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
parent
52bc6794fa
commit
be45af2a10
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@ -33,135 +33,6 @@
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/* Driver local definitions. */
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/* Driver local definitions. */
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/*===========================================================================*/
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/*===========================================================================*/
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#define LIS3DSH_SENS_2G ((float)0.06f)
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#define LIS3DSH_SENS_4G ((float)0.12f)
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#define LIS3DSH_SENS_6G ((float)0.18f)
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#define LIS3DSH_SENS_8G ((float)0.24f)
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#define LIS3DSH_SENS_16G ((float)0.73f)
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#define LIS3DSH_DI ((uint8_t)0xFF)
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#define LIS3DSH_DI_0 ((uint8_t)0x01)
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#define LIS3DSH_DI_1 ((uint8_t)0x02)
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#define LIS3DSH_DI_2 ((uint8_t)0x04)
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#define LIS3DSH_DI_3 ((uint8_t)0x08)
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#define LIS3DSH_DI_4 ((uint8_t)0x10)
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#define LIS3DSH_DI_5 ((uint8_t)0x20)
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#define LIS3DSH_DI_6 ((uint8_t)0x40)
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#define LIS3DSH_DI_7 ((uint8_t)0x80)
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#define LIS3DSH_AD ((uint8_t)0x3F)
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#define LIS3DSH_AD_0 ((uint8_t)0x01)
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#define LIS3DSH_AD_1 ((uint8_t)0x02)
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#define LIS3DSH_AD_2 ((uint8_t)0x04)
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#define LIS3DSH_AD_3 ((uint8_t)0x08)
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#define LIS3DSH_AD_4 ((uint8_t)0x10)
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#define LIS3DSH_AD_5 ((uint8_t)0x20)
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#define LIS3DSH_MS ((uint8_t)0x40)
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#define LIS3DSH_RW ((uint8_t)0x80)
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#define LIS3DSH_AD_INFO1 ((uint8_t)0x0D)
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#define LIS3DSH_AD_INFO2 ((uint8_t)0x0E)
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#define LIS3DSH_AD_WHO_AM_I ((uint8_t)0x0F)
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#define LIS3DSH_AD_CTRL_REG3 ((uint8_t)0x23)
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#define LIS3DSH_AD_CTRL_REG4 ((uint8_t)0x20)
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#define LIS3DSH_AD_CTRL_REG5 ((uint8_t)0x24)
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#define LIS3DSH_AD_CTRL_REG6 ((uint8_t)0x25)
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#define LIS3DSH_AD_STATUS ((uint8_t)0x27)
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#define LIS3DSH_AD_OUT_T ((uint8_t)0x0C)
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#define LIS3DSH_AD_OFF_X ((uint8_t)0x10)
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#define LIS3DSH_AD_OFF_Y ((uint8_t)0x11)
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#define LIS3DSH_AD_OFF_Z ((uint8_t)0x12)
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#define LIS3DSH_AD_CS_X ((uint8_t)0x13)
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#define LIS3DSH_AD_CS_Y ((uint8_t)0x14)
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#define LIS3DSH_AD_CS_Z ((uint8_t)0x15)
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#define LIS3DSH_AD_LC_L ((uint8_t)0x16)
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#define LIS3DSH_AD_LC_H ((uint8_t)0x17)
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#define LIS3DSH_AD_STAT ((uint8_t)0x18)
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#define LIS3DSH_AD_VFC_1 ((uint8_t)0x1B)
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#define LIS3DSH_AD_VFC_2 ((uint8_t)0x1C)
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#define LIS3DSH_AD_VFC_3 ((uint8_t)0x1D)
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#define LIS3DSH_AD_VFC_4 ((uint8_t)0x1E)
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#define LIS3DSH_AD_THRS3 ((uint8_t)0x1F)
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#define LIS3DSH_AD_OUT_X_L ((uint8_t)0x28)
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#define LIS3DSH_AD_OUT_X_H ((uint8_t)0x29)
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#define LIS3DSH_AD_OUT_Y_L ((uint8_t)0x2A)
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#define LIS3DSH_AD_OUT_Y_H ((uint8_t)0x2B)
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#define LIS3DSH_AD_OUT_Z_L ((uint8_t)0x2C)
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#define LIS3DSH_AD_OUT_Z_H ((uint8_t)0x2D)
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#define LIS3DSH_AD_FIFO_CTRL ((uint8_t)0x2E)
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#define LIS3DSH_AD_FIFO_SRC ((uint8_t)0x2F)
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#define LIS3DSH_AD_CTRL_REG1 ((uint8_t)0x21)
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#define LIS3DSH_AD_ST1_0 ((uint8_t)0x40)
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#define LIS3DSH_AD_ST1_1 ((uint8_t)0x41)
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#define LIS3DSH_AD_ST1_2 ((uint8_t)0x42)
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#define LIS3DSH_AD_ST1_3 ((uint8_t)0x43)
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#define LIS3DSH_AD_ST1_4 ((uint8_t)0x44)
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#define LIS3DSH_AD_ST1_5 ((uint8_t)0x45)
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#define LIS3DSH_AD_ST1_6 ((uint8_t)0x46)
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#define LIS3DSH_AD_ST1_7 ((uint8_t)0x47)
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#define LIS3DSH_AD_ST1_8 ((uint8_t)0x48)
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#define LIS3DSH_AD_ST1_9 ((uint8_t)0x49)
