From ceb748118b6a84080ef18f79fd3f69ee698a4c41 Mon Sep 17 00:00:00 2001 From: Andrey Gusakov Date: Wed, 13 Dec 2023 14:27:02 +0300 Subject: [PATCH] Devices: ST: add LIS2DW12 accelerometer --- os/ex/devices/ST/lis2dw12.c | 605 ++++++++++++++++++++++++++++++++++ os/ex/devices/ST/lis2dw12.h | 612 +++++++++++++++++++++++++++++++++++ os/ex/devices/ST/lis2dw12.mk | 10 + 3 files changed, 1227 insertions(+) create mode 100644 os/ex/devices/ST/lis2dw12.c create mode 100644 os/ex/devices/ST/lis2dw12.h create mode 100644 os/ex/devices/ST/lis2dw12.mk diff --git a/os/ex/devices/ST/lis2dw12.c b/os/ex/devices/ST/lis2dw12.c new file mode 100644 index 000000000..f58988221 --- /dev/null +++ b/os/ex/devices/ST/lis2dw12.c @@ -0,0 +1,605 @@ +/* + ChibiOS - Copyright (C) 2023 Andrey Gusakov + + This file is part of ChibiOS. + + ChibiOS is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 3 of the License, or + (at your option) any later version. + + ChibiOS is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . + +*/ + +/** + * @file lis2dw12.c + * @brief LIS2DW12 MEMS interface module code. + * + * @addtogroup LIS2DW12 + * @ingroup EX_ST + * @{ + */ + +#include "hal.h" +#include "lis2dw12.h" + +/*===========================================================================*/ +/* Driver local definitions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver exported variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local variables and types. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local functions. */ +/*===========================================================================*/ + +#if (LIS2DW12_USE_SPI) || defined(__DOXYGEN__) +/** + * @brief Reads a generic register value using SPI. + * @pre The SPI interface must be initialized and the driver started. + * + * @param[in] spip pointer to the SPI interface + * @param[in] reg starting register address + * @param[in] n number of adjacent registers to write + * @param[in] b pointer to a buffer. + */ +static void lis2dw12SPIReadRegister(SPIDriver *spip, uint8_t reg, size_t n, + uint8_t* b) { + uint8_t cmd = reg | LIS2DW12_RW; + spiSelect(spip); + spiSend(spip, 1, &cmd); + spiReceive(spip, n, b); + spiUnselect(spip); +} + +/** + * @brief Writes a value into a generic register using SPI. + * @pre The SPI interface must be initialized and the driver started. + * + * @param[in] spip pointer to the SPI interface + * @param[in] reg starting register address + * @param[in] n number of adjacent registers to write + * @param[in] b pointer to a buffer of values. + */ +static void lis2dw12SPIWriteRegister(SPIDriver *spip, uint8_t reg, size_t n, + uint8_t* b) { + uint8_t cmd = reg & LIS2DW12_AD_MASK; + spiSelect(spip); + spiSend(spip, 1, &cmd); + spiSend(spip, n, b); + spiUnselect(spip); +} +#endif /* LIS2DW12_USE_SPI */ + +/** + * @brief Return the number of axes of the BaseAccelerometer. + * + * @param[in] ip pointer to @p BaseAccelerometer interface. + * + * @return the number of axes. + */ +static size_t acc_get_axes_number(void *ip) { + (void)ip; + + return LIS2DW12_ACC_NUMBER_OF_AXES; +} + +/** + * @brief Retrieves raw data from the BaseAccelerometer. + * @note This data is retrieved from MEMS register without any algebraical + * manipulation. + * @note The axes array must be at least the same size of the + * BaseAccelerometer axes number. + * + * @param[in] ip pointer to @p BaseAccelerometer interface. + * @param[out] axes a buffer which would be filled with raw data. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * @retval MSG_RESET if one or more I2C errors occurred, the errors can + * be retrieved using @p i2cGetErrors(). + * @retval MSG_TIMEOUT if a timeout occurred before operation end. + */ +static msg_t acc_read_raw(void *ip, int32_t axes[]) { + LIS2DW12Driver* devp; + uint8_t i, tmp[LIS2DW12_ACC_NUMBER_OF_AXES * 2]; + msg_t msg = MSG_OK; + + osalDbgCheck((ip != NULL) && (axes != NULL)); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LIS2DW12Driver*, (BaseAccelerometer*)ip); + + osalDbgAssert((devp->state == LIS2DW12_READY), + "acc_read_raw(), invalid state"); + +#if LIS2DW12_USE_SPI +#if LIS2DW12_SHARED_SPI + spiAcquireBus(devp->config->spip); + spiStart(devp->config->spip, + devp->config->spicfg); +#endif /* LIS2DW12_SHARED_SPI */ + + osalDbgAssert((devp->config->spip->state == SPI_READY), + "acc_read_raw(), channel not ready"); + + /* TODO: read STATUS register too, check DRDY bit */ + + lis2dw12SPIReadRegister(devp->config->spip, + LIS2DW12_AD_OUT_X_L, + LIS2DW12_ACC_NUMBER_OF_AXES * 2, tmp); + for(i = 0; i < LIS2DW12_ACC_NUMBER_OF_AXES; i++) { + axes[i] = (int32_t)(tmp[2 * i + 0] | (tmp[2 * i + 1] << 8)); + } + +#if LIS2DW12_SHARED_SPI + spiReleaseBus(devp->config->spip); +#endif /* LIS2DW12_SHARED_SPI */ +#endif /* LIS2DW12_USE_SPI */ + return msg; +} + +/** + * @brief Retrieves cooked data from the BaseAccelerometer. + * @note This data is manipulated according to the formula + * cooked = (raw * sensitivity) - bias. + * @note Final data is expressed as milli-G. + * @note The axes array must be at least the same size of the + * BaseAccelerometer axes number. + * + * @param[in] ip pointer to @p BaseAccelerometer interface. + * @param[out] axes a buffer which would be filled with cooked data. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * @retval MSG_RESET if one or more I2C errors occurred, the errors can + * be retrieved using @p i2cGetErrors(). + * @retval MSG_TIMEOUT if a timeout occurred before operation end. + */ +static msg_t acc_read_cooked(void *ip, float axes[]) { + LIS2DW12Driver* devp; + uint32_t i; + int32_t raw[LIS2DW12_ACC_NUMBER_OF_AXES]; + msg_t msg; + + osalDbgCheck((ip != NULL) && (axes != NULL)); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LIS2DW12Driver*, (BaseAccelerometer*)ip); + + osalDbgAssert((devp->state == LIS2DW12_READY), + "acc_read_cooked(), invalid state"); + + msg = acc_read_raw(ip, raw); + for(i = 0; i < LIS2DW12_ACC_NUMBER_OF_AXES; i++) { + axes[i] = (raw[i] * devp->accsensitivity[i]) - devp->accbias[i]; + } + return msg; +} + +/** + * @brief Set bias values for the BaseAccelerometer. + * @note Bias must be expressed as milli-G. + * @note The bias buffer must be at least the same size of the + * BaseAccelerometer axes number. + * + * @param[in] ip pointer to @p BaseAccelerometer interface. + * @param[in] bp a buffer which contains biases. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + */ +static msg_t acc_set_bias(void *ip, float *bp) { + LIS2DW12Driver* devp; + uint32_t i; + msg_t msg = MSG_OK; + + osalDbgCheck((ip != NULL) && (bp != NULL)); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LIS2DW12Driver*, (BaseAccelerometer*)ip); + + osalDbgAssert((devp->state == LIS2DW12_READY), + "acc_set_bias(), invalid state"); + + for(i = 0; i < LIS2DW12_ACC_NUMBER_OF_AXES; i++) { + devp->accbias[i] = bp[i]; + } + return msg; +} + +/** + * @brief Reset bias values for the BaseAccelerometer. + * @note Default biases value are obtained from device datasheet when + * available otherwise they are considered zero. + * + * @param[in] ip pointer to @p BaseAccelerometer interface. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + */ +static msg_t acc_reset_bias(void *ip) { + LIS2DW12Driver* devp; + uint32_t i; + msg_t msg = MSG_OK; + + osalDbgCheck(ip != NULL); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LIS2DW12Driver*, (BaseAccelerometer*)ip); + + osalDbgAssert((devp->state == LIS2DW12_READY), + "acc_reset_bias(), invalid state"); + + for(i = 0; i < LIS2DW12_ACC_NUMBER_OF_AXES; i++) + devp->accbias[i] = LIS2DW12_ACC_BIAS; + return msg; +} + +/** + * @brief Set sensitivity values for the BaseAccelerometer. + * @note Sensitivity must be expressed as milli-G/LSB. + * @note The sensitivity buffer must be at least the same size of the + * BaseAccelerometer axes number. + * + * @param[in] ip pointer to @p BaseAccelerometer interface. + * @param[in] sp a buffer which contains sensitivities. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + */ +static msg_t acc_set_sensivity(void *ip, float *sp) { + LIS2DW12Driver* devp; + uint32_t i; + msg_t msg = MSG_OK; + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LIS2DW12Driver*, (BaseAccelerometer*)ip); + + osalDbgCheck((ip != NULL) && (sp != NULL)); + + osalDbgAssert((devp->state == LIS2DW12_READY), + "acc_set_sensivity(), invalid state"); + + for(i = 0; i < LIS2DW12_ACC_NUMBER_OF_AXES; i++) { + devp->accsensitivity[i] = sp[i]; + } + return msg; +} + +/** + * @brief Reset sensitivity values for the BaseAccelerometer. + * @note Default sensitivities value are obtained from device datasheet. + * + * @param[in] ip pointer to @p BaseAccelerometer interface. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * @retval MSG_RESET otherwise. + */ +static msg_t acc_reset_sensivity(void *ip) { + LIS2DW12Driver* devp; + uint32_t i; + msg_t msg = MSG_OK; + + osalDbgCheck(ip != NULL); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LIS2DW12Driver*, (BaseAccelerometer*)ip); + + osalDbgAssert((devp->state == LIS2DW12_READY), + "acc_reset_sensivity(), invalid state"); + + if(devp->config->accfullscale == LIS2DW12_ACC_FS_2G) + for(i = 0; i < LIS2DW12_ACC_NUMBER_OF_AXES; i++) + devp->accsensitivity[i] = LIS2DW12_ACC_SENS_2G; + if(devp->config->accfullscale == LIS2DW12_ACC_FS_4G) + for(i = 0; i < LIS2DW12_ACC_NUMBER_OF_AXES; i++) + devp->accsensitivity[i] = LIS2DW12_ACC_SENS_4G; + else if(devp->config->accfullscale == LIS2DW12_ACC_FS_8G) + for(i = 0; i < LIS2DW12_ACC_NUMBER_OF_AXES; i++) + devp->accsensitivity[i] = LIS2DW12_ACC_SENS_8G; + else if(devp->config->accfullscale == LIS2DW12_ACC_FS_16G) + for(i = 0; i < LIS2DW12_ACC_NUMBER_OF_AXES; i++) + devp->accsensitivity[i] = LIS2DW12_ACC_SENS_16G; + else { + osalDbgAssert(FALSE, + "acc_reset_sensivity(), accelerometer full scale issue"); + return MSG_RESET; + } + return msg; +} + +/** + * @brief Changes the LIS2DW12Driver accelerometer fullscale value. + * @note This function also rescale sensitivities and biases based on + * previous and next fullscale value. + * @note A recalibration is highly suggested after calling this function. + * + * @param[in] devp pointer to @p LIS2DW12Driver interface. + * @param[in] fs new fullscale value. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * @retval MSG_RESET otherwise. + */ +static msg_t acc_set_full_scale(LIS2DW12Driver *devp, lis2dw12_acc_fs_t fs) { + float newfs, scale; + uint8_t i, cr; + msg_t msg = MSG_OK; + + osalDbgCheck(devp != NULL); + + osalDbgAssert((devp->state == LIS2DW12_READY), + "acc_set_full_scale(), invalid state"); + + /* Computing new fullscale value.*/ + if(fs == LIS2DW12_ACC_FS_2G) { + newfs = LIS2DW12_ACC_2G; + } + else if(fs == LIS2DW12_ACC_FS_4G) { + newfs = LIS2DW12_ACC_4G; + } + else if(fs == LIS2DW12_ACC_FS_8G) { + newfs = LIS2DW12_ACC_8G; + } + else if(fs == LIS2DW12_ACC_FS_16G) { + newfs = LIS2DW12_ACC_16G; + } + else { + msg = MSG_RESET; + return msg; + } + + if(newfs != devp->accfullscale) { + /* Computing scale value.*/ + scale = newfs / devp->accfullscale; + devp->accfullscale = newfs; + +#if LIS2DW12_USE_SPI +#if LIS2DW12_SHARED_SPI + spiAcquireBus(devp->config->spip); + spiStart(devp->config->spip, + devp->config->spicfg); +#endif /* LIS2DW12_SHARED_SPI */ + osalDbgAssert((devp->config->spip->state == SPI_READY), + "acc_set_full_scale(), channel not ready"); + + /* Getting data from register.*/ + lis2dw12SPIReadRegister(devp->config->spip, LIS2DW12_AD_CTRL_REG6, 1, &cr); +#endif /* LIS2DW12_USE_SPI */ + + cr &= ~(LIS2DW12_CTRL_REG6_FS_MASK); + cr |= fs; + +#if LIS2DW12_USE_SPI + /* Setting data to register.*/ + lis2dw12SPIWriteRegister(devp->config->spip, LIS2DW12_AD_CTRL_REG6, 1, &cr); + +#if LIS2DW12_SHARED_SPI + spiReleaseBus(devp->config->spip); +#endif /* LIS2DW12_SHARED_SPI */ +#endif /* LIS2DW12_USE_SPI */ + + /* Scaling sensitivity and bias. Re-calibration is suggested anyway. */ + for(i = 0; i < LIS2DW12_ACC_NUMBER_OF_AXES; i++) { + devp->accsensitivity[i] *= scale; + devp->accbias[i] *= scale; + } + } + return msg; +} + +static const struct LIS2DW12VMT vmt_device = { + (size_t)0, + acc_set_full_scale +}; + +static const struct BaseAccelerometerVMT vmt_accelerometer = { + sizeof(struct LIS2DW12VMT*), + acc_get_axes_number, acc_read_raw, acc_read_cooked, + acc_set_bias, acc_reset_bias, acc_set_sensivity, acc_reset_sensivity +}; + +/*===========================================================================*/ +/* Driver exported functions. */ +/*===========================================================================*/ + +/** + * @brief Initializes an instance. + * + * @param[out] devp pointer to the @p LIS2DW12Driver object + * + * @init + */ +void lis2dw12ObjectInit(LIS2DW12Driver *devp) { + devp->vmt = &vmt_device; + devp->acc_if.vmt = &vmt_accelerometer; + + devp->config = NULL; + + devp->accaxes = LIS2DW12_ACC_NUMBER_OF_AXES; + + devp->state = LIS2DW12_STOP; +} + +/** + * @brief Configures and activates LIS2DW12 Complex Driver peripheral. + * + * @param[in] devp pointer to the @p LIS2DW12Driver object + * @param[in] config pointer to the @p LIS2DW12Config object + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * @retval MSG_RESET otherwise. + * + * @api + */ +msg_t lis2dw12Start(LIS2DW12Driver *devp, const LIS2DW12Config *config) { + uint32_t i; + uint8_t devid; + uint8_t cr[6] = {0, 0, 0, 0, 0, 0}; + osalDbgCheck((devp != NULL) && (config != NULL)); + + osalDbgAssert((devp->state == LIS2DW12_STOP) || (devp->state == LIS2DW12_READY), + "lis2dw12Start(), invalid state"); + + devp->config = config; + + /* Control register 1 configuration block.*/ + { + cr[0] = devp->config->accoutputdatarate | + devp->config->accoutputresolution | + devp->config->acclowpowermode; + } + + /* Control register 2 configuration block.*/ + { + cr[1] = LIS2DW12_CTRL_REG2_IF_ADD_INC | + LIS2DW12_CTRL_REG2_BDU; + } + + /* Control register 3.*/ + /* keep default 0x00 */ + + /* Control register 4 and 5.*/ + /* keep default 0x00 */ + + /* Control register 6 configuration block.*/ + { + cr[6] = devp->config->accbadwidthselect | + devp->config->accfullscale | + LIS2DW12_CTRL_REG6_FDS_LPF | + LIS2DW12_CTRL_REG6_LOW_NOISE; + } +#if LIS2DW12_USE_SPI +#if LIS2DW12_SHARED_SPI + spiAcquireBus((devp)->config->spip); +#endif /* LIS2DW12_SHARED_SPI */ + spiStart((devp)->config->spip, (devp)->config->spicfg); + + /* Check WHO_I_AM */ + lis2dw12SPIReadRegister(devp->config->spip, LIS2DW12_AD_WHO_AM_I, + 1, &devid); + if (devid != 0x44) + { + return MSG_RESET; + } + + /* First enable autoincrement */ + lis2dw12SPIWriteRegister(devp->config->spip, LIS2DW12_AD_CTRL_REG2, + 1, &cr[1]); + + /* Now update all CTRL register with one write */ + lis2dw12SPIWriteRegister(devp->config->spip, LIS2DW12_AD_CTRL_REG1, + 6, cr); + +#if LIS2DW12_SHARED_SPI + spiReleaseBus((devp)->config->spip); +#endif /* LIS2DW12_SHARED_SPI */ +#endif /* LIS2DW12_USE_SPI */ + + /* Storing sensitivity information according to full scale value */ + if(devp->config->accfullscale == LIS2DW12_ACC_FS_2G) { + devp->accfullscale = LIS2DW12_ACC_2G; + if(devp->config->accsensitivity == NULL) + for(i = 0; i < LIS2DW12_ACC_NUMBER_OF_AXES; i++) + devp->accsensitivity[i] = LIS2DW12_ACC_SENS_2G; + else + for(i = 0; i < LIS2DW12_ACC_NUMBER_OF_AXES; i++) + devp->accsensitivity[i] = devp->config->accsensitivity[i]; + } + if(devp->config->accfullscale == LIS2DW12_ACC_FS_4G) { + devp->accfullscale = LIS2DW12_ACC_4G; + if(devp->config->accsensitivity == NULL) + for(i = 0; i < LIS2DW12_ACC_NUMBER_OF_AXES; i++) + devp->accsensitivity[i] = LIS2DW12_ACC_SENS_4G; + else + for(i = 0; i < LIS2DW12_ACC_NUMBER_OF_AXES; i++) + devp->accsensitivity[i] = devp->config->accsensitivity[i]; + } + else if(devp->config->accfullscale == LIS2DW12_ACC_FS_8G) { + devp->accfullscale = LIS2DW12_ACC_8G; + if(devp->config->accsensitivity == NULL) + for(i = 0; i < LIS2DW12_ACC_NUMBER_OF_AXES; i++) + devp->accsensitivity[i] = LIS2DW12_ACC_SENS_8G; + else + for(i = 0; i < LIS2DW12_ACC_NUMBER_OF_AXES; i++) + devp->accsensitivity[i] = devp->config->accsensitivity[i]; + } + else if(devp->config->accfullscale == LIS2DW12_ACC_FS_16G) { + devp->accfullscale = LIS2DW12_ACC_16G; + if(devp->config->accsensitivity == NULL) + for(i = 0; i < LIS2DW12_ACC_NUMBER_OF_AXES; i++) + devp->accsensitivity[i] = LIS2DW12_ACC_SENS_16G; + else + for(i = 0; i < LIS2DW12_ACC_NUMBER_OF_AXES; i++) + devp->accsensitivity[i] = devp->config->accsensitivity[i]; + } + else { + osalDbgAssert(FALSE, "lis2dw12Start(), accelerometer full scale issue"); + } + + /* Storing bias information according to user setting */ + if(devp->config->accbias != NULL) + for(i = 0; i < LIS2DW12_ACC_NUMBER_OF_AXES; i++) + devp->accbias[i] = devp->config->accbias[i]; + else + for(i = 0; i < LIS2DW12_ACC_NUMBER_OF_AXES; i++) + devp->accbias[i] = LIS2DW12_ACC_BIAS; + + /* This is the Accelerometer transient recovery time */ + osalThreadSleepMilliseconds(10); + + devp->state = LIS2DW12_READY; + + return MSG_OK; +} + +/** + * @brief Deactivates the LIS2DW12 Complex Driver peripheral. + * + * @param[in] devp pointer to the @p LIS2DW12Driver object + * + * @api + */ +void lis2dw12Stop(LIS2DW12Driver *devp) { + uint8_t cr1; + osalDbgCheck(devp != NULL); + + osalDbgAssert((devp->state == LIS2DW12_STOP) || + (devp->state == LIS2DW12_READY), + "lis2dw12Stop(), invalid state"); + + if (devp->state == LIS2DW12_READY) { +#if LIS2DW12_USE_SPI +#if LIS2DW12_SHARED_SPI + spiAcquireBus((devp)->config->spip); + spiStart((devp)->config->spip, + (devp)->config->spicfg); +#endif /* LIS2DW12_SHARED_SPI */ + /* Disabling all axes and enabling power down mode.