 4.0f
#define LIS3DSH_6G 6.0f #define LIS3DSH_ACC_6G 6.0f
#define LIS3DSH_8G 8.0f #define LIS3DSH_ACC_8G 8.0f
#define LIS3DSH_16G 16.0f #define LIS3DSH_ACC_16G 16.0f
#define LIS3DSH_SENS_2G 0.06f #define LIS3DSH_ACC_SENS_2G 0.06f
#define LIS3DSH_SENS_4G 0.12f #define LIS3DSH_ACC_SENS_4G 0.12f
#define LIS3DSH_SENS_6G 0.18f #define LIS3DSH_ACC_SENS_6G 0.18f
#define LIS3DSH_SENS_8G 0.24f #define LIS3DSH_ACC_SENS_8G 0.24f
#define LIS3DSH_SENS_16G 0.73f #define LIS3DSH_ACC_SENS_16G 0.73f
#define LIS3DSH_ACC_BIAS 0.0f
/** @} */ /** @} */
/** /**
@ -201,84 +206,84 @@
* @name LIS3DSH_CTRL_REG1 register bits definitions * @name LIS3DSH_CTRL_REG1 register bits definitions
* @{ * @{
*/ */
#define LIS3DSH_CTRL_REG1_MASK 0xE9 /**< LIS3DSH_CTRL_REG1 mask */ #define LIS3DSH_CTRL_REG1_MASK 0xE9
#define LIS3DSH_CTRL_REG1_SM1_EN (1 << 0) /**< SM1 enabled */ #define LIS3DSH_CTRL_REG1_SM1_EN (1 << 0)
#define LIS3DSH_CTRL_REG1_SM1_PIN (1 << 3) /**< SM1 pin */ #define LIS3DSH_CTRL_REG1_SM1_PIN (1 << 3)
#define LIS3DSH_CTRL_REG1_HYST0_1 (1 << 5) /**< Hysteresis 1 bit 0 */ #define LIS3DSH_CTRL_REG1_HYST0_1 (1 << 5)
#define LIS3DSH_CTRL_REG1_HYST1_1 (1 << 6) /**< Hysteresis 1 bit 1 */ #define LIS3DSH_CTRL_REG1_HYST1_1 (1 << 6)
#define LIS3DSH_CTRL_REG1_HYST2_1 (1 << 7) /**< Hysteresis 1 bit 2 */ #define LIS3DSH_CTRL_REG1_HYST2_1 (1 << 7)
/** @} */ /** @} */
/** /**
* @name LIS3DSH_CTRL_REG2 register bits definitions * @name LIS3DSH_CTRL_REG2 register bits definitions
* @{ * @{
*/ */
#define LIS3DSH_CTRL_REG2_MASK 0xE9 /**< LIS3DSH_CTRL_REG2 mask */ #define LIS3DSH_CTRL_REG2_MASK 0xE9
#define LIS3DSH_CTRL_REG2_SM2_EN (1 << 0) /**< SM2 enabled */ #define LIS3DSH_CTRL_REG2_SM2_EN (1 << 0)
#define LIS3DSH_CTRL_REG2_SM2_PIN (1 << 3) /**< SM2 pin */ #define LIS3DSH_CTRL_REG2_SM2_PIN (1 << 3)
#define LIS3DSH_CTRL_REG2_HYST0_2 (1 << 5) /**< Hysteresis 2 bit 0 */ #define LIS3DSH_CTRL_REG2_HYST0_2 (1 << 5)
#define LIS3DSH_CTRL_REG2_HYST1_2 (1 << 6) /**< Hysteresis 2 bit 1 */ #define LIS3DSH_CTRL_REG2_HYST1_2 (1 << 6)
#define LIS3DSH_CTRL_REG2_HYST2_2 (1 << 7) /**< Hysteresis 2 bit 2 */ #define LIS3DSH_CTRL_REG2_HYST2_2 (1 << 7)
/** @} */ /** @} */
/** /**
* @name LIS3DSH_CTRL_REG3 register bits definitions * @name LIS3DSH_CTRL_REG3 register bits definitions
* @{ * @{
*/ */
#define LIS3DSH_CTRL_REG3_MASK 0xFF /**< LIS3DSH_CTRL_REG3 mask */ #define LIS3DSH_CTRL_REG3_MASK 0xFF
#define LIS3DSH_CTRL_REG3_STRT (1 << 0) /**< Soft reset bit */ #define LIS3DSH_CTRL_REG3_STRT (1 << 0)
#define LIS3DSH_CTRL_REG3_VFILT (1 << 2) /**< Vector filter */ #define LIS3DSH_CTRL_REG3_VFILT (1 << 2)
#define LIS3DSH_CTRL_REG3_INT1_EN (1 << 3) /**< Interrupt 1 enable */ #define LIS3DSH_CTRL_REG3_INT1_EN (1 << 3)
#define LIS3DSH_CTRL_REG3_INT2_EN (1 << 4) /**< Interrupt 2 enable */ #define LIS3DSH_CTRL_REG3_INT2_EN (1 << 4)
#define LIS3DSH_CTRL_REG3_IEL (1 << 5) /**< Interrupt latching */ #define LIS3DSH_CTRL_REG3_IEL (1 << 5)
