diff --git a/os/ex/ST/lis302dl.c b/os/ex/ST/lis302dl.c
index 32b347929..abce0f546 100644
--- a/os/ex/ST/lis302dl.c
+++ b/os/ex/ST/lis302dl.c
@@ -33,58 +33,6 @@
/* Driver local definitions. */
/*===========================================================================*/
-#define LIS302DL_SENS_2G ((float)18.0f)
-#define LIS302DL_SENS_8G ((float)72.0f)
-
-#define LIS302DL_DI ((uint8_t)0xFF)
-#define LIS302DL_DI_0 ((uint8_t)0x01)
-#define LIS302DL_DI_1 ((uint8_t)0x02)
-#define LIS302DL_DI_2 ((uint8_t)0x04)
-#define LIS302DL_DI_3 ((uint8_t)0x08)
-#define LIS302DL_DI_4 ((uint8_t)0x10)
-#define LIS302DL_DI_5 ((uint8_t)0x20)
-#define LIS302DL_DI_6 ((uint8_t)0x40)
-#define LIS302DL_DI_7 ((uint8_t)0x80)
-
-#define LIS302DL_AD ((uint8_t)0x3F)
-#define LIS302DL_AD_0 ((uint8_t)0x01)
-#define LIS302DL_AD_1 ((uint8_t)0x02)
-#define LIS302DL_AD_2 ((uint8_t)0x04)
-#define LIS302DL_AD_3 ((uint8_t)0x08)
-#define LIS302DL_AD_4 ((uint8_t)0x10)
-#define LIS302DL_AD_5 ((uint8_t)0x20)
-
-#define LIS302DL_MS ((uint8_t)0x40)
-#define LIS302DL_RW ((uint8_t)0x80)
-
-#define LIS302DL_AD_WHO_AM_I ((uint8_t)0x0F)
-#define LIS302DL_AD_CTRL_REG1 ((uint8_t)0x20)
-#define LIS302DL_AD_CTRL_REG2 ((uint8_t)0x21)
-#define LIS302DL_AD_CTRL_REG3 ((uint8_t)0x22)
-#define LIS302DL_AD_HP_FILER_RESET ((uint8_t)0x23)
-#define LIS302DL_AD_STATUS_REG ((uint8_t)0x27)
-#define LIS302DL_AD_OUT_X ((uint8_t)0x29)
-#define LIS302DL_AD_OUT_Y ((uint8_t)0x2B)
-#define LIS302DL_AD_OUT_Z ((uint8_t)0x2D)
-#define LIS302DL_AD_FF_WU_CFG_1 ((uint8_t)0x30)
-#define LIS302DL_AD_FF_WU_SRC_1 ((uint8_t)0x31)
-#define LIS302DL_AD_FF_WU_THS_1 ((uint8_t)0x32)
-#define LIS302DL_AD_FF_WU_DURATION_1 ((uint8_t)0x33)
-#define LIS302DL_AD_FF_WU_CFG_2 ((uint8_t)0x34)
-#define LIS302DL_AD_FF_WU_SRC_2 ((uint8_t)0x35)
-#define LIS302DL_AD_FF_WU_THS_2 ((uint8_t)0x36)
-#define LIS302DL_AD_FF_WU_DURATION_2 ((uint8_t)0x37)
-#define LIS302DL_AD_CLICK_CFG ((uint8_t)0x38)
-#define LIS302DL_AD_CLICK_SRC ((uint8_t)0x39)
-#define LIS302DL_AD_CLICK_THSY_X ((uint8_t)0x3B)
-#define LIS302DL_AD_CLICK_THSZ ((uint8_t)0x3C)
-#define LIS302DL_AD_CLICK_TIME_LIMIT ((uint8_t)0x3D)
-#define LIS302DL_AD_CLICK_LATENCY ((uint8_t)0x3E)
-#define LIS302DL_AD_CLICK_WINDOW ((uint8_t)0x3F)
-
-#define LIS302DL_CTRL_REG1_FS_MASK ((uint8_t)0x20)
-#define TO_G ((float)0.001f)
-#define TO_SI ((float)0.00981f)
/*===========================================================================*/
/* Driver exported variables. */
/*===========================================================================*/
@@ -93,14 +41,6 @@
/* Driver local variables and types. */
/*===========================================================================*/
-/**
- * @brief LIS302DL Power Mode
- */
-typedef enum {
- LIS302DL_PM_POWER_DOWN = 0x00, /**< Power down enabled. */
- LIS302DL_PM_SLEEP_NORMAL = 0x40 /**< Normal operation mode. */
-}lis302dl_pm_t;
-
/*===========================================================================*/
/* Driver local functions. */
/*===========================================================================*/
@@ -111,16 +51,18 @@ typedef enum {
* @pre The SPI interface must be initialized and the driver started.