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#define LIS3DSH_AD_ST1_A ((uint8_t)0x4A)
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#define LIS3DSH_AD_ST1_B ((uint8_t)0x4B)
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#define LIS3DSH_AD_ST1_C ((uint8_t)0x4C)
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#define LIS3DSH_AD_ST1_D ((uint8_t)0x4D)
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#define LIS3DSH_AD_ST1_E ((uint8_t)0x4E)
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#define LIS3DSH_AD_ST1_F ((uint8_t)0x4F)
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#define LIS3DSH_AD_TIM4_1 ((uint8_t)0x50)
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#define LIS3DSH_AD_TIM3_1 ((uint8_t)0x51)
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#define LIS3DSH_AD_TIM2_1_L ((uint8_t)0x52)
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#define LIS3DSH_AD_TIM2_1_H ((uint8_t)0x53)
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#define LIS3DSH_AD_TIM1_1_L ((uint8_t)0x54)
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#define LIS3DSH_AD_TIM1_1_H ((uint8_t)0x55)
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#define LIS3DSH_AD_THRS2_1 ((uint8_t)0x56)
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#define LIS3DSH_AD_THRS1_1 ((uint8_t)0x57)
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#define LIS3DSH_AD_MASK1_B ((uint8_t)0x59)
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#define LIS3DSH_AD_MASK1_A ((uint8_t)0x5A)
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#define LIS3DSH_AD_SETT1 ((uint8_t)0x5B)
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#define LIS3DSH_AD_PR1 ((uint8_t)0x5C)
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#define LIS3DSH_AD_TC1_L ((uint8_t)0x5D)
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#define LIS3DSH_AD_TC1_H ((uint8_t)0x5E)
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#define LIS3DSH_AD_OUTS1 ((uint8_t)0x5F)
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#define LIS3DSH_AD_PEAK1 ((uint8_t)0x19)
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#define LIS3DSH_AD_CTRL_REG2 ((uint8_t)0x22)
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#define LIS3DSH_AD_ST2_0 ((uint8_t)0x60)
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#define LIS3DSH_AD_ST2_1 ((uint8_t)0x61)
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#define LIS3DSH_AD_ST2_2 ((uint8_t)0x62)
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#define LIS3DSH_AD_ST2_3 ((uint8_t)0x63)
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#define LIS3DSH_AD_ST2_4 ((uint8_t)0x64)
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#define LIS3DSH_AD_ST2_5 ((uint8_t)0x65)
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#define LIS3DSH_AD_ST2_6 ((uint8_t)0x66)
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#define LIS3DSH_AD_ST2_7 ((uint8_t)0x67)
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#define LIS3DSH_AD_ST2_8 ((uint8_t)0x68)
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#define LIS3DSH_AD_ST2_9 ((uint8_t)0x69)
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#define LIS3DSH_AD_ST2_A ((uint8_t)0x6A)
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#define LIS3DSH_AD_ST2_B ((uint8_t)0x6B)
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#define LIS3DSH_AD_ST2_C ((uint8_t)0x6C)
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#define LIS3DSH_AD_ST2_D ((uint8_t)0x6D)
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#define LIS3DSH_AD_ST2_E ((uint8_t)0x6E)
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#define LIS3DSH_AD_ST2_F ((uint8_t)0x6F)
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#define LIS3DSH_AD_TIM4_2 ((uint8_t)0x70)
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#define LIS3DSH_AD_TIM3_2 ((uint8_t)0x71)
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#define LIS3DSH_AD_TIM2_2_L ((uint8_t)0x72)
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#define LIS3DSH_AD_TIM2_2_H ((uint8_t)0x73)
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#define LIS3DSH_AD_TIM1_2_L ((uint8_t)0x74)
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#define LIS3DSH_AD_TIM1_2_H ((uint8_t)0x75)
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#define LIS3DSH_AD_THRS2_2 ((uint8_t)0x76)
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#define LIS3DSH_AD_THRS1_2 ((uint8_t)0x77)
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#define LIS3DSH_AD_MASK2_B ((uint8_t)0x79)
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#define LIS3DSH_AD_MASK2_A ((uint8_t)0x7A)
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#define LIS3DSH_AD_SETT2 ((uint8_t)0x7B)
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#define LIS3DSH_AD_PR2 ((uint8_t)0x7C)
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#define LIS3DSH_AD_TC2_L ((uint8_t)0x7D)
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#define LIS3DSH_AD_TC2_H ((uint8_t)0x7E)
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#define LIS3DSH_AD_OUTS2 ((uint8_t)0x7F)
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#define LIS3DSH_AD_PEAK2 ((uint8_t)0x1A)
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#define LIS3DSH_AD_DES2 ((uint8_t)0x78)
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#define LIS3DSH_CTRL_REG5_FS_MASK ((uint8_t)0x38)
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#define TO_G ((float)0.001f)
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#define TO_SI ((float)0.00981f)
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver exported variables. */
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/* Driver exported variables. */
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/*===========================================================================*/
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/*===========================================================================*/
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@ -178,142 +49,41 @@
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/**
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/**
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* @brief Reads a generic register value using SPI.
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* @brief Reads a generic register value using SPI.
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* @pre The SPI interface must be initialized and the driver started.
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* @pre The SPI interface must be initialized and the driver started.
