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Updated LPS25H and added a thermometer interface to the driver 

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@11686 110e8d01-0319-4d1e-a829-52ad28d1bb01
This commit is contained in:
Rocco Marco Guglielmi 2018-03-10 13:54:21 +00:00
parent f2f3035c3c
commit d4c4f24cff
4 changed files with 803 additions and 242 deletions
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505
os/ex/ST/lps25h.c
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.
@ -57,10 +57,11 @@
* @param[out] rxbuf pointer to an output buffer
* @param[in] n number of consecutive register to read
* @return the operation status.
*
* @notapi
*/
msg_t lps25hI2CReadRegister(I2CDriver *i2cp, lps25h_sad_t sad, uint8_t reg,
uint8_t* rxbuf, size_t n) {
static msg_t lps25hI2CReadRegister(I2CDriver *i2cp, lps25h_sad_t sad,
uint8_t reg, uint8_t* rxbuf, size_t n) {
uint8_t txbuf = reg;
if(n > 1)
txbuf |= LPS25H_SUB_MS;
@ -80,11 +81,11 @@ msg_t lps25hI2CReadRegister(I2CDriver *i2cp, lps25h_sad_t sad, uint8_t reg,
* @param[in] n size of txbuf less one (not considering the first
* element)
* @return the operation status.
*
* @notapi
* @return the operation status.
*/
msg_t lps25hI2CWriteRegister(I2CDriver *i2cp, lps25h_sad_t sad, uint8_t* txbuf,
size_t n) {
static msg_t lps25hI2CWriteRegister(I2CDriver *i2cp, lps25h_sad_t sad,
uint8_t* txbuf, size_t n) {
if (n > 1)
(*txbuf) |= LPS25H_SUB_MS;
return i2cMasterTransmitTimeout(i2cp, sad, txbuf, n + 1, NULL, 0,
@ -92,118 +93,448 @@ msg_t lps25hI2CWriteRegister(I2CDriver *i2cp, lps25h_sad_t sad, uint8_t* txbuf,
}
#endif /* LPS25H_USE_I2C */
/*
* Interface implementation.
/**
* @brief Return the number of axes of the BaseBarometer.
*
* @param[in] ip pointer to @p BaseBarometer interface.
*
* @return the number of axes.
*/
static size_t get_axes_number(void *ip) {
static size_t baro_get_axes_number(void *ip) {
(void)ip;
osalDbgCheck(ip != NULL);
return LPS25H_NUMBER_OF_AXES;
return LPS25H_BARO_NUMBER_OF_AXES;
}
static msg_t read_raw(void *ip, int32_t* axis) {
/**
* @brief Retrieves raw data from the BaseBarometer.
* @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
* BaseBarometer axes number.
*
* @param[in] ip pointer to @p BaseBarometer 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 baro_read_raw(void *ip, int32_t axes[]) {
LPS25HDriver* devp;
uint8_t buff[3];
msg_t msg = MSG_OK;
msg_t msg;
*axis = 0;
osalDbgCheck((ip != NULL) && (axes != NULL));
osalDbgCheck((ip != NULL) && (axis != NULL));
osalDbgAssert((((LPS25HDriver *)ip)->state == LPS25H_READY),
"read_raw(), invalid state");
/* Getting parent instance pointer.*/
devp = objGetInstance(LPS25HDriver*, (BaseBarometer*)ip);
osalDbgAssert((devp->state == LPS25H_READY),
"baro_read_raw(), invalid state");
osalDbgAssert((devp->config->i2cp->state == I2C_READY),
"baro_read_raw(), channel not ready");
#if LPS25H_USE_I2C
osalDbgAssert((((LPS25HDriver *)ip)->config->i2cp->state == I2C_READY),
"read_raw(), channel not ready");
#if LPS25H_SHARED_I2C
i2cAcquireBus(((LPS25HDriver *)ip)->config->i2cp);
i2cStart(((LPS25HDriver *)ip)->config->i2cp,
((LPS25HDriver *)ip)->config->i2ccfg);
i2cAcquireBus(devp->config->i2cp);
i2cStart(devp->config->i2cp,
devp->config->i2ccfg);
#endif /* LPS25H_SHARED_I2C */
msg = lps25hI2CReadRegister(((LPS25HDriver *)ip)->config->i2cp,
((LPS25HDriver *)ip)->config->slaveaddress,
msg = lps25hI2CReadRegister(devp->config->i2cp, devp->config->slaveaddress,
LPS25H_AD_PRESS_OUT_XL, buff, 3);
#if LPS25H_SHARED_I2C
i2cReleaseBus(((LPS25HDriver *)ip)->config->i2cp);
i2cReleaseBus(devp->config->i2cp);
#endif /* LPS25H_SHARED_I2C */
#endif /* LPS25H_USE_I2C */
if(msg == MSG_OK) {
*axis = buff[0] + (buff[1] << 8) + (buff[2] << 16);
*axes = buff[0] + (buff[1] << 8) + (buff[2] << 16);
}
return msg;
}
static msg_t read_cooked(void *ip, float* axis) {
/**
* @brief Retrieves cooked data from the BaseBarometer.