*
* @param[in] spip pointer to the SPI interface
- * @param[in] reg register number
- * @return register value.
+ * @param[in] reg starting register address
+ * @param[in] n number of adjacent registers to write
+ * @param[in] b pointer to a buffer.
*/
-static uint8_t lis302dlSPIReadRegister(SPIDriver *spip, uint8_t reg) {
- uint8_t txbuf[2] = {LIS302DL_RW | reg, 0xFF};
- uint8_t rxbuf[2] = {0x00, 0x00};
+static void lis302dlSPIReadRegister(SPIDriver *spip, uint8_t reg, size_t n,
+ uint8_t* b) {
+ uint8_t cmd;
+ (n == 1) ? (cmd = reg | LIS302DL_RW) : (cmd = reg | LIS302DL_RW | LIS302DL_MS);
spiSelect(spip);
- spiExchange(spip, 2, txbuf, rxbuf);
+ spiSend(spip, 1, &cmd);
+ spiReceive(spip, n, b);
spiUnselect(spip);
- return rxbuf[1];
}
/**
@@ -128,50 +70,18 @@ static uint8_t lis302dlSPIReadRegister(SPIDriver *spip, uint8_t reg) {
* @pre The SPI interface must be initialized and the driver started.
*
* @param[in] spip pointer to the SPI interface
- * @param[in] reg register number
- * @param[in] value register value.
+ * @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 lis302dlSPIWriteRegister(SPIDriver *spip, uint8_t reg,
- uint8_t value) {
-
- switch (reg) {
- default:
- /* Reserved register must not be written, according to the datasheet
- * this could permanently damage the device.
- */
- osalDbgAssert(FALSE, "lis302dlSPIWriteRegister(), reserved register");
- case LIS302DL_AD_WHO_AM_I:
-
- case LIS302DL_AD_HP_FILER_RESET:
- case LIS302DL_AD_STATUS_REG:
- case LIS302DL_AD_OUT_X:
- case LIS302DL_AD_OUT_Y:
- case LIS302DL_AD_OUT_Z:
- case LIS302DL_AD_FF_WU_SRC_1:
- case LIS302DL_AD_FF_WU_SRC_2:
- case LIS302DL_AD_CLICK_SRC:
- /* Read only registers cannot be written, the command is ignored.*/
- return;
- case LIS302DL_AD_CTRL_REG1:
- case LIS302DL_AD_CTRL_REG2:
- case LIS302DL_AD_CTRL_REG3:
- case LIS302DL_AD_FF_WU_CFG_1:
- case LIS302DL_AD_FF_WU_THS_1:
- case LIS302DL_AD_FF_WU_DURATION_1:
- case LIS302DL_AD_FF_WU_CFG_2:
- case LIS302DL_AD_FF_WU_THS_2:
- case LIS302DL_AD_FF_WU_DURATION_2:
- case LIS302DL_AD_CLICK_CFG:
- case LIS302DL_AD_CLICK_THSY_X:
- case LIS302DL_AD_CLICK_THSZ:
- case LIS302DL_AD_CLICK_TIME_LIMIT:
- case LIS302DL_AD_CLICK_LATENCY:
- case LIS302DL_AD_CLICK_WINDOW:
- spiSelect(spip);
- uint8_t txbuf[2] = {reg, value};
- spiSend(spip, 2, txbuf);
- spiUnselect(spip);
- }
+static void lis302dlSPIWriteRegister(SPIDriver *spip, uint8_t reg, size_t n,
+ uint8_t* b) {
+ uint8_t cmd;
+ (n == 1) ? (cmd = reg) : (cmd = reg | LIS302DL_MS);
