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Devices: ST: add LIS2DW12 accelerometer

This commit is contained in:
Andrey Gusakov 2023-12-13 14:27:02 +03:00
parent 89dac4bb90
commit ceb748118b
3 changed files with 1227 additions and 0 deletions
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605
os/ex/devices/ST/lis2dw12.c Normal file
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/*
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 <http://www.gnu.org/licenses/>.
*/
/**
* @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;
}
/** @} */

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/*
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 <http://www.gnu.org/licenses/>.
*/
/**
* @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 <20>2g. */
LIS2DW12_ACC_FS_4G = 0x10, /**< Full scale <20>4g. */
LIS2DW12_ACC_FS_8G = 0x20, /**< Full scale <20>8g. */
LIS2DW12_ACC_FS_16G = 0x30 /**< Full scale <20>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_ */
/** @} */

10
os/ex/devices/ST/lis2dw12.mk Normal file
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@ -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)