* @note This data is manipulated according to the formula
* cooked = (raw * sensitivity) - bias.
* @note Final data is expressed as hPa.
* @note The axes array must be at least the same size of the
* BaseBarometer axes number.
*
* @param[in] ip pointer to @p BaseBarometer 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 baro_read_cooked(void *ip, float axes[]) {
LPS25HDriver* devp;
int32_t raw;
msg_t msg;
osalDbgCheck((ip != NULL) && (axes != NULL));
/* Getting parent instance pointer.*/
devp = objGetInstance(LPS25HDriver*, (BaseBarometer*)ip);
osalDbgAssert((devp->state == LPS25H_READY),
"baro_read_cooked(), invalid state");
msg = baro_read_raw(ip, &raw);
*axes = (raw * devp->barosensitivity) - devp->barobias;
return msg;
}
/**
* @brief Set bias values for the BaseBarometer.
* @note Bias must be expressed as hPa.
* @note The bias buffer must be at least the same size of the
* BaseBarometer axes number.
*
* @param[in] ip pointer to @p BaseBarometer interface.
* @param[in] bp a buffer which contains biases.
*
* @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 baro_set_bias(void *ip, float *bp) {
LPS25HDriver* devp;
msg_t msg = MSG_OK;
osalDbgCheck((ip != NULL) && (bp != NULL));
/* Getting parent instance pointer.*/
devp = objGetInstance(LPS25HDriver*, (BaseBarometer*)ip);
osalDbgAssert((devp->state == LPS25H_READY),
"baro_set_bias(), invalid state");
devp->barobias = *bp;
return msg;
}
/**
* @brief Reset bias values for the BaseBarometer.
* @note Default biases value are obtained from device datasheet when
* available otherwise they are considered zero.
*
* @param[in] ip pointer to @p BaseBarometer interface.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*/
static msg_t baro_reset_bias(void *ip) {
LPS25HDriver* devp;
msg_t msg = MSG_OK;
osalDbgCheck(ip != NULL);
/* Getting parent instance pointer.*/
devp = objGetInstance(LPS25HDriver*, (BaseBarometer*)ip);
osalDbgAssert((devp->state == LPS25H_READY),
"baro_reset_bias(), invalid state");
devp->barobias = LPS25H_BARO_SENS;
return msg;
}
/**
* @brief Set sensitivity values for the BaseBarometer.
* @note Sensitivity must be expressed as hPa/LSB.
* @note The sensitivity buffer must be at least the same size of the
* BaseBarometer axes number.
*
* @param[in] ip pointer to @p BaseBarometer interface.
* @param[in] sp a buffer which contains sensitivities.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*/
static msg_t baro_set_sensitivity(void *ip, float *sp) {
LPS25HDriver* devp;
msg_t msg = MSG_OK;
osalDbgCheck((ip != NULL) && (sp != NULL));
/* Getting parent instance pointer.*/
devp = objGetInstance(LPS25HDriver*, (BaseBarometer*)ip);
osalDbgAssert((devp->state == LPS25H_READY),
"baro_set_sensitivity(), invalid state");
devp->barosensitivity = *sp;
return msg;
}
/**
* @brief Reset sensitivity values for the BaseBarometer.
* @note Default sensitivities value are obtained from device datasheet.
*
* @param[in] ip pointer to @p BaseBarometer interface.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*/
static msg_t baro_reset_sensitivity(void *ip) {
LPS25HDriver* devp;
msg_t msg = MSG_OK;
osalDbgCheck(ip != NULL);
/* Getting parent instance pointer.*/
devp = objGetInstance(LPS25HDriver*, (BaseBarometer*)ip);
osalDbgAssert((devp->state == LPS25H_READY),
"baro_reset_sensitivity(), invalid state");
devp->barosensitivity = LPS25H_BARO_SENS;
return msg;
}
/**
* @brief Return the number of axes of the BaseThermometer.
*
* @param[in] ip pointer to @p BaseThermometer interface.
*
* @return the number of axes.
*/
static size_t thermo_get_axes_number(void *ip) {
(void)ip;
return LPS25H_THERMO_NUMBER_OF_AXES;
}
/**
* @brief Retrieves raw data from the BaseThermometer.
* @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
* BaseThermometer axes number.