+ spiSelect(spip);
+ spiSend(spip, 1, &cmd);
+ spiSend(spip, n, b);
+ spiUnselect(spip);
}
#endif /* LIS302DL_USE_SPI */
@@ -185,9 +95,10 @@ static size_t get_axes_number(void *ip) {
}
static msg_t read_raw(void *ip, int32_t axes[LIS302DL_NUMBER_OF_AXES]) {
- int8_t tmp;
+ uint8_t i, tmp;
+
osalDbgCheck((ip != NULL) && (axes != NULL));
-
+
osalDbgAssert((((LIS302DLDriver *)ip)->state == LIS302DL_READY),
"read_raw(), invalid state");
@@ -199,21 +110,11 @@ static msg_t read_raw(void *ip, int32_t axes[LIS302DL_NUMBER_OF_AXES]) {
spiStart(((LIS302DLDriver *)ip)->config->spip,
((LIS302DLDriver *)ip)->config->spicfg);
#endif /* LIS302DL_SHARED_SPI */
- if(((LIS302DLDriver *)ip)->config->axesenabling & LIS302DL_AE_X){
- tmp = lis302dlSPIReadRegister(((LIS302DLDriver *)ip)->config->spip,
- LIS302DL_AD_OUT_X);
- axes[0] = tmp + ((LIS302DLDriver *)ip)->bias[0];
- }
- if(((LIS302DLDriver *)ip)->config->axesenabling & LIS302DL_AE_Y){
- tmp = lis302dlSPIReadRegister(((LIS302DLDriver *)ip)->config->spip,
- LIS302DL_AD_OUT_Y);
- axes[1] = tmp + ((LIS302DLDriver *)ip)->bias[1];
- }
- if(((LIS302DLDriver *)ip)->config->axesenabling & LIS302DL_AE_Z){
- tmp = lis302dlSPIReadRegister(((LIS302DLDriver *)ip)->config->spip,
- LIS302DL_AD_OUT_Z);
- axes[2] = tmp + ((LIS302DLDriver *)ip)->bias[2];
- }
+ for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++) {
+ lis302dlSPIReadRegister(((LIS302DLDriver *)ip)->config->spip,
+ LIS302DL_AD_OUT_X + (i * 2), 1, &tmp);
+ axes[i] = (int32_t)((int8_t)tmp);
+ }
#if LIS302DL_SHARED_SPI
spiReleaseBus(((LIS302DLDriver *)ip)->config->spip);
#endif /* LIS302DL_SHARED_SPI */
@@ -229,17 +130,12 @@ static msg_t read_cooked(void *ip, float axes[]) {
osalDbgCheck((ip != NULL) && (axes != NULL));
osalDbgAssert((((LIS302DLDriver *)ip)->state == LIS302DL_READY),
- "read_cooked(), invalid state");
+ "read_cooked(), invalid state");
msg = read_raw(ip, raw);
for(i = 0; i < LIS302DL_NUMBER_OF_AXES ; i++){
- axes[i] = raw[i] * ((LIS302DLDriver *)ip)->sensitivity[i];
- if(((LIS302DLDriver *)ip)->config->unit == LIS302DL_ACC_UNIT_G){
- axes[i] *= TO_G;
- }
- else if(((LIS302DLDriver *)ip)->config->unit == LIS302DL_ACC_UNIT_SI){
- axes[i] *= TO_SI;
- }
+ axes[i] = (raw[i] * ((LIS302DLDriver *)ip)->sensitivity[i]);
+ axes[i] -= ((LIS302DLDriver *)ip)->bias[i];
}
return msg;
}
@@ -302,12 +198,47 @@ static msg_t reset_sensivity(void *ip) {
for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)
((LIS302DLDriver *)ip)->sensitivity[i] = LIS302DL_SENS_8G;
else {
- osalDbgAssert(FALSE, "reset_sensivity(), accelerometer full scale issue");
+ osalDbgAssert(FALSE, "reset_sensivity(), full scale issue");
return MSG_RESET;
}
return MSG_OK;
}
+static msg_t set_full_scale(void *ip, lis302dl_fs_t fs) {
+ float newfs, scale;
+ uint8_t i, cr;
+
+ if(fs == LIS302DL_FS_2G) {
+ newfs = LIS302DL_2G;
+ }
+ else if(fs == LIS302DL_FS_8G) {
+ newfs = LIS302DL_8G;
+ }
+ else {
+ return MSG_RESET;
+ }
+
+ if(newfs != ((LIS302DLDriver *)ip)->fullscale) {
+ scale = newfs / ((LIS302DLDriver *)ip)->fullscale;
+ ((LIS302DLDriver *)ip)->fullscale = newfs;
+
+ /* Updating register.*/
+ lis302dlSPIReadRegister(((LIS302DLDriver *)ip)->config->spip,
+ LIS302DL_AD_CTRL_REG1, 1, &cr);
+ cr &= ~(LIS302DL_CTRL_REG1_FS_MASK);
+ cr |= fs;
+ lis302dlSPIWriteRegister(((LIS302DLDriver *)ip)->config->spip,
+ LIS302DL_AD_CTRL_REG1, 1, &cr);
+
+ /* Scaling sensitivity and bias. Re-calibration is suggested anyway. */
+ for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++) {
+ ((LIS302DLDriver *)ip)->sensitivity[i] *= scale;
+ ((LIS302DLDriver *)ip)->bias[i] *= scale;
+ }
+ }
+ return MSG_OK;
+}
+
static const struct BaseSensorVMT vmt_basesensor = {
get_axes_number, read_raw, read_cooked
};
@@ -319,7 +250,8 @@ static const struct BaseAccelerometerVMT vmt_baseaccelerometer = {
static const struct LIS302DLVMT vmt_lis302dl = {
get_axes_number, read_raw, read_cooked,
- set_bias, reset_bias, set_sensivity, reset_sensivity
+ set_bias, reset_bias, set_sensivity, reset_sensivity,
+ set_full_scale
};
/*===========================================================================*/
@@ -354,6 +286,7 @@ void lis302dlObjectInit(LIS302DLDriver *devp) {
*/
void lis302dlStart(LIS302DLDriver *devp, const LIS302DLConfig *config) {
uint32_t i;
+ uint8_t cr[2] = {0, 0};
osalDbgCheck((devp != NULL) && (config != NULL));
osalDbgAssert((devp->state == LIS302DL_STOP) || (devp->state == LIS302DL_READY),
@@ -367,25 +300,42 @@ void lis302dlStart(LIS302DLDriver *devp, const LIS302DLConfig *config) {
#endif /* LIS302DL_SHARED_SPI */
spiStart((devp)->config->spip,
(devp)->config->spicfg);
- lis302dlSPIWriteRegister(devp->config->spip, LIS302DL_AD_CTRL_REG1,
- LIS302DL_PM_SLEEP_NORMAL |
- devp->config->axesenabling |
- devp->config->fullscale |
- devp->config->outputdatarate);
- lis302dlSPIWriteRegister(devp->config->spip, LIS302DL_AD_CTRL_REG2,
- devp->config->highpass);
+
+ /* Control register 1 configuration block.*/
+ {
+ cr[0] = LIS302DL_CTRL_REG1_XEN | LIS302DL_CTRL_REG1_YEN |
+ LIS302DL_CTRL_REