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Updated LIS3MDL driver 

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@11705 110e8d01-0319-4d1e-a829-52ad28d1bb01
This commit is contained in:
Rocco Marco Guglielmi 2018-03-11 16:46:12 +00:00
parent 502f971ea4
commit c3e3f6d5cf
6 changed files with 715 additions and 506 deletions
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588
os/ex/ST/lis3mdl.c
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@ -1,5 +1,5 @@
/*
ChibiOS - Copyright (C) 2016 Rocco Marco Guglielmi
ChibiOS - Copyright (C) 2016-2018 Rocco Marco Guglielmi
This file is part of ChibiOS.
@ -92,218 +92,345 @@ msg_t lis3mdlI2CWriteRegister(I2CDriver *i2cp, lis3mdl_sad_t sad, uint8_t* txbuf
}
#endif /* LIS3MDL_USE_I2C */
/*
* Interface implementation.
/**
* @brief Return the number of axes of the BaseCompass.
*
* @param[in] ip pointer to @p BaseCompass interface
*
* @return the number of axes.
*/
static size_t get_axes_number(void *ip) {
static size_t comp_get_axes_number(void *ip) {
osalDbgCheck(ip != NULL);
return LIS3MDL_NUMBER_OF_AXES;
return LIS3MDL_COMP_NUMBER_OF_AXES;
}
static msg_t read_raw(void *ip, int32_t axes[LIS3MDL_NUMBER_OF_AXES]) {
/**
* @brief Retrieves raw data from the BaseCompass.
* @note This data is retrieved from MEMS register without any algebraical
* manipulation.
* @note The axes array must be at least the same size of the
* BaseCompass axes number.
*
* @param[in] ip pointer to @p BaseCompass interface.
* @param[out] axes a buffer which would be filled with raw data.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
* @retval MSG_RESET if one or more I2C errors occurred, the errors can
* be retrieved using @p i2cGetErrors().
* @retval MSG_TIMEOUT if a timeout occurred before operation end.
*/
static msg_t comp_read_raw(void *ip, int32_t axes[]) {
LIS3MDLDriver* devp;
uint8_t buff [LIS3MDL_COMP_NUMBER_OF_AXES * 2], i;
int16_t tmp;
uint8_t i, buff[2 * LIS3MDL_NUMBER_OF_AXES];
msg_t msg = MSG_OK;
msg_t msg;
osalDbgCheck((ip != NULL) && (axes != NULL));
osalDbgAssert((((LIS3MDLDriver *)ip)->state == LIS3MDL_READY),
"read_raw(), invalid state");
#if LIS3MDL_USE_I2C
osalDbgAssert((((LIS3MDLDriver *)ip)->config->i2cp->state == I2C_READY),
"read_raw(), channel not ready");
#if LIS3MDL_SHARED_I2C
i2cAcquireBus(((LIS3MDLDriver *)ip)->config->i2cp);
i2cStart(((LIS3MDLDriver *)ip)->config->i2cp,
((LIS3MDLDriver *)ip)->config->i2ccfg);
#endif /* LIS3MDL_SHARED_I2C */
/* Getting parent instance pointer.*/
devp = objGetInstance(LIS3MDLDriver*, (BaseCompass*)ip);
msg = lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
((LIS3MDLDriver *)ip)->config->slaveaddress,
LIS3MDL_AD_OUT_X_L, buff, 2 * LIS3MDL_NUMBER_OF_AXES);
osalDbgAssert((devp->state == LIS3MDL_READY),
"comp_read_raw(), invalid state");
osalDbgAssert((devp->config->i2cp->state == I2C_READY),
"comp_read_raw(), channel not ready");
#if LIS3MDL_SHARED_I2C
i2cReleaseBus(((LIS3MDLDriver *)ip)->config->i2cp);
i2cAcquireBus(devp->config->i2cp);
i2cStart(devp->config->i2cp,
devp->config->i2ccfg);
#endif /* LIS3MDL_SHARED_I2C */
#endif /* LIS3MDL_USE_I2C */
for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++) {
if(msg == MSG_OK) {
tmp = buff[2*i] + (buff[2*i+1] << 8);
msg = lis3mdlI2CReadRegister(devp->config->i2cp, devp->config->slaveaddress,
LIS3MDL_AD_OUT_X_L, buff,
LIS3MDL_COMP_NUMBER_OF_AXES * 2);
#if LIS3MDL_SHARED_I2C
i2cReleaseBus(devp->config->i2cp);
#endif /* LIS3MDL_SHARED_I2C */
if(msg == MSG_OK)
for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) {
tmp = buff[2 * i] + (buff[2 * i + 1] << 8);
axes[i] = (int32_t)tmp;
}
else{
axes[i] = 0;
}
}
return msg;
}
static msg_t read_cooked(void *ip, float axes[]) {
/**
* @brief Retrieves cooked data from the BaseCompass.
* @note This data is manipulated according to the formula
* cooked = (raw * sensitivity) - bias.
* @note Final data is expressed as G.
* @note The axes array must be at least the same size of the
* BaseCompass axes number.
*
* @param[in] ip pointer to @p BaseCompass interface.
* @param[out] axes a buffer which would be filled with cooked data.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
* @retval MSG_RESET if one or more I2C errors occurred, the errors can
* be retrieved using @p i2cGetErrors().
* @retval MSG_TIMEOUT if a timeout occurred before operation end.
*/
static msg_t comp_read_cooked(void *ip, float axes[]) {
LIS3MDLDriver* devp;
uint32_t i;
int32_t raw[LIS3MDL_NUMBER_OF_AXES];
int32_t raw[LIS3MDL_COMP_NUMBER_OF_AXES];
msg_t msg;
osalDbgCheck((ip != NULL) && (axes != NULL));
osalDbgAssert((((LIS3MDLDriver *)ip)->state == LIS3MDL_READY),
"read_cooked(), invalid state");
msg = read_raw(ip, raw);
for(i = 0; i < LIS3MDL_NUMBER_OF_AXES ; i++){
axes[i] = raw[i] * ((LIS3MDLDriver *)ip)->sensitivity[i];
axes[i] -= ((LIS3MDLDriver *)ip)->bias[i];
/* Getting parent instance pointer.*/
devp = objGetInstance(LIS3MDLDriver*, (BaseCompass*)ip);
osalDbgAssert((devp->state == LIS3MDL_READY),
"comp_read_cooked(), invalid state");
msg = comp_read_raw(ip, raw);
for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES ; i++) {
axes[i] = (raw[i] * devp->compsensitivity[i]) - devp->compbias[i];
}
return msg;
}
static msg_t set_bias(void *ip, float *bp) {
/**
* @brief Set bias values for the BaseCompass.
* @note Bias must be expressed as G.
* @note The bias buffer must be at least the same size of the
* BaseCompass axes number.
*
* @param[in] ip pointer to @p BaseCompass interface.
* @param[in] bp a buffer which contains biases.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*/
static msg_t comp_set_bias(void *ip, float *bp) {
LIS3MDLDriver* devp;
uint32_t i;
msg_t msg = MSG_OK;
osalDbgCheck((ip != NULL) && (bp !=NULL));
osalDbgAssert((((LIS3MDLDriver *)ip)->state == LIS3MDL_READY) ||
(((LIS3MDLDriver *)ip)->state == LIS3MDL_STOP),
"set_bias(), invalid state");
for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++) {
((LIS3MDLDriver *)ip)->bias[i] = bp[i];
}
return MSG_OK;
}
static msg_t reset_bias(void *ip) {
uint32_t i;
osalDbgCheck(ip != NULL);
osalDbgAssert((((LIS3MDLDriver *)ip)->state == LIS3MDL_READY) ||
(((LIS3MDLDriver *)ip)->state == LIS3MDL_STOP),
"reset_bias(), invalid state");
for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
((LIS3MDLDriver *)ip)->bias[i] = 0;
return MSG_OK;
}
static msg_t set_sensivity(void *ip, float *sp) {
uint32_t i;
osalDbgCheck((ip != NULL) && (sp !=NULL));
osalDbgAssert((((LIS3MDLDriver *)ip)->state == LIS3MDL_READY),
"set_sensivity(), invalid state");
for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++) {
((LIS3MDLDriver *)ip)->sensitivity[i] = sp[i];
}
return MSG_OK;
}
static msg_t reset_sensivity(void *ip) {
uint32_t i;
osalDbgCheck(ip != NULL);
osalDbgAssert((((LIS3MDLDriver *)ip)->state == LIS3MDL_READY),
"reset_sensivity(), invalid state");
if(((LIS3MDLDriver *)ip)->config->fullscale == LIS3MDL_FS_4GA)
for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
((LIS3MDLDriver *)ip)->sensitivity[i] = LIS3MDL_SENS_4GA;
else if(((LIS3MDLDriver *)ip)->config->fullscale == LIS3MDL_FS_8GA)
for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
((LIS3MDLDriver *)ip)->sensitivity[i] = LIS3MDL_SENS_8GA;
else if(((LIS3MDLDriver *)ip)->config->fullscale == LIS3MDL_FS_12GA)
for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
((LIS3MDLDriver *)ip)->sensitivity[i] = LIS3MDL_SENS_12GA;
else if(((LIS3MDLDriver *)ip)->config->fullscale == LIS3MDL_FS_16GA)
for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
((LIS3MDLDriver *)ip)->sensitivity[i] = LIS3MDL_SENS_16GA;
else {
osalDbgAssert(FALSE, "reset_sensivity(), compass full scale issue");
return MSG_RESET;
}
return MSG_OK;
}
static msg_t set_full_scale(void *ip, lis3mdl_fs_t fs) {
float newfs, scale;
uint8_t i, cr[2];
msg_t msg;
if(fs == LIS3MDL_FS_4GA) {
newfs = LIS3MDL_4GA;
}
else if(fs == LIS3MDL_FS_8GA) {
newfs = LIS3MDL_8GA;
}
else if(fs == LIS3MDL_FS_12GA) {
newfs = LIS3MDL_12GA;
}
else if(fs == LIS3MDL_FS_16GA) {
newfs = LIS3MDL_16GA;
}
else {
return MSG_RESET;
}
if(newfs != ((LIS3MDLDriver *)ip)->fullscale) {
scale = newfs / ((LIS3MDLDriver *)ip)->fullscale;
((LIS3MDLDriver *)ip)->fullscale = newfs;
osalDbgCheck((ip != NULL) && (bp != NULL));
/* Getting parent instance pointer.*/
devp = objGetInstance(LIS3MDLDriver*, (BaseCompass*)ip);
osalDbgAssert((devp->state == LIS3MDL_READY),
"comp_set_bias(), invalid state");
for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) {
devp->compbias[i] = bp[i];
}
return msg;
}
/**
* @brief Reset bias values for the BaseCompass.
* @note Default biases value are obtained from device datasheet when
* available otherwise they are considered zero.
*
* @param[in] ip pointer to @p BaseCompass interface.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*/
static msg_t comp_reset_bias(void *ip) {
LIS3MDLDriver* devp;
uint32_t i;
msg_t msg = MSG_OK;
osalDbgCheck(ip != NULL);
/* Getting parent instance pointer.*/
devp = objGetInstance(LIS3MDLDriver*, (BaseCompass*)ip);
osalDbgAssert((devp->state == LIS3MDL_READY),
"comp_reset_bias(), invalid state");
for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++)
devp->compbias[i] = LIS3MDL_COMP_BIAS;
return msg;
}
/**
* @brief Set sensitivity values for the BaseCompass.
* @note Sensitivity must be expressed as G/LSB.
* @note The sensitivity buffer must be at least the same size of the
* BaseCompass axes number.
*
* @param[in] ip pointer to @p BaseCompass interface.
* @param[in] sp a buffer which contains sensitivities.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*/
static msg_t comp_set_sensivity(void *ip, float *sp) {
LIS3MDLDriver* devp;
uint32_t i;
msg_t msg = MSG_OK;
/* Getting parent instance pointer.*/
devp = objGetInstance(LIS3MDLDriver*, (BaseCompass*)ip);
osalDbgCheck((ip != NULL) && (sp != NULL));
osalDbgAssert((devp->state == LIS3MDL_READY),
"comp_set_sensivity(), invalid state");
for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) {
devp->compsensitivity[i] = sp[i];
}
return msg;
}
/**
* @brief Reset sensitivity values for the BaseCompass.
* @note Default sensitivities value are obtained from device datasheet.
*
* @param[in] ip pointer to @p BaseCompass interface.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
* @retval MSG_RESET otherwise.
*/
static msg_t comp_reset_sensivity(void *ip) {
LIS3MDLDriver* devp;
uint32_t i;
msg_t msg = MSG_OK;
osalDbgCheck(ip != NULL);
/* Getting parent instance pointer.*/
devp = objGetInstance(LIS3MDLDriver*, (BaseCompass*)ip);
osalDbgAssert((devp->state == LIS3MDL_READY),
"comp_reset_sensivity(), invalid state");
if(devp->config->compfullscale == LIS3MDL_COMP_FS_4GA)
for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++)
devp->compsensitivity[i] = LIS3MDL_COMP_SENS_4GA;
else if(devp->config->compfullscale == LIS3MDL_COMP_FS_8GA)
for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++)
devp->compsensitivity[i] = LIS3MDL_COMP_SENS_8GA;
else if(devp->config->compfullscale == LIS3MDL_COMP_FS_12GA)
for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++)
devp->compsensitivity[i] = LIS3MDL_COMP_SENS_12GA;
else if(devp->config->compfullscale == LIS3MDL_COMP_FS_16GA)
for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++)
devp->compsensitivity[i] = LIS3MDL_COMP_SENS_16GA;
else {
osalDbgAssert(FALSE, "comp_reset_sensivity(), compass full scale issue");
msg = MSG_RESET;
}
return msg;
}
/**
* @brief Changes the LIS3MDLDriver compass fullscale value.
* @note This function also rescale sensitivities and biases based on
* previous and next fullscale value.
* @note A recalibration is highly suggested after calling this function.
*
* @param[in] ip pointer to @p LIS3MDLDriver interface.
* @param[in] fs new fullscale value.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
* @retval MSG_RESET otherwise.