*
* @param[in] ip pointer to @p BaseThermometer 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 thermo_read_raw(void *ip, int32_t axes[]) {
LPS25HDriver* devp;
int16_t tmp;
uint8_t buff[2];
msg_t msg;
osalDbgCheck((ip != NULL) && (axes != NULL));
/* Getting parent instance pointer.*/
devp = objGetInstance(LPS25HDriver*, (BaseThermometer*)ip);
osalDbgAssert((devp->state == LPS25H_READY),
"thermo_read_raw(), invalid state");
osalDbgAssert((devp->config->i2cp->state == I2C_READY),
"thermo_read_raw(), channel not ready");
#if LPS25H_SHARED_I2C
i2cAcquireBus(devp->config->i2cp);
i2cStart(devp->config->i2cp,
devp->config->i2ccfg);
#endif /* LPS25H_SHARED_I2C */
msg = lps25hI2CReadRegister(devp->config->i2cp, devp->config->slaveaddress,
LPS25H_AD_TEMP_OUT_L, buff, 2);
#if LPS25H_SHARED_I2C
i2cReleaseBus(devp->config->i2cp);
#endif /* LPS25H_SHARED_I2C */
if (msg == MSG_OK) {
tmp = buff[0] + (buff[1] << 8);
*axes = (int32_t)tmp;
}
return msg;
}
/**
* @brief Retrieves cooked data from the BaseThermometer.
* @note This data is manipulated according to the formula
* cooked = (raw * sensitivity) - bias.
* @note Final data is expressed as °C.
* @note The axes array must be at least the same size of the
* BaseThermometer axes number.
*
* @param[in] ip pointer to @p BaseThermometer 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 thermo_read_cooked(void *ip, float* axis) {
LPS25HDriver* devp;
int32_t raw;
msg_t msg;
osalDbgCheck((ip != NULL) && (axis != NULL));
osalDbgAssert((((LPS25HDriver *)ip)->state == LPS25H_READY),
"read_cooked(), invalid state");
/* Getting parent instance pointer.*/
devp = objGetInstance(LPS25HDriver*, (BaseThermometer*)ip);
msg = read_raw(ip, &raw);
osalDbgAssert((devp->state == LPS25H_READY),
"thermo_read_cooked(), invalid state");
msg = thermo_read_raw(devp, &raw);
*axis = (raw * devp->thermosensitivity) - devp->thermobias;
*axis = raw * ((LPS25HDriver *)ip)->sensitivity;
*axis -= ((LPS25HDriver *)ip)->bias;
return msg;
}
/**
* @brief Set bias values for the BaseThermometer.
* @note Bias must be expressed as °C.
* @note The bias buffer must be at least the same size of the
* BaseThermometer axes number.
*
* @param[in] ip pointer to @p BaseThermometer interface.
* @param[in] bp a buffer which contains biases.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*/
static msg_t thermo_set_bias(void *ip, float *bp) {
LPS25HDriver* devp;
msg_t msg = MSG_OK;
static msg_t set_bias(void *ip, float *bp) {
osalDbgCheck((ip != NULL) && (bp != NULL));
osalDbgAssert((((LPS25HDriver *)ip)->state == LPS25H_READY) ||
(((LPS25HDriver *)ip)->state == LPS25H_STOP),
"set_bias(), invalid state");
/* Getting parent instance pointer.*/
devp = objGetInstance(LPS25HDriver*, (BaseThermometer*)ip);
((LPS25HDriver *)ip)->bias = *bp;
return MSG_OK;
osalDbgAssert((devp->state == LPS25H_READY),
"thermo_set_bias(), invalid state");
devp->thermobias = *bp;
return msg;
}
static msg_t reset_bias(void *ip) {
/**
* @brief Reset bias values for the BaseThermometer.
* @note Default biases value are obtained from device datasheet when
* available otherwise they are considered zero.
*
* @param[in] ip pointer to @p BaseThermometer interface.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*/
static msg_t thermo_reset_bias(void *ip) {
LPS25HDriver* devp;
msg_t msg = MSG_OK;
osalDbgCheck(ip != NULL);
osalDbgAssert((((LPS25HDriver *)ip)->state == LPS25H_READY) ||
(((LPS25HDriver *)ip)->state == LPS25H_STOP),
"reset_bias(), invalid state");
/* Getting parent instance pointer.*/
devp = objGetInstance(LPS25HDriver*, (BaseThermometer*)ip);
((LPS25HDriver *)ip)->bias = 0.0f;
return MSG_OK;
osalDbgAssert((devp->state == LPS25H_READY),
"thermo_reset_bias(), invalid state");
devp->thermobias = LPS25H_THERMO_BIAS;
return msg;
}
static msg_t set_sensivity(void *ip, float *sp) {
/**
* @brief Set sensitivity values for the BaseThermometer.
* @note Sensitivity must be expressed as °C/LSB.