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* @note Multiple write/read requires proper settings in CTRL_REG6.
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*
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*
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* @param[in] spip pointer to the SPI interface
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* @param[in] spip pointer to the SPI interface
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* @param[in] reg register number
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* @param[in] reg starting register address
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* @return register value.
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* @param[in] n number of adjacent registers to write
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* @param[in] b pointer to a buffer.
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*/
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*/
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static uint8_t lis3dshSPIReadRegister(SPIDriver *spip, uint8_t reg) {
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static void lis3dshSPIReadRegister(SPIDriver *spip, uint8_t reg, size_t n,
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uint8_t txbuf[2] = {LIS3DSH_RW | reg, 0xFF};
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uint8_t* b) {
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uint8_t rxbuf[2] = {0x00, 0x00};
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uint8_t cmd;
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cmd = reg | LIS3DSH_RW;
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spiSelect(spip);
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spiSelect(spip);
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spiExchange(spip, 2, txbuf, rxbuf);
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spiSend(spip, 1, &cmd);
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spiReceive(spip, n, b);
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spiUnselect(spip);
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spiUnselect(spip);
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return rxbuf[1];
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}
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}
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/**
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/**
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* @brief Writes a value into a generic register using SPI.
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* @brief Writes a value into a generic register using SPI.
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* @pre The SPI interface must be initialized and the driver started.
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* @pre The SPI interface must be initialized and the driver started.
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* @note Multiple write/read requires proper settings in CTRL_REG6.
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*
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*
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* @param[in] spip pointer to the SPI interface
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* @param[in] spip pointer to the SPI interface
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* @param[in] reg register number
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* @param[in] reg starting register address
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* @param[in] value register value.
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* @param[in] n number of adjacent registers to write
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* @param[in] value pointer to a buffer of values.
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*/
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*/
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static void lis3dshSPIWriteRegister(SPIDriver *spip, uint8_t reg,
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static void lis3dshSPIWriteRegister(SPIDriver *spip, uint8_t reg, size_t n,
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uint8_t value) {
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uint8_t* b) {
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uint8_t cmd;
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switch (reg) {
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cmd = reg;
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default:
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spiSelect(spip);
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/* Reserved register must not be written, according to the datasheet
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spiSend(spip, 1, &cmd);
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* this could permanently damage the device.
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spiSend(spip, n, b);
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*/
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spiUnselect(spip);
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osalDbgAssert(FALSE, "lis3dshSPIWriteRegister(), reserved register");
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case LIS3DSH_AD_INFO1:
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case LIS3DSH_AD_INFO2:
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case LIS3DSH_AD_WHO_AM_I:
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case LIS3DSH_AD_STATUS:
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case LIS3DSH_AD_OUT_T:
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case LIS3DSH_AD_STAT:
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case LIS3DSH_AD_OUT_X_L:
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case LIS3DSH_AD_OUT_X_H:
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case LIS3DSH_AD_OUT_Y_L:
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case LIS3DSH_AD_OUT_Y_H:
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case LIS3DSH_AD_OUT_Z_L:
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case LIS3DSH_AD_OUT_Z_H:
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case LIS3DSH_AD_FIFO_SRC:
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case LIS3DSH_AD_FIFO_CTRL:
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case LIS3DSH_AD_PR1:
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case LIS3DSH_AD_TC1_L:
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case LIS3DSH_AD_TC1_H:
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case LIS3DSH_AD_OUTS1:
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case LIS3DSH_AD_PEAK1:
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case LIS3DSH_AD_PR2:
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case LIS3DSH_AD_TC2_L:
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case LIS3DSH_AD_TC2_H:
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case LIS3DSH_AD_OUTS2:
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case LIS3DSH_AD_PEAK2:
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/* Read only registers cannot be written, the command is ignored.*/
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return;
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case LIS3DSH_AD_CTRL_REG3:
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case LIS3DSH_AD_CTRL_REG4:
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case LIS3DSH_AD_CTRL_REG5:
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case LIS3DSH_AD_CTRL_REG6:
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case LIS3DSH_AD_OFF_X:
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case LIS3DSH_AD_OFF_Y:
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case LIS3DSH_AD_OFF_Z:
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case LIS3DSH_AD_CS_X:
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case LIS3DSH_AD_CS_Y:
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case LIS3DSH_AD_CS_Z:
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case LIS3DSH_AD_LC_L:
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case LIS3DSH_AD_LC_H:
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case LIS3DSH_AD_VFC_1:
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case LIS3DSH_AD_VFC_2:
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case LIS3DSH_AD_VFC_3:
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case LIS3DSH_AD_VFC_4:
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case LIS3DSH_AD_THRS3:
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case LIS3DSH_AD_CTRL_REG1:
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case LIS3DSH_AD_ST1_0:
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case LIS3DSH_AD_ST1_1:
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case LIS3DSH_AD_ST1_2:
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case LIS3DSH_AD_ST1_3:
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case LIS3DSH_AD_ST1_4:
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case LIS3DSH_AD_ST1_5:
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case LIS3DSH_AD_ST1_6:
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case LIS3DSH_AD_ST1_7:
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case LIS3DSH_AD_ST1_8:
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case LIS3DSH_AD_ST1_9:
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case LIS3DSH_AD_ST1_A:
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case LIS3DSH_AD_ST1_B:
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case LIS3DSH_AD_ST1_C:
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case LIS3DSH_AD_ST1_D:
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case LIS3DSH_AD_ST1_E:
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case LIS3DSH_AD_ST1_F:
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case LIS3DSH_AD_TIM4_1:
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case LIS3DSH_AD_TIM3_1:
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case LIS3DSH_AD_TIM2_1_L:
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case LIS3DSH_AD_TIM2_1_H:
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case LIS3DSH_AD_TIM1_1_L:
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case LIS3DSH_AD_TIM1_1_H:
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case LIS3DSH_AD_THRS2_1:
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case LIS3DSH_AD_THRS1_1:
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case LIS3DSH_AD_MASK1_B:
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case LIS3DSH_AD_MASK1_A:
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case LIS3DSH_AD_SETT1:
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case LIS3DSH_AD_CTRL_REG2:
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case LIS3DSH_AD_ST2_0:
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case LIS3DSH_AD_ST2_1:
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case LIS3DSH_AD_ST2_2:
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case LIS3DSH_AD_ST2_3:
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case LIS3DSH_AD_ST2_4:
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|
||||||
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);
|
|
||||||
}
|
|
||||||
}
|
}
|
||||||
#endif /* LIS3DSH_USE_SPI */
|
#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]) {
|
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;
|
int16_t tmp;
|
||||||
osalDbgCheck((ip != NULL) && (axes != NULL));
|
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,
|
spiStart(((LIS3DSHDriver *)ip)->config->spip,
|
||||||
((LIS3DSHDriver *)ip)->config->spicfg);
|
((LIS3DSHDriver *)ip)->config->spicfg);
|
||||||
#endif /* LIS3DSH_SHARED_SPI */
|
#endif /* LIS3DSH_SHARED_SPI */
|
||||||
if(((LIS3DSHDriver *)ip)->config->axesenabling & LIS3DSH_AE_X){
|
lis3dshSPIReadRegister(((LIS3DSHDriver *)ip)->config->spip, LIS3DSH_AD_OUT_X_L,
|
||||||
tmp = lis3dshSPIReadRegister(((LIS3DSHDriver *)ip)->config->spip,
|
LIS3DSH_NUMBER_OF_AXES * 2, buff);
|
||||||
LIS3DSH_AD_OUT_X_L);
|
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) {
|
||||||
tmp += lis3dshSPIReadRegister(((LIS3DSHDriver *)ip)->config->spip,
|
tmp = buff[2*i] + (buff[2*i+1] << 8);
|
||||||
LIS3DSH_AD_OUT_X_H) << 8;
|
axes[i] = (int32_t)tmp;
|
||||||
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];
|
|
||||||
}
|
|
||||||
#if LIS3DSH_SHARED_SPI
|
#if LIS3DSH_SHARED_SPI
|
||||||
spiReleaseBus(((LIS3DSHDriver *)ip)->config->spip);
|
spiReleaseBus(((LIS3DSHDriver *)ip)->config->spip);
|
||||||
#endif /* LIS3DSH_SHARED_SPI */
|
#endif /* LIS3DSH_SHARED_SPI */
|
||||||
|
|
@ -369,6 +125,7 @@ static msg_t read_raw(void *ip, int32_t axes[LIS3DSH_NUMBER_OF_AXES]) {
|
||||||
return MSG_OK;
|
return MSG_OK;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
static msg_t read_cooked(void *ip, float axes[]) {
|
static msg_t read_cooked(void *ip, float axes[]) {
|
||||||
uint32_t i;
|
uint32_t i;
|
||||||
int32_t raw[LIS3DSH_NUMBER_OF_AXES];
|
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));
|
osalDbgCheck((ip != NULL) && (axes != NULL));
|
||||||
|
|
||||||
osalDbgAssert((((LIS3DSHDriver *)ip)->state == LIS3DSH_READY),
|
osalDbgAssert((((LIS3DSHDriver *)ip)->state == LIS3DSH_READY),
|
||||||
"read_cooked(), invalid state");
|
"read_cooked(), invalid state");
|
||||||
|
|
||||||
msg = read_raw(ip, raw);
|
msg = read_raw(ip, raw);
|
||||||
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES ; i++){
|
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES ; i++){
|
||||||
axes[i] = raw[i] * ((LIS3DSHDriver *)ip)->sensitivity[i];
|
axes[i] = (raw[i] * ((LIS3DSHDriver *)ip)->sensitivity[i]);
|
||||||
if(((LIS3DSHDriver *)ip)->config->unit == LIS3DSH_ACC_UNIT_G){
|
axes[i] -= ((LIS3DSHDriver *)ip)->bias[i];
|
||||||
axes[i] *= TO_G;
|
|
||||||
}
|
|
||||||
else if(((LIS3DSHDriver *)ip)->config->unit == LIS3DSH_ACC_UNIT_SI){
|
|
||||||
axes[i] *= TO_SI;
|
|
||||||
}
|
|
||||||
}
|
}
|
||||||
return msg;
|
return msg;
|
||||||
}
|
}
|
||||||
|
|
@ -465,21 +217,47 @@ static msg_t reset_sensivity(void *ip) {
|
||||||
return MSG_OK;
|
return MSG_OK;
|
||||||
}
|
}
|
||||||
|
|
||||||
static msg_t get_temperature(void *ip, int8_t* tempp) {
|
static msg_t set_full_scale(void *ip, lis3dsh_fs_t fs) {
|
||||||
#if LIS3DSH_USE_SPI
|
float newfs, scale;
|
||||||
osalDbgAssert((((LIS3DSHDriver *)ip)->config->spip->state == SPI_READY),
|
uint8_t i, cr;
|
||||||
"read_raw(), channel not ready");
|
|
||||||
#if LIS3DSH_SHARED_SPI
|
if(fs == LIS3DSH_FS_2G) {
|
||||||
spiAcquireBus(((LIS3DSHDriver *)ip)->config->spip);
|
newfs = LIS3DSH_2G;
|
||||||
spiStart(((LIS3DSHDriver *)ip)->config->spip,
|
}
|
||||||
((LIS3DSHDriver *)ip)->config->spicfg);
|
else if(fs == LIS3DSH_FS_4G) {
|
||||||
#endif /* LIS3DSH_SHARED_SPI */
|
newfs = LIS3DSH_4G;
|
||||||
*tempp = lis3dshSPIReadRegister(((LIS3DSHDriver *)ip)->config->spip,
|
}
|
||||||
LIS3DSH_AD_OUT_T);
|
else if(fs == LIS3DSH_FS_6G) {
|
||||||
#if LIS3DSH_SHARED_SPI
|
newfs = LIS3DSH_6G;
|
||||||
spiReleaseBus(((LIS3DSHDriver *)ip)->config->spip);
|
}
|
||||||
#endif /* LIS3DSH_SHARED_SPI */
|
else if(fs == LIS3DSH_FS_8G) {
|
||||||
#endif /* LIS3DSH_USE_SPI */
|
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;
|
return MSG_OK;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
@ -495,7 +273,7 @@ static const struct BaseAccelerometerVMT vmt_baseaccelerometer = {
|
||||||
static const struct LIS3DSHVMT vmt_lis3dsh = {
|
static const struct LIS3DSHVMT vmt_lis3dsh = {
|
||||||
get_axes_number, read_raw, read_cooked,
|
get_axes_number, read_raw, read_cooked,
|
||||||
set_bias, reset_bias, set_sensivity, reset_sensivity,
|
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) {
|
void lis3dshStart(LIS3DSHDriver *devp, const LIS3DSHConfig *config) {
|
||||||
uint32_t i;
|
uint32_t i;
|
||||||
osalDbgCheck((devp != NULL) && (config != NULL));
|
osalDbgCheck((devp != NULL) && (config != NULL));
|
||||||
|
uint8_t cr;
|
||||||
osalDbgAssert((devp->state == LIS3DSH_STOP) || (devp->state == LIS3DSH_READY),
|
osalDbgAssert((devp->state == LIS3DSH_STOP) || (devp->state == LIS3DSH_READY),
|
||||||
"lis3dshStart(), invalid state");
|
"lis3dshStart(), invalid state");
|
||||||
|
|
||||||
|
|
@ -543,34 +321,68 @@ void lis3dshStart(LIS3DSHDriver *devp, const LIS3DSHConfig *config) {
|
||||||
#endif /* LIS3DSH_SHARED_SPI */
|
#endif /* LIS3DSH_SHARED_SPI */
|
||||||
spiStart((devp)->config->spip,
|
spiStart((devp)->config->spip,
|
||||||
(devp)->config->spicfg);
|
(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,
|
lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG4,
|
||||||
devp->config->axesenabling |
|
1, &cr);
|
||||||
devp->config->blockdataupdate |
|
|
||||||
devp->config->outputdatarate);
|
/* 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,
|
lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG5,
|
||||||
devp->config->fullscale |
|
1, &cr);
|
||||||
devp->config->antialiasing );
|
|
||||||
|
/* 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
|
#if LIS3DSH_SHARED_SPI
|
||||||
spiReleaseBus((devp)->config->spip);
|
spiReleaseBus((devp)->config->spip);
|
||||||
#endif /* LIS3DSH_SHARED_SPI */
|
#endif /* LIS3DSH_SHARED_SPI */
|
||||||
#endif /* LIS3DSH_USE_SPI */
|
#endif /* LIS3DSH_USE_SPI */
|
||||||
|
|
||||||
/* Storing sensitivity information according to full scale value */
|
/* Storing sensitivity information according to 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++)
|
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
|
||||||
devp->sensitivity[i] = LIS3DSH_SENS_2G;
|
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++)
|
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
|
||||||
devp->sensitivity[i] = LIS3DSH_SENS_4G;
|
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++)
|
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
|
||||||
devp->sensitivity[i] = LIS3DSH_SENS_6G;
|
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++)
|
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
|
||||||
devp->sensitivity[i] = LIS3DSH_SENS_8G;
|
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++)
|
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
|
||||||
devp->sensitivity[i] = LIS3DSH_SENS_16G;
|
devp->sensitivity[i] = LIS3DSH_SENS_16G;
|
||||||
|
}
|
||||||
else {
|
else {
|
||||||
osalDbgAssert(FALSE, "lis3dshStart(), accelerometer full scale issue");
|
osalDbgAssert(FALSE, "lis3dshStart(), accelerometer full scale issue");
|
||||||
}
|
}
|
||||||
|
|
@ -588,7 +400,7 @@ void lis3dshStart(LIS3DSHDriver *devp, const LIS3DSHConfig *config) {
|
||||||
* @api
|
* @api
|
||||||
*/
|
*/
|
||||||
void lis3dshStop(LIS3DSHDriver *devp) {
|
void lis3dshStop(LIS3DSHDriver *devp) {
|
||||||
|
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),
|
||||||
|
|
@ -601,8 +413,10 @@ void lis3dshStop(LIS3DSHDriver *devp) {
|
||||||
spiStart((devp)->config->spip,
|
spiStart((devp)->config->spip,
|
||||||
(devp)->config->spicfg);
|
(devp)->config->spicfg);
|
||||||
#endif /* LIS3DSH_SHARED_SPI */
|
#endif /* LIS3DSH_SHARED_SPI */
|
||||||
lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG4,
|
/* Disabling all axes and enabling power down mode.*/
|
||||||
LIS3DSH_ODR_PD | LIS3DSH_AE_DISABLED);
|
cr4 = 0;
|
||||||
|
lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG4,
|
||||||
|
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);
|
||||||
|
|
|
||||||
|
|
@ -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. */
|
/* Driver pre-compile time settings. */
|
||||||
|
|
@ -65,6 +305,15 @@
|
||||||
#define LIS3DSH_USE_I2C FALSE
|
#define LIS3DSH_USE_I2C FALSE
|
||||||
#endif
|
#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.
|
* @brief LIS3DSH shared SPI switch.
|
||||||
* @details If set to @p TRUE the device acquires SPI bus ownership
|
* @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_50HZ = 0xC0 /**< AA filter BW 50Hz. */
|
||||||
}lis3dsh_bw_t;
|
}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.
|
* @brief LIS3DSH block data update.
|
||||||
*/
|
*/
|
||||||
|
|
@ -163,15 +398,6 @@ typedef enum {
|
||||||
LIS3DSH_BDU_BLOCKED = 0x80 /**< Block data updated after reading. */
|
LIS3DSH_BDU_BLOCKED = 0x80 /**< Block data updated after reading. */
|
||||||
} lis3dsh_bdu_t;
|
} 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.
|
* @brief Driver state machine possible states.
|
||||||
*/
|
*/
|
||||||
|
|
@ -206,6 +432,14 @@ typedef struct {
|
||||||
*/
|
*/
|
||||||
const I2CConfig *i2ccfg;
|
const I2CConfig *i2ccfg;
|
||||||
#endif /* LIS3DSH_USE_I2C */
|
#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.
|
* @brief LIS3DSH full scale value.
|
||||||
*/
|
*/
|
||||||
|
|
@ -214,22 +448,16 @@ typedef struct {
|
||||||
* @brief LIS3DSH output data rate selection.
|
* @brief LIS3DSH output data rate selection.
|
||||||
*/
|
*/
|
||||||
lis3dsh_odr_t outputdatarate;
|
lis3dsh_odr_t outputdatarate;
|
||||||
|
#if LIS3DSH_USE_ADVANCED || defined(__DOXYGEN__)
|
||||||
/**
|
/**
|
||||||
* @brief LIS3DSH anti-aliasing bandwidth.
|
* @brief LIS3DSH anti-aliasing bandwidth.
|
||||||
*/
|
*/
|
||||||
lis3dsh_bw_t antialiasing;
|
lis3dsh_bw_t antialiasing;
|
||||||
/**
|
|
||||||
* @brief LIS3DSH axes enabling.
|
|
||||||
*/
|
|
||||||
lis3dsh_ae_t axesenabling;
|
|
||||||
/**
|
/**
|
||||||
* @brief LIS3DSH block data update.
|
* @brief LIS3DSH block data update.
|
||||||
*/
|
*/
|
||||||
lis3dsh_bdu_t blockdataupdate;
|
lis3dsh_bdu_t blockdataupdate;
|
||||||
/**
|
#endif
|
||||||
* @brief LIS3DSH unit for cooked data.
|
|
||||||
*/
|
|
||||||
lis3dsh_acc_unit_t unit;
|
|
||||||
} LIS3DSHConfig;
|
} LIS3DSHConfig;
|
||||||
|
|
||||||
/**
|
/**
|
||||||
|
|
@ -242,8 +470,8 @@ typedef struct LIS3DSHDriver LIS3DSHDriver;
|
||||||
*/
|
*/
|
||||||
#define _lis3dsh_methods \
|
#define _lis3dsh_methods \
|
||||||
_base_accelerometer_methods \
|
_base_accelerometer_methods \
|
||||||
/* Retrieve the temperature of L3GD20 chip.*/ \
|
/* Change full scale value of LIS3DSH.*/ \
|
||||||
msg_t (*get_temperature)(void *instance, int8_t* temperature);
|
msg_t (*set_full_scale)(void *instance, lis3dsh_fs_t fs);
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* @extends BaseAccelerometerVMT
|
* @extends BaseAccelerometerVMT
|
||||||
|
|
@ -266,7 +494,9 @@ struct LIS3DSHVMT {
|
||||||
/* Current sensitivity.*/ \
|
/* Current sensitivity.*/ \
|
||||||
float sensitivity[LIS3DSH_NUMBER_OF_AXES]; \
|
float sensitivity[LIS3DSH_NUMBER_OF_AXES]; \
|
||||||
/* Bias data.*/ \
|
/* Bias data.*/ \
|
||||||
int32_t bias[LIS3DSH_NUMBER_OF_AXES];
|
int32_t bias[LIS3DSH_NUMBER_OF_AXES]; \
|
||||||
|
/* Current full scale value.*/ \
|
||||||
|
float fullscale;
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* @extends BaseAccelerometer
|
* @extends BaseAccelerometer
|
||||||
|
|
@ -291,20 +521,18 @@ struct LIS3DSHDriver {
|
||||||
/*===========================================================================*/
|
/*===========================================================================*/
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* @brief Get current MEMS temperature.