*/ + cr1 = 0; + lis2dw12SPIWriteRegister(devp->config->spip, LIS2DW12_AD_CTRL_REG1, 1, &cr1); + spiStop((devp)->config->spip); +#if LIS2DW12_SHARED_SPI + spiReleaseBus((devp)->config->spip); +#endif /* LIS2DW12_SHARED_SPI */ +#endif /* LIS2DW12_USE_SPI */ + } + devp->state = LIS2DW12_STOP; +} +/** @} */ diff --git a/os/ex/devices/ST/lis2dw12.h b/os/ex/devices/ST/lis2dw12.h new file mode 100644 index 000000000..075eab23b --- /dev/null +++ b/os/ex/devices/ST/lis2dw12.h @@ -0,0 +1,612 @@ +/* + ChibiOS - Copyright (C) 2023 Andrey Gusakov + + This file is part of ChibiOS. + + ChibiOS is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 3 of the License, or + (at your option) any later version. + + ChibiOS is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . + +*/ + +/** + * @file lis2dw12.h + * @brief LIS2DW12 MEMS interface module header. + * + * @addtogroup LIS2DW12 + * @ingroup EX_ST + * @{ + */ + +#ifndef _LIS2DW12_H_ +#define _LIS2DW12_H_ + +#include "ex_accelerometer.h" + +/*===========================================================================*/ +/* Driver constants. */ +/*===========================================================================*/ + +/** + * @name Version identification + * @{ + */ +/** + * @brief LIS2DW12 driver version string. + */ +#define EX_LIS2DW12_VERSION "1.1.1" + +/** + * @brief LIS2DW12 driver version major number. + */ +#define EX_LIS2DW12_MAJOR 1 + +/** + * @brief LIS2DW12 driver version minor number. + */ +#define EX_LIS2DW12_MINOR 1 + +/** + * @brief LIS2DW12 driver version patch number. + */ +#define EX_LIS2DW12_PATCH 1 +/** @} */ + +/** + * @brief LIS2DW12 accelerometer subsystem characteristics. + * @note Sensitivity is expressed as milli-G/LSB whereas + * 1 milli-G = 0.00980665 m/s^2. + * @note Bias is expressed as milli-G. + * + * @{ + */ +#define LIS2DW12_ACC_NUMBER_OF_AXES 3U + +#define LIS2DW12_ACC_2G 2.0f +#define LIS2DW12_ACC_4G 4.0f +#define LIS2DW12_ACC_8G 8.0f +#define LIS2DW12_ACC_16G 16.0f + +#define LIS2DW12_ACC_SENS_2G (0.244f * 0.00980665f) +#define LIS2DW12_ACC_SENS_4G (0.488f * 0.00980665f) +#define LIS2DW12_ACC_SENS_8G (0.976f * 0.00980665f) +#define LIS2DW12_ACC_SENS_16G (1.952f * 0.00980665f) + +#define LIS2DW12_ACC_BIAS 0.0f +/** @} */ + +/** + * @name LIS2DW12 communication interfaces related bit masks + * @{ + */ +#define LIS2DW12_DI_MASK 0xFF +#define LIS2DW12_DI(n) (1 << n) +#define LIS2DW12_AD_MASK 0x7F +#define LIS2DW12_AD(n) (1 << n) +#define LIS2DW12_RW (1 << 7) +/** @} */ + +/** + * @name LIS2DW12 register addresses + * @{ + */ +#define LIS2DW12_AD_WHO_AM_I 0x0F +#define LIS2DW12_AD_CTRL_REG1 0x20 +#define LIS2DW12_AD_CTRL_REG2 0x21 +#define LIS2DW12_AD_CTRL_REG3 0x22 +#define LIS2DW12_AD_CTRL_REG4_INT1 0x23 +#define LIS2DW12_AD_CTRL_REG5_INT2 0x24 +#define LIS2DW12_AD_CTRL_REG6 0x25 +#define LIS2DW12_AD_OUT_T 0x26 +#define LIS2DW12_AD_STATUS_REG 0x27 +#define LIS2DW12_AD_OUT_X_L 0x28 +#define LIS2DW12_AD_OUT_X_H 0x29 +#define LIS2DW12_AD_OUT_Y_L 0x2A +#define LIS2DW12_AD_OUT_Y_H 0x2B +#define LIS2DW12_AD_OUT_Z_L 0x2C +#define LIS2DW12_AD_OUT_Z_H 0x2D +#define LIS2DW12_AD_FIFO_CTRL 0x2E +#define LIS2DW12_AD_FIFO_SAMPLES 0x2F +#define LIS2DW12_AD_TAP_THS_X 0x30 +#define LIS2DW12_AD_TAP_THS_Y 0x31 +#define LIS2DW12_AD_TAP_THS_Z 0x32 +#define LIS2DW12_AD_INT_DUR 0x33 +#define LIS2DW12_AD_WAKE_UP_THS 0x34 +#define LIS2DW12_AD_WAKE_UP_DUR 0x35 +#define LIS2DW12_AD_FREE_FALL 0x36 +#define LIS2DW12_AD_STATUS_DUP 0x37 +#define LIS2DW12_AD_WAKE_UP_SRC 0x38 +#define LIS2DW12_AD_TAP_SRC 0x39 +#define LIS2DW12_AD_SIXD_SRC 0x3A +#define LIS2DW12_AD_ALL_INT_SRC 0x3B +#define LIS2DW12_AD_X_OFS_USR 0x3C +#define LIS2DW12_AD_Y_OFS_USR 0x3D +#define LIS2DW12_AD_Z_OFS_USR 0x3E +#define LIS2DW12_AD_CTRL_REG7 0x3F + +/** @} */ + +/** + * @name LIS2DW12_CTRL_REG1 register bits definitions + * @{ + */ +#define LIS2DW12_CTRL_REG1_MASK 0xFF +/** @} */ + +/** + * @name