* @note The sensitivity buffer must be at least the same size of the
* BaseThermometer axes number.
*
* @param[in] ip pointer to @p BaseThermometer interface.
* @param[in] sp a buffer which contains sensitivities.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*/
static msg_t thermo_set_sensitivity(void *ip, float *sp) {
LPS25HDriver* devp;
msg_t msg = MSG_OK;
osalDbgCheck((ip != NULL) && (sp != NULL));
osalDbgAssert((((LPS25HDriver *)ip)->state == LPS25H_READY),
"set_sensivity(), invalid state");
/* Getting parent instance pointer.*/
devp = objGetInstance(LPS25HDriver*, (BaseThermometer*)ip);
((LPS25HDriver *)ip)->sensitivity = *sp;
return MSG_OK;
osalDbgAssert((devp->state == LPS25H_READY),
"thermo_set_sensitivity(), invalid state");
devp->thermosensitivity = *sp;
return msg;
}
static msg_t reset_sensivity(void *ip) {
/**
* @brief Reset sensitivity values for the BaseThermometer.
* @note Default sensitivities value are obtained from device datasheet.
*
* @param[in] ip pointer to @p BaseThermometer interface.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*/
static msg_t thermo_reset_sensitivity(void *ip) {
LPS25HDriver* devp;
msg_t msg = MSG_OK;
osalDbgCheck(ip != NULL);
osalDbgAssert((((LPS25HDriver *)ip)->state == LPS25H_READY),
"reset_sensivity(), invalid state");
/* Getting parent instance pointer.*/
devp = objGetInstance(LPS25HDriver*, (BaseThermometer*)ip);
((LPS25HDriver *)ip)->sensitivity = LPS25H_SENS;
return MSG_OK;
osalDbgAssert((devp->state == LPS25H_READY),
"thermo_reset_sensitivity(), invalid state");
devp->thermosensitivity = LPS25H_THERMO_SENS;
return msg;
}
static const struct BaseSensorVMT vmt_sensor = {
get_axes_number, read_raw, read_cooked
static const struct LPS25HVMT vmt_device = {
(size_t)0
};
static const struct LPS25HBarometerVMT vmt_barometer = {
get_axes_number, read_raw, read_cooked,
set_bias, reset_bias, set_sensivity, reset_sensivity
static const struct BaseBarometerVMT vmt_barometer = {
sizeof(struct LPS25HVMT*),
baro_get_axes_number, baro_read_raw, baro_read_cooked,
baro_set_bias, baro_reset_bias, baro_set_sensitivity,
baro_reset_sensitivity
};
static const struct BaseThermometerVMT vmt_thermometer = {
sizeof(struct LPS25HVMT*) + sizeof(BaseBarometer),
thermo_get_axes_number, thermo_read_raw, thermo_read_cooked,
thermo_set_bias, thermo_reset_bias, thermo_set_sensitivity,
thermo_reset_sensitivity
};
/*===========================================================================*/
@ -219,10 +550,15 @@ static const struct LPS25HBarometerVMT vmt_barometer = {
*/
void lps25hObjectInit(LPS25HDriver *devp) {
devp->vmt_sensor = &vmt_sensor;
devp->vmt_barometer = &vmt_barometer;
devp->vmt = &vmt_device;
devp->baro_if.vmt = &vmt_barometer;
devp->thermo_if.vmt = &vmt_thermometer;
devp->config = NULL;
devp->bias = 0;
devp->baroaxes = LPS25H_BARO_NUMBER_OF_AXES;
devp->thermoaxes = LPS25H_THERMO_NUMBER_OF_AXES;
devp->state = LPS25H_STOP;
}
@ -242,7 +578,7 @@ void lps25hStart(LPS25HDriver *devp, const LPS25HConfig *config) {
"lps25hStart(), invalid state");
devp->config = config;
#if LPS25H_USE_I2C
/* Control register 1 configuration block.*/
{
cr[0] = LPS25H_AD_CTRL_REG1;
@ -269,7 +605,7 @@ void lps25hStart(LPS25HDriver *devp, const LPS25HConfig *config) {
cr[0] = LPS25H_AD_RES_CONF;
cr[1] = 0x05;
#if LPS25H_USE_ADVANCED || defined(__DOXYGEN__)
cr[1] = devp->config->respressure | devp->config->restemperature;
cr[1] = devp->config->baroresolution | devp->config->thermoresolution;
#endif
}
@ -285,22 +621,37 @@ void lps25hStart(LPS25HDriver *devp, const LPS25HConfig *config) {
#if LPS25H_SHARED_I2C
i2cReleaseBus((devp)->config->i2cp);
#endif /* LPS25H_SHARED_I2C */
#endif /* LPS25H_USE_I2C */
if(devp->config->sensitivity == NULL) {
devp->sensitivity = LPS25H_SENS;
if(devp->config->barosensitivity == NULL) {