|
* @brief Change accelerometer fullscale value.
|
||||||
* @detail This information is very useful especially for high accuracy IMU
|
|
||||||
* @note Value is raw since there is a lack of information in datasheet.
|
|
||||||
*
|
*
|
||||||
* @param[in] ip pointer to a @p BaseAccelerometer class.
|
* @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.
|
* @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 errors occurred.
|
||||||
* @api
|
* @api
|
||||||
*/
|
*/
|
||||||
#define accelerometerGetTemp(ip, tpp) \
|
#define accelerometerSetFullScale(ip, fs) \
|
||||||
(ip)->vmt_lis3dsh->get_temperature(ip, tpp)
|
(ip)->vmt_lis3dsh->set_full_scale(ip, fs)
|
||||||
|
|
||||||
/*===========================================================================*/
|
/*===========================================================================*/
|
||||||
/* External declarations. */
|
/* External declarations. */
|
||||||
|
|
|
||||||
|
|
@ -5,7 +5,7 @@
|
||||||
|
|
||||||
# Compiler options here.
|
# Compiler options here.
|
||||||
ifeq ($(USE_OPT),)
|
ifeq ($(USE_OPT),)
|
||||||
USE_OPT = -O0 -ggdb -fomit-frame-pointer -falign-functions=16
|
USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16
|
||||||
endif
|
endif
|
||||||
|
|
||||||
# C specific options here (added to USE_OPT).
|
# 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).
|
# Other files (optional).
|
||||||
include $(CHIBIOS)/os/ex/ST/lis3dsh.mk
|
include $(CHIBIOS)/os/ex/ST/lis3dsh.mk
|
||||||
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
|
||||||
|
|
@ -115,6 +116,7 @@ CSRC = $(STARTUPSRC) \
|
||||||
$(BOARDSRC) \
|
$(BOARDSRC) \
|
||||||
$(LIS3DSHSRC) \
|
$(LIS3DSHSRC) \
|
||||||
$(STREAMSSRC) \
|
$(STREAMSSRC) \
|
||||||
|
$(SHELLSRC) \
|
||||||
usbcfg.c main.c
|
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
|
||||||
|
|
@ -148,7 +150,7 @@ ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
|
||||||
INCDIR = $(CHIBIOS)/os/license \
|
INCDIR = $(CHIBIOS)/os/license \
|
||||||
$(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
|
$(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
|
||||||
$(HALINC) $(PLATFORMINC) $(BOARDINC) $(LIS3DSHINC) \
|
$(HALINC) $(PLATFORMINC) $(BOARDINC) $(LIS3DSHINC) \
|
||||||
$(STREAMSINC) $(CHIBIOS)/os/various
|
$(STREAMSINC) $(SHELLINC)
|
||||||
|
|
||||||
#
|
#
|
||||||
# Project, sources and paths
|
# Project, sources and paths
|
||||||
|
|
@ -198,7 +200,8 @@ 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
|
UDEFS = -DCHPRINTF_USE_FLOAT=1 -DSHELL_CMD_TEST_ENABLED=0 \
|
||||||
|
-DLIS3DSH_USE_ADVANCED=0
|
||||||
|
|
||||||
# Define ASM defines here
|
# Define ASM defines here
|
||||||
UADEFS =
|
UADEFS =
|
||||||
|
|
|
||||||
|
|
@ -18,43 +18,140 @@
|
||||||
#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"
|
||||||
|
|
||||||
/* Enable use of special ANSI escape sequences */
|
/*===========================================================================*/
|
||||||
#define CHPRINTF_USE_ANSI_CODE TRUE
|
/* LIS3DSH related. */
|
||||||
|
/*===========================================================================*/
|
||||||
static BaseSequentialStream * chp = (BaseSequentialStream*) &SDU1;
|
|
||||||
|
|
||||||
/* 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 rawdata[LIS3DSH_NUMBER_OF_AXES];
|
||||||
static float cookeddata[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 uint32_t i;
|
||||||
|
|
||||||
static const SPIConfig spicfg = {
|
static const SPIConfig spicfg = {
|
||||||
NULL,
|
NULL,
|
||||||
GPIOE, /* port of LIS3DSH CS */
|
GPIOE, /* port of LIS3DSH CS.*/
|
||||||
GPIOE_CS_SPI, /* pin of LIS3DSH CS */
|
GPIOE_CS_SPI, /* pin of LIS3DSH CS.*/
|
||||||
SPI_CR1_BR_1 | SPI_CR1_CPOL | SPI_CR1_CPHA,/* CR1 register*/ /* CR2 register */
|
SPI_CR1_BR_0 | SPI_CR1_CPOL | SPI_CR1_CPHA,/* CR1 register.*/
|
||||||
|
0 /* CR2 register.*/
|
||||||
};
|
};
|
||||||
|
|
||||||
static LIS3DSHConfig lis3dshcfg = {
|
static LIS3DSHConfig lis3dshcfg = {
|
||||||
&SPID1, /* Pointer to SPI Driver */
|
&SPID1, /* Pointer to SPI Driver.*/
|
||||||
&spicfg, /* Pointer to SPI Configuration */
|
&spicfg, /* Pointer to SPI Configuration.*/
|
||||||
LIS3DSH_FS_2G, /* Full scale value */
|
{0, 0, 0}, /* Use default sensitivity.*/
|
||||||
LIS3DSH_ODR_100HZ, /* Output data rate */
|
{0, 0, 0}, /* Use default bias.*/
|
||||||
LIS3DSH_BW_200HZ, /* AA filter BW 200 Hz */
|
LIS3DSH_FS_2G, /* Full scale value.*/
|
||||||
LIS3DSH_AE_XYZ, /* Enabled axes */
|
LIS3DSH_ODR_100HZ, /* Output data rate.*/
|
||||||
LIS3DSH_BDU_BLOCKED, /* Block data update blocked */
|
#if LIS3DSH_USE_ADVANCED || defined(__DOXYGEN__)
|
||||||
LIS3DSH_ACC_UNIT_G /* Measurement unit for cooked */
|
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.
