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ChibiOS/os/ex/ST/lis3dsh.c

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/*
ChibiOS - Copyright (C) 2016 Rocco Marco Guglielmi
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 lis3dsh.c
* @brief LIS3DSH MEMS interface module code.
*
* @addtogroup lis3dsh
* @{
*/
#include "hal.h"
#include "lis3dsh.h"
/*===========================================================================*/
/* Driver local definitions. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver exported variables. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local variables and types. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local functions. */
/*===========================================================================*/
#if (LIS3DSH_USE_SPI) || defined(__DOXYGEN__)
/**
* @brief Reads a generic register value using SPI.
* @pre The SPI interface must be initialized and the driver started.
* @note Multiple write/read requires proper settings in CTRL_REG6.
*
* @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 lis3dshSPIReadRegister(SPIDriver *spip, uint8_t reg, size_t n,
uint8_t* b) {
uint8_t cmd;
cmd = reg | LIS3DSH_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.
* @note Multiple write/read requires proper settings in CTRL_REG6.
*
* @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] value pointer to a buffer of values.
*/
static void lis3dshSPIWriteRegister(SPIDriver *spip, uint8_t reg, size_t n,
uint8_t* b) {
uint8_t cmd;
cmd = reg;
spiSelect(spip);
spiSend(spip, 1, &cmd);
spiSend(spip, n, b);
spiUnselect(spip);
}
#endif /* LIS3DSH_USE_SPI */
/*
* Interface implementation.
*/
static size_t get_axes_number(void *ip) {
osalDbgCheck(ip != NULL);
return LIS3DSH_NUMBER_OF_AXES;
}
static msg_t read_raw(void *ip, int32_t axes[LIS3DSH_NUMBER_OF_AXES]) {
uint8_t buff [LIS3DSH_NUMBER_OF_AXES * 2], i;
int16_t tmp;
osalDbgCheck((ip != NULL) && (axes != NULL));
osalDbgAssert((((LIS3DSHDriver *)ip)->state == LIS3DSH_READY),
"read_raw(), invalid state");
#if LIS3DSH_USE_SPI
osalDbgAssert((((LIS3DSHDriver *)ip)->config->spip->state == SPI_READY),
"read_raw(), channel not ready");
#if LIS3DSH_SHARED_SPI
spiAcquireBus(((LIS3DSHDriver *)ip)->config->spip);
spiStart(((LIS3DSHDriver *)ip)->config->spip,
((LIS3DSHDriver *)ip)->config->spicfg);
#endif /* LIS3DSH_SHARED_SPI */
lis3dshSPIReadRegister(((LIS3DSHDriver *)ip)->config->spip, LIS3DSH_AD_OUT_X_L,
LIS3DSH_NUMBER_OF_AXES * 2, buff);
#if LIS3DSH_SHARED_SPI
spiReleaseBus(((LIS3DSHDriver *)ip)->config->spip);
#endif /* LIS3DSH_SHARED_SPI */
#endif /* LIS3DSH_USE_SPI */
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) {
tmp = buff[2*i] + (buff[2*i+1] << 8);
axes[i] = (int32_t)tmp;
}
return MSG_OK;
}
static msg_t read_cooked(void *ip, float axes[]) {
uint32_t i;
int32_t raw[LIS3DSH_NUMBER_OF_AXES];
msg_t msg;
osalDbgCheck((ip != NULL) && (axes != NULL));
osalDbgAssert((((LIS3DSHDriver *)ip)->state == LIS3DSH_READY),
"read_cooked(), invalid state");
msg = read_raw(ip, raw);
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES ; i++){
axes[i] = (raw[i] * ((LIS3DSHDriver *)ip)->sensitivity[i]);
axes[i] -= ((LIS3DSHDriver *)ip)->bias[i];
}
return msg;
}
static msg_t set_bias(void *ip, float *bp) {