devp->barosensitivity = LPS25H_BARO_SENS;
}
else{
/* Taking Sensitivity from user configurations */
devp->sensitivity = *devp->config->sensitivity;
/* Taking barometer sensitivity from user configurations */
devp->barosensitivity = *(devp->config->barosensitivity);
}
if(devp->config->bias == NULL) {
devp->bias = 0.0f;
if(devp->config->barobias == NULL) {
devp->barobias = LPS25H_BARO_BIAS;
}
else{
/* Taking Bias from user configurations */
devp->bias = *devp->config->bias;
/* Taking barometer bias from user configurations */
devp->barobias = *(devp->config->barobias);
}
if(devp->config->thermosensitivity == NULL) {
devp->thermosensitivity = LPS25H_THERMO_SENS;
}
else{
/* Taking thermometer sensitivity from user configurations */
devp->thermosensitivity = *(devp->config->thermosensitivity);
}
if(devp->config->thermobias == NULL) {
devp->thermobias = LPS25H_THERMO_BIAS;
}
else{
/* Taking thermometer bias from user configurations */
devp->thermobias = *(devp->config->thermobias);
}
/* This is the Barometer transient recovery time */
@ -325,7 +676,6 @@ void lps25hStop(LPS25HDriver *devp) {
"lps25hStop(), invalid state");
if (devp->state == LPS25H_READY) {
#if (LPS25H_USE_I2C)
#if LPS25H_SHARED_I2C
i2cAcquireBus((devp)->config->i2cp);
i2cStart((devp)->config->i2cp,
@ -341,7 +691,6 @@ void lps25hStop(LPS25HDriver *devp) {
#if LPS25H_SHARED_I2C
i2cReleaseBus((devp)->config->i2cp);
#endif /* LPS25H_SHARED_I2C */
#endif /* LPS25H_USE_I2C */
}
devp->state = LPS25H_STOP;
}

368
os/ex/ST/lps25h.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.
@ -30,6 +30,7 @@
#define _LPS25H_H_
#include "hal_barometer.h"
#include "hal_thermometer.h"
/*===========================================================================*/
/* Driver constants. */
@ -42,7 +43,7 @@
/**
* @brief LPS25H driver version string.
*/
#define EX_LPS25H_VERSION "1.0.4"
#define EX_LPS25H_VERSION "1.0.5"
/**
* @brief LPS25H driver version major number.
@ -57,17 +58,34 @@
/**
* @brief LPS25H driver version patch number.
*/
#define EX_LPS25H_PATCH 4
#define EX_LPS25H_PATCH 5
/** @} */
/**
* @brief LPS25H characteristics.
* @brief LPS25H baromether subsystem characteristics.
* @note Sensitivity is expressed as hPa/LSB whereas hPa stand for
* hectopascal.
* @note Bias is expressed as hPa.
*
* @{
*/
#define LPS25H_NUMBER_OF_AXES 1U
#define LPS25H_BARO_NUMBER_OF_AXES 1U
#define LPS25H_SENS 0.00024414f
#define LPS25H_BARO_SENS 0.00024414f
#define LPS25H_BARO_BIAS 0.0f
/** @} */
/**
* @brief LPS25H thermometer subsystem characteristics.
* @note Sensitivity is expressed as °C/LSB.
* @note Bias is expressed as °C.
*
* @{
*/
#define LPS25H_THERMO_NUMBER_OF_AXES 1U
#define LPS25H_THERMO_SENS 0.00208333f
#define LPS25H_THERMO_BIAS -42.5f
/** @} */
/**
@ -254,10 +272,6 @@
#error "LPS25H_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION"
#endif
/*
* TODO: Add SPI support.
*/
/*===========================================================================*/
/* Driver data structures and types. */
/*===========================================================================*/
@ -266,6 +280,11 @@
* @name LPS25H data structures and types.
* @{
*/
/**
* @brief Structure representing a LPS25H driver.
*/
typedef struct LPS25HDriver LPS25HDriver;
/**
* @brief LPS25H slave address
*/
@ -346,19 +365,27 @@ typedef struct {
* @brief I2C configuration associated to this LPS25H.
*/
const I2CConfig *i2ccfg;
#endif /* LPS25H_USE_I2C */
/**
* @brief LPS25H initial sensitivity.
*/
float* sensitivity;
/**
* @brief LPS25H initial bias.
*/
float* bias;
/**
* @brief LPS25H slave address
*/
lps25h_sad_t slaveaddress;
#endif /* LPS25H_USE_I2C */
/**
* @brief LPS25H barometer subsystem initial sensitivity.
*/
float *barosensitivity;
/**
* @brief LPS25H barometer subsystem initial bias.