#define LIS3DSH_CTRL_REG3_IEA (1 << 6) /**< Interurpt polarity */ #define LIS3DSH_CTRL_REG3_IEA (1 << 6)
#define LIS3DSH_CTRL_REG3_DR_EN (1 << 7) /**< Data ready signal */ #define LIS3DSH_CTRL_REG3_DR_EN (1 << 7)
/** @} */ /** @} */
/** /**
* @name LIS3DSH_CTRL_REG4 register bits definitions * @name LIS3DSH_CTRL_REG4 register bits definitions
* @{ * @{
*/ */
#define LIS3DSH_CTRL_REG4_MASK 0xFF /**< LIS3DSH_CTRL_REG4 mask */ #define LIS3DSH_CTRL_REG4_MASK 0xFF
#define LIS3DSH_CTRL_REG4_XEN (1 << 0) /**< X axis enable */ #define LIS3DSH_CTRL_REG4_XEN (1 << 0)
#define LIS3DSH_CTRL_REG4_YEN (1 << 1) /**< Y axis enable */ #define LIS3DSH_CTRL_REG4_YEN (1 << 1)
#define LIS3DSH_CTRL_REG4_ZEN (1 << 2) /**< Z axis enable */ #define LIS3DSH_CTRL_REG4_ZEN (1 << 2)
#define LIS3DSH_CTRL_REG4_BDU (1 << 3) /**< Block data update */ #define LIS3DSH_CTRL_REG4_BDU (1 << 3)
#define LIS3DSH_CTRL_REG4_ODR_0 (1 << 4) /**< Output data rate bit 0 */ #define LIS3DSH_CTRL_REG4_ODR_0 (1 << 4)
#define LIS3DSH_CTRL_REG4_ODR_1 (1 << 5) /**< Output data rate bit 1 */ #define LIS3DSH_CTRL_REG4_ODR_1 (1 << 5)
#define LIS3DSH_CTRL_REG4_ODR_2 (1 << 6) /**< Output data rate bit 2 */ #define LIS3DSH_CTRL_REG4_ODR_2 (1 << 6)
#define LIS3DSH_CTRL_REG4_ODR_3 (1 << 7) /**< Output data rate bit 3 */ #define LIS3DSH_CTRL_REG4_ODR_3 (1 << 7)
/** @} */ /** @} */
/** /**
* @name LIS3DSH_CTRL_REG5 register bits definitions * @name LIS3DSH_CTRL_REG5 register bits definitions
* @{ * @{
*/ */
#define LIS3DSH_CTRL_REG5_MASK 0xFF /**< LIS3DSH_CTRL_REG5 mask */ #define LIS3DSH_CTRL_REG5_MASK 0xFF
#define LIS3DSH_CTRL_REG5_SIM (1 << 0) /**< SPI interface mode */ #define LIS3DSH_CTRL_REG5_SIM (1 << 0)
#define LIS3DSH_CTRL_REG5_ST1 (1 << 1) /**< Self test bit 1 */ #define LIS3DSH_CTRL_REG5_ST1 (1 << 1)
#define LIS3DSH_CTRL_REG5_ST2 (1 << 2) /**< Self test bit 2 */ #define LIS3DSH_CTRL_REG5_ST2 (1 << 2)
#define LIS3DSH_CTRL_REG5_FS_MASK 0x38 /**< Full scale field mask */ #define LIS3DSH_CTRL_REG5_FS_MASK 0x38
#define LIS3DSH_CTRL_REG5_FS0 (1 << 3) /**< Full scale bit 0 */ #define LIS3DSH_CTRL_REG5_FS0 (1 << 3)
#define LIS3DSH_CTRL_REG5_FS1 (1 << 4) /**< Full scale bit 1 */ #define LIS3DSH_CTRL_REG5_FS1 (1 << 4)
#define LIS3DSH_CTRL_REG5_FS2 (1 << 5) /**< Full scale bit 2 */ #define LIS3DSH_CTRL_REG5_FS2 (1 << 5)
#define LIS3DSH_CTRL_REG5_BW1 (1 << 6) /**< Bandwidth bit 1 */ #define LIS3DSH_CTRL_REG5_BW1 (1 << 6)
#define LIS3DSH_CTRL_REG5_BW2 (1 << 7) /**< Bandwidth bit 2 */ #define LIS3DSH_CTRL_REG5_BW2 (1 << 7)
/** @} */ /** @} */
/** /**
* @name LIS3DSH_CTRL_REG6 register bits definitions * @name LIS3DSH_CTRL_REG6 register bits definitions
* @{ * @{
*/ */
#define LIS3DSH_CTRL_REG6_MASK 0xFF /**< LIS3DSH_CTRL_REG6 mask */ #define LIS3DSH_CTRL_REG6_MASK 0xFF
#define LIS3DSH_CTRL_REG6_P2_BOOT (1 << 0) /**< Boot on Interrupt 2 */ #define LIS3DSH_CTRL_REG6_P2_BOOT (1 << 0)
#define LIS3DSH_CTRL_REG6_P1_OVRUN (1 << 1) /**< FIFO overrun on Int 1 */ #define LIS3DSH_CTRL_REG6_P1_OVRUN (1 << 1)
#define LIS3DSH_CTRL_REG6_P1_WTM (1 << 2) /**< FIFO watermark on Int 1 */ #define LIS3DSH_CTRL_REG6_P1_WTM (1 << 2)
#define LIS3DSH_CTRL_REG6_P1_EMPTY (1 << 3) /**< FIFO empty on Int 1 */ #define LIS3DSH_CTRL_REG6_P1_EMPTY (1 << 3)
#define LIS3DSH_CTRL_REG6_ADD_INC (1 << 4) /**< Register address incr. */ #define LIS3DSH_CTRL_REG6_ADD_INC (1 << 4)
#define LIS3DSH_CTRL_REG6_WTM_EN (1 << 5) /**< Enable FIFO watermark */ #define LIS3DSH_CTRL_REG6_WTM_EN (1 << 5)
#define LIS3DSH_CTRL_REG6_FIFO_EN (1 << 6) /**< Enable FIFO */ #define LIS3DSH_CTRL_REG6_FIFO_EN (1 << 6)
#define LIS3DSH_CTRL_REG6_BOOT (1 << 7) /**< Force reboot */ #define LIS3DSH_CTRL_REG6_BOOT (1 << 7)
/** @} */ /** @} */
/*===========================================================================*/ /*===========================================================================*/
@ -308,12 +313,12 @@
#endif #endif
/** /**
* @brief LIS3DSH advanced configurations switch. * @brief LIS3DSH accelerometer subsystem advanced configurations switch.
* @details If set to @p TRUE more configurations are available. * @details If set to @p TRUE more configurations are available.
* @note The default is @p FALSE. * @note The default is @p FALSE.
*/ */
#if !defined(LIS3DSH_USE_ADVANCED) || defined(__DOXYGEN__) #if !defined(LIS3DSH_ACC_USE_ADVANCED) || defined(__DOXYGEN__)
#define LIS3DSH_USE_ADVANCED FALSE #define LIS3DSH_ACC_USE_ADVANCED FALSE
#endif #endif
/** /**
@ -347,6 +352,10 @@
#error "LIS3DSH_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION" #error "LIS3DSH_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION"
#endif #endif
#if LIS3DSH_USE_I2C
#error "LIS3DSH's I2C support is not supported."
#endif
/*===========================================================================*/ /*===========================================================================*/
/* Driver data structures and types. */ /* Driver data structures and types. */
/*===========================================================================*/ /*===========================================================================*/
@ -355,50 +364,55 @@
* @name LIS3DSH data structures and types * @name LIS3DSH data structures and types
* @{ * @{
*/ */
/**
* @brief Structure representing a LIS3DSH driver.
*/
typedef struct LIS3DSHDriver LIS3DSHDriver;
/** /**
* @brief LIS3DSH full scale. * @brief LIS3DSH full scale.
*/ */
typedef enum { typedef enum {
LIS3DSH_FS_2G = 0x00, /**< Full scale ±2g. */ LIS3DSH_ACC_FS_2G = 0x00, /**< Full scale ±2g. */
LIS3DSH_FS_4G = 0x08, /**< Full scale ±4g. */ LIS3DSH_ACC_FS_4G = 0x08, /**< Full scale ±4g. */
LIS3DSH_FS_6G = 0x10, /**< Full scale ±6g. */ LIS3DSH_ACC_FS_6G = 0x10, /**< Full scale ±6g. */
LIS3DSH_FS_8G = 0x18, /**< Full scale ±8g. */ LIS3DSH_ACC_FS_8G = 0x18, /**< Full scale ±8g. */
LIS3DSH_FS_16G = 0x20 /**< Full scale ±16g. */ LIS3DSH_ACC_FS_16G = 0x20 /**< Full scale ±16g. */
}lis3dsh_fs_t; }lis3dsh_acc_fs_t;
/** /**
* @brief LIS3DSH output data rate. * @brief LIS3DSH output data rate.
*/ */
typedef enum { typedef enum {
LIS3DSH_ODR_PD = 0x00, /**< ODR 100 Hz. */ LIS3DSH_ACC_ODR_PD = 0x00, /**< ODR 100 Hz. */
LIS3DSH_ODR_3_125HZ = 0x10, /**< ODR 3.125 Hz. */ LIS3DSH_ACC_ODR_3_125HZ = 0x10, /**< ODR 3.125 Hz. */
LIS3DSH_ODR_6_25HZ = 0x20, /**< ODR 6.25 Hz. */ LIS3DSH_ACC_ODR_6_25HZ = 0x20, /**< ODR 6.25 Hz. */
LIS3DSH_ODR_12_5HZ = 0x30, /**< ODR 12.5 Hz. */ LIS3DSH_ACC_ODR_12_5HZ = 0x30, /**< ODR 12.5 Hz. */
LIS3DSH_ODR_25HZ = 0x40, /**< ODR 25 Hz. */ LIS3DSH_ACC_ODR_25HZ = 0x40, /**< ODR 25 Hz. */
LIS3DSH_ODR_50HZ = 0x50, /**< ODR 50 Hz. */ LIS3DSH_ACC_ODR_50HZ = 0x50, /**< ODR 50 Hz. */
LIS3DSH_ODR_100HZ = 0x60, /**< ODR 100 Hz. */ LIS3DSH_ACC_ODR_100HZ = 0x60, /**< ODR 100 Hz. */
LIS3DSH_ODR_400HZ = 0x70, /**< ODR 400 Hz. */ LIS3DSH_ACC_ODR_400HZ = 0x70, /**< ODR 400 Hz. */
LIS3DSH_ODR_800HZ = 0x80, /**< ODR 800 Hz. */ LIS3DSH_ACC_ODR_800HZ = 0x80, /**< ODR 800 Hz. */
LIS3DSH_ODR_1600HZ = 0x90 /**< ODR 1600 Hz. */ LIS3DSH_ACC_ODR_1600HZ = 0x90 /**< ODR 1600 Hz. */
}lis3dsh_odr_t; }lis3dsh_acc_odr_t;
/** /**
* @brief LIS3DSH anti-aliasing bandwidth. * @brief LIS3DSH anti-aliasing bandwidth.
*/ */
typedef enum { typedef enum {
LIS3DSH_BW_800HZ = 0x00, /**< AA filter BW 800Hz. */ LIS3DSH_ACC_BW_800HZ = 0x00, /**< AA filter BW 800Hz. */
LIS3DSH_BW_200HZ = 0x40, /**< AA filter BW 200Hz. */ LIS3DSH_ACC_BW_200HZ = 0x40, /**< AA filter BW 200Hz. */
LIS3DSH_BW_400HZ = 0x80, /**< AA filter BW 400Hz. */ LIS3DSH_ACC_BW_400HZ = 0x80, /**< AA filter BW 400Hz. */
LIS3DSH_BW_50HZ = 0xC0 /**< AA filter BW 50Hz. */ LIS3DSH_ACC_BW_50HZ = 0xC0 /**< AA filter BW 50Hz. */
}lis3dsh_bw_t; }lis3dsh_acc_bw_t;
/** /**
* @brief LIS3DSH block data update. * @brief LIS3DSH block data update.
*/ */
typedef enum { typedef enum {
LIS3DSH_BDU_CONTINUOUS = 0x00, /**< Block data continuously updated. */ LIS3DSH_ACC_BDU_CONTINUOUS = 0x00,/**< Block data continuously updated. */
LIS3DSH_BDU_BLOCKED = 0x80 /**< Block data updated after reading. */ LIS3DSH_ACC_BDU_BLOCKED = 0x80 /**< Block data updated after reading. */
} lis3dsh_bdu_t; } lis3dsh_acc_bdu_t;
/** /**
* @brief Driver state machine possible states. * @brief Driver state machine possible states.
@ -435,94 +449,86 @@ typedef struct {
const I2CConfig *i2ccfg; const I2CConfig *i2ccfg;
#endif /* LIS3DSH_USE_I2C */ #endif /* LIS3DSH_USE_I2C */
/** /**
* @brief LIS3DSH initial sensitivity. * @brief LIS3DSH accelerometer subsystem initial sensitivity.
*/ */
float *sensitivity; float *accsensitivity;
/** /**
* @brief LIS3DSH initial bias. * @brief LIS3DSH accelerometer subsystem initial bias.
*/ */
float *bias; float *accbias;
/** /**
* @brief LIS3DSH full scale value. * @brief LIS3DSH accelerometer subsystem initial full scale.
*/ */
lis3dsh_fs_t fullscale; lis3dsh_acc_fs_t accfullscale;
/** /**
* @brief LIS3DSH output data rate selection. * @brief LIS3DSH output data rate selection.
*/ */
lis3dsh_odr_t outputdatarate; lis3dsh_acc_odr_t accoutputdatarate;
#if LIS3DSH_USE_ADVANCED || defined(__DOXYGEN__) #if LIS3DSH_ACC_USE_ADVANCED || defined(__DOXYGEN__)
/** /**
* @brief LIS3DSH anti-aliasing bandwidth. * @brief LIS3DSH anti-aliasing bandwidth.
*/ */
lis3dsh_bw_t antialiasing; lis3dsh_acc_bw_t accantialiasing;
/** /**
* @brief LIS3DSH block data update. * @brief LIS3DSH block data update.
*/ */
lis3dsh_bdu_t blockdataupdate; lis3dsh_acc_bdu_t accblockdataupdate;
#endif #endif
} LIS3DSHConfig; } LIS3DSHConfig;
/** /**
* @brief @p LIS3DSH accelerometer subsystem specific methods. * @brief @p LIS3DSH specific methods.
*/ */
#define _lis3dsh_accelerometer_methods_alone \ #define _lis3dsh_methods_alone \
/* Change full scale value of LIS3DSH accelerometer subsystem .*/ \ /* Change full scale value of LIS3DSH accelerometer subsystem.*/ \
msg_t (*set_full_scale)(void *instance, lis3dsh_fs_t fs); msg_t (*acc_set_full_scale)(LIS3DSHDriver *instance, lis3dsh_acc_fs_t fs);
/** /**
* @brief @p LIS3DSH accelerometer subsystems specific methods with inherited * @brief @p LIS3DSH specific methods with inherited
* ones. * ones.
*/ */
#define _lis3dsh_accelerometer_methods \ #define _lis3dsh_methods \
_base_accelerometer_methods \ _base_object_methods \
_lis3dsh_accelerometer_methods_alone _lis3dsh_methods_alone
/** /**
* @extends BaseAccelerometerVMT * @extends BaseObjectVMT
* *
* @brief @p LIS3DSH accelerometer virtual methods table. * @brief @p LIS3DSH virtual methods table.
*/ */
struct LIS3DSHAccelerometerVMT { struct LIS3DSHVMT {
_lis3dsh_accelerometer_methods _lis3dsh_methods
}; };
/** /**
* @brief @p LIS3DSHDriver specific data. * @brief @p LIS3DSHDriver specific data.
*/ */
#define _lis3dsh_data \ #define _lis3dsh_data \
_base_sensor_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.*/ \ /* Accelerometer subsystem axes number.*/ \
float sensitivity[LIS3DSH_NUMBER_OF_AXES]; \ size_t accaxes; \
/* Bias data.*/ \ /* Accelerometer subsystem current sensitivity.*/ \
int32_t bias[LIS3DSH_NUMBER_OF_AXES]; \ float accsensitivity[LIS3DSH_ACC_NUMBER_OF_AXES]; \
/* Current full scale value.*/ \ /* Accelerometer subsystem current bias .*/ \
float fullscale; float accbias[LIS3DSH_ACC_NUMBER_OF_AXES]; \
/* Accelerometer subsystem current full scale value.*/ \
float accfullscale;
/** /**
* @extends BaseAccelerometer
*
* @brief LIS3DSH 3-axis accelerometer class. * @brief LIS3DSH 3-axis accelerometer class.
* @details This class extends @p BaseAccelerometer by adding physical
* driver implementation.
*/ */
struct LIS3DSHDriver { struct LIS3DSHDriver {
/** @brief BaseSensor Virtual Methods Table. */ /** @brief Virtual Methods Table.*/
const struct BaseSensorVMT *vmt_sensor; const struct LIS3DSHVMT *vmt;
_base_sensor_data /** @brief Base accelerometer interface.*/
/** @brief LIS3DSH Accelerometer Virtual Methods Table. */ BaseAccelerometer acc_if;
const struct LIS3DSHAccelerometerVMT *vmt_accelerometer;
_base_accelerometer_data
_lis3dsh_data _lis3dsh_data
}; };
/**
* @brief Structure representing a LIS3DSH driver.
*/
typedef struct LIS3DSHDriver LIS3DSHDriver;
/** @} */ /** @} */
/*===========================================================================*/ /*===========================================================================*/
@ -530,18 +536,141 @@ typedef struct LIS3DSHDriver LIS3DSHDriver;
/*===========================================================================*/ /*===========================================================================*/
/** /**
* @brief Change accelerometer fullscale value. * @brief Return the number of axes of the BaseAccelerometer.
* *
* @param[in] ip pointer to a @p LIS3DSHDriver class. * @param[in] devp pointer to @p LIS3DSHDriver.
* @param[in] fs the new full scale value. *
* @return the number of axes.
*
* @api
*/
#define lis3dshAccelerometerGetAxesNumber(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 LIS3DSHDriver.
* @param[out] axes a buffer which would be filled with raw data.
* *
* @return The operation status. * @return The operation status.
* @retval MSG_OK if the function succeeded. * @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 * @api
*/ */
#define accelerometerSetFullScale(ip, fs) \ #define lis3dshAccelerometerReadRaw(devp, axes) \
(ip)->vmt_accelerometer->set_full_scale(ip, fs) 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 LIS3DSHDriver.
* @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 lis3dshAccelerometerReadCooked(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 LIS3DSHDriver.
* @param[in] bp a buffer which contains biases.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*
* @api
*/
#define lis3dshAccelerometerSetBias(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 LIS3DSHDriver.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*
* @api
*/
#define lis3dshAccelerometerResetBias(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 LIS3DSHDriver.
* @param[in] sp a buffer which contains sensitivities.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*
* @api
*/
#define lis3dshAccelerometerSetSensitivity(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 LIS3DSHDriver.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
* @retval MSG_RESET otherwise.
*
* @api
*/
#define lis3dshAccelerometerResetSensitivity(devp) \
accelerometerResetSensitivity(&((devp)->acc_if))
/**
* @brief Changes the LIS3DSHDriver 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 LIS3DSHDriver.
* @param[in] fs new fullscale value.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
* @retval MSG_RESET otherwise.
*
* @api
*/
#define lis3dshAccelerometerSetFullScale(devp, fs) \
(devp)->vmt->acc_set_full_scale(devp, fs)
/*===========================================================================*/ /*===========================================================================*/
/* External declarations. */ /* External declarations. */

22
testex/STM32/STM32F4xx/SPI-LIS3DSH/Makefile
View File

@ -87,6 +87,9 @@ PROJECT = ch
# Imported source files and paths # Imported source files and paths
CHIBIOS = ../../../.. CHIBIOS = ../../../..
# Licensing files.
include $(CHIBIOS)/os/license/license.mk
# Startup files. # Startup files.
include $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f4xx.mk include $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f4xx.mk
# HAL-OSAL files (optional). # HAL-OSAL files (optional).
@ -97,10 +100,10 @@ include $(CHIBIOS)/os/hal/osal/rt/osal.mk
# RTOS files (optional). # RTOS files (optional).
include $(CHIBIOS)/os/rt/rt.mk include $(CHIBIOS)/os/rt/rt.mk
include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk
# Other files (optional). # EX files (optional)..
include $(CHIBIOS)/os/ex/ST/lis3dsh.mk include $(CHIBIOS)/os/ex/ST/lis3dsh.mk
# Other files (optional).
include $(CHIBIOS)/os/hal/lib/streams/streams.mk include $(CHIBIOS)/os/hal/lib/streams/streams.mk
include $(CHIBIOS)/os/various/shell/shell.mk
# Define linker script file here # Define linker script file here
LDSCRIPT= $(STARTUPLD)/STM32F407xG.ld LDSCRIPT= $(STARTUPLD)/STM32F407xG.ld
@ -119,9 +122,15 @@ CSRC = $(STARTUPSRC) \
$(SHELLSRC) \ $(SHELLSRC) \
usbcfg.c main.c 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 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
# setting. # setting.
CPPSRC = CPPSRC = $(ALLCPPSRC)
# C sources to be compiled in ARM mode regardless of the global setting. # C sources to be compiled in ARM mode regardless of the global setting.
# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler # NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
@ -147,10 +156,7 @@ TCPPSRC =
ASMSRC = ASMSRC =
ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM) ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
INCDIR = $(CHIBIOS)/os/license \ INCDIR = $(ALLINC) $(TESTINC)
$(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
$(HALINC) $(PLATFORMINC) $(BOARDINC) $(LIS3DSHINC) \
$(STREAMSINC) $(SHELLINC)
# #
# Project, sources and paths # Project, sources and paths
@ -200,7 +206,7 @@ CPPWARN = -Wall -Wextra -Wundef
# #
# List all user C define here, like -D_DEBUG=1 # 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 \
-DLIS3DSH_USE_ADVANCED=0 -DLIS3DSH_SHARED_SPI=0 -DLIS3DSH_USE_ADVANCED=0 -DLIS3DSH_SHARED_SPI=0
# Define ASM defines here # Define ASM defines here

2
testex/STM32/STM32F4xx/SPI-LIS3DSH/debug/STM32F4xx-SPI-LIS3DSH (OpenOCD, Flash and Run).launch
View File

@ -33,7 +33,7 @@
<intAttribute key="org.eclipse.cdt.launch.ATTR_BUILD_BEFORE_LAUNCH_ATTR" value="2"/> <intAttribute key="org.eclipse.cdt.launch.ATTR_BUILD_BEFORE_LAUNCH_ATTR" value="2"/>
<stringAttribute key="org.eclipse.cdt.launch.COREFILE_PATH" value=""/> <stringAttribute key="org.eclipse.cdt.launch.COREFILE_PATH" value=""/>
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_REGISTER_GROUPS" value=""/> <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_REGISTER_GROUPS" value=""/>
<stringAttribute key="org.eclipse.cdt.launch.FORMAT" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&lt;contentList&gt;&lt;content id=&quot;null-lis3dshStart-(format)&quot; val=&quot;2&quot;/&gt;&lt;content id=&quot;CR2-adc-adcp-adc_lld_start_conversion-(format)&quot; val=&quot;4&quot;/&gt;&lt;content id=&quot;CR2-adc-null-port_wait_for_interrupt-(format)&quot; val=&quot;4&quot;/&gt;&lt;content id=&quot;cr2-adc_lld_start_conversion-(format)&quot; val=&quot;4&quot;/&gt;&lt;/contentList&gt;"/> <stringAttribute key="org.eclipse.cdt.launch.FORMAT" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&lt;contentList&gt;&lt;content id=&quot;cr2-adc_lld_start_conversion-(format)&quot; val=&quot;4&quot;/&gt;&lt;content id=&quot;CR2-adc-null-port_wait_for_interrupt-(format)&quot; val=&quot;4&quot;/&gt;&lt;content id=&quot;CR2-adc-adcp-adc_lld_start_conversion-(format)&quot; val=&quot;4&quot;/&gt;&lt;content id=&quot;null-lis3dshStart-(format)&quot; val=&quot;2&quot;/&gt;&lt;/contentList&gt;"/>
<stringAttribute key="org.eclipse.cdt.launch.GLOBAL_VARIABLES" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#13;&#10;&lt;globalVariableList/&gt;&#13;&#10;"/> <stringAttribute key="org.eclipse.cdt.launch.GLOBAL_VARIABLES" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#13;&#10;&lt;globalVariableList/&gt;&#13;&#10;"/>
<stringAttribute key="org.eclipse.cdt.launch.MEMORY_BLOCKS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#13;&#10;&lt;memoryBlockExpressionList/&gt;&#13;&#10;"/> <stringAttribute key="org.eclipse.cdt.launch.MEMORY_BLOCKS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#13;&#10;&lt;memoryBlockExpressionList/&gt;&#13;&#10;"/>
<stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="./build/ch.elf"/> <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="./build/ch.elf"/>

142
testex/STM32/STM32F4xx/SPI-LIS3DSH/main.c
View File

@ -18,12 +18,11 @@
#include "hal.h" #include "hal.h"
#include "usbcfg.h" #include "usbcfg.h"
#include "string.h"
#include "shell.h"
#include "chprintf.h" #include "chprintf.h"
#include "lis3dsh.h" #include "lis3dsh.h"
#define cls(chp) chprintf(chp, "\033[2J\033[1;1H")
/*===========================================================================*/ /*===========================================================================*/
/* LIS3DSH related. */ /* LIS3DSH related. */
/*===========================================================================*/ /*===========================================================================*/
@ -31,10 +30,11 @@
/* LIS3DSH Driver: This object represent an LIS3DSH instance */ /* LIS3DSH Driver: This object represent an LIS3DSH instance */
static LIS3DSHDriver LIS3DSHD1; static LIS3DSHDriver LIS3DSHD1;
static int32_t rawdata[LIS3DSH_NUMBER_OF_AXES]; static int32_t accraw[LIS3DSH_ACC_NUMBER_OF_AXES];
static float cookeddata[LIS3DSH_NUMBER_OF_AXES];
static char axisID[LIS3DSH_NUMBER_OF_AXES] = {'X', 'Y', 'Z'}; static float acccooked[LIS3DSH_ACC_NUMBER_OF_AXES];
static char axisID[LIS3DSH_ACC_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};
static uint32_t i; static uint32_t i;
static const SPIConfig spicfg = { static const SPIConfig spicfg = {
@ -51,108 +51,19 @@ static LIS3DSHConfig lis3dshcfg = {
&spicfg, &spicfg,
NULL, NULL,
NULL, NULL,
LIS3DSH_FS_2G, LIS3DSH_ACC_FS_2G,
LIS3DSH_ODR_100HZ, LIS3DSH_ACC_ODR_100HZ,
#if LIS3DSH_USE_ADVANCED #if LIS3DSH_USE_ADVANCED
LIS3DSH_BW_400HZ, LIS3DSH_ACC_BW_400HZ,
LIS3DSH_BDU_CONTINUOUS, LIS3DSH_ACC_BDU_CONTINUOUS,
#endif #endif
}; };
/*===========================================================================*/ /*===========================================================================*/
/* Command line related. */ /* Generic code. */
/*===========================================================================*/
/* 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(&LIS3DSHD1, rawdata);
chprintf(chp, "LIS3DSH Accelerometer raw data...\r\n");
for(i = 0; i < LIS3DSH_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(&LIS3DSHD1, cookeddata);
chprintf(chp, "LIS3DSH Accelerometer cooked data...\r\n");
for(i = 0; i < LIS3DSH_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|4G|6G|8G|16G]\r\n");
return;
}
#if CHPRINTF_USE_ANSI_CODE
chprintf(chp, "\033[2J\033[1;1H");
#endif
if(!strcmp (argv[0], "2G")) {
accelerometerSetFullScale(&LIS3DSHD1, LIS3DSH_FS_2G);
chprintf(chp, "LIS3DSH Accelerometer full scale set to 2G...\r\n");
}
else if(!strcmp (argv[0], "4G")) {
accelerometerSetFullScale(&LIS3DSHD1, LIS3DSH_FS_4G);
chprintf(chp, "LIS3DSH Accelerometer full scale set to 4G...\r\n");
}
else if(!strcmp (argv[0], "6G")) {
accelerometerSetFullScale(&LIS3DSHD1, LIS3DSH_FS_6G);
chprintf(chp, "LIS3DSH Accelerometer full scale set to 6G...\r\n");
}
else if(!strcmp (argv[0], "8G")) {
accelerometerSetFullScale(&LIS3DSHD1, LIS3DSH_FS_8G);
chprintf(chp, "LIS3DSH Accelerometer full scale set to 8G...\r\n");
}
else if(!strcmp (argv[0], "16G")) {
accelerometerSetFullScale(&LIS3DSHD1, LIS3DSH_FS_16G);
chprintf(chp, "LIS3DSH Accelerometer full scale set to 16G...\r\n");
}
else {
chprintf(chp, "Usage: fullscale [2G|4G|6G|8G|16G]\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. */
/*===========================================================================*/ /*===========================================================================*/
static BaseSequentialStream* chp = (BaseSequentialStream*)&SDU1;
/* /*
* LED blinker thread, times are in milliseconds. * LED blinker thread, times are in milliseconds.
*/ */
@ -165,9 +76,7 @@ static THD_FUNCTION(Thread1, arg) {
systime_t time; systime_t time;
time = serusbcfg.usbp->state == USB_ACTIVE ? 250 : 500; time = serusbcfg.usbp->state == USB_ACTIVE ? 250 : 500;
palClearLine(LINE_LED6); palToggleLine(LINE_LED6);
chThdSleepMilliseconds(time);
palSetLine(LINE_LED6);
chThdSleepMilliseconds(time); chThdSleepMilliseconds(time);
} }
} }
@ -210,18 +119,21 @@ int main(void) {
/* Activates the LIS3DSH driver.*/ /* Activates the LIS3DSH driver.*/
lis3dshStart(&LIS3DSHD1, &lis3dshcfg); lis3dshStart(&LIS3DSHD1, &lis3dshcfg);
/* Shell manager initialization.*/ /* Normal main() thread activity, printing MEMS data on the SDU1.*/
shellInit(); while (true) {
lis3dshAccelerometerReadRaw(&LIS3DSHD1, accraw);
while(TRUE) { chprintf(chp, "LIS3DSH Accelerometer raw data...\r\n");
if (SDU1.config->usbp->state == USB_ACTIVE) { for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++) {
thread_t *shelltp = chThdCreateFromHeap(NULL, SHELL_WA_SIZE, chprintf(chp, "%c-axis: %d\r\n", axisID[i], accraw[i]);
"shell", NORMALPRIO + 1,
shellThread, (void *)&shell_cfg1);
chThdWait(shelltp); /* Waiting termination. */
} }
chThdSleepMilliseconds(1000);
lis3dshAccelerometerReadCooked(&LIS3DSHD1, acccooked);
chprintf(chp, "LIS3DSH Accelerometer cooked data...\r\n");
for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++) {
chprintf(chp, "%c-axis: %.3f\r\n", axisID[i], acccooked[i]);
}
chThdSleepMilliseconds(100);
cls(chp);
} }
lis3dshStop(&LIS3DSHD1); lis3dshStop(&LIS3DSHD1);
return 0;
} }

12
testex/STM32/STM32F4xx/SPI-LIS3DSH/readme.txt
View File

@ -1,15 +1,19 @@
***************************************************************************** *****************************************************************************
** ChibiOS/HAL - USB-CDC driver demo for STM32. ** ** ChibiOS/HAL + ChibiOS/EX - SPI + LIS3DSH demo for STM32F4xx. **
***************************************************************************** *****************************************************************************
** TARGET ** ** TARGET **
The demo runs on both Olimex STM32-E407 or STM32F4-Discovery boards, just The demo runs on an STM32F407 Discovery board REV C or later.
change the board reference in the Makefile.
** The Demo ** ** The Demo **
The application demonstrates the use of the STM32 USB (OTG) driver. The application demonstrates the use of the STM32F4xx SPI driver in order
to acquire data from LIS3DSH using ChibiOS/EX.
** Board Setup **
None required.
** Build Procedure ** ** Build Procedure **