319 lines
9.9 KiB
C
319 lines
9.9 KiB
C
/*
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ChibiOS - Copyright (C) 2016 Rocco Marco Guglielmi
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This file is part of ChibiOS.
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ChibiOS is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 3 of the License, or
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(at your option) any later version.
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ChibiOS is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file lps25h.c
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* @brief LPS25H MEMS interface module code.
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*
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* @addtogroup lps25h
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* @{
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*/
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#include "hal.h"
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#include "lps25h.h"
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/*===========================================================================*/
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/* Driver local definitions. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver exported variables. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver local variables and types. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver local functions. */
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/*===========================================================================*/
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#if (LPS25H_USE_I2C) || defined(__DOXYGEN__)
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/**
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* @brief Reads registers value using I2C.
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* @pre The I2C interface must be initialized and the driver started.
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*
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* @param[in] i2cp pointer to the I2C interface
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* @param[in] sad slave address without R bit
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* @param[in] reg first sub-register address
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* @return the read value.
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*/
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uint8_t lps25hI2CReadRegister(I2CDriver *i2cp, lps25h_sad_t sad, uint8_t reg,
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msg_t* msgp) {
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msg_t msg;
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uint8_t rxbuf;
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msg = i2cMasterTransmitTimeout(i2cp, sad, ®, 1, &rxbuf, 1,
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TIME_INFINITE);
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if(msgp != NULL){
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*msgp = msg;
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}
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return rxbuf;
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}
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/**
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* @brief Writes a value into a register using I2C.
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* @pre The I2C interface must be initialized and the driver started.
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*
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* @param[in] i2cp pointer to the I2C interface
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* @param[in] sad slave address without R bit
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* @param[in] sub sub-register address
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* @param[in] value the value to be written
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* @return the operation status.
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*/
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msg_t lps25hI2CWriteRegister(I2CDriver *i2cp, lps25h_sad_t sad, uint8_t reg,
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uint8_t value) {
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uint8_t txbuf[2];
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txbuf[0] = reg;
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txbuf[1] = value;
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return i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, NULL, 0, TIME_INFINITE);
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}
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#endif /* LPS25H_USE_I2C */
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/*
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* Interface implementation.
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*/
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static size_t get_axes_number(void *ip) {
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osalDbgCheck(ip != NULL);
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return LPS25H_NUMBER_OF_AXES;
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}
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static msg_t read_raw(void *ip, int32_t* axis) {
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int32_t tmp;
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msg_t msg = MSG_OK;
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osalDbgCheck((ip != NULL) && (axis != NULL));
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osalDbgAssert((((LPS25HDriver *)ip)->state == LPS25H_READY),
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"read_raw(), invalid state");
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#if LPS25H_USE_I2C
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osalDbgAssert((((LPS25HDriver *)ip)->config->i2cp->state == I2C_READY),
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"read_raw(), channel not ready");
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#if LPS25H_SHARED_I2C
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i2cAcquireBus(((LPS25HDriver *)ip)->config->i2cp);
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i2cStart(((LPS25HDriver *)ip)->config->i2cp,
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((LPS25HDriver *)ip)->config->i2ccfg);
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#endif /* LPS25H_SHARED_I2C */
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tmp = lps25hI2CReadRegister(((LPS25HDriver *)ip)->config->i2cp,
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((LPS25HDriver *)ip)->config->slaveaddress,
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LPS25H_AD_PRESS_OUT_XL, NULL);
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if (msg != MSG_OK)
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return msg;
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tmp += lps25hI2CReadRegister(((LPS25HDriver *)ip)->config->i2cp,
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((LPS25HDriver *)ip)->config->slaveaddress,
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LPS25H_AD_PRESS_OUT_L, NULL) << 8;
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if (msg != MSG_OK)
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return msg;
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tmp += lps25hI2CReadRegister(((LPS25HDriver *)ip)->config->i2cp,
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((LPS25HDriver *)ip)->config->slaveaddress,
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LPS25H_AD_PRESS_OUT_H, NULL) << 16;
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if (msg != MSG_OK)
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return msg;
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*axis = (int32_t)tmp;
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#if LPS25H_SHARED_I2C
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i2cReleaseBus(((LPS25HDriver *)ip)->config->i2cp);
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#endif /* LPS25H_SHARED_I2C */
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#endif /* LPS25H_USE_I2C */
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return MSG_OK;
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}
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static msg_t read_cooked(void *ip, float* axis) {
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int32_t raw;
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msg_t msg;
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osalDbgCheck((ip != NULL) && (axis != NULL));
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osalDbgAssert((((LPS25HDriver *)ip)->state == LPS25H_READY),
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"read_cooked(), invalid state");
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msg = read_raw(ip, &raw);
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*axis = raw / ((LPS25HDriver *)ip)->sensitivity;
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*axis -= ((LPS25HDriver *)ip)->bias;
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return msg;
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}
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static msg_t set_bias(void *ip, float *bp) {
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osalDbgCheck((ip != NULL) && (bp != NULL));
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osalDbgAssert((((LPS25HDriver *)ip)->state == LPS25H_READY) ||
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(((LPS25HDriver *)ip)->state == LPS25H_STOP),
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"set_bias(), invalid state");
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((LPS25HDriver *)ip)->bias = *bp;
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return MSG_OK;
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}
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static msg_t reset_bias(void *ip) {
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osalDbgCheck(ip != NULL);
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osalDbgAssert((((LPS25HDriver *)ip)->state == LPS25H_READY) ||
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(((LPS25HDriver *)ip)->state == LPS25H_STOP),
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"reset_bias(), invalid state");
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((LPS25HDriver *)ip)->bias = 0;
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return MSG_OK;
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}
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static msg_t set_sensivity(void *ip, float *sp) {
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osalDbgCheck((ip != NULL) && (sp !=NULL));
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osalDbgAssert((((LPS25HDriver *)ip)->state == LPS25H_READY),
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"set_sensivity(), invalid state");
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((LPS25HDriver *)ip)->sensitivity = *sp;
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return MSG_OK;
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}
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static msg_t reset_sensivity(void *ip) {
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osalDbgCheck(ip != NULL);
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osalDbgAssert((((LPS25HDriver *)ip)->state == LPS25H_READY),
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"reset_sensivity(), invalid state");
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((LPS25HDriver *)ip)->sensitivity = LPS25H_SENS;
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return MSG_OK;
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}
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static const struct BaseSensorVMT vmt_basesensor = {
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get_axes_number, read_raw, read_cooked
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};
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static const struct BaseBarometerVMT vmt_basebarometer = {
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get_axes_number, read_raw, read_cooked,
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set_bias, reset_bias, set_sensivity, reset_sensivity
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};
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/*===========================================================================*/
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/* Driver exported functions. */
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/*===========================================================================*/
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/**
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* @brief Initializes an instance.
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*
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* @param[out] devp pointer to the @p LPS25HDriver object
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*
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* @init
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*/
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void lps25hObjectInit(LPS25HDriver *devp) {
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devp->vmt_basesensor = &vmt_basesensor;
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devp->vmt_basebarometer = &vmt_basebarometer;
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devp->config = NULL;
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devp->bias = 0;
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devp->state = LPS25H_STOP;
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}
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/**
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* @brief Configures and activates LPS25H Complex Driver peripheral.
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*
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* @param[in] devp pointer to the @p LPS25HDriver object
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* @param[in] config pointer to the @p LPS25HConfig object
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*
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* @api
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*/
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void lps25hStart(LPS25HDriver *devp, const LPS25HConfig *config) {
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uint8_t cr;
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osalDbgCheck((devp != NULL) && (config != NULL));
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osalDbgAssert((devp->state == LPS25H_STOP) || (devp->state == LPS25H_READY),
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"lps25hStart(), invalid state");
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devp->config = config;
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#if LPS25H_USE_I2C
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#if LPS25H_SHARED_I2C
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i2cAcquireBus((devp)->config->i2cp);
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#endif /* LPS25H_SHARED_I2C */
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i2cStart((devp)->config->i2cp,
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(devp)->config->i2ccfg);
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/* Control register 1 configuration block.*/
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{
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cr = devp->config->outputdatarate | LPS25H_CTRL_REG1_PD;
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#if LPS25H_USE_ADVANCED || defined(__DOXYGEN__)
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cr |= devp->config->blockdataupdate;
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#endif
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lps25hI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
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LPS25H_AD_CTRL_REG1, cr);
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}
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/* Control register 1 configuration block.*/
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{
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cr = 0x05;
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#if LPS25H_USE_ADVANCED || defined(__DOXYGEN__)
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cr = devp->config->respressure | devp->config->restemperature;
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#endif
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lps25hI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
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LPS25H_AD_RES_CONF, cr);
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}
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#if LPS25H_SHARED_I2C
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i2cReleaseBus((devp)->config->i2cp);
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#endif /* LPS25H_SHARED_I2C */
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#endif /* LPS25H_USE_I2C */
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/* Storing sensitivity information according to full scale value */
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devp->sensitivity = LPS25H_SENS;
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/* This is the Barometer transient recovery time */
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osalThreadSleepMilliseconds(5);
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devp->state = LPS25H_READY;
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}
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/**
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* @brief Deactivates the LPS25H Complex Driver peripheral.
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*
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* @param[in] devp pointer to the @p LPS25HDriver object
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*
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* @api
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*/
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void lps25hStop(LPS25HDriver *devp) {
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osalDbgCheck(devp != NULL);
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osalDbgAssert((devp->state == LPS25H_STOP) || (devp->state == LPS25H_READY),
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"lps25hStop(), invalid state");
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#if (LPS25H_USE_I2C)
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if (devp->state == LPS25H_STOP) {
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#if LPS25H_SHARED_I2C
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i2cAcquireBus((devp)->config->i2cp);
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i2cStart((devp)->config->i2cp,
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(devp)->config->i2ccfg);
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#endif /* LPS25H_SHARED_I2C */
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lps25hI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
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LPS25H_AD_CTRL_REG1, 0);
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i2cStop((devp)->config->i2cp);
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#if LPS25H_SHARED_I2C
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i2cReleaseBus((devp)->config->i2cp);
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#endif /* LPS25H_SHARED_I2C */
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}
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#endif /* LPS25H_USE_I2C */
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devp->state = LPS25H_STOP;
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}
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/** @} */
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