*/
float *barobias;
/**
* @brief LPS25H thermometer subsystem initial sensitivity.
*/
float *thermosensitivity;
/**
* @brief LPS25H thermometer subsystem initial bias.
*/
float *thermobias;
/**
* @brief LPS25H output data rate selection.
*/
@ -369,36 +396,36 @@ typedef struct {
*/
lps25h_bdu_t blockdataupdate;
/**
* @brief LPS25H pressure resolution.
* @brief LPS25H barometer subsystem resolution.
*/
lps25h_avgp_t respressure;
lps25h_avgp_t baroresolution;
/**
* @brief LPS25H temperature resolution.
* @brief LPS25H thermometer subsystem resolution.
*/
lps25h_avgt_t restemperature;
lps25h_avgt_t thermoresolution;
#endif
} LPS25HConfig;
/**
* @brief @p LPS25H barometer subsystem specific methods.
* @brief @p LPS25H specific methods.
* @note No methods so far, just a common ancestor interface.
*/
#define _lps25h_barometer_methods_alone
#define _lps25h_methods_alone
/**
* @brief @p LPS25H barometer subsystem specific methods with inherited ones.
* @brief @p LPS25H specific methods with inherited ones.
*/
#define _lps25h_barometer_methods \
_base_barometer_methods \
_lps25h_barometer_methods_alone
#define _lps25h_methods \
_base_object_methods \
_lps25h_methods_alone
/**
* @extends BaseBarometerVMT
* @extends BaseObjectVMT
*
* @brief @p LPS25H barometer virtual methods table.
* @brief @p LPS25H virtual methods table.
*/
struct LPS25HBarometerVMT {
_lps25h_barometer_methods
struct LPS25HVMT {
_lps25h_methods
};
/**
@ -409,38 +436,273 @@ struct LPS25HBarometerVMT {
lps25h_state_t state; \
/* Current configuration data.*/ \
const LPS25HConfig *config; \
/* Current sensitivity data.*/ \
float sensitivity; \
/* Current Bias data.*/ \
float bias;
/* Barometer subsystem axes number.*/ \
size_t baroaxes; \
/* Barometer subsystem current sensitivity.*/ \
float barosensitivity; \
/* Barometer subsystem current bias .*/ \
float barobias; \
/* Thermometer subsystem axes number.*/ \
size_t thermoaxes; \
/* Thermometer subsystem current sensitivity.*/ \
float thermosensitivity; \
/* Thermometer subsystem current bias.*/ \
float thermobias;
/**
* @extends BaseGyroscope
*
* @brief LPS25H 3-axis barometer class.
* @details This class extends @p BaseGyroscope by adding physical
* driver implementation.
* @brief LPS25H 2-axis barometer/thermometer class.
*/
struct LPS25HDriver {
/** @brief BaseSensor Virtual Methods Table. */
const struct BaseSensorVMT *vmt_sensor;
_base_sensor_data
/** @brief LPS25H Barometer Virtual Methods Table. */
const struct LPS25HBarometerVMT *vmt_barometer;
_base_barometer_data
/** @brief Virtual Methods Table.*/
const struct LPS25HVMT *vmt;
/** @brief Base barometer interface.*/
BaseBarometer baro_if;
/** @brief Base thermometer interface.*/
BaseThermometer thermo_if;
_lps25h_data
};
/**
* @brief Structure representing a LPS25H driver.
*/
typedef struct LPS25HDriver LPS25HDriver;
/** @} */
/*===========================================================================*/
/* Driver macros. */
/*===========================================================================*/
/**
* @brief Return the number of axes of the BaseBarometer.
*
* @param[in] devp pointer to @p LPS25HDriver.
*
* @return the number of axes.
*
* @api
*/
#define lps25hBarometerGetAxesNumber(devp) \
barometerGetAxesNumber(&((devp)->baro_if))
/**
* @brief Retrieves raw data from the BaseBarometer.
* @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
* BaseBarometer axes number.
*
* @param[in] devp pointer to @p LPS25HDriver.
* @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 lps25hBarometerReadRaw(devp, axes) \
barometerReadRaw(&((devp)->baro_if), axes)
/**
* @brief Retrieves cooked data from the BaseBarometer.
* @note This data is manipulated according to the formula
* cooked = (raw * sensitivity) - bias.
* @note Final data is expressed as hPa.
* @note The axes array must be at least the same size of the
* BaseBarometer axes number.
*
* @param[in] devp pointer to @p LPS25HDriver.
* @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 lps25hBarometerReadCooked(devp, axes) \
barometerReadCooked(&((devp)->baro_if), axes)
/**
* @brief Set bias values for the BaseBarometer.
* @note Bias must be expressed as hPa.
* @note The bias buffer must be at least the same size of the
* BaseBarometer axes number.
*
* @param[in] devp pointer to @p LPS25HDriver.
* @param[in] bp a buffer which contains biases.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*
* @api
*/
#define lps25hBarometerSetBias(devp, bp) \
barometerSetBias(&((devp)->baro_if), bp)
/**
* @brief Reset bias values for the BaseBarometer.
* @note Default biases value are obtained from device datasheet when
* available otherwise they are considered zero.
*
* @param[in] devp pointer to @p LPS25HDriver.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*
* @api
*/
#define lps25hBarometerResetBias(devp) \
barometerResetBias(&((devp)->baro_if))
/**
* @brief Set sensitivity values for the BaseBarometer.
* @note Sensitivity must be expressed as hPa/LSB.
* @note The sensitivity buffer must be at least the same size of the
* BaseBarometer axes number.
*
* @param[in] devp pointer to @p LPS25HDriver.
* @param[in] sp a buffer which contains sensitivities.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*
* @api
*/
#define lps25hBarometerSetSensitivity(devp, sp) \
barometerSetSensitivity(&((devp)->baro_if), sp)
/**
* @brief Reset sensitivity values for the BaseBarometer.
* @note Default sensitivities value are obtained from device datasheet.
*
* @param[in] devp pointer to @p LPS25HDriver.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*
* @api
*/
#define lps25hBarometerResetSensitivity(devp) \
barometerResetSensitivity(&((devp)->baro_if))
/**
* @brief Return the number of axes of the BaseThermometer.
*
* @param[in] devp pointer to @p LPS25HDriver.
*
* @return the number of axes.
*
* @api
*/
#define lps25hThermometerGetAxesNumber(devp) \
thermometerGetAxesNumber(&((devp)->thermo_if))
/**
* @brief Retrieves raw data from the BaseThermometer.
* @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
* BaseThermometer axes number.
*
* @param[in] devp pointer to @p LPS25HDriver.
* @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 lps25hThermometerReadRaw(devp, axes) \
thermometerReadRaw(&((devp)->thermo_if), axes)
/**
* @brief Retrieves cooked data from the BaseThermometer.
* @note This data is manipulated according to the formula
* cooked = (raw * sensitivity) - bias.
* @note Final data is expressed as °C.
* @note The axes array must be at least the same size of the
* BaseThermometer axes number.
*
* @param[in] devp pointer to @p LPS25HDriver.
* @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 lps25hThermometerReadCooked(devp, axes) \
thermometerReadCooked(&((devp)->thermo_if), axes)
/**
* @brief Set bias values for the BaseThermometer.
* @note Bias must be expressed as °C.
* @note The bias buffer must be at least the same size of the
* BaseThermometer axes number.
*
* @param[in] devp pointer to @p LPS25HDriver.
* @param[in] bp a buffer which contains biases.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*
* @api
*/
#define lps25hThermometerSetBias(devp, bp) \
thermometerSetBias(&((devp)->thermo_if), bp)
/**
* @brief Reset bias values for the BaseThermometer.
* @note Default biases value are obtained from device datasheet when
* available otherwise they are considered zero.
*
* @param[in] devp pointer to @p LPS25HDriver.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*
* @api
*/
#define lps25hThermometerResetBias(devp) \
thermometerResetBias(&((devp)->thermo_if))
/**
* @brief Set sensitivity values for the BaseThermometer.
* @note Sensitivity must be expressed as °C/LSB.
* @note The sensitivity buffer must be at least the same size of the
* BaseThermometer axes number.
*
* @param[in] devp pointer to @p LPS25HDriver.
* @param[in] sp a buffer which contains sensitivities.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*
* @api
*/
#define lps25hThermometerSetSensitivity(devp, sp) \
thermometerSetSensitivity(&((devp)->thermo_if), sp)
/**
* @brief Reset sensitivity values for the BaseThermometer.
* @note Default sensitivities value are obtained from device datasheet.