uint32_t i;
osalDbgCheck((ip != NULL) && (bp !=NULL));
osalDbgAssert((((LIS3DSHDriver *)ip)->state == LIS3DSH_READY) ||
(((LIS3DSHDriver *)ip)->state == LIS3DSH_STOP),
"set_bias(), invalid state");
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) {
((LIS3DSHDriver *)ip)->bias[i] = bp[i];
}
return MSG_OK;
}
static msg_t reset_bias(void *ip) {
uint32_t i;
osalDbgCheck(ip != NULL);
osalDbgAssert((((LIS3DSHDriver *)ip)->state == LIS3DSH_READY) ||
(((LIS3DSHDriver *)ip)->state == LIS3DSH_STOP),
"reset_bias(), invalid state");
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
((LIS3DSHDriver *)ip)->bias[i] = 0;
return MSG_OK;
}
static msg_t set_sensivity(void *ip, float *sp) {
uint32_t i;
osalDbgCheck((ip != NULL) && (sp !=NULL));
osalDbgAssert((((LIS3DSHDriver *)ip)->state == LIS3DSH_READY),
"set_sensivity(), invalid state");
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) {
((LIS3DSHDriver *)ip)->sensitivity[i] = sp[i];
}
return MSG_OK;
}
static msg_t reset_sensivity(void *ip) {
uint32_t i;
osalDbgCheck(ip != NULL);
osalDbgAssert((((LIS3DSHDriver *)ip)->state == LIS3DSH_READY),
"reset_sensivity(), invalid state");
if(((LIS3DSHDriver *)ip)->config->fullscale == LIS3DSH_FS_2G)
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
((LIS3DSHDriver *)ip)->sensitivity[i] = LIS3DSH_SENS_2G;
else if(((LIS3DSHDriver *)ip)->config->fullscale == LIS3DSH_FS_4G)
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
((LIS3DSHDriver *)ip)->sensitivity[i] = LIS3DSH_SENS_4G;
else if(((LIS3DSHDriver *)ip)->config->fullscale == LIS3DSH_FS_6G)
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
((LIS3DSHDriver *)ip)->sensitivity[i] = LIS3DSH_SENS_6G;
else if(((LIS3DSHDriver *)ip)->config->fullscale == LIS3DSH_FS_8G)
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
((LIS3DSHDriver *)ip)->sensitivity[i] = LIS3DSH_SENS_8G;
else if(((LIS3DSHDriver *)ip)->config->fullscale == LIS3DSH_FS_16G)
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
((LIS3DSHDriver *)ip)->sensitivity[i] = LIS3DSH_SENS_16G;
else {
osalDbgAssert(FALSE, "reset_sensivity(), accelerometer full scale issue");
return MSG_RESET;
}
return MSG_OK;
}
static msg_t set_full_scale(void *ip, lis3dsh_fs_t fs) {
float newfs, scale;
uint8_t i, cr;
if(fs == LIS3DSH_FS_2G) {
newfs = LIS3DSH_2G;
}
else if(fs == LIS3DSH_FS_4G) {
newfs = LIS3DSH_4G;
}
else if(fs == LIS3DSH_FS_6G) {
newfs = LIS3DSH_6G;
}
else if(fs == LIS3DSH_FS_8G) {
newfs = LIS3DSH_8G;
}
else if(fs == LIS3DSH_FS_16G) {
newfs = LIS3DSH_16G;
}
else {
return MSG_RESET;
}
if(newfs != ((LIS3DSHDriver *)ip)->fullscale) {
scale = newfs / ((LIS3DSHDriver *)ip)->fullscale;
((LIS3DSHDriver *)ip)->fullscale = newfs;
#if LIS3DSH_USE_SPI
#if LIS3DSH_SHARED_SPI
spiAcquireBus(((LIS3DSHDriver *)ip)->config->spip);
spiStart(((LIS3DSHDriver *)ip)->config->spip,
((LIS3DSHDriver *)ip)->config->spicfg);
#endif /* LIS3DSH_SHARED_SPI */
lis3dshSPIReadRegister(((LIS3DSHDriver *)ip)->config->spip,
LIS3DSH_AD_CTRL_REG5, 1, &cr);
#if LIS3DSH_SHARED_SPI
spiReleaseBus(((LIS3DSHDriver *)ip)->config->spip);
#endif /* LIS3DSH_SHARED_SPI */
#endif /* LIS3DSH_USE_SPI */
cr &= ~(LIS3DSH_CTRL_REG5_FS_MASK);
cr |= fs;
#if LIS3DSH_USE_SPI
#if LIS3DSH_SHARED_SPI
spiAcquireBus(((LIS3DSHDriver *)ip)->config->spip);
spiStart(((LIS3DSHDriver *)ip)->config->spip,
((LIS3DSHDriver *)ip)->config->spicfg);
#endif /* LIS3DSH_SHARED_SPI */
lis3dshSPIWriteRegister(((LIS3DSHDriver *)ip)->config->spip,
LIS3DSH_AD_CTRL_REG5, 1, &cr);
#if LIS3DSH_SHARED_SPI
spiReleaseBus(((LIS3DSHDriver *)ip)->config->spip);
#endif /* LIS3DSH_SHARED_SPI */
#endif /* LIS3DSH_USE_SPI */
/* Scaling sensitivity and bias. Re-calibration is suggested anyway. */
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) {
((LIS3DSHDriver *)ip)->sensitivity[i] *= scale;
((LIS3DSHDriver *)ip)->bias[i] *= scale;
}
}
return MSG_OK;
}
static const struct BaseSensorVMT vmt_basesensor = {
get_axes_number, read_raw, read_cooked
};
static const struct BaseAccelerometerVMT vmt_baseaccelerometer = {
get_axes_number, read_raw, read_cooked,
set_bias, reset_bias, set_sensivity, reset_sensivity
};
static const struct LIS3DSHVMT vmt_lis3dsh = {
get_axes_number, read_raw, read_cooked,
set_bias, reset_bias, set_sensivity, reset_sensivity,
set_full_scale
};
/*===========================================================================*/
/* Driver exported functions. */
/*===========================================================================*/
/**
* @brief Initializes an instance.
*
* @param[out] devp pointer to the @p LIS3DSHDriver object
*
* @init
*/
void lis3dshObjectInit(LIS3DSHDriver *devp) {
uint32_t i;
devp->vmt_basesensor = &vmt_basesensor;
devp->vmt_baseaccelerometer = &vmt_baseaccelerometer;
devp->vmt_lis3dsh = &vmt_lis3dsh;
devp->config = NULL;
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
devp->bias[i] = 0.0f;
devp->state = LIS3DSH_STOP;
}
/**
* @brief Configures and activates LIS3DSH Complex Driver peripheral.
*
* @param[in] devp pointer to the @p LIS3DSHDriver object
* @param[in] config pointer to the @p LIS3DSHConfig object
*
* @api
*/
void lis3dshStart(LIS3DSHDriver *devp, const LIS3DSHConfig *config) {
uint32_t i;
osalDbgCheck((devp != NULL) && (config != NULL));
uint8_t cr;
osalDbgAssert((devp->state == LIS3DSH_STOP) || (devp->state == LIS3DSH_READY),
"lis3dshStart(), invalid state");
devp->config = config;
/* Control register 4 configuration block.*/
{
cr = LIS3DSH_CTRL_REG4_XEN | LIS3DSH_CTRL_REG4_YEN | LIS3DSH_CTRL_REG4_ZEN |
devp->config->outputdatarate;
#if LIS3DSH_USE_ADVANCED || defined(__DOXYGEN__)
cr |= devp->config->blockdataupdate;
#endif
}
#if LIS3DSH_USE_SPI
#if LIS3DSH_SHARED_SPI
spiAcquireBus((devp)->config->spip);
#endif /* LIS3DSH_SHARED_SPI */
spiStart((devp)->config->spip, (devp)->config->spicfg);
lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG4,
1, &cr);
#if LIS3DSH_SHARED_SPI
spiReleaseBus((devp)->config->spip);
#endif /* LIS3DSH_SHARED_SPI */
#endif /* LIS3DSH_USE_SPI */
/* Control register 5 configuration block.*/
{
cr = devp->config->fullscale;
#if LIS3DSH_USE_ADVANCED || defined(__DOXYGEN__)
cr |= devp->config->antialiasing;
#endif
}
#if LIS3DSH_USE_SPI
#if LIS3DSH_SHARED_SPI
spiAcquireBus((devp)->config->spip);
spiStart((devp)->config->spip, (devp)->config->spicfg);
#endif /* LIS3DSH_SHARED_SPI */
lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG5,
1, &cr);
#if LIS3DSH_SHARED_SPI
spiReleaseBus((devp)->config->spip);
#endif /* LIS3DSH_SHARED_SPI */
#endif /* LIS3DSH_USE_SPI */
/* Control register 6 configuration block.*/
{
cr = LIS3DSH_CTRL_REG6_ADD_INC;
#if LIS3DSH_USE_ADVANCED || defined(__DOXYGEN__)
cr |= devp->config->blockdataupdate;
#endif
}
#if LIS3DSH_USE_SPI
#if LIS3DSH_SHARED_SPI
spiAcquireBus((devp)->config->spip);
spiStart((devp)->config->spip, (devp)->config->spicfg);
#endif /* LIS3DSH_SHARED_SPI */
lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG6,
1, &cr);
#if LIS3DSH_SHARED_SPI
spiReleaseBus((devp)->config->spip);
#endif /* LIS3DSH_SHARED_SPI */
#endif /* LIS3DSH_USE_SPI */
/* Storing sensitivity information according to user setting */
if(devp->config->fullscale == LIS3DSH_FS_2G) {
devp->fullscale = LIS3DSH_2G;
if(devp->config->sensitivity == NULL)
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = LIS3DSH_SENS_2G;
else
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = devp->config->sensitivity[i];
}
else if(devp->config->fullscale == LIS3DSH_FS_4G) {
devp->fullscale = LIS3DSH_4G;
if(devp->config->sensitivity == NULL)
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = LIS3DSH_SENS_4G;
else
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = devp->config->sensitivity[i];
}
else if(devp->config->fullscale == LIS3DSH_FS_6G) {
devp->fullscale = LIS3DSH_6G;
if(devp->config->sensitivity == NULL)
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = LIS3DSH_SENS_6G;
else
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = devp->config->sensitivity[i];
}
else if(devp->config->fullscale == LIS3DSH_FS_8G) {
devp->fullscale = LIS3DSH_8G;
if(devp->config->sensitivity == NULL)
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = LIS3DSH_SENS_8G;
else
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = devp->config->sensitivity[i];
}
else if(devp->config->fullscale == LIS3DSH_FS_16G) {
devp->fullscale = LIS3DSH_16G;
if(devp->config->sensitivity == NULL)
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = LIS3DSH_SENS_16G;
else
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = devp->config->sensitivity[i];
}
else {
osalDbgAssert(FALSE, "lis3dshStart(), accelerometer full scale issue");
}
/* Storing bias information according to user setting */
if(devp->config->bias != NULL)
for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
devp->bias[i] = devp->config->bias[i];
/* This is the Accelerometer transient recovery time */
osalThreadSleepMilliseconds(10);
devp->state = LIS3DSH_READY;
}
/**
* @brief Deactivates the LIS3DSH Complex Driver peripheral.
*
* @param[in] devp pointer to the @p LIS3DSHDriver object
*
* @api
*/
void lis3dshStop(LIS3DSHDriver *devp) {
uint8_t cr4;
osalDbgCheck(devp != NULL);
osalDbgAssert((devp->state == LIS3DSH_STOP) || (devp->state == LIS3DSH_READY),
"lis3dshStop(), invalid state");
if (devp->state == LIS3DSH_READY) {
#if (LIS3DSH_USE_SPI)
#if LIS3DSH_SHARED_SPI
spiAcquireBus((devp)->config->spip);
spiStart((devp)->config->spip,
(devp)->config->spicfg);
#endif /* LIS3DSH_SHARED_SPI */
/* Disabling all axes and enabling power down mode.*/
cr4 = 0;
lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG4,
1, &cr4);
spiStop((devp)->config->spip);
#if LIS3DSH_SHARED_SPI
spiReleaseBus((devp)->config->spip);
#endif /* LIS3DSH_SHARED_SPI */
#endif /* LIS3DSH_USE_SPI */
}
devp->state = LIS3DSH_STOP;
}
/** @} */
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