*/
static msg_t comp_set_full_scale(LIS3MDLDriver *devp,
lis3mdl_comp_fs_t fs) {
float newfs, scale;
uint8_t i, buff[2];
msg_t msg;
osalDbgCheck(devp != NULL);
osalDbgAssert((devp->state == LIS3MDL_READY),
"comp_set_full_scale(), invalid state");
osalDbgAssert((devp->config->i2cp->state == I2C_READY),
"comp_set_full_scale(), channel not ready");
/* Computing new fullscale value.*/
if(fs == LIS3MDL_COMP_FS_4GA) {
newfs = LIS3MDL_COMP_4GA;
}
else if(fs == LIS3MDL_COMP_FS_8GA) {
newfs = LIS3MDL_COMP_8GA;
}
else if(fs == LIS3MDL_COMP_FS_12GA) {
newfs = LIS3MDL_COMP_12GA;
}
else if(fs == LIS3MDL_COMP_FS_16GA) {
newfs = LIS3MDL_COMP_16GA;
}
else {
msg = MSG_RESET;
return msg;
}
if(newfs != devp->compfullscale) {
/* Computing scale value.*/
scale = newfs / devp->compfullscale;
devp->compfullscale = newfs;
#if LIS3MDL_SHARED_I2C
i2cAcquireBus(((LIS3MDLDriver *)ip)->config->i2cp);
i2cStart(((LIS3MDLDriver *)ip)->config->i2cp,
((LIS3MDLDriver *)ip)->config->i2ccfg);
i2cAcquireBus(devp->config->i2cp);
i2cStart(devp->config->i2cp, devp->config->i2ccfg);
#endif /* LIS3MDL_SHARED_I2C */
/* Updating register.*/
msg = lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
((LIS3MDLDriver *)ip)->config->slaveaddress,
LIS3MDL_AD_CTRL_REG2, &cr[1], 1);
msg = lis3mdlI2CReadRegister(devp->config->i2cp, devp->config->slaveaddress,
LIS3MDL_AD_CTRL_REG2, &buff[1], 1);
#if LIS3MDL_SHARED_I2C
i2cReleaseBus(((LIS3MDLDriver *)ip)->config->i2cp);
#endif /* LIS3MDL_SHARED_I2C */
i2cReleaseBus(devp->config->i2cp);
#endif /* LIS3MDL_SHARED_I2C */
if(msg != MSG_OK)
return msg;
buff[1] &= ~(LIS3MDL_CTRL_REG2_FS_MASK);
buff[1] |= fs;
buff[0] = LIS3MDL_AD_CTRL_REG2;
#if LIS3MDL_SHARED_I2C
i2cAcquireBus(devp->config->i2cp);
i2cStart(devp->config->i2cp, devp->config->i2ccfg);
#endif /* LIS3MDL_SHARED_I2C */
msg = lis3mdlI2CWriteRegister(devp->config->i2cp,
devp->config->slaveaddress,
buff, 1);
#if LIS3MDL_SHARED_I2C
i2cReleaseBus(devp->config->i2cp);
#endif /* LIS3MDL_SHARED_I2C */
if(msg != MSG_OK)
return msg;
cr[0] = LIS3MDL_AD_CTRL_REG2;
cr[1] &= ~(LIS3MDL_CTRL_REG2_FS_MASK);
cr[1] |= fs;
#if LIS3MDL_SHARED_I2C
i2cAcquireBus(((LIS3MDLDriver *)ip)->config->i2cp);
i2cStart(((LIS3MDLDriver *)ip)->config->i2cp,
((LIS3MDLDriver *)ip)->config->i2ccfg);
#endif /* LIS3MDL_SHARED_I2C */
msg = lis3mdlI2CWriteRegister(((LIS3MDLDriver *)ip)->config->i2cp,
((LIS3MDLDriver *)ip)->config->slaveaddress, cr, 1);
#if LIS3MDL_SHARED_I2C
i2cReleaseBus(((LIS3MDLDriver *)ip)->config->i2cp);
#endif /* LIS3MDL_SHARED_I2C */
if(msg != MSG_OK)
return msg;
/* Scaling sensitivity and bias. Re-calibration is suggested anyway. */
for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++) {
((LIS3MDLDriver *)ip)->sensitivity[i] *= scale;
((LIS3MDLDriver *)ip)->bias[i] *= scale;
/* Scaling sensitivity and bias. Re-calibration is suggested anyway.*/
for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) {
devp->compsensitivity[i] *= scale;
devp->compbias[i] *= scale;
}
}
return msg;
}
static const struct BaseSensorVMT vmt_sensor = {
get_axes_number, read_raw, read_cooked
static const struct LIS3MDLVMT vmt_device = {
(size_t)0,
comp_set_full_scale
};
static const struct LIS3MDLCompassVMT vmt_compass = {
get_axes_number, read_raw, read_cooked,
set_bias, reset_bias, set_sensivity, reset_sensivity,
set_full_scale
static const struct BaseCompassVMT vmt_compass = {
sizeof(struct LIS3MDLVMT*),
comp_get_axes_number, comp_read_raw, comp_read_cooked,
comp_set_bias, comp_reset_bias, comp_set_sensivity, comp_reset_sensivity
};
/*===========================================================================*/
@ -318,12 +445,13 @@ static const struct LIS3MDLCompassVMT vmt_compass = {
* @init
*/
void lis3mdlObjectInit(LIS3MDLDriver *devp) {
uint32_t i;
devp->vmt_sensor = &vmt_sensor;
devp->vmt_compass = &vmt_compass;
devp->vmt = &vmt_device;
devp->comp_if.vmt = &vmt_compass;
devp->config = NULL;
for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
devp->bias[i] = 0.0f;
devp->compaxes = LIS3MDL_COMP_NUMBER_OF_AXES;
devp->state = LIS3MDL_STOP;
}
@ -348,9 +476,9 @@ void lis3mdlStart(LIS3MDLDriver *devp, const LIS3MDLConfig *config) {
/* Control register 1 configuration block.*/
{
cr[0] = LIS3MDL_AD_CTRL_REG1;
cr[1] = devp->config->outputdatarate;
#if LIS3MDL_USE_ADVANCED || defined(__DOXYGEN__)
cr[1] |= devp->config->operationmodexy;
cr[1] = devp->config->compoutputdatarate;
#if LIS3MDL_COMP_USE_ADVANCED || defined(__DOXYGEN__)
cr[1] |= devp->config->compoperationmodexy;
#else
cr[1] |= LIS3MDL_CTRL_REG1_OM0 | LIS3MDL_CTRL_REG1_OM1;
#endif
@ -358,29 +486,29 @@ void lis3mdlStart(LIS3MDLDriver *devp, const LIS3MDLConfig *config) {
/* Control register 2 configuration block.*/
{
cr[2] = devp->config->fullscale;
cr[2] = devp->config->compfullscale;
}
/* Control register 3 configuration block.*/
{
cr[3] = 0;
#if LIS3MDL_USE_ADVANCED || defined(__DOXYGEN__)
cr[3] = devp->config->conversionmode;
#if LIS3MDL_COMP_USE_ADVANCED || defined(__DOXYGEN__)
cr[3] = devp->config->compconversionmode;
#endif
}
/* Control register 4 configuration block.*/
{
cr[4] = 0;
#if LIS3MDL_USE_ADVANCED || defined(__DOXYGEN__)
cr[4] = devp->config->operationmodez | devp->config->endianness;
#if LIS3MDL_COMP_USE_ADVANCED || defined(__DOXYGEN__)
cr[4] = devp->config->compoperationmodez | devp->config->endianness;
#endif
}
/* Control register 5 configuration block.*/
{
cr[5] = 0;
#if LIS3MDL_USE_ADVANCED || defined(__DOXYGEN__)
#if LIS3MDL_COMP_USE_ADVANCED || defined(__DOXYGEN__)
cr[5] = devp->config->blockdataupdate;
#endif
}
@ -391,6 +519,7 @@ void lis3mdlStart(LIS3MDLDriver *devp, const LIS3MDLConfig *config) {
#endif /* LIS3MDL_SHARED_I2C */
i2cStart((devp)->config->i2cp,
(devp)->config->i2ccfg);
lis3mdlI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
cr, 5);
@ -399,44 +528,64 @@ void lis3mdlStart(LIS3MDLDriver *devp, const LIS3MDLConfig *config) {
#endif /* LIS3MDL_SHARED_I2C */
#endif /* LIS3MDL_USE_I2C */
if(devp->config->sensitivity == NULL) {
/* Storing sensitivity information according to full scale value */
if(devp->config->fullscale == LIS3MDL_FS_4GA) {
devp->fullscale = LIS3MDL_4GA;
for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = LIS3MDL_SENS_4GA;
if(devp->config->compfullscale == LIS3MDL_COMP_FS_4GA) {
devp->compfullscale = LIS3MDL_COMP_4GA;
for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) {
if(devp->config->compsensitivity == NULL) {
devp->compsensitivity[i] = LIS3MDL_COMP_SENS_4GA;
}
else {
devp->compsensitivity[i] = devp->config->compsensitivity[i];
}
}
else if(devp->config->fullscale == LIS3MDL_FS_8GA) {
devp->fullscale = LIS3MDL_8GA;
for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = LIS3MDL_SENS_8GA;
}
else if(devp->config->fullscale == LIS3MDL_FS_12GA) {
devp->fullscale = LIS3MDL_12GA;
for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = LIS3MDL_SENS_12GA;
}
else if(devp->config->fullscale == LIS3MDL_FS_16GA) {
devp->fullscale = LIS3MDL_16GA;
for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = LIS3MDL_SENS_16GA;
}
else
osalDbgAssert(FALSE, "lis3mdlStart(), compass full scale issue");
}
else{
for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = devp->config->sensitivity[i];
else if(devp->config->compfullscale == LIS3MDL_COMP_FS_8GA) {
devp->compfullscale = LIS3MDL_COMP_8GA;
for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) {
if(devp->config->compsensitivity == NULL) {
devp->compsensitivity[i] = LIS3MDL_COMP_SENS_8GA;
}
else {
devp->compsensitivity[i] = devp->config->compsensitivity[i];
}
}
}
else if(devp->config->compfullscale == LIS3MDL_COMP_FS_12GA) {
devp->compfullscale = LIS3MDL_COMP_12GA;
for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) {
if(devp->config->compsensitivity == NULL) {
devp->compsensitivity[i] = LIS3MDL_COMP_SENS_12GA;
}
else {
devp->compsensitivity[i] = devp->config->compsensitivity[i];
}
}
}
else if(devp->config->compfullscale == LIS3MDL_COMP_FS_16GA) {
devp->compfullscale = LIS3MDL_COMP_16GA;
for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) {
if(devp->config->compsensitivity == NULL) {
devp->compsensitivity[i] = LIS3MDL_COMP_SENS_16GA;
}
else {
devp->compsensitivity[i] = devp->config->compsensitivity[i];
}
}
}
else
osalDbgAssert(FALSE, "lis3mdlStart(), compass full scale issue");
/* Storing bias information */
if(devp->config->compbias != NULL)
for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++)
devp->compbias[i] = devp->config->compbias[i];
else
for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++)
devp->compbias[i] = LIS3MDL_COMP_BIAS;
/* This is the MEMS transient recovery time */
osalThreadSleepMilliseconds(5);
if(devp->config->bias == NULL) {
for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
devp->bias[i] = 0.0f;
}
else {
for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
devp->bias[i] = devp->config->bias[i];
}
devp->state = LIS3MDL_READY;
}
@ -461,10 +610,13 @@ void lis3mdlStop(LIS3MDLDriver *devp) {
i2cStart((devp)->config->i2cp,
(devp)->config->i2ccfg);
#endif /* LIS3MDL_SHARED_I2C */
/* Disabling compass. */
cr[0] = LIS3MDL_AD_CTRL_REG3;
cr[1] = LIS3MDL_CTRL_REG3_MD0 | LIS3MDL_CTRL_REG3_MD1;
lis3mdlI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
cr, 1);
i2cStop((devp)->config->i2cp);
#if LIS3MDL_SHARED_I2C
i2cReleaseBus((devp)->config->i2cp);

436
os/ex/ST/lis3mdl.h
View File

@ -1,5 +1,5 @@
/*
ChibiOS - Copyright (C) 2016 Rocco Marco Guglielmi
ChibiOS - Copyright (C) 2016-2018 Rocco Marco Guglielmi
This file is part of ChibiOS.