|
* LED blinker thread, times are in milliseconds.
|
||||||
*/
|
*/
|
||||||
|
|
@ -64,8 +161,13 @@ static THD_FUNCTION(Thread1, arg) {
|
||||||
(void)arg;
|
(void)arg;
|
||||||
chRegSetThreadName("blinker");
|
chRegSetThreadName("blinker");
|
||||||
while (true) {
|
while (true) {
|
||||||
palToggleLine(LINE_LED6);
|
systime_t time;
|
||||||
chThdSleepMilliseconds(250);
|
|
||||||
|
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();
|
halInit();
|
||||||
chSysInit();
|
chSysInit();
|
||||||
|
|
||||||
/*
|
/* Initializes a serial-over-USB CDC driver.*/
|
||||||
* Initializes a serial-over-USB CDC driver.
|
|
||||||
*/
|
|
||||||
sduObjectInit(&SDU1);
|
sduObjectInit(&SDU1);
|
||||||
sduStart(&SDU1, &serusbcfg);
|
sduStart(&SDU1, &serusbcfg);
|
||||||
|
|
||||||
|
|
@ -99,38 +199,28 @@ int main(void) {
|
||||||
chThdSleepMilliseconds(1500);
|
chThdSleepMilliseconds(1500);
|
||||||
usbStart(serusbcfg.usbp, &usbcfg);
|
usbStart(serusbcfg.usbp, &usbcfg);
|
||||||
usbConnectBus(serusbcfg.usbp);
|
usbConnectBus(serusbcfg.usbp);
|
||||||
/*
|
|
||||||
* Creates the blinker thread.
|
/* Creates the blinker thread.*/
|
||||||
*/
|
|
||||||
chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO + 1, Thread1, NULL);
|
chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO + 1, Thread1, NULL);
|
||||||
|
|
||||||
/*
|
/* LIS3DSH Object Initialization.*/
|
||||||
* LIS3DSH Object Initialization
|
|
||||||
*/
|
|
||||||
lis3dshObjectInit(&LIS3DSHD1);
|
lis3dshObjectInit(&LIS3DSHD1);
|
||||||
|
|
||||||
/*
|
/* Activates the LIS3DSH driver.*/
|
||||||
* Activates the LIS3DSH driver.
|
|
||||||
*/
|
|
||||||
lis3dshStart(&LIS3DSHD1, &lis3dshcfg);
|
lis3dshStart(&LIS3DSHD1, &lis3dshcfg);
|
||||||
|
|
||||||
while (TRUE) {
|
/* Shell manager initialization.*/
|
||||||
palToggleLine(LINE_LED3);
|
shellInit();
|
||||||
accelerometerReadRaw(&LIS3DSHD1, rawdata);
|
|
||||||
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
|
|
||||||
chprintf(chp, "RAW-%c:%d\r\n", axesID[i], rawdata[i]);
|
|
||||||
|
|
||||||
accelerometerReadCooked(&LIS3DSHD1, cookeddata);
|
while(TRUE) {
|
||||||
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
|
if (SDU1.config->usbp->state == USB_ACTIVE) {
|
||||||
chprintf(chp, "COOKED-%c:%.3f g\r\n", axesID[i], cookeddata[i]);
|
thread_t *shelltp = chThdCreateFromHeap(NULL, SHELL_WA_SIZE,
|
||||||
|
"shell", NORMALPRIO + 1,
|
||||||
accelerometerGetTemp(&LIS3DSHD1, &temperature);
|
shellThread, (void *)&shell_cfg1);
|
||||||
chprintf(chp, "TEMP:%d \r\n", temperature);
|
chThdWait(shelltp); /* Waiting termination. */
|
||||||
|
}
|
||||||
chThdSleepMilliseconds(150);
|
chThdSleepMilliseconds(1000);
|
||||||
#if CHPRINTF_USE_ANSI_CODE
|
|
||||||
chprintf(chp, "\033[2J\033[1;1H");
|
|
||||||
#endif
|
|
||||||
}
|
}
|
||||||
lis3dshStop(&LIS3DSHD1);
|
lis3dshStop(&LIS3DSHD1);
|
||||||
|
return 0;
|
||||||
}
|
}
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue