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UpdatedEX: LIS3DSH driver updated to v1.0.0 

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9728 35acf78f-673a-0410-8e92-d51de3d6d3f4
This commit is contained in:
Rocco Marco Guglielmi 2016-07-28 14:53:12 +00:00
parent 52bc6794fa
commit be45af2a10
4 changed files with 539 additions and 404 deletions
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436
os/ex/ST/lis3dsh.c
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@ -33,135 +33,6 @@
/* Driver local definitions. */
/*===========================================================================*/
#define LIS3DSH_SENS_2G ((float)0.06f)
#define LIS3DSH_SENS_4G ((float)0.12f)
#define LIS3DSH_SENS_6G ((float)0.18f)
#define LIS3DSH_SENS_8G ((float)0.24f)
#define LIS3DSH_SENS_16G ((float)0.73f)
#define LIS3DSH_DI ((uint8_t)0xFF)
#define LIS3DSH_DI_0 ((uint8_t)0x01)
#define LIS3DSH_DI_1 ((uint8_t)0x02)
#define LIS3DSH_DI_2 ((uint8_t)0x04)
#define LIS3DSH_DI_3 ((uint8_t)0x08)
#define LIS3DSH_DI_4 ((uint8_t)0x10)
#define LIS3DSH_DI_5 ((uint8_t)0x20)
#define LIS3DSH_DI_6 ((uint8_t)0x40)
#define LIS3DSH_DI_7 ((uint8_t)0x80)
#define LIS3DSH_AD ((uint8_t)0x3F)
#define LIS3DSH_AD_0 ((uint8_t)0x01)
#define LIS3DSH_AD_1 ((uint8_t)0x02)
#define LIS3DSH_AD_2 ((uint8_t)0x04)
#define LIS3DSH_AD_3 ((uint8_t)0x08)
#define LIS3DSH_AD_4 ((uint8_t)0x10)
#define LIS3DSH_AD_5 ((uint8_t)0x20)
#define LIS3DSH_MS ((uint8_t)0x40)
#define LIS3DSH_RW ((uint8_t)0x80)
#define LIS3DSH_AD_INFO1 ((uint8_t)0x0D)
#define LIS3DSH_AD_INFO2 ((uint8_t)0x0E)
#define LIS3DSH_AD_WHO_AM_I ((uint8_t)0x0F)
#define LIS3DSH_AD_CTRL_REG3 ((uint8_t)0x23)
#define LIS3DSH_AD_CTRL_REG4 ((uint8_t)0x20)
#define LIS3DSH_AD_CTRL_REG5 ((uint8_t)0x24)
#define LIS3DSH_AD_CTRL_REG6 ((uint8_t)0x25)
#define LIS3DSH_AD_STATUS ((uint8_t)0x27)
#define LIS3DSH_AD_OUT_T ((uint8_t)0x0C)
#define LIS3DSH_AD_OFF_X ((uint8_t)0x10)
#define LIS3DSH_AD_OFF_Y ((uint8_t)0x11)
#define LIS3DSH_AD_OFF_Z ((uint8_t)0x12)
#define LIS3DSH_AD_CS_X ((uint8_t)0x13)
#define LIS3DSH_AD_CS_Y ((uint8_t)0x14)
#define LIS3DSH_AD_CS_Z ((uint8_t)0x15)
#define LIS3DSH_AD_LC_L ((uint8_t)0x16)
#define LIS3DSH_AD_LC_H ((uint8_t)0x17)
#define LIS3DSH_AD_STAT ((uint8_t)0x18)
#define LIS3DSH_AD_VFC_1 ((uint8_t)0x1B)
#define LIS3DSH_AD_VFC_2 ((uint8_t)0x1C)
#define LIS3DSH_AD_VFC_3 ((uint8_t)0x1D)
#define LIS3DSH_AD_VFC_4 ((uint8_t)0x1E)
#define LIS3DSH_AD_THRS3 ((uint8_t)0x1F)
#define LIS3DSH_AD_OUT_X_L ((uint8_t)0x28)
#define LIS3DSH_AD_OUT_X_H ((uint8_t)0x29)
#define LIS3DSH_AD_OUT_Y_L ((uint8_t)0x2A)
#define LIS3DSH_AD_OUT_Y_H ((uint8_t)0x2B)
#define LIS3DSH_AD_OUT_Z_L ((uint8_t)0x2C)
#define LIS3DSH_AD_OUT_Z_H ((uint8_t)0x2D)
#define LIS3DSH_AD_FIFO_CTRL ((uint8_t)0x2E)
#define LIS3DSH_AD_FIFO_SRC ((uint8_t)0x2F)
#define LIS3DSH_AD_CTRL_REG1 ((uint8_t)0x21)
#define LIS3DSH_AD_ST1_0 ((uint8_t)0x40)
#define LIS3DSH_AD_ST1_1 ((uint8_t)0x41)
#define LIS3DSH_AD_ST1_2 ((uint8_t)0x42)
#define LIS3DSH_AD_ST1_3 ((uint8_t)0x43)
#define LIS3DSH_AD_ST1_4 ((uint8_t)0x44)
#define LIS3DSH_AD_ST1_5 ((uint8_t)0x45)
#define LIS3DSH_AD_ST1_6 ((uint8_t)0x46)
#define LIS3DSH_AD_ST1_7 ((uint8_t)0x47)
#define LIS3DSH_AD_ST1_8 ((uint8_t)0x48)
#define LIS3DSH_AD_ST1_9 ((uint8_t)0x49)
#define LIS3DSH_AD_ST1_A ((uint8_t)0x4A)
#define LIS3DSH_AD_ST1_B ((uint8_t)0x4B)
#define LIS3DSH_AD_ST1_C ((uint8_t)0x4C)
#define LIS3DSH_AD_ST1_D ((uint8_t)0x4D)
#define LIS3DSH_AD_ST1_E ((uint8_t)0x4E)
#define LIS3DSH_AD_ST1_F ((uint8_t)0x4F)
#define LIS3DSH_AD_TIM4_1 ((uint8_t)0x50)
#define LIS3DSH_AD_TIM3_1 ((uint8_t)0x51)
#define LIS3DSH_AD_TIM2_1_L ((uint8_t)0x52)
#define LIS3DSH_AD_TIM2_1_H ((uint8_t)0x53)
#define LIS3DSH_AD_TIM1_1_L ((uint8_t)0x54)
#define LIS3DSH_AD_TIM1_1_H ((uint8_t)0x55)
#define LIS3DSH_AD_THRS2_1 ((uint8_t)0x56)
#define LIS3DSH_AD_THRS1_1 ((uint8_t)0x57)
#define LIS3DSH_AD_MASK1_B ((uint8_t)0x59)
#define LIS3DSH_AD_MASK1_A ((uint8_t)0x5A)
#define LIS3DSH_AD_SETT1 ((uint8_t)0x5B)
#define LIS3DSH_AD_PR1 ((uint8_t)0x5C)
#define LIS3DSH_AD_TC1_L ((uint8_t)0x5D)
#define LIS3DSH_AD_TC1_H ((uint8_t)0x5E)
#define LIS3DSH_AD_OUTS1 ((uint8_t)0x5F)
#define LIS3DSH_AD_PEAK1 ((uint8_t)0x19)
#define LIS3DSH_AD_CTRL_REG2 ((uint8_t)0x22)
#define LIS3DSH_AD_ST2_0 ((uint8_t)0x60)
#define LIS3DSH_AD_ST2_1 ((uint8_t)0x61)
#define LIS3DSH_AD_ST2_2 ((uint8_t)0x62)
#define LIS3DSH_AD_ST2_3 ((uint8_t)0x63)
#define LIS3DSH_AD_ST2_4 ((uint8_t)0x64)
#define LIS3DSH_AD_ST2_5 ((uint8_t)0x65)
#define LIS3DSH_AD_ST2_6 ((uint8_t)0x66)
#define LIS3DSH_AD_ST2_7 ((uint8_t)0x67)
#define LIS3DSH_AD_ST2_8 ((uint8_t)0x68)
#define LIS3DSH_AD_ST2_9 ((uint8_t)0x69)
#define LIS3DSH_AD_ST2_A ((uint8_t)0x6A)
#define LIS3DSH_AD_ST2_B ((uint8_t)0x6B)
#define LIS3DSH_AD_ST2_C ((uint8_t)0x6C)
#define LIS3DSH_AD_ST2_D ((uint8_t)0x6D)
#define LIS3DSH_AD_ST2_E ((uint8_t)0x6E)
#define LIS3DSH_AD_ST2_F ((uint8_t)0x6F)
#define LIS3DSH_AD_TIM4_2 ((uint8_t)0x70)
#define LIS3DSH_AD_TIM3_2 ((uint8_t)0x71)
#define LIS3DSH_AD_TIM2_2_L ((uint8_t)0x72)
#define LIS3DSH_AD_TIM2_2_H ((uint8_t)0x73)
#define LIS3DSH_AD_TIM1_2_L ((uint8_t)0x74)
#define LIS3DSH_AD_TIM1_2_H ((uint8_t)0x75)
#define LIS3DSH_AD_THRS2_2 ((uint8_t)0x76)
#define LIS3DSH_AD_THRS1_2 ((uint8_t)0x77)
#define LIS3DSH_AD_MASK2_B ((uint8_t)0x79)
#define LIS3DSH_AD_MASK2_A ((uint8_t)0x7A)
#define LIS3DSH_AD_SETT2 ((uint8_t)0x7B)
#define LIS3DSH_AD_PR2 ((uint8_t)0x7C)
#define LIS3DSH_AD_TC2_L ((uint8_t)0x7D)
#define LIS3DSH_AD_TC2_H ((uint8_t)0x7E)
#define LIS3DSH_AD_OUTS2 ((uint8_t)0x7F)
#define LIS3DSH_AD_PEAK2 ((uint8_t)0x1A)
#define LIS3DSH_AD_DES2 ((uint8_t)0x78)
#define LIS3DSH_CTRL_REG5_FS_MASK ((uint8_t)0x38)
#define TO_G ((float)0.001f)
#define TO_SI ((float)0.00981f)
/*===========================================================================*/
/* Driver exported variables. */
/*===========================================================================*/
@ -178,142 +49,41 @@
/**
* @brief Reads a generic register value using SPI.
* @pre The SPI interface must be initialized and the driver started.
* @note Multiple write/read requires proper settings in CTRL_REG6.
*
* @param[in] spip pointer to the SPI interface
* @param[in] reg register number
* @return register value.
* @param[in] reg starting register address
* @param[in] n number of adjacent registers to write
* @param[in] b pointer to a buffer.
*/
static uint8_t lis3dshSPIReadRegister(SPIDriver *spip, uint8_t reg) {
uint8_t txbuf[2] = {LIS3DSH_RW | reg, 0xFF};
uint8_t rxbuf[2] = {0x00, 0x00};
static void lis3dshSPIReadRegister(SPIDriver *spip, uint8_t reg, size_t n,
uint8_t* b) {
uint8_t cmd;
cmd = reg | LIS3DSH_RW;
spiSelect(spip);
spiExchange(spip, 2, txbuf, rxbuf);
spiSend(spip, 1, &cmd);
spiReceive(spip, n, b);
spiUnselect(spip);
return rxbuf[1];
}
/**
* @brief Writes a value into a generic register using SPI.
* @pre The SPI interface must be initialized and the driver started.
* @note Multiple write/read requires proper settings in CTRL_REG6.
*
* @param[in] spip pointer to the SPI interface
* @param[in] reg register number
* @param[in] value register value.
* @param[in] reg starting register address
* @param[in] n number of adjacent registers to write
* @param[in] value pointer to a buffer of values.
*/
static void lis3dshSPIWriteRegister(SPIDriver *spip, uint8_t reg,
uint8_t value) {
switch (reg) {
default:
/* Reserved register must not be written, according to the datasheet
* this could permanently damage the device.
*/
osalDbgAssert(FALSE, "lis3dshSPIWriteRegister(), reserved register");
case LIS3DSH_AD_INFO1:
case LIS3DSH_AD_INFO2:
case LIS3DSH_AD_WHO_AM_I:
case LIS3DSH_AD_STATUS:
case LIS3DSH_AD_OUT_T:
case LIS3DSH_AD_STAT:
case LIS3DSH_AD_OUT_X_L:
case LIS3DSH_AD_OUT_X_H:
case LIS3DSH_AD_OUT_Y_L:
case LIS3DSH_AD_OUT_Y_H:
case LIS3DSH_AD_OUT_Z_L:
case LIS3DSH_AD_OUT_Z_H:
case LIS3DSH_AD_FIFO_SRC:
case LIS3DSH_AD_FIFO_CTRL:
case LIS3DSH_AD_PR1:
case LIS3DSH_AD_TC1_L:
case LIS3DSH_AD_TC1_H:
case LIS3DSH_AD_OUTS1:
case LIS3DSH_AD_PEAK1:
case LIS3DSH_AD_PR2:
case LIS3DSH_AD_TC2_L:
case LIS3DSH_AD_TC2_H:
case LIS3DSH_AD_OUTS2:
case LIS3DSH_AD_PEAK2:
/* Read only registers cannot be written, the command is ignored.*/
return;
case LIS3DSH_AD_CTRL_REG3:
case LIS3DSH_AD_CTRL_REG4:
case LIS3DSH_AD_CTRL_REG5:
case LIS3DSH_AD_CTRL_REG6:
case LIS3DSH_AD_OFF_X:
case LIS3DSH_AD_OFF_Y:
case LIS3DSH_AD_OFF_Z:
case LIS3DSH_AD_CS_X:
case LIS3DSH_AD_CS_Y:
case LIS3DSH_AD_CS_Z:
case LIS3DSH_AD_LC_L:
case LIS3DSH_AD_LC_H:
case LIS3DSH_AD_VFC_1:
case LIS3DSH_AD_VFC_2:
case LIS3DSH_AD_VFC_3:
case LIS3DSH_AD_VFC_4:
case LIS3DSH_AD_THRS3:
case LIS3DSH_AD_CTRL_REG1:
case LIS3DSH_AD_ST1_0:
case LIS3DSH_AD_ST1_1:
case LIS3DSH_AD_ST1_2:
case LIS3DSH_AD_ST1_3:
case LIS3DSH_AD_ST1_4:
case LIS3DSH_AD_ST1_5:
case LIS3DSH_AD_ST1_6:
case LIS3DSH_AD_ST1_7:
case LIS3DSH_AD_ST1_8:
case LIS3DSH_AD_ST1_9:
case LIS3DSH_AD_ST1_A:
case LIS3DSH_AD_ST1_B:
case LIS3DSH_AD_ST1_C:
case LIS3DSH_AD_ST1_D:
case LIS3DSH_AD_ST1_E:
case LIS3DSH_AD_ST1_F:
case LIS3DSH_AD_TIM4_1:
case LIS3DSH_AD_TIM3_1:
case LIS3DSH_AD_TIM2_1_L:
case LIS3DSH_AD_TIM2_1_H:
case LIS3DSH_AD_TIM1_1_L:
case LIS3DSH_AD_TIM1_1_H:
case LIS3DSH_AD_THRS2_1:
case LIS3DSH_AD_THRS1_1:
case LIS3DSH_AD_MASK1_B:
case LIS3DSH_AD_MASK1_A:
case LIS3DSH_AD_SETT1:
case LIS3DSH_AD_CTRL_REG2:
case LIS3DSH_AD_ST2_0:
case LIS3DSH_AD_ST2_1:
case LIS3DSH_AD_ST2_2:
case LIS3DSH_AD_ST2_3:
case LIS3DSH_AD_ST2_4:
case LIS3DSH_AD_ST2_5:
case LIS3DSH_AD_ST2_6:
case LIS3DSH_AD_ST2_7:
case LIS3DSH_AD_ST2_8:
case LIS3DSH_AD_ST2_9:
case LIS3DSH_AD_ST2_A:
case LIS3DSH_AD_ST2_B:
case LIS3DSH_AD_ST2_C:
case LIS3DSH_AD_ST2_D:
case LIS3DSH_AD_ST2_E:
case LIS3DSH_AD_ST2_F:
case LIS3DSH_AD_TIM4_2:
case LIS3DSH_AD_TIM3_2:
case LIS3DSH_AD_TIM2_2_L:
case LIS3DSH_AD_TIM2_2_H:
case LIS3DSH_AD_TIM1_2_L:
case LIS3DSH_AD_TIM1_2_H:
case LIS3DSH_AD_THRS2_2:
case LIS3DSH_AD_THRS1_2:
case LIS3DSH_AD_MASK2_B:
case LIS3DSH_AD_MASK2_A:
case LIS3DSH_AD_SETT2:
case LIS3DSH_AD_DES2:
spiSelect(spip);
uint8_t txbuf[2] = {reg, value};
spiSend(spip, 2, txbuf);
spiUnselect(spip);
}
static void lis3dshSPIWriteRegister(SPIDriver *spip, uint8_t reg, size_t n,
uint8_t* b) {
uint8_t cmd;
cmd = reg;
spiSelect(spip);
spiSend(spip, 1, &cmd);
spiSend(spip, n, b);
spiUnselect(spip);
}
#endif /* LIS3DSH_USE_SPI */
@ -327,6 +97,7 @@ static size_t get_axes_number(void *ip) {
}
static msg_t read_raw(void *ip, int32_t axes[LIS3DSH_NUMBER_OF_AXES]) {
uint8_t buff [LIS3DSH_NUMBER_OF_AXES * 2], i;
int16_t tmp;
osalDbgCheck((ip != NULL) && (axes != NULL));
@ -341,27 +112,12 @@ static msg_t read_raw(void *ip, int32_t axes[LIS3DSH_NUMBER_OF_AXES]) {
spiStart(((LIS3DSHDriver *)ip)->config->spip,
((LIS3DSHDriver *)ip)->config->spicfg);
#endif /* LIS3DSH_SHARED_SPI */
if(((LIS3DSHDriver *)ip)->config->axesenabling & LIS3DSH_AE_X){
tmp = lis3dshSPIReadRegister(((LIS3DSHDriver *)ip)->config->spip,
LIS3DSH_AD_OUT_X_L);
tmp += lis3dshSPIReadRegister(((LIS3DSHDriver *)ip)->config->spip,
LIS3DSH_AD_OUT_X_H) << 8;
axes[0] = (int32_t)tmp + ((LIS3DSHDriver *)ip)->bias[0];
}
if(((LIS3DSHDriver *)ip)->config->axesenabling & LIS3DSH_AE_Y){
tmp = lis3dshSPIReadRegister(((LIS3DSHDriver *)ip)->config->spip,
LIS3DSH_AD_OUT_Y_L);
tmp += lis3dshSPIReadRegister(((LIS3DSHDriver *)ip)->config->spip,
LIS3DSH_AD_OUT_Y_H) << 8;
axes[1] = (int32_t)tmp + ((LIS3DSHDriver *)ip)->bias[1];
}
if(((LIS3DSHDriver *)ip)->config->axesenabling & LIS3DSH_AE_Z){
tmp = lis3dshSPIReadRegister(((LIS3DSHDriver *)ip)->config->spip,
LIS3DSH_AD_OUT_Z_L);
tmp += lis3dshSPIReadRegister(((LIS3DSHDriver *)ip)->config->spip,
LIS3DSH_AD_OUT_Z_H) << 8;
axes[2] = (int32_t)tmp + ((LIS3DSHDriver *)ip)->bias[2];
}
lis3dshSPIReadRegister(((LIS3DSHDriver *)ip)->config->spip, LIS3DSH_AD_OUT_X_L,
LIS3DSH_NUMBER_OF_AXES * 2, buff);
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) {
tmp = buff[2*i] + (buff[2*i+1] << 8);
axes[i] = (int32_t)tmp;
}
#if LIS3DSH_SHARED_SPI
spiReleaseBus(((LIS3DSHDriver *)ip)->config->spip);
#endif /* LIS3DSH_SHARED_SPI */
@ -369,6 +125,7 @@ static msg_t read_raw(void *ip, int32_t axes[LIS3DSH_NUMBER_OF_AXES]) {
return MSG_OK;
}
static msg_t read_cooked(void *ip, float axes[]) {
uint32_t i;
int32_t raw[LIS3DSH_NUMBER_OF_AXES];
@ -377,17 +134,12 @@ static msg_t read_cooked(void *ip, float axes[]) {
osalDbgCheck((ip != NULL) && (axes != NULL));
osalDbgAssert((((LIS3DSHDriver *)ip)->state == LIS3DSH_READY),
"read_cooked(), invalid state");
"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];
if(((LIS3DSHDriver *)ip)->config->unit == LIS3DSH_ACC_UNIT_G){
axes[i] *= TO_G;
}
else if(((LIS3DSHDriver *)ip)->config->unit == LIS3DSH_ACC_UNIT_SI){
axes[i] *= TO_SI;
}
axes[i] = (raw[i] * ((LIS3DSHDriver *)ip)->sensitivity[i]);
axes[i] -= ((LIS3DSHDriver *)ip)->bias[i];
}
return msg;
}
@ -465,21 +217,47 @@ static msg_t reset_sensivity(void *ip) {
return MSG_OK;
}
static msg_t get_temperature(void *ip, int8_t* tempp) {
#if LIS3DSH_USE_SPI
osalDbgAssert((((LIS3DSHDriver *)ip)->config->spip->state == SPI_READY),
"read_raw(), channel not ready");
#if LIS3DSH_SHARED_SPI
spiAcquireBus(((LIS3DSHDriver *)ip)->config->spip);
spiStart(((LIS3DSHDriver *)ip)->config->spip,
((LIS3DSHDriver *)ip)->config->spicfg);
#endif /* LIS3DSH_SHARED_SPI */
*tempp = lis3dshSPIReadRegister(((LIS3DSHDriver *)ip)->config->spip,
LIS3DSH_AD_OUT_T);
#if LIS3DSH_SHARED_SPI
spiReleaseBus(((LIS3DSHDriver *)ip)->config->spip);
#endif /* LIS3DSH_SHARED_SPI */
#endif /* LIS3DSH_USE_SPI */
static msg_t set_full_scale(void *ip, lis3dsh_fs_t fs) {
float newfs, scale;
uint8_t i, cr;
if(fs == LIS3DSH_FS_2G) {
newfs = LIS3DSH_2G;
}
else if(fs == LIS3DSH_FS_4G) {
newfs = LIS3DSH_4G;
}
else if(fs == LIS3DSH_FS_6G) {
newfs = LIS3DSH_6G;
}
else if(fs == LIS3DSH_FS_8G) {
newfs = LIS3DSH_8G;
}
else if(fs == LIS3DSH_FS_16G) {
newfs = LIS3DSH_16G;
}
else {
return MSG_RESET;
}
if(newfs != ((LIS3DSHDriver *)ip)->fullscale) {
scale = newfs / ((LIS3DSHDriver *)ip)->fullscale;
((LIS3DSHDriver *)ip)->fullscale = newfs;
/* Updating register.*/
lis3dshSPIReadRegister(((LIS3DSHDriver *)ip)->config->spip,
LIS3DSH_AD_CTRL_REG5, 1, &cr);
cr &= ~(LIS3DSH_CTRL_REG5_FS_MASK);
cr |= fs;
lis3dshSPIWriteRegister(((LIS3DSHDriver *)ip)->config->spip,
LIS3DSH_AD_CTRL_REG5, 1, &cr);
/* Scaling sensitivity and bias. Re-calibration is suggested anyway. */
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) {
((LIS3DSHDriver *)ip)->sensitivity[i] *= scale;
((LIS3DSHDriver *)ip)->bias[i] *= scale;
}
}
return MSG_OK;
}
@ -495,7 +273,7 @@ static const struct BaseAccelerometerVMT vmt_baseaccelerometer = {
static const struct LIS3DSHVMT vmt_lis3dsh = {
get_axes_number, read_raw, read_cooked,
set_bias, reset_bias, set_sensivity, reset_sensivity,
get_temperature
set_full_scale
};
/*===========================================================================*/
@ -531,7 +309,7 @@ void lis3dshObjectInit(LIS3DSHDriver *devp) {
void lis3dshStart(LIS3DSHDriver *devp, const LIS3DSHConfig *config) {
uint32_t i;
osalDbgCheck((devp != NULL) && (config != NULL));
uint8_t cr;
osalDbgAssert((devp->state == LIS3DSH_STOP) || (devp->state == LIS3DSH_READY),
"lis3dshStart(), invalid state");
@ -543,34 +321,68 @@ void lis3dshStart(LIS3DSHDriver *devp, const LIS3DSHConfig *config) {
#endif /* LIS3DSH_SHARED_SPI */
spiStart((devp)->config->spip,
(devp)->config->spicfg);
/* Control register 4 configuration block.*/
{
cr = LIS3DSH_CTRL_REG4_XEN | LIS3DSH_CTRL_REG4_YEN | LIS3DSH_CTRL_REG4_ZEN |
devp->config->outputdatarate;
#if LIS3DSH_USE_ADVANCED || defined(__DOXYGEN__)
cr |= devp->config->blockdataupdate;
#endif
}
lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG4,
devp->config->axesenabling |
devp->config->blockdataupdate |
devp->config->outputdatarate);
1, &cr);
/* Control register 5 configuration block.*/
{
cr = devp->config->fullscale;
#if LIS3DSH_USE_ADVANCED || defined(__DOXYGEN__)
cr |= devp->config->antialiasing;
#endif
}
lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG5,
devp->config->fullscale |
devp->config->antialiasing );
1, &cr);
/* Control register 6 configuration block.*/
{
cr = LIS3DSH_CTRL_REG6_ADD_INC;
#if LIS3DSH_USE_ADVANCED || defined(__DOXYGEN__)
cr |= devp->config->blockdataupdate;
#endif
}
lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG6,
1, &cr);
#if LIS3DSH_SHARED_SPI
spiReleaseBus((devp)->config->spip);
#endif /* LIS3DSH_SHARED_SPI */
#endif /* LIS3DSH_USE_SPI */
/* Storing sensitivity information according to full scale value */
if(devp->config->fullscale == LIS3DSH_FS_2G)
if(devp->config->fullscale == LIS3DSH_FS_2G) {
devp->fullscale = LIS3DSH_2G;
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = LIS3DSH_SENS_2G;
else if(devp->config->fullscale == LIS3DSH_FS_4G)
}
else if(devp->config->fullscale == LIS3DSH_FS_4G) {
devp->fullscale = LIS3DSH_4G;
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = LIS3DSH_SENS_4G;
else if(devp->config->fullscale == LIS3DSH_FS_6G)
}
else if(devp->config->fullscale == LIS3DSH_FS_6G) {
devp->fullscale = LIS3DSH_6G;
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = LIS3DSH_SENS_6G;
else if(devp->config->fullscale == LIS3DSH_FS_8G)
}
else if(devp->config->fullscale == LIS3DSH_FS_8G) {
devp->fullscale = LIS3DSH_8G;
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = LIS3DSH_SENS_8G;
else if(devp->config->fullscale == LIS3DSH_FS_16G)
}
else if(devp->config->fullscale == LIS3DSH_FS_16G) {
devp->fullscale = LIS3DSH_16G;
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = LIS3DSH_SENS_16G;
}
else {
osalDbgAssert(FALSE, "lis3dshStart(), accelerometer full scale issue");
}
@ -588,7 +400,7 @@ void lis3dshStart(LIS3DSHDriver *devp, const LIS3DSHConfig *config) {
* @api
*/
void lis3dshStop(LIS3DSHDriver *devp) {
uint8_t cr4;
osalDbgCheck(devp != NULL);
osalDbgAssert((devp->state == LIS3DSH_STOP) || (devp->state == LIS3DSH_READY),
@ -601,8 +413,10 @@ void lis3dshStop(LIS3DSHDriver *devp) {
spiStart((devp)->config->spip,
(devp)->config->spicfg);
#endif /* LIS3DSH_SHARED_SPI */
lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG4,
LIS3DSH_ODR_PD | LIS3DSH_AE_DISABLED);
/* Disabling all axes and enabling power down mode.*/
cr4 = 0;
lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG4,
1, &cr4);
spiStop((devp)->config->spip);
#if LIS3DSH_SHARED_SPI
spiReleaseBus((devp)->config->spip);

312
os/ex/ST/lis3dsh.h
View File

@ -35,9 +35,249 @@
/*===========================================================================*/
/**
* @brief LIS3DSH number of axes.