@ -42,7 +42,7 @@
/**
* @brief LIS3MDL driver version string.
*/
#define EX_LIS3MDL_VERSION "1.0.5"
#define EX_LIS3MDL_VERSION "1.0.6"
/**
* @brief LIS3MDL driver version major number.
@ -57,25 +57,29 @@
/**
* @brief LIS3MDL driver version patch number.
*/
#define EX_LIS3MDL_PATCH 5
#define EX_LIS3MDL_PATCH 6
/** @} */
/**
* @brief LIS3MDL characteristics.
* @brief LIS3MDL compass subsystem characteristics.
* @note Sensitivity is expressed as G/LSB whereas G stands for Gauss.
* @note Bias is expressed as G.
*
* @{
*/
#define LIS3MDL_NUMBER_OF_AXES 3U
#define LIS3MDL_4GA 4.0f
#define LIS3MDL_8GA 8.0f
#define LIS3MDL_12GA 12.0f
#define LIS3MDL_16GA 16.0f
#define LIS3MDL_SENS_4GA 0.00014615f
#define LIS3MDL_SENS_8GA 0.00029231f
#define LIS3MDL_SENS_12GA 0.0004384f
#define LIS3MDL_SENS_16GA 0.00058445f
#define LIS3MDL_COMP_NUMBER_OF_AXES 3U
#define LIS3MDL_COMP_4GA 4.0f
#define LIS3MDL_COMP_8GA 8.0f
#define LIS3MDL_COMP_12GA 12.0f
#define LIS3MDL_COMP_16GA 16.0f
#define LIS3MDL_COMP_SENS_4GA 0.00014615f
#define LIS3MDL_COMP_SENS_8GA 0.00029231f
#define LIS3MDL_COMP_SENS_12GA 0.0004384f
#define LIS3MDL_COMP_SENS_16GA 0.00058445f
#define LIS3MDL_COMP_BIAS 0.0f
/** @} */
/**
@ -121,57 +125,57 @@
* @name LIS3MDL_CTRL_REG1 register bits definitions
* @{
*/
#define LIS3MDL_CTRL_REG1_MASK 0xFF /**< LIS3MDL_CTRL_REG1 mask */
#define LIS3MDL_CTRL_REG1_ST (1 << 0) /**< Self test enable */
#define LIS3MDL_CTRL_REG1_FAST_ODR (1 << 1) /**< Fast data rate */
#define LIS3MDL_CTRL_REG1_DO0 (1 << 2) /**< Output data rate bit 0 */
#define LIS3MDL_CTRL_REG1_DO1 (1 << 3) /**< Output data rate bit 1 */
#define LIS3MDL_CTRL_REG1_DO2 (1 << 4) /**< Output data rate bit 2 */
#define LIS3MDL_CTRL_REG1_OM0 (1 << 5) /**< X-Y mode bit 0 */
#define LIS3MDL_CTRL_REG1_OM1 (1 << 6) /**< X-Y mode bit 1 */
#define LIS3MDL_CTRL_REG1_TEMP_EN (1 << 7) /**< Temperature sensor */
#define LIS3MDL_CTRL_REG1_MASK 0xFF
#define LIS3MDL_CTRL_REG1_ST (1 << 0)
#define LIS3MDL_CTRL_REG1_FAST_ODR (1 << 1)
#define LIS3MDL_CTRL_REG1_DO0 (1 << 2)
#define LIS3MDL_CTRL_REG1_DO1 (1 << 3)
#define LIS3MDL_CTRL_REG1_DO2 (1 << 4)
#define LIS3MDL_CTRL_REG1_OM0 (1 << 5)
#define LIS3MDL_CTRL_REG1_OM1 (1 << 6)
#define LIS3MDL_CTRL_REG1_TEMP_EN (1 << 7)
/** @} */
/**
* @name LIS3MDL_CTRL_REG2 register bits definitions
* @{
*/
#define LIS3MDL_CTRL_REG2_MASK 0x6C /**< LIS3MDL_CTRL_REG2 mask */
#define LIS3MDL_CTRL_REG2_SOFT_RST (1 << 2) /**< Soft reset */
#define LIS3MDL_CTRL_REG2_REBOOT (1 << 3) /**< Reboot memory */
#define LIS3MDL_CTRL_REG2_FS_MASK 0x60 /**< Full scale mask */
#define LIS3MDL_CTRL_REG2_FS0 (1 << 5) /**< Full scale bit 0 */
#define LIS3MDL_CTRL_REG2_FS1 (1 << 6) /**< Full scale bit 1 */
#define LIS3MDL_CTRL_REG2_MASK 0x6C
#define LIS3MDL_CTRL_REG2_SOFT_RST (1 << 2)
#define LIS3MDL_CTRL_REG2_REBOOT (1 << 3)
#define LIS3MDL_CTRL_REG2_FS_MASK 0x60
#define LIS3MDL_CTRL_REG2_FS0 (1 << 5)
#define LIS3MDL_CTRL_REG2_FS1 (1 << 6)
/** @} */
/**
* @name LIS3MDL_CTRL_REG3 register bits definitions
* @{
*/
#define LIS3MDL_CTRL_REG3_MASK 0x27 /**< LIS3MDL_CTRL_REG3 mask */
#define LIS3MDL_CTRL_REG3_MD0 (1 << 0) /**< Operating mode bit 0 */
#define LIS3MDL_CTRL_REG3_MD1 (1 << 1) /**< Operating mode bit 1 */
#define LIS3MDL_CTRL_REG3_SIM (1 << 2) /**< SPI interface mode */
#define LIS3MDL_CTRL_REG3_LP (1 << 5) /**< Low power */
#define LIS3MDL_CTRL_REG3_MASK 0x27
#define LIS3MDL_CTRL_REG3_MD0 (1 << 0)
#define LIS3MDL_CTRL_REG3_MD1 (1 << 1)
#define LIS3MDL_CTRL_REG3_SIM (1 << 2)
#define LIS3MDL_CTRL_REG3_LP (1 << 5)
/** @} */
/**
* @name LIS3MDL_CTRL_REG4 register bits definitions
* @{
*/
#define LIS3MDL_CTRL_REG4_MASK 0x0E /**< LIS3MDL_CTRL_REG4 mask */
#define LIS3MDL_CTRL_REG4_BLE (1 << 1) /**< Endianess */
#define LIS3MDL_CTRL_REG4_OMZ0 (1 << 2) /**< Z mode bit 0 */
#define LIS3MDL_CTRL_REG4_OMZ1 (1 << 3) /**< Z mode bit 1 */
#define LIS3MDL_CTRL_REG4_MASK 0x0E
#define LIS3MDL_CTRL_REG4_BLE (1 << 1)
#define LIS3MDL_CTRL_REG4_OMZ0 (1 << 2)
#define LIS3MDL_CTRL_REG4_OMZ1 (1 << 3)
/** @} */
/**
* @name LIS3MDL_CTRL_REG5 register bits definitions
* @{
*/
#define LIS3MDL_CTRL_REG5_MASK 0xC0 /**< LIS3MDL_CTRL_REG5 mask */
#define LIS3MDL_CTRL_REG5_BDU (1 << 6) /**< Block data update */
#define LIS3MDL_CTRL_REG5_FAST_READ (1 << 7) /**< Fast read mode */
#define LIS3MDL_CTRL_REG5_MASK 0xC0
#define LIS3MDL_CTRL_REG5_BDU (1 << 6)
#define LIS3MDL_CTRL_REG5_FAST_READ (1 << 7)
/** @} */
/*===========================================================================*/
@ -191,6 +195,16 @@
#define LIS3MDL_USE_SPI FALSE
#endif
/**
* @brief LIS3MDL shared SPI switch.