LIS2DW12_CTRL_REG2 register bits definitions + * @{ + */ +#define LIS2DW12_CTRL_REG2_REG2_MASK 0xDF +#define LIS2DW12_CTRL_REG2_SIM (1 << 0) +#define LIS2DW12_CTRL_REG2_I2C_DISABLE (1 << 1) +#define LIS2DW12_CTRL_REG2_IF_ADD_INC (1 << 2) +#define LIS2DW12_CTRL_REG2_BDU (1 << 3) +#define LIS2DW12_CTRL_REG2_CS_PU_DIS (1 << 4) +#define LIS2DW12_CTRL_REG2_SOFT_RESET (1 << 6) +#define LIS2DW12_CTRL_REG2_BOOT (1 << 7) +/** @} */ + +/** + * @name LIS2DW12_CTRL_REG3 register bits definitions + * @{ + */ +#define LIS2DW12_CTRL_REG3_MASK 0xFF + +/** + * @name LIS2DW12_CTRL_REG4 register bits definitions + * @{ + */ +#define LIS2DW12_CTRL_REG4_MASK 0xFF + +/** + * @name LIS2DW12_CTRL_REG5 register bits definitions + * @{ + */ +#define LIS2DW12_CTRL_REG5_MASK 0xFF + +/** @} */ + +/** + * @name LIS2DW12_CTRL_REG6 register bits definitions + * @{ + */ +#define LIS2DW12_CTRL_REG6_MASK 0xFC +#define LIS2DW12_CTRL_REG6_BW_MASK 0xC0 +#define LIS2DW12_CTRL_REG6_FS_MASK 0x30 +#define LIS2DW12_CTRL_REG6_FDS_HPF (1 << 3) +#define LIS2DW12_CTRL_REG6_FDS_LPF (0 << 3) +#define LIS2DW12_CTRL_REG6_LOW_NOISE (1 << 2) + +/*===========================================================================*/ +/* Driver pre-compile time settings. */ +/*===========================================================================*/ + +/** + * @name Configuration options + * @{ + */ +/** + * @brief LIS2DW12 SPI interface switch. + * @details If set to @p TRUE the support for SPI is included. + * @note The default is @p TRUE. + */ +#if !defined(LIS2DW12_USE_SPI) || defined(__DOXYGEN__) +#define LIS2DW12_USE_SPI TRUE +#endif + +/** + * @brief LIS2DW12 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(LIS2DW12_SHARED_SPI) || defined(__DOXYGEN__) +#define LIS2DW12_SHARED_SPI FALSE +#endif + +/** + * @brief LIS2DW12 I2C interface switch. + * @details If set to @p TRUE the support for I2C is included. + * @note The default is @p FALSE. + */ +#if !defined(LIS2DW12_USE_I2C) || defined(__DOXYGEN__) +#define LIS2DW12_USE_I2C FALSE +#endif + +/** + * @brief LIS2DW12 shared I2C switch. + * @details If set to @p TRUE the device acquires I2C bus ownership + * on each transaction. + * @note The default is @p FALSE. Requires I2C_USE_MUTUAL_EXCLUSION. + */ +#if !defined(LIS2DW12_SHARED_I2C) || defined(__DOXYGEN__) +#define LIS2DW12_SHARED_I2C FALSE +#endif + +/** @} */ + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +#if !(LIS2DW12_USE_SPI ^ LIS2DW12_USE_I2C) +#error "LIS2DW12_USE_SPI and LIS2DW12_USE_I2C cannot be both true or both false" +#endif + +#if LIS2DW12_USE_SPI && !HAL_USE_SPI +#error "LIS2DW12_USE_SPI requires HAL_USE_SPI" +#endif + +#if LIS2DW12_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION +#error "LIS2DW12_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION" +#endif + +#if LIS2DW12_USE_I2C && !HAL_USE_I2C +#error "LIS2DW12_USE_I2C requires HAL_USE_I2C" +#endif + +#if LIS2DW12_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION +#error "LIS2DW12_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION" +#endif + +/* + * CHTODO: Add support for LIS2DW12 over I2C. + */ +#if LIS2DW12_USE_I2C +#error "LIS2DW12 over I2C still not supported" +#endif + +/*===========================================================================*/ +/* Driver data structures and types. */ +/*===========================================================================*/ + +/** + * @name LIS2DW12 data structures and types + * @{ + */ +/** + * @brief Structure representing a LIS2DW12 driver. + */ +typedef struct LIS2DW12Driver LIS2DW12Driver; + +/** + * @brief LIS2DW12 output data rate. + */ +typedef enum { + LIS2DW12_ACC_ODR_PD = 0x00, /**< Power down mode */ + LIS2DW12_ACC_ODR_12P5HZLP = 0x10, /**< ODR 12.5 Hz/1.6 Hz low power. */ + LIS2DW12_ACC_ODR_12P5HZ = 0x20, /**< ODR 12.5 Hz. */ + LIS2DW12_ACC_ODR_25HZ = 0x30, /**< ODR 25 Hz. */ + LIS2DW12_ACC_ODR_50HZ = 0x40, /**< ODR 50 Hz. */ + LIS2DW12_ACC_ODR_100HZ = 0x50, /**< ODR 100 Hz. */ + LIS2DW12_ACC_ODR_200HZ = 0x60, /**< ODR 200 Hz. */ + LIS2DW12_ACC_ODR_400HZ = 0x70, /**< ODR 400 Hz/200 Hz low power. */ + LIS2DW12_ACC_ODR_800HZ = 0x80, /**< ODR 800 Hz/200 Hz low power. */ + LIS2DW12_ACC_ODR_1600HZ = 0x90 /**< ODR 1600 Hz/200 Hz low power. */ +}lis2dw12_acc_odr_t; + +/** + * @brief LIS2DW12 output resolution. + */ +typedef enum { + LIS2DW12_ACC_OR_LP = 0x00, /**< Low-Power Mode, 12/14-bit */ + LIS2DW12_ACC_OR_HP = 0x04, /**< High-Performance mode, 14-bit */ + LIS2DW12_ACC_OR_SINGLE = 0x08 /**< Single data convertion, 12/14bit */ +}lis2dw12_acc_or_t; + +/** + * @brief LIS2DW12 low power mode. + */ +typedef enum { + LIS2DW12_ACC_LP_MODE1 = 0x00, /**< Low-Power Mode 1, 12-bit */ + LIS2DW12_ACC_LP_MODE2 = 0x01, /**< Low-Power Mode 2, 14-bit */ + LIS2DW12_ACC_LP_MODE3 = 0x02, /**< Low-Power Mode 3, 14-bit */ + LIS2DW12_ACC_LP_MODE4 = 0x03, /**< Low-Power Mode 4, 14-bit */ +}lis2dw12_acc_lp_t; + +/** + * @brief LIS2DW12 Bandwidth selection. + */ +typedef enum { + LIS2DW12_ACC_BW_ODR2 = 0x00, /**< ODR/2. */ + LIS2DW12_ACC_BW_ODR4 = 0x40, /**< ODR/2. */ + LIS2DW12_ACC_BW_ODR10 = 0x80, /**< ODR/10. */ + LIS2DW12_ACC_BW_ODR20 = 0xC0, /**< ODR/20. */ +}lis2dw12_acc_bw_t; + +/** + * @brief LIS2DW12 full scale. + */ +typedef enum { + LIS2DW12_ACC_FS_2G = 0x00, /**< Full scale �2g. */ + LIS2DW12_ACC_FS_4G = 0x10, /**< Full scale �4g. */ + LIS2DW12_ACC_FS_8G = 0x20, /**< Full scale �8g. */ + LIS2DW12_ACC_FS_16G = 0x30 /**< Full scale �16g. */ +}lis2dw12_acc_fs_t; + +/** + * @brief Driver state machine possible states. + */ +typedef enum { + LIS2DW12_UNINIT = 0, /**< Not initialized. */ + LIS2DW12_STOP = 1, /**< Stopped. */ + LIS2DW12_READY = 2, /**< Ready. */ +} lis2dw12_state_t; + +/** + * @brief LIS2DW12 configuration structure. + */ +typedef struct { + +#if (LIS2DW12_USE_SPI) || defined(__DOXYGEN__) + /** + * @brief SPI driver associated to this LIS2DW12. + */ + SPIDriver *spip; + /** + * @brief SPI configuration associated to this LIS2DW12. + */ + const SPIConfig *spicfg; +#endif /* LIS2DW12_USE_SPI */ +#if (LIS2DW12_USE_I2C) || defined(__DOXYGEN__) + /** + * @brief I2C driver associated to this LIS2DW12. + */ + I2CDriver *i2cp; + /** + * @brief I2C configuration associated to this LIS2DW12. + */ + const I2CConfig *i2ccfg; +#endif /* LIS2DW12_USE_I2C */ + /** + * @brief LIS2DW12 accelerometer subsystem initial sensitivity. + */ + float *accsensitivity; + /** + * @brief LIS2DW12 accelerometer subsystem initial bias. + */ + float *accbias; + /** + * @brief LIS2DW12 output data rate selection. + */ + lis2dw12_acc_odr_t accoutputdatarate; + /** + * @brief LIS2DW12 output data resolution selection. + */ + lis2dw12_acc_or_t accoutputresolution; + /** + * @brief LIS2DW12 low power mode selection + */ + lis2dw12_acc_lp_t acclowpowermode; + /** + * @brief LIS2DW12 output bandwidth selection. + */ + lis2dw12_acc_bw_t accbadwidthselect; + /** + * @brief LIS2DW12 accelerometer subsystem initial full scale. + */ + lis2dw12_acc_fs_t accfullscale; +} LIS2DW12Config; + +/** + * @brief @p LIS2DW12 specific methods. + */ +#define _lis2dw12_methods_alone \ + /* Change full scale value of LIS2DW12 .*/ \ + msg_t (*set_full_scale)(LIS2DW12Driver *devp, lis2dw12_acc_fs_t fs); + + +/** + * @brief @p LIS2DW12 specific methods with inherited ones. + */ +#define _lis2dw12_methods \ + _base_object_methods \ + _lis2dw12_methods_alone + +/** + * @extends BaseObjectVMT + * + * @brief @p LIS2DW12 accelerometer virtual methods table. + */ +struct LIS2DW12VMT { + _lis2dw12_methods +}; + +/** + * @brief @p LIS2DW12Driver specific data. + */ +#define _lis2dw12_data \ + /* Driver state.*/ \ + lis2dw12_state_t state; \ + /* Current configuration data.*/ \ + const LIS2DW12Config *config; \ + /* Accelerometer subsystem axes number.*/ \ + size_t accaxes; \ + /* Current sensitivity.*/ \ + float accsensitivity[LIS2DW12_ACC_NUMBER_OF_AXES]; \ + /* Bias data.*/ \ + int32_t accbias[LIS2DW12_ACC_NUMBER_OF_AXES]; \ + /* Current full scale value.*/ \ + float accfullscale; + +/** + * @brief LIS2DW12 3-axis accelerometer class. + */ +struct LIS2DW12Driver { + /** @brief Virtual Methods Table.*/ + const struct LIS2DW12VMT *vmt; + /** @brief Base accelerometer interface.*/ + BaseAccelerometer acc_if; + _lis2dw12_data +}; +/** @} */ + +/*===========================================================================*/ +/* Driver macros. */ +/*===========================================================================*/ + +/** + * @brief Return the number of axes of the BaseAccelerometer. + * + * @param[in] devp pointer to @p LIS2DW12Driver. + * + * @return the number of axes. + * + * @api + */ +#define lis2dw12AccelerometerGetAxesNumber(devp) \ + accelerometerGetAxesNumber(&((devp)->acc_if)) + +/** + * @brief Retrieves raw data from the BaseAccelerometer. + * @note This data is retrieved from MEMS register without any algebraical + * manipulation. + * @note The axes array must be at least the same size of the + * BaseAccelerometer axes number. + * + * @param[in] devp pointer to @p LIS2DW12Driver. + * @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. + * + * @api + */ +#define lis2dw12AccelerometerReadRaw(devp, axes) \ + accelerometerReadRaw(&((devp)->acc_if), axes) + +/** + * @brief Retrieves cooked data from the BaseAccelerometer. + * @note This data is manipulated according to the formula + * cooked = (raw * sensitivity) - bias. + * @note Final data is expressed as milli-G. + * @note The axes array must be at least the same size of the + * BaseAccelerometer axes number. + * + * @param[in] devp pointer to @p LIS2DW12Driver. + * @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 lis2dw12AccelerometerReadCooked(devp, axes) \ + accelerometerReadCooked(&((devp)->acc_if), axes) + +/** + * @brief Set bias values for the BaseAccelerometer. + * @note Bias must be expressed as milli-G. + * @note The bias buffer must be at least the same size of the + * BaseAccelerometer axes number. + * + * @param[in] devp pointer to @p LIS2DW12Driver. + * @param[in] bp a buffer which contains biases. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * + * @api + */ +#define lis2dw12AccelerometerSetBias(devp, bp) \ + accelerometerSetBias(&((devp)->acc_if), bp) + +/** + * @brief Reset bias values for the BaseAccelerometer. + * @note Default biases value are obtained from device datasheet when + * available otherwise they are considered zero. + * + * @param[in] devp pointer to @p LIS2DW12Driver. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * + * @api + */ +#define lis2dw12AccelerometerResetBias(devp) \ + accelerometerResetBias(&((devp)->acc_if)) + +/** + * @brief Set sensitivity values for the BaseAccelerometer. + * @note Sensitivity must be expressed as milli-G/LSB. + * @note The sensitivity buffer must be at least the same size of the + * BaseAccelerometer axes number. + * + * @param[in] devp pointer to @p LIS2DW12Driver. + * @param[in] sp a buffer which contains sensitivities. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * + * @api + */ +#define lis2dw12AccelerometerSetSensitivity(devp, sp) \ + accelerometerSetSensitivity(&((devp)->acc_if), sp) + +/** + * @brief Reset sensitivity values for the BaseAccelerometer. + * @note Default sensitivities value are obtained from device datasheet. + * + * @param[in] devp pointer to @p LIS2DW12Driver. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * @retval MSG_RESET otherwise. + * + * @api + */ +#define lis2dw12AccelerometerResetSensitivity(devp) \ + accelerometerResetSensitivity(&((devp)->acc_if)) + +/** + * @brief Changes the LIS2DW12Driver accelerometer fullscale value. + * @note This function also rescale sensitivities and biases based on + * previous and next fullscale value. + * @note A recalibration is highly suggested after calling this function. + * + * @param[in] devp pointer to @p LIS2DW12Driver. + * @param[in] fs new fullscale value. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * @retval MSG_RESET otherwise. + * + * @api + */ +#define lis2dw12AccelerometerSetFullScale(devp, fs) \ + (devp)->vmt->acc_set_full_scale(devp, fs) + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +#ifdef __cplusplus +extern "C" { +#endif + void lis2dw12ObjectInit(LIS2DW12Driver *devp); + msg_t lis2dw12Start(LIS2DW12Driver *devp, const LIS2DW12Config *config); + void lis2dw12Stop(LIS2DW12Driver *devp); +#ifdef __cplusplus +} +#endif + +#endif /* _LIS2DW12_H_ */ + +/** @} */ + diff --git a/os/ex/devices/ST/lis2dw12.mk b/os/ex/devices/ST/lis2dw12.mk new file mode 100644 index 000000000..07c555218 --- /dev/null +++ b/os/ex/devices/ST/lis2dw12.mk @@ -0,0 +1,10 @@ +# List of all the LIS3DSH device files. +LIS2DW12SRC := $(CHIBIOS)/os/ex/devices/ST/lis2dw12.c + +# Required include directories +LIS2DW12INC := $(CHIBIOS)/os/ex/include \ + $(CHIBIOS)/os/ex/devices/ST + +# Shared variables +ALLCSRC += $(LIS2DW12SRC) +ALLINC += $(LIS2DW12INC) \ No newline at end of file