* @name Version identification
* @{
*/
#define LIS3DSH_NUMBER_OF_AXES ((size_t) 3U)
/**
* @brief LIS3DSH driver version string.
*/
#define EX_LIS3DSH_VERSION "1.0.0"
/**
* @brief LIS3DSH driver version major number.
*/
#define EX_LIS3DSH_MAJOR 1
/**
* @brief LIS3DSH driver version minor number.
*/
#define EX_LIS3DSH_MINOR 0
/**
* @brief LIS3DSH driver version patch number.
*/
#define EX_LIS3DSH_PATCH 0
/** @} */
/**
* @brief LIS3DSH characteristics.
*
* @{
*/
#define LIS3DSH_NUMBER_OF_AXES 3U
#define LIS3DSH_2G 2.0f
#define LIS3DSH_4G 4.0f
#define LIS3DSH_6G 6.0f
#define LIS3DSH_8G 8.0f
#define LIS3DSH_16G 16.0f
#define LIS3DSH_SENS_2G 0.06f
#define LIS3DSH_SENS_4G 0.12f
#define LIS3DSH_SENS_6G 0.18f
#define LIS3DSH_SENS_8G 0.24f
#define LIS3DSH_SENS_16G 0.73f
/** @} */
/**
* @name LIS3DSH communication interfaces related bit masks
* @{
*/
#define LIS3DSH_DI_MASK 0xFF /**< Data In mask */
#define LIS3DSH_DI(n) (1 << n) /**< Data In bit n */
#define LIS3DSH_AD_MASK 0x3F /**< Address Data mask */
#define LIS3DSH_AD(n) (1 << n) /**< Address Data bit n */
#define LIS3DSH_MS (1 << 6) /**< Multiple read write */
#define LIS3DSH_RW (1 << 7) /**< Read Write selector */
/** @} */
/**
* @name LIS3DSH register addresses
* @{
*/
#define LIS3DSH_AD_OUT_T 0x0C
#define LIS3DSH_AD_INFO1 0x0D
#define LIS3DSH_AD_INFO2 0x0E
#define LIS3DSH_AD_WHO_AM_I 0x0F
#define LIS3DSH_AD_OFF_X 0x10
#define LIS3DSH_AD_OFF_Y 0x11
#define LIS3DSH_AD_OFF_Z 0x12
#define LIS3DSH_AD_CS_X 0x13
#define LIS3DSH_AD_CS_Y 0x14
#define LIS3DSH_AD_CS_Z 0x15
#define LIS3DSH_AD_LC_L 0x16
#define LIS3DSH_AD_LC_H 0x17
#define LIS3DSH_AD_STAT 0x18
#define LIS3DSH_AD_PEAK1 0x19
#define LIS3DSH_AD_PEAK2 0x1A
#define LIS3DSH_AD_VFC_1 0x1B
#define LIS3DSH_AD_VFC_2 0x1C
#define LIS3DSH_AD_VFC_3 0x1D
#define LIS3DSH_AD_VFC_4 0x1E
#define LIS3DSH_AD_THRS3 0x1F
#define LIS3DSH_AD_CTRL_REG4 0x20
#define LIS3DSH_AD_CTRL_REG1 0x21
#define LIS3DSH_AD_CTRL_REG2 0x22
#define LIS3DSH_AD_CTRL_REG3 0x23
#define LIS3DSH_AD_CTRL_REG5 0x24
#define LIS3DSH_AD_CTRL_REG6 0x25
#define LIS3DSH_AD_STATUS 0x27
#define LIS3DSH_AD_OUT_X_L 0x28
#define LIS3DSH_AD_OUT_X_H 0x29
#define LIS3DSH_AD_OUT_Y_L 0x2A
#define LIS3DSH_AD_OUT_Y_H 0x2B
#define LIS3DSH_AD_OUT_Z_L 0x2C
#define LIS3DSH_AD_OUT_Z_H 0x2D
#define LIS3DSH_AD_FIFO_CTRL 0x2E
#define LIS3DSH_AD_FIFO_SRC 0x2F
#define LIS3DSH_AD_ST1_0 0x40
#define LIS3DSH_AD_ST1_1 0x41
#define LIS3DSH_AD_ST1_2 0x42
#define LIS3DSH_AD_ST1_3 0x43
#define LIS3DSH_AD_ST1_4 0x44
#define LIS3DSH_AD_ST1_5 0x45
#define LIS3DSH_AD_ST1_6 0x46
#define LIS3DSH_AD_ST1_7 0x47
#define LIS3DSH_AD_ST1_8 0x48
#define LIS3DSH_AD_ST1_9 0x49
#define LIS3DSH_AD_ST1_A 0x4A
#define LIS3DSH_AD_ST1_B 0x4B
#define LIS3DSH_AD_ST1_C 0x4C
#define LIS3DSH_AD_ST1_D 0x4D
#define LIS3DSH_AD_ST1_E 0x4E
#define LIS3DSH_AD_ST1_F 0x4F
#define LIS3DSH_AD_TIM4_1 0x50
#define LIS3DSH_AD_TIM3_1 0x51
#define LIS3DSH_AD_TIM2_1_L 0x52
#define LIS3DSH_AD_TIM2_1_H 0x53
#define LIS3DSH_AD_TIM1_1_L 0x54
#define LIS3DSH_AD_TIM1_1_H 0x55
#define LIS3DSH_AD_THRS2_1 0x56
#define LIS3DSH_AD_THRS1_1 0x57
#define LIS3DSH_AD_MASK1_B 0x59
#define LIS3DSH_AD_MASK1_A 0x5A
#define LIS3DSH_AD_SETT1 0x5B
#define LIS3DSH_AD_PR1 0x5C
#define LIS3DSH_AD_TC1_L 0x5D
#define LIS3DSH_AD_TC1_H 0x5E
#define LIS3DSH_AD_OUTS1 0x5F
#define LIS3DSH_AD_ST2_0 0x60
#define LIS3DSH_AD_ST2_1 0x61
#define LIS3DSH_AD_ST2_2 0x62
#define LIS3DSH_AD_ST2_3 0x63
#define LIS3DSH_AD_ST2_4 0x64
#define LIS3DSH_AD_ST2_5 0x65
#define LIS3DSH_AD_ST2_6 0x66
#define LIS3DSH_AD_ST2_7 0x67
#define LIS3DSH_AD_ST2_8 0x68
#define LIS3DSH_AD_ST2_9 0x69
#define LIS3DSH_AD_ST2_A 0x6A
#define LIS3DSH_AD_ST2_B 0x6B
#define LIS3DSH_AD_ST2_C 0x6C
#define LIS3DSH_AD_ST2_D 0x6D
#define LIS3DSH_AD_ST2_E 0x6E
#define LIS3DSH_AD_ST2_F 0x6F
#define LIS3DSH_AD_TIM4_2 0x70
#define LIS3DSH_AD_TIM3_2 0x71
#define LIS3DSH_AD_TIM2_2_L 0x72
#define LIS3DSH_AD_TIM2_2_H 0x73
#define LIS3DSH_AD_TIM1_2_L 0x74
#define LIS3DSH_AD_TIM1_2_H 0x75
#define LIS3DSH_AD_THRS2_2 0x76
#define LIS3DSH_AD_THRS1_2 0x77
#define LIS3DSH_AD_DES2 0x78
#define LIS3DSH_AD_MASK2_B 0x79
#define LIS3DSH_AD_MASK2_A 0x7A
#define LIS3DSH_AD_SETT2 0x7B
#define LIS3DSH_AD_PR2 0x7C
#define LIS3DSH_AD_TC2_L 0x7D
#define LIS3DSH_AD_TC2_H 0x7E
#define LIS3DSH_AD_OUTS2 0x7F
/** @} */
/**
* @name LIS3DSH_CTRL_REG1 register bits definitions
* @{
*/
#define LIS3DSH_CTRL_REG1_MASK 0xE9 /**< LIS3DSH_CTRL_REG1 mask */
#define LIS3DSH_CTRL_REG1_SM1_EN (1 << 0) /**< SM1 enabled */
#define LIS3DSH_CTRL_REG1_SM1_PIN (1 << 3) /**< SM1 pin */
#define LIS3DSH_CTRL_REG1_HYST0_1 (1 << 5) /**< Hysteresis 1 bit 0 */
#define LIS3DSH_CTRL_REG1_HYST1_1 (1 << 6) /**< Hysteresis 1 bit 1 */
#define LIS3DSH_CTRL_REG1_HYST2_1 (1 << 7) /**< Hysteresis 1 bit 2 */
/** @} */
/**
* @name LIS3DSH_CTRL_REG2 register bits definitions
* @{
*/
#define LIS3DSH_CTRL_REG2_MASK 0xE9 /**< LIS3DSH_CTRL_REG2 mask */
#define LIS3DSH_CTRL_REG2_SM2_EN (1 << 0) /**< SM2 enabled */
#define LIS3DSH_CTRL_REG2_SM2_PIN (1 << 3) /**< SM2 pin */
#define LIS3DSH_CTRL_REG2_HYST0_2 (1 << 5) /**< Hysteresis 2 bit 0 */
#define LIS3DSH_CTRL_REG2_HYST1_2 (1 << 6) /**< Hysteresis 2 bit 1 */
#define LIS3DSH_CTRL_REG2_HYST2_2 (1 << 7) /**< Hysteresis 2 bit 2 */
/** @} */
/**
* @name LIS3DSH_CTRL_REG3 register bits definitions
* @{
*/
#define LIS3DSH_CTRL_REG3_MASK 0xFF /**< LIS3DSH_CTRL_REG3 mask */
#define LIS3DSH_CTRL_REG3_STRT (1 << 0) /**< Soft reset bit */
#define LIS3DSH_CTRL_REG3_VFILT (1 << 2) /**< Vector filter */
#define LIS3DSH_CTRL_REG3_INT1_EN (1 << 3) /**< Interrupt 1 enable */
#define LIS3DSH_CTRL_REG3_INT2_EN (1 << 4) /**< Interrupt 2 enable */
#define LIS3DSH_CTRL_REG3_IEL (1 << 5) /**< Interrupt latching */
#define LIS3DSH_CTRL_REG3_IEA (1 << 6) /**< Interurpt polarity */
#define LIS3DSH_CTRL_REG3_DR_EN (1 << 7) /**< Data ready signal */
/** @} */
/**
* @name LIS3DSH_CTRL_REG4 register bits definitions
* @{
*/
#define LIS3DSH_CTRL_REG4_MASK 0xFF /**< LIS3DSH_CTRL_REG4 mask */
#define LIS3DSH_CTRL_REG4_XEN (1 << 0) /**< X axis enable */
#define LIS3DSH_CTRL_REG4_YEN (1 << 1) /**< Y axis enable */
#define LIS3DSH_CTRL_REG4_ZEN (1 << 2) /**< Z axis enable */
#define LIS3DSH_CTRL_REG4_BDU (1 << 3) /**< Block data update */
#define LIS3DSH_CTRL_REG4_ODR_0 (1 << 4) /**< Output data rate bit 0 */
#define LIS3DSH_CTRL_REG4_ODR_1 (1 << 5) /**< Output data rate bit 1 */
#define LIS3DSH_CTRL_REG4_ODR_2 (1 << 6) /**< Output data rate bit 2 */
#define LIS3DSH_CTRL_REG4_ODR_3 (1 << 7) /**< Output data rate bit 3 */
/** @} */
/**
* @name LIS3DSH_CTRL_REG5 register bits definitions
* @{
*/
#define LIS3DSH_CTRL_REG5_MASK 0xFF /**< LIS3DSH_CTRL_REG5 mask */
#define LIS3DSH_CTRL_REG5_SIM (1 << 0) /**< SPI interface mode */
#define LIS3DSH_CTRL_REG5_ST1 (1 << 1) /**< Self test bit 1 */
#define LIS3DSH_CTRL_REG5_ST2 (1 << 2) /**< Self test bit 2 */
#define LIS3DSH_CTRL_REG5_FS_MASK 0x38 /**< Full scale field mask */
#define LIS3DSH_CTRL_REG5_FS0 (1 << 3) /**< Full scale bit 0 */
#define LIS3DSH_CTRL_REG5_FS1 (1 << 4) /**< Full scale bit 1 */
#define LIS3DSH_CTRL_REG5_FS2 (1 << 5) /**< Full scale bit 2 */
#define LIS3DSH_CTRL_REG5_BW1 (1 << 6) /**< Bandwidth bit 1 */
#define LIS3DSH_CTRL_REG5_BW2 (1 << 7) /**< Bandwidth bit 2 */
/** @} */
/**
* @name LIS3DSH_CTRL_REG6 register bits definitions
* @{
*/
#define LIS3DSH_CTRL_REG6_MASK 0xFF /**< LIS3DSH_CTRL_REG6 mask */
#define LIS3DSH_CTRL_REG6_P2_BOOT (1 << 0) /**< Boot on Interrupt 2 */
#define LIS3DSH_CTRL_REG6_P1_OVRUN (1 << 1) /**< FIFO overrun on Int 1 */
#define LIS3DSH_CTRL_REG6_P1_WTM (1 << 2) /**< FIFO watermark on Int 1 */
#define LIS3DSH_CTRL_REG6_P1_EMPTY (1 << 3) /**< FIFO empty on Int 1 */
#define LIS3DSH_CTRL_REG6_ADD_INC (1 << 4) /**< Register address incr. */
#define LIS3DSH_CTRL_REG6_WTM_EN (1 << 5) /**< Enable FIFO watermark */
#define LIS3DSH_CTRL_REG6_FIFO_EN (1 << 6) /**< Enable FIFO */
#define LIS3DSH_CTRL_REG6_BOOT (1 << 7) /**< Force reboot */
/** @} */
/*===========================================================================*/
/* Driver pre-compile time settings. */
@ -65,6 +305,15 @@
#define LIS3DSH_USE_I2C FALSE
#endif
/**
* @brief LIS3DSH advanced configurations switch.
* @details If set to @p TRUE more configurations are available.
* @note The default is @p FALSE.
*/
#if !defined(LIS3DSH_USE_ADVANCED) || defined(__DOXYGEN__)
#define LIS3DSH_USE_ADVANCED FALSE
#endif
/**
* @brief LIS3DSH shared SPI switch.
* @details If set to @p TRUE the device acquires SPI bus ownership
@ -141,20 +390,6 @@ typedef enum {
LIS3DSH_BW_50HZ = 0xC0 /**< AA filter BW 50Hz. */
}lis3dsh_bw_t;
/**
* @brief LIS3DSH axes enabling.
*/
typedef enum {
LIS3DSH_AE_DISABLED = 0x00, /**< All axes disabled. */
LIS3DSH_AE_X = 0x01, /**< Only X-axis enabled. */
LIS3DSH_AE_Y = 0x02, /**< Only Y-axis enabled. */
LIS3DSH_AE_XY = 0x03, /**< X and Y axes enabled. */
LIS3DSH_AE_Z = 0x04, /**< Only Z-axis enabled. */
LIS3DSH_AE_XZ = 0x05, /**< X and Z axes enabled. */
LIS3DSH_AE_YZ = 0x06, /**< Y and Z axes enabled. */
LIS3DSH_AE_XYZ = 0x07 /**< All axes enabled. */
}lis3dsh_ae_t;
/**
* @brief LIS3DSH block data update.
*/
@ -163,15 +398,6 @@ typedef enum {
LIS3DSH_BDU_BLOCKED = 0x80 /**< Block data updated after reading. */
} lis3dsh_bdu_t;
/**
* @brief LIS3DSH accelerometer subsystem unit.
*/
typedef enum {
LIS3DSH_ACC_UNIT_G = 0x00, /**< Cooked data in g. */
LIS3DSH_ACC_UNIT_MG = 0x01, /**< Cooked data in mg. */
LIS3DSH_ACC_UNIT_SI = 0x02, /**< Cooked data in m/s^2. */
} lis3dsh_acc_unit_t;
/**
* @brief Driver state machine possible states.
*/
@ -206,6 +432,14 @@ typedef struct {
*/
const I2CConfig *i2ccfg;
#endif /* LIS3DSH_USE_I2C */
/**
* @brief LIS3DSH initial sensitivity.
*/
float sensitivity[LIS3DSH_NUMBER_OF_AXES];
/**
* @brief LIS3DSH initial bias.
*/
float bias[LIS3DSH_NUMBER_OF_AXES];
/**
* @brief LIS3DSH full scale value.
*/
@ -214,22 +448,16 @@ typedef struct {
* @brief LIS3DSH output data rate selection.
*/
lis3dsh_odr_t outputdatarate;
#if LIS3DSH_USE_ADVANCED || defined(__DOXYGEN__)
/**
* @brief LIS3DSH anti-aliasing bandwidth.
*/
lis3dsh_bw_t antialiasing;
/**
* @brief LIS3DSH axes enabling.
*/
lis3dsh_ae_t axesenabling;
/**
* @brief LIS3DSH block data update.
*/
lis3dsh_bdu_t blockdataupdate;
/**
* @brief LIS3DSH unit for cooked data.
*/
lis3dsh_acc_unit_t unit;
#endif
} LIS3DSHConfig;
/**
@ -242,8 +470,8 @@ typedef struct LIS3DSHDriver LIS3DSHDriver;
*/
#define _lis3dsh_methods \
_base_accelerometer_methods \
/* Retrieve the temperature of L3GD20 chip.*/ \
msg_t (*get_temperature)(void *instance, int8_t* temperature);
/* Change full scale value of LIS3DSH.*/ \
msg_t (*set_full_scale)(void *instance, lis3dsh_fs_t fs);
/**
* @extends BaseAccelerometerVMT
@ -266,7 +494,9 @@ struct LIS3DSHVMT {
/* Current sensitivity.*/ \
float sensitivity[LIS3DSH_NUMBER_OF_AXES]; \
/* Bias data.*/ \
int32_t bias[LIS3DSH_NUMBER_OF_AXES];
int32_t bias[LIS3DSH_NUMBER_OF_AXES]; \
/* Current full scale value.*/ \
float fullscale;
/**
* @extends BaseAccelerometer
@ -291,20 +521,18 @@ struct LIS3DSHDriver {
/*===========================================================================*/
/**
* @brief Get current MEMS temperature.
* @detail This information is very useful especially for high accuracy IMU
* @note Value is raw since there is a lack of information in datasheet.
* @brief Change accelerometer fullscale value.
*
* @param[in] ip pointer to a @p BaseAccelerometer class.
* @param[out] temp the MEMS temperature as raw data.
* @param[in] fs the new full scale value.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
* @retval MSG_RESET if one or more errors occurred.
* @api
*/
#define accelerometerGetTemp(ip, tpp) \
(ip)->vmt_lis3dsh->get_temperature(ip, tpp)
#define accelerometerSetFullScale(ip, fs) \
(ip)->vmt_lis3dsh->set_full_scale(ip, fs)
/*===========================================================================*/
/* External declarations. */

9
testhal/STM32/STM32F4xx/SPI-LIS3DSH/Makefile
View File

@ -5,7 +5,7 @@
# Compiler options here.
ifeq ($(USE_OPT),)
USE_OPT = -O0 -ggdb -fomit-frame-pointer -falign-functions=16
USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16
endif
# C specific options here (added to USE_OPT).
@ -100,6 +100,7 @@ include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk
# Other files (optional).
include $(CHIBIOS)/os/ex/ST/lis3dsh.mk
include $(CHIBIOS)/os/hal/lib/streams/streams.mk
include $(CHIBIOS)/os/various/shell/shell.mk
# Define linker script file here
LDSCRIPT= $(STARTUPLD)/STM32F407xG.ld
@ -115,6 +116,7 @@ CSRC = $(STARTUPSRC) \
$(BOARDSRC) \
$(LIS3DSHSRC) \
$(STREAMSSRC) \
$(SHELLSRC) \
usbcfg.c main.c
# C++ sources that can be compiled in ARM or THUMB mode depending on the global
@ -148,7 +150,7 @@ ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
INCDIR = $(CHIBIOS)/os/license \
$(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
$(HALINC) $(PLATFORMINC) $(BOARDINC) $(LIS3DSHINC) \
$(STREAMSINC) $(CHIBIOS)/os/various
$(STREAMSINC) $(SHELLINC)
#
# Project, sources and paths
@ -198,7 +200,8 @@ CPPWARN = -Wall -Wextra -Wundef
#
# List all user C define here, like -D_DEBUG=1
UDEFS = -DCHPRINTF_USE_FLOAT=1
UDEFS = -DCHPRINTF_USE_FLOAT=1 -DSHELL_CMD_TEST_ENABLED=0 \
-DLIS3DSH_USE_ADVANCED=0
# Define ASM defines here
UADEFS =

186
testhal/STM32/STM32F4xx/SPI-LIS3DSH/main.c
View File

@ -18,43 +18,140 @@
#include "hal.h"
#include "usbcfg.h"
#include "string.h"
#include "shell.h"
#include "chprintf.h"
#include "lis3dsh.h"
/* Enable use of special ANSI escape sequences */
#define CHPRINTF_USE_ANSI_CODE TRUE
static BaseSequentialStream * chp = (BaseSequentialStream*) &SDU1;
/*===========================================================================*/
/* LIS3DSH related. */
/*===========================================================================*/
/* LIS3DSH Driver: This object represent an LIS3DSH instance */
static LIS3DSHDriver LIS3DSHD1;
static int32_t rawdata[LIS3DSH_NUMBER_OF_AXES];
static float cookeddata[LIS3DSH_NUMBER_OF_AXES];
static int8_t temperature;
static char axesID[LIS3DSH_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};
static char axisID[LIS3DSH_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};
static uint32_t i;
static const SPIConfig spicfg = {
NULL,
GPIOE, /* port of LIS3DSH CS */
GPIOE_CS_SPI, /* pin of LIS3DSH CS */
SPI_CR1_BR_1 | SPI_CR1_CPOL | SPI_CR1_CPHA,/* CR1 register*/ /* CR2 register */
GPIOE, /* port of LIS3DSH CS.*/
GPIOE_CS_SPI, /* pin of LIS3DSH CS.*/
SPI_CR1_BR_0 | SPI_CR1_CPOL | SPI_CR1_CPHA,/* CR1 register.*/
0 /* CR2 register.*/
};
static LIS3DSHConfig lis3dshcfg = {
&SPID1, /* Pointer to SPI Driver */
&spicfg, /* Pointer to SPI Configuration */
LIS3DSH_FS_2G, /* Full scale value */
LIS3DSH_ODR_100HZ, /* Output data rate */
LIS3DSH_BW_200HZ, /* AA filter BW 200 Hz */
LIS3DSH_AE_XYZ, /* Enabled axes */
LIS3DSH_BDU_BLOCKED, /* Block data update blocked */
LIS3DSH_ACC_UNIT_G /* Measurement unit for cooked */
&SPID1, /* Pointer to SPI Driver.*/
&spicfg, /* Pointer to SPI Configuration.*/
{0, 0, 0}, /* Use default sensitivity.*/
{0, 0, 0}, /* Use default bias.*/
LIS3DSH_FS_2G, /* Full scale value.*/
LIS3DSH_ODR_100HZ, /* Output data rate.*/
#if LIS3DSH_USE_ADVANCED || defined(__DOXYGEN__)
LIS3DSH_BW_400HZ, /* AA filter bandwidth.*/
LIS3DSH_BDU_CONTINUOUS, /* Block data update continuous.*/
#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(&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. */
/*===========================================================================*/
/*
* LED blinker thread, times are in milliseconds.
*/
@ -64,8 +161,13 @@ static THD_FUNCTION(Thread1, arg) {
(void)arg;
chRegSetThreadName("blinker");
while (true) {
palToggleLine(LINE_LED6);
chThdSleepMilliseconds(250);
systime_t time;
time = serusbcfg.usbp->state == USB_ACTIVE ? 250 : 500;
palClearLine(LINE_LED6);
chThdSleepMilliseconds(time);
palSetLine(LINE_LED6);
chThdSleepMilliseconds(time);
}
}
@ -84,9 +186,7 @@ int main(void) {
halInit();
chSysInit();
/*
* Initializes a serial-over-USB CDC driver.
*/
/* Initializes a serial-over-USB CDC driver.*/
sduObjectInit(&SDU1);
sduStart(&SDU1, &serusbcfg);
@ -99,38 +199,28 @@ int main(void) {
chThdSleepMilliseconds(1500);
usbStart(serusbcfg.usbp, &usbcfg);
usbConnectBus(serusbcfg.usbp);
/*
* Creates the blinker thread.
*/
/* Creates the blinker thread.*/
chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO + 1, Thread1, NULL);
/*
* LIS3DSH Object Initialization
*/
/* LIS3DSH Object Initialization.*/
lis3dshObjectInit(&LIS3DSHD1);
/*
* Activates the LIS3DSH driver.
*/
/* Activates the LIS3DSH driver.*/
lis3dshStart(&LIS3DSHD1, &lis3dshcfg);
while (TRUE) {
palToggleLine(LINE_LED3);
accelerometerReadRaw(&LIS3DSHD1, rawdata);
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
chprintf(chp, "RAW-%c:%d\r\n", axesID[i], rawdata[i]);
/* Shell manager initialization.*/
shellInit();
accelerometerReadCooked(&LIS3DSHD1, cookeddata);
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
chprintf(chp, "COOKED-%c:%.3f g\r\n", axesID[i], cookeddata[i]);
accelerometerGetTemp(&LIS3DSHD1, &temperature);
chprintf(chp, "TEMP:%d \r\n", temperature);
chThdSleepMilliseconds(150);
#if CHPRINTF_USE_ANSI_CODE
chprintf(chp, "\033[2J\033[1;1H");
#endif
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. */
}
chThdSleepMilliseconds(1000);
}
lis3dshStop(&LIS3DSHD1);
return 0;
}