* @details If set to @p TRUE the device acquires SPI bus ownership
* on each transaction.
* @note The default is @p FALSE. Requires SPI_USE_MUTUAL_EXCLUSION.
*/
#if !defined(LIS3MDL_SHARED_SPI) || defined(__DOXYGEN__)
#define LIS3MDL_SHARED_SPI FALSE
#endif
/**
* @brief LIS3MDL I2C interface switch.
* @details If set to @p TRUE the support for I2C is included.
@ -200,15 +214,6 @@
#define LIS3MDL_USE_I2C TRUE
#endif
/**
* @brief LIS3MDL advanced configurations switch.
* @details If set to @p TRUE more configurations are available.
* @note The default is @p FALSE.
*/
#if !defined(LIS3MDL_USE_ADVANCED) || defined(__DOXYGEN__)
#define LIS3MDL_USE_ADVANCED FALSE
#endif
/**
* @brief LIS3MDL shared I2C switch.
* @details If set to @p TRUE the device acquires I2C bus ownership
@ -218,6 +223,15 @@
#if !defined(LIS3MDL_SHARED_I2C) || defined(__DOXYGEN__)
#define LIS3MDL_SHARED_I2C FALSE
#endif
/**
* @brief LIS3MDL advanced configurations switch.
* @details If set to @p TRUE more configurations are available.
* @note The default is @p FALSE.
*/
#if !defined(LIS3MDL_COMP_USE_ADVANCED) || defined(__DOXYGEN__)
#define LIS3MDL_COMP_USE_ADVANCED FALSE
#endif
/** @} */
/*===========================================================================*/
@ -232,6 +246,10 @@
#error "LIS3MDL_USE_SPI requires HAL_USE_SPI"
#endif
#if LIS3MDL_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION
#error "LIS3MDL_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION"
#endif
#if LIS3MDL_USE_I2C && !HAL_USE_I2C
#error "LIS3MDL_USE_I2C requires HAL_USE_I2C"
#endif
@ -240,6 +258,13 @@
#error "LIS3MDL_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION"
#endif
/**
* @todo Add support for LIS3MDL over SPI.
*/
#if LIS3MDL_USE_SPI
#error "LIS3MDL over SPI still not supported"
#endif
/*===========================================================================*/
/* Driver data structures and types. */
/*===========================================================================*/
@ -252,6 +277,11 @@
/**
* @brief LIS3MDL slave address
*/
/**
* @brief Structure representing a LIS3MDL driver.
*/
typedef struct LIS3MDLDriver LIS3MDLDriver;
typedef enum {
LIS3MDL_SAD_GND = 0x1C, /**< Slave Address when SA1 is to GND */
LIS3MDL_SAD_VCC = 0x1E /**< Slave Address when SA1 is to VCC */
@ -261,62 +291,62 @@ typedef enum {
* @brief LIS3MDL full scale
*/
typedef enum {
LIS3MDL_FS_4GA = 0x00, /**< ±4 Gauss */
LIS3MDL_FS_8GA = 0x20, /**< ±8 Gauss */
LIS3MDL_FS_12GA = 0x40, /**< ±12 Gauss */
LIS3MDL_FS_16GA = 0x60 /**< ±16 Gauss */
}lis3mdl_fs_t;
LIS3MDL_COMP_FS_4GA = 0x00, /**< ±4 Gauss */
LIS3MDL_COMP_FS_8GA = 0x20, /**< ±8 Gauss */
LIS3MDL_COMP_FS_12GA = 0x40, /**< ±12 Gauss */
LIS3MDL_COMP_FS_16GA = 0x60 /**< ±16 Gauss */
}lis3mdl_comp_fs_t;
/**
* @brief LIS3MDL output data rate
*/
typedef enum {
LIS3MDL_ODR_0_625HZ = 0x00, /**< Output Data Rate = 0.625 Hz */
LIS3MDL_ODR_1_25HZ = 0x04, /**< Output Data Rate = 1.25 Hz */
LIS3MDL_ODR_2_5HZ = 0x08, /**< Output Data Rate = 2.5 Hz */
LIS3MDL_ODR_5HZ = 0x0C, /**< Output Data Rate = 5 Hz */
LIS3MDL_ODR_10HZ = 0x10, /**< Output Data Rate = 10 Hz */
LIS3MDL_ODR_20HZ = 0x14, /**< Output Data Rate = 20 Hz */
LIS3MDL_ODR_40HZ = 0x18, /**< Output Data Rate = 40 Hz */
LIS3MDL_ODR_80HZ = 0x1C /**< Output Data Rate = 80 Hz */
}lis3mdl_odr_t;
LIS3MDL_COMP_ODR_0_625HZ = 0x00, /**< Output Data Rate = 0.625 Hz */
LIS3MDL_COMP_ODR_1_25HZ = 0x04, /**< Output Data Rate = 1.25 Hz */
LIS3MDL_COMP_ODR_2_5HZ = 0x08, /**< Output Data Rate = 2.5 Hz */
LIS3MDL_COMP_ODR_5HZ = 0x0C, /**< Output Data Rate = 5 Hz */
LIS3MDL_COMP_ODR_10HZ = 0x10, /**< Output Data Rate = 10 Hz */
LIS3MDL_COMP_ODR_20HZ = 0x14, /**< Output Data Rate = 20 Hz */
LIS3MDL_COMP_ODR_40HZ = 0x18, /**< Output Data Rate = 40 Hz */
LIS3MDL_COMP_ODR_80HZ = 0x1C /**< Output Data Rate = 80 Hz */
}lis3mdl_comp_odr_t;
/**
* @brief LIS3MDL low power mode configuration
*/
typedef enum {
LIS3MDL_LP_DISABLED = 0x00, /**< Low Power mode disabled */
LIS3MDL_LP_ENABLED = 0x20 /**< Low Power mode enabled */
}lis3mdl_lp_t;
LIS3MDL_COMP_LP_DISABLED = 0x00, /**< Low Power mode disabled */
LIS3MDL_COMP_LP_ENABLED = 0x20 /**< Low Power mode enabled */
}lis3mdl_comp_lp_t;
/**
* @brief LIS3MDL conversion mode
*/
typedef enum {
LIS3MDL_MD_CONTINUOUS = 0x00, /**< Continuous conversion mode */
LIS3MDL_MD_SINGLE = 0x01, /**< Single conversion mode */
LIS3MDL_MD_POWER_DOWN = 0x02 /**< Power down mode */
}lis3mdl_md_t;
LIS3MDL_COMP_MD_CONTINUOUS = 0x00,/**< Continuous conversion mode */
LIS3MDL_COMP_MD_SINGLE = 0x01, /**< Single conversion mode */
LIS3MDL_COMP_MD_POWER_DOWN = 0x02 /**< Power down mode */
}lis3mdl_comp_md_t;
/**
* @brief LIS3MDL operation mode for X and Y axes
*/
typedef enum {
LIS3MDL_OMXY_LOW_POWER = 0x00, /**< X-Y axes low power mode */
LIS3MDL_OMXY_MEDIUM = 0x20, /**< X-Y axes medium performance mode */
LIS3MDL_OMXY_HIGH = 0x40, /**< X-Y axes high performance mode */
LIS3MDL_OMXY_ULTRA = 0x60 /**< X-Y axes ultra performance mode */
}lis3mdl_omxy_t;
LIS3MDL_COMP_OMXY_LP = 0x00, /**< X-Y axes low power mode */
LIS3MDL_COMP_OMXY_MEDIUM = 0x20, /**< X-Y axes medium performance mode */
LIS3MDL_COMP_OMXY_HIGH = 0x40, /**< X-Y axes high performance mode */
LIS3MDL_COMP_OMXY_ULTRA = 0x60 /**< X-Y axes ultra performance mode */
}lis3mdl_comp_omxy_t;
/**
* @brief LIS3MDL operation mode for Z axis
*/
typedef enum {
LIS3MDL_OMZ_LOW_POWER = 0x00, /**< Z axis low power mode */
LIS3MDL_OMZ_MEDIUM = 0x04, /**< Z axis medium performance mode */
LIS3MDL_OMZ_HIGH = 0x08, /**< Z axis high performance mode */
LIS3MDL_OMZ_ULTRA = 0x0C /**< Z axis ultra performance mode */
}lis3mdl_omz_t;
LIS3MDL_COMP_OMZ_LP = 0x00, /**< Z axis low power mode */
LIS3MDL_COMP_OMZ_MEDIUM = 0x04, /**< Z axis medium performance mode */
LIS3MDL_COMP_OMZ_HIGH = 0x08, /**< Z axis high performance mode */
LIS3MDL_COMP_OMZ_ULTRA = 0x0C /**< Z axis ultra performance mode */
}lis3mdl_comp_omz_t;
/**
* @brief LIS3MDL temperature sensor enabling
@ -374,76 +404,76 @@ typedef struct {
* @brief I2C configuration associated to this LIS3MDL.
*/
const I2CConfig *i2ccfg;
#endif /* LIS3MDL_USE_I2C */
/**
* @brief LIS3MDL initial sensitivity.
*/
float *sensitivity;
/**
* @brief LIS3MDL initial bias.
*/
float *bias;
/**
* @brief LIS3MDL slave address
* @brief LIS3MDL slave address
*/
lis3mdl_sad_t slaveaddress;
#endif /* LIS3MDL_USE_I2C */
/**
* @brief LIS3MDL full scale
* @brief LIS3MDL compass subsystem initial sensitivity.
*/
lis3mdl_fs_t fullscale;
float *compsensitivity;
/**
* @brief LIS3MDL output data rate
* @brief LIS3MDL compass subsystem initial bias.
*/
lis3mdl_odr_t outputdatarate;
#if LIS3MDL_USE_ADVANCED || defined(__DOXYGEN__)
float *compbias;
/**
* @brief LIS3MDL low power mode configuration
* @brief LIS3MDL compass subsystem full scale.
*/
lis3mdl_lp_t lowpowermode;
lis3mdl_comp_fs_t compfullscale;
/**
* @brief LIS3MDL conversion mode
* @brief LIS3MDL compass subsystem output data rate.
*/
lis3mdl_md_t conversionmode;
lis3mdl_comp_odr_t compoutputdatarate;
#if LIS3MDL_COMP_USE_ADVANCED || defined(__DOXYGEN__)
/**
* @brief LIS3MDL operation mode for X and Y axes
* @brief LIS3MDL compass subsystem low power mode configuration.
*/
lis3mdl_omxy_t operationmodexy;
lis3mdl_comp_lp_t complowpowermode;
/**
* @brief LIS3MDL operation mode for Z axis
* @brief LIS3MDL compass subsystem conversion mode.
*/
lis3mdl_omz_t operationmodez;
lis3mdl_comp_md_t compconversionmode;
/**
* @brief LIS3MDL block data update
* @brief LIS3MDL compass subsystem operation mode for X and Y axes.
*/
lis3mdl_comp_omxy_t compoperationmodexy;
/**
* @brief LIS3MDL compass subsystem operation mode for Z axis.
*/
lis3mdl_comp_omz_t compoperationmodez;
/**
* @brief LIS3MDL block data update.
*/
lis3mdl_bdu_t blockdataupdate;
/**
* @brief LIS3MDL endianness
* @brief LIS3MDL endianness.
*/
lis3mdl_end_t endianness;
#endif
} LIS3MDLConfig;
/**
* @brief @p LIS3MDL compass subsystem specific methods.
* @brief @p LIS3MDL specific methods.
*/
#define _lis3msl_compass_methods_alone \
/* Change full scale value of LIS3MDL.*/ \
msg_t (*set_full_scale)(void *instance, lis3mdl_fs_t fs);
#define _lis3msl_methods_alone \
/* Change full scale value of LIS3MDL compass subsystem.*/ \
msg_t (*comp_set_full_scale)(LIS3MDLDriver *devp, lis3mdl_comp_fs_t fs);
/**
* @brief @p LIS3MDL compass subsystem specific methods with inherited ones.
* @brief @p LIS3MDL specific methods with inherited ones.
*/
#define _lis3mdl_compass_methods \
_base_compass_methods \
_lis3msl_compass_methods_alone
#define _lis3mdl_methods \
_base_object_methods \
_lis3msl_methods_alone
/**
* @extends BaseCompassVMT
*
* @brief @p LIS3MDL compass virtual methods table.
* @brief @p LIS3MDL virtual methods table.
*/
struct LIS3MDLCompassVMT {
_lis3mdl_compass_methods
struct LIS3MDLVMT {
_lis3mdl_methods
};
/**
@ -455,34 +485,25 @@ struct LIS3MDLCompassVMT {
lis3mdl_state_t state; \
/* Current configuration data.*/ \
const LIS3MDLConfig *config; \
/* Current sensitivity.*/ \
float sensitivity[LIS3MDL_NUMBER_OF_AXES]; \
/* Bias data.*/ \
float bias[LIS3MDL_NUMBER_OF_AXES]; \
/* Current full scale value.*/ \
float fullscale;
/* Compass subsystem axes number.*/ \
size_t compaxes; \
/* Compass subsystem current sensitivity.*/ \
float compsensitivity[LIS3MDL_COMP_NUMBER_OF_AXES]; \
/* Compass subsystem current bias.*/ \
float compbias[LIS3MDL_COMP_NUMBER_OF_AXES]; \
/* Compass subsystem current full scale value.*/ \
float compfullscale;
/**
* @extends BaseCompass
*
* @brief LIS3MDL 3-axis compass class.
* @details This class extends @p BaseCompass by adding physical
* driver implementation.
* @brief LIS3MDL 3-axis compass class.
*/
struct LIS3MDLDriver {
/** @brief BaseSensor Virtual Methods Table. */
const struct BaseSensorVMT *vmt_sensor;
_base_sensor_data
/** @brief LIS3MDL Compass Virtual Methods Table. */
const struct LIS3MDLCompassVMT *vmt_compass;
_base_compass_data
/** @brief Virtual Methods Table.*/
const struct LIS3MDLVMT *vmt;
/** @brief Base compass interface.*/
BaseCompass comp_if;
_lis3mdl_data
};
/**
* @brief Structure representing a LIS3MDL driver.
*/
typedef struct LIS3MDLDriver LIS3MDLDriver;
/** @} */
/*===========================================================================*/
@ -490,18 +511,141 @@ typedef struct LIS3MDLDriver LIS3MDLDriver;
/*===========================================================================*/
/**
* @brief Change compass full scale value.
* @brief Return the number of axes of the BaseCompass.
*
* @param[in] ip pointer to a @p LIS3MDLDriver class.
* @param[in] fs the new full scale value.
* @param[in] devp pointer to @p LIS3MDLDriver.
*
* @return the number of axes.
*
* @api
*/
#define lis3mdlCompassGetAxesNumber(devp) \
compassGetAxesNumber(&((devp)->comp_if))
/**
* @brief Retrieves raw data from the BaseCompass.
* @note This data is retrieved from MEMS register without any algebraical
* manipulation.
* @note The axes array must be at least the same size of the
* BaseCompass axes number.
*
* @param[in] ip pointer to @p BaseCompass interface.
* @param[out] axes a buffer which would be filled with raw data.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
* @retval MSG_RESET if one or more errors occurred.
* @retval MSG_RESET if one or more I2C errors occurred, the errors can
* be retrieved using @p i2cGetErrors().
* @retval MSG_TIMEOUT if a timeout occurred before operation end.
*
* @api
*/
#define compassSetFullScale(ip, fs) \
(ip)->vmt_compass->set_full_scale(ip, fs)
#define lis3mdlCompassReadRaw(devp, axes) \
compassReadRaw(&((devp)->comp_if), axes)
/**
* @brief Retrieves cooked data from the BaseCompass.
* @note This data is manipulated according to the formula
* cooked = (raw * sensitivity) - bias.
* @note Final data is expressed as G.
* @note The axes array must be at least the same size of the
* BaseCompass axes number.
*
* @param[in] ip pointer to @p BaseCompass interface.
* @param[out] axes a buffer which would be filled with cooked data.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
* @retval MSG_RESET if one or more I2C errors occurred, the errors can
* be retrieved using @p i2cGetErrors().
* @retval MSG_TIMEOUT if a timeout occurred before operation end.
*
* @api
*/
#define lis3mdlCompassReadCooked(devp, axes) \
compassReadCooked(&((devp)->comp_if), axes)
/**
* @brief Set bias values for the BaseCompass.
* @note Bias must be expressed as G.
* @note The bias buffer must be at least the same size of the
* BaseCompass axes number.
*
* @param[in] ip pointer to @p BaseCompass interface.
* @param[in] bp a buffer which contains biases.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*
* @api
*/
#define lis3mdlCompassSetBias(devp, bp) \
compassSetBias(&((devp)->comp_if), bp)
/**
* @brief Reset bias values for the BaseCompass.
* @note Default biases value are obtained from device datasheet when
* available otherwise they are considered zero.
*
* @param[in] devp pointer to @p LIS3MDLDriver.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*
* @api
*/
#define lis3mdlCompassResetBias(devp) \
compassResetBias(&((devp)->comp_if))
/**
* @brief Set sensitivity values for the BaseCompass.
* @note Sensitivity must be expressed as G/LSB.
* @note The sensitivity buffer must be at least the same size of the
* BaseCompass axes number.
*
* @param[in] devp pointer to @p LIS3MDLDriver.
* @param[in] sp a buffer which contains sensitivities.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*
* @api
*/
#define lis3mdlCompassSetSensitivity(devp, sp) \
compassSetSensitivity(&((devp)->comp_if), sp)
/**
* @brief Reset sensitivity values for the BaseCompass.
* @note Default sensitivities value are obtained from device datasheet.
*
* @param[in] devp pointer to @p LIS3MDLDriver.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
* @retval MSG_RESET otherwise.
*
* @api
*/
#define lis3mdlCompassResetSensitivity(devp) \
compassResetSensitivity(&((devp)->comp_if))
/**
* @brief Changes the LIS3MDLDriver compass fullscale value.
* @note This function also rescale sensitivities and biases based on
* previous and next fullscale value.
* @note A recalibration is highly suggested after calling this function.
*
* @param[in] devp pointer to @p LIS3MDLDriver.
* @param[in] fs new fullscale value.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
* @retval MSG_RESET otherwise.
*
* @api
*/
#define lis3mdlCompassSetFullScale(devp, fs) \
(devp)->vmt->comp_set_full_scale(devp, fs)
/*===========================================================================*/
/* External declarations. */

34
testex/STM32/STM32F4xx/I2C-LIS3MLD/Makefile
View File

@ -87,6 +87,9 @@ PROJECT = ch
# Imported source files and paths
CHIBIOS = ../../../..
# Licensing files.
include $(CHIBIOS)/os/license/license.mk
# Startup files.
include $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f4xx.mk
# HAL-OSAL files (optional).
@ -97,31 +100,23 @@ include $(CHIBIOS)/os/hal/osal/rt/osal.mk
# RTOS files (optional).
include $(CHIBIOS)/os/rt/rt.mk
include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk
# Other files (optional).
# EX files (optional).
include $(CHIBIOS)/os/ex/ST/lis3mdl.mk
# Other files (optional).
include $(CHIBIOS)/os/hal/lib/streams/streams.mk
include $(CHIBIOS)/os/various/shell/shell.mk
# Define linker script file here
LDSCRIPT= $(STARTUPLD)/STM32F401xE.ld
# C sources that can be compiled in ARM or THUMB mode depending on the global
# setting.
CSRC = $(STARTUPSRC) \
$(KERNSRC) \
$(PORTSRC) \
$(OSALSRC) \
$(HALSRC) \
$(PLATFORMSRC) \
$(BOARDSRC) \
$(LIS3MDLSRC) \
$(STREAMSSRC) \
$(SHELLSRC) \
CSRC = $(ALLCSRC) \
$(TESTSRC) \
main.c
# C++ sources that can be compiled in ARM or THUMB mode depending on the global
# setting.
CPPSRC =
CPPSRC = $(ALLCPPSRC)
# C sources to be compiled in ARM mode regardless of the global setting.
# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
@ -147,10 +142,11 @@ TCPPSRC =
ASMSRC =
ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
INCDIR = $(CHIBIOS)/os/license \
$(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
$(HALINC) $(PLATFORMINC) $(BOARDINC) $(LIS3MDLINC) \
$(STREAMSINC) $(SHELLINC)
# List ASM source files here
ASMSRC = $(ALLASMSRC)
ASMXSRC = $(ALLXASMSRC)
INCDIR = $(ALLINC) $(TESTINC)
#
# Project, sources and paths
@ -200,8 +196,8 @@ CPPWARN = -Wall -Wextra -Wundef
#
# List all user C define here, like -D_DEBUG=1
UDEFS = -DCHPRINTF_USE_FLOAT=1 -DSHELL_CMD_TEST_ENABLED=0 \
-DLIS3MDL_USE_ADVANCED=0 -DLIS3MDL_SHARED_I2C=0
UDEFS = -DCHPRINTF_USE_FLOAT=1 \
-LIS3MDL_COMP_USE_ADVANCED=0 -DLIS3MDL_SHARED_I2C=0
# Define ASM defines here
UADEFS =

2
testex/STM32/STM32F4xx/I2C-LIS3MLD/debug/STM32F4xx-I2C-LIS3MDL (OpenOCD, Flash and Run).launch
View File

@ -33,7 +33,7 @@
<intAttribute key="org.eclipse.cdt.launch.ATTR_BUILD_BEFORE_LAUNCH_ATTR" value="2"/>
<stringAttribute key="org.eclipse.cdt.launch.COREFILE_PATH" value=""/>
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_REGISTER_GROUPS" value=""/>
<stringAttribute key="org.eclipse.cdt.launch.FORMAT" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&lt;contentList&gt;&lt;content id=&quot;SR2-i2c-null-main-(format)&quot; val=&quot;2&quot;/&gt;&lt;content id=&quot;null-read_raw-(format)&quot; val=&quot;1&quot;/&gt;&lt;content id=&quot;sr-i2c_lld_serve_error_interrupt-(format)&quot; val=&quot;2&quot;/&gt;&lt;content id=&quot;i2c-null-main-(format)&quot; val=&quot;0&quot;/&gt;&lt;/contentList&gt;"/>
<stringAttribute key="org.eclipse.cdt.launch.FORMAT" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&lt;contentList&gt;&lt;content id=&quot;i2c-null-main-(format)&quot; val=&quot;0&quot;/&gt;&lt;content id=&quot;sr-i2c_lld_serve_error_interrupt-(format)&quot; val=&quot;2&quot;/&gt;&lt;content id=&quot;null-read_raw-(format)&quot; val=&quot;1&quot;/&gt;&lt;content id=&quot;SR2-i2c-null-main-(format)&quot; val=&quot;2&quot;/&gt;&lt;/contentList&gt;"/>
<stringAttribute key="org.eclipse.cdt.launch.GLOBAL_VARIABLES" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#13;&#10;&lt;globalVariableList/&gt;&#13;&#10;"/>
<stringAttribute key="org.eclipse.cdt.launch.MEMORY_BLOCKS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#13;&#10;&lt;memoryBlockExpressionList/&gt;&#13;&#10;"/>
<stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="./build/ch.elf"/>

159
testex/STM32/STM32F4xx/I2C-LIS3MLD/main.c
View File

@ -16,12 +16,11 @@
#include "ch.h"
#include "hal.h"
#include "string.h"
#include "shell.h"
#include "chprintf.h"
#include "lis3mdl.h"
#define cls(chp) chprintf(chp, "\033[2J\033[1;1H")
/*===========================================================================*/
/* LIS3MDL related. */
/*===========================================================================*/
@ -29,10 +28,11 @@
/* LIS3MDL Driver: This object represent an LIS3MDL instance.*/
static LIS3MDLDriver LIS3MDLD1;
static int32_t rawdata[LIS3MDL_NUMBER_OF_AXES];
static float cookeddata[LIS3MDL_NUMBER_OF_AXES];
static int32_t compraw[LIS3MDL_COMP_NUMBER_OF_AXES];
static char axisID[LIS3MDL_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};
static float compcooked[LIS3MDL_COMP_NUMBER_OF_AXES];
static char axisID[LIS3MDL_COMP_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};
static uint32_t i;
static const I2CConfig i2ccfg = {
@ -41,114 +41,29 @@ static const I2CConfig i2ccfg = {
FAST_DUTY_CYCLE_2,
};
static LIS3MDLConfig LIS3MDLcfg = {
static LIS3MDLConfig lis3mdlcfg = {
&I2CD1,
&i2ccfg,
NULL,
NULL,
LIS3MDL_SAD_VCC,
LIS3MDL_FS_4GA,
LIS3MDL_ODR_40HZ,
#if LIS3MDL_USE_ADVANCED
LIS3MDL_LP_ENABLED,
LIS3MDL_MD_CONTINUOUS,
LIS3MDL_OMXY_LOW_POWER,
LIS3MDL_OMZ_LOW_POWER,
NULL,
NULL,
LIS3MDL_COMP_FS_4GA,
LIS3MDL_COMP_ODR_40HZ,
#if LIS3MDL_COMP_USE_ADVANCED
LIS3MDL_COMP_LP_ENABLED,
LIS3MDL_COMP_MD_CONTINUOUS,
LIS3MDL_COMP_OMXY_LP,
LIS3MDL_COMP_OMZ_LP,
LIS3MDL_BDU_CONTINUOUS,
LIS3MDL_END_LITTLE
#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
compassReadRaw(&LIS3MDLD1, rawdata);
chprintf(chp, "LIS3MDL compass raw data...\r\n");
for(i = 0; i < LIS3MDL_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
compassReadCooked(&LIS3MDLD1, cookeddata);
chprintf(chp, "LIS3MDL compass cooked data...\r\n");
for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++) {
chprintf(chp, "%c-axis: %.3f Gauss\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 [4|8|12|16]\r\n");
return;
}
#if CHPRINTF_USE_ANSI_CODE
chprintf(chp, "\033[2J\033[1;1H");
#endif
if(!strcmp (argv[0], "4")) {
compassSetFullScale(&LIS3MDLD1, LIS3MDL_FS_4GA);
chprintf(chp, "LIS3MDL compass full scale set to 4 Gauss...\r\n");
}
else if(!strcmp (argv[0], "8")) {
compassSetFullScale(&LIS3MDLD1, LIS3MDL_FS_8GA);
chprintf(chp, "LIS3MDL compass full scale set to 8 Gauss...\r\n");
}
else if(!strcmp (argv[0], "12")) {
compassSetFullScale(&LIS3MDLD1, LIS3MDL_FS_12GA);
chprintf(chp, "LIS3MDL compass full scale set to 12 Gauss...\r\n");
}
else if(!strcmp (argv[0], "16")) {
compassSetFullScale(&LIS3MDLD1, LIS3MDL_FS_16GA);
chprintf(chp, "LIS3MDL compass full scale set to 16 Gauss...\r\n");
}
else {
chprintf(chp, "Usage: fullscale [4|8|12|16]\r\n");
return;
}
}
static const ShellCommand commands[] = {
{"read", cmd_read},
{"fullscale", cmd_fullscale},
{NULL, NULL}
};
static const ShellConfig shell_cfg1 = {
(BaseSequentialStream *)&SD2,
commands
};
/*===========================================================================*/
/* Main code. */
/* Generic code. */
/*===========================================================================*/
static BaseSequentialStream* chp = (BaseSequentialStream*)&SD2;
/*
* LED blinker thread, times are in milliseconds.
*/
@ -158,10 +73,8 @@ static THD_FUNCTION(Thread1, arg) {
(void)arg;
chRegSetThreadName("blinker");
while (true) {
palClearLine(LINE_LED_GREEN);
chThdSleepMilliseconds(250);
palSetLine(LINE_LED_GREEN);
chThdSleepMilliseconds(250);
palToggleLine(LINE_LED_GREEN);
chThdSleepMilliseconds(500);
}
}
@ -180,35 +93,39 @@ int main(void) {
halInit();
chSysInit();
/* Configuring I2C SCK and I2C SDA related GPIOs .*/
palSetLineMode(LINE_ARD_D15, PAL_MODE_ALTERNATE(4) |
PAL_STM32_OSPEED_HIGHEST | PAL_STM32_OTYPE_OPENDRAIN);
palSetLineMode(LINE_ARD_D14, PAL_MODE_ALTERNATE(4) |
PAL_STM32_OSPEED_HIGHEST | PAL_STM32_OTYPE_OPENDRAIN);
/*
* Activates the serial driver 2 using the driver default configuration.
*/
/* Activates the serial driver 1 using the driver default configuration.*/
sdStart(&SD2, NULL);
/* Creates the blinker thread.*/
chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO + 1, Thread1, NULL);
chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);
/* LIS3MDL Object Initialization.*/
lis3mdlObjectInit(&LIS3MDLD1);
/* Activates the LIS3MDL driver.*/
lis3mdlStart(&LIS3MDLD1, &LIS3MDLcfg);
lis3mdlStart(&LIS3MDLD1, &lis3mdlcfg);
/* Shell manager initialization.*/
shellInit();
/* Normal main() thread activity, printing MEMS data on the SD2. */
while (true) {
lis3mdlCompassReadRaw(&LIS3MDLD1, compraw);
chprintf(chp, "LIS3MDL Compass raw data...\r\n");
for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) {
chprintf(chp, "%c-axis: %d\r\n", axisID[i], compraw[i]);
}
while(TRUE) {
thread_t *shelltp = chThdCreateFromHeap(NULL, SHELL_WA_SIZE,
"shell", NORMALPRIO + 1,
shellThread, (void *)&shell_cfg1);
chThdWait(shelltp); /* Waiting termination. */
lis3mdlCompassReadCooked(&LIS3MDLD1, compcooked);
chprintf(chp, "LIS3MDL Compass cooked data...\r\n");
for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) {
chprintf(chp, "%c-axis: %.3f\r\n", axisID[i], compcooked[i]);
}
chThdSleepMilliseconds(100);
cls(chp);
}
lis3mdlStop(&LIS3MDLD1);
return 0;
}

2
testex/STM32/STM32F4xx/I2C-LPS25H/readme.txt
View File

@ -1,5 +1,5 @@
*****************************************************************************
** ChibiOS/HAL + ChibiOS/EX - I2C + LPS25H demo for STM32L4xx. **
** ChibiOS/HAL + ChibiOS/EX - I2C + LPS25H demo for STM32F4xx. **
*****************************************************************************
** TARGET **