*
* @param[in] devp pointer to @p LPS25HDriver.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*
* @api
*/
#define lps25hThermometerResetSensitivity(devp) \
thermometerResetSensitivity(&((devp)->thermo_if))
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/

32
testex/STM32/STM32F4xx/I2C-LPS25H/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/lps25h.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) \
$(LPS25HSRC) \
$(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) $(LPS25HINC) \
$(STREAMSINC) $(SHELLINC)
# List ASM source files here
ASMSRC = $(ALLASMSRC)
ASMXSRC = $(ALLXASMSRC)
INCDIR = $(ALLINC) $(TESTINC)
#
# Project, sources and paths
@ -200,7 +196,7 @@ CPPWARN = -Wall -Wextra -Wundef
#
# List all user C define here, like -D_DEBUG=1
UDEFS = -DCHPRINTF_USE_FLOAT=1 -DSHELL_CMD_TEST_ENABLED=0 \
UDEFS = -DCHPRINTF_USE_FLOAT=1 \
-DLPS25H_USE_ADVANCED=0 -DLPS25H_SHARED_I2C=0
# Define ASM defines here

120
testex/STM32/STM32F4xx/I2C-LPS25H/main.c
View File

@ -17,12 +17,11 @@
#include "ch.h"
#include "hal.h"
#include "string.h"
#include "shell.h"
#include "chprintf.h"
#include "lps25h.h"
#define cls(chp) chprintf(chp, "\033[2J\033[1;1H")
/*===========================================================================*/
/* LPS25H related. */
/*===========================================================================*/
@ -30,8 +29,11 @@
/* LPS25H Driver: This object represent an LPS25H instance */
static LPS25HDriver LPS25HD1;
static int32_t rawdata;
static float cookeddata;
static int32_t baroraw;
static int32_t thermoraw;
static float barocooked;
static float thermocooked;
static const I2CConfig i2ccfg = {
OPMODE_I2C,
@ -42,9 +44,11 @@ static const I2CConfig i2ccfg = {
static const LPS25HConfig lps25hcfg = {
&I2CD1,
&i2ccfg,
NULL,
NULL,
LPS25H_SAD_VCC,
NULL,
NULL,
NULL,
NULL,
LPS25H_ODR_7HZ,
#if LPS25H_USE_ADVANCED
LPS25H_BDU_CONTINUOUS,
@ -54,59 +58,10 @@ static const LPS25HConfig lps25hcfg = {
};
/*===========================================================================*/
/* 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[]) {
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
barometerReadRaw(&LPS25HD1, &rawdata);
chprintf(chp, "LPS25H Barometer raw data...\r\n");
chprintf(chp, "RAW: %d\r\n", rawdata);
}
else if (!strcmp (argv[0], "cooked")) {
#if CHPRINTF_USE_ANSI_CODE
chprintf(chp, "\033[2J\033[1;1H");
#endif
barometerReadCooked(&LPS25HD1, &cookeddata);
chprintf(chp, "LPS25H Barometer cooked data...\r\n");
chprintf(chp, "COOCKED: %.4f hPa\r\n", cookeddata);
}
else {
chprintf(chp, "Usage: read [raw|cooked]\r\n");
return;
}
}
chprintf(chp, "Stopped\r\n");
}
static const ShellCommand commands[] = {
{"read", cmd_read},
{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.
*/
@ -116,9 +71,7 @@ static THD_FUNCTION(Thread1, arg) {
(void)arg;
chRegSetThreadName("blinker");
while (true) {
palClearPad(GPIOA, GPIOA_LED_GREEN);
chThdSleepMilliseconds(500);
palSetPad(GPIOA, GPIOA_LED_GREEN);
palToggleLine(LINE_LED_GREEN);
chThdSleepMilliseconds(500);
}
}
@ -138,43 +91,44 @@ 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.
*/
/* Creates the blinker thread.*/
chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);
/*
* LPS25H Object Initialization
*/
/* LPS25H Object Initialization.*/
lps25hObjectInit(&LPS25HD1);
/*
* Activates the LPS25H driver.
*/
/* Activates the LPS25H driver.*/
lps25hStart(&LPS25HD1, &lps25hcfg);
/*
* Shell manager initialization.
*/
shellInit();
/* Normal main() thread activity, printing MEMS data on the SD2. */
while (true) {
lps25hBarometerReadRaw(&LPS25HD1, &baroraw);
chprintf(chp, "LPS25HD1 Barometer raw data...\r\n");
chprintf(chp, "Pres: %d\r\n", baroraw);
while(TRUE) {
lps25hThermometerReadRaw(&LPS25HD1, &thermoraw);
chprintf(chp, "LPS25HD1 Thermometer raw data...\r\n");
chprintf(chp, "Temp: %d\r\n", &thermoraw);
thread_t *shelltp = chThdCreateFromHeap(NULL, SHELL_WA_SIZE,
"shell", NORMALPRIO + 1,
shellThread, (void *)&shell_cfg1);
chThdWait(shelltp); /* Waiting termination. */
chThdSleepMilliseconds(1000);
lps25hBarometerReadCooked(&LPS25HD1, &barocooked);
chprintf(chp, "LPS25HD1 Barometer cooked data...\r\n");
chprintf(chp, "Pres: %.2f\r\n", barocooked);
lps25hThermometerReadCooked(&LPS25HD1, &thermocooked);
chprintf(chp, "LPS25HD1 Thermometer cooked data...\r\n");
chprintf(chp, "Temp: %.2f\r\n", thermocooked);
chThdSleepMilliseconds(100);
cls(chp);
}
lps25hStop(&LPS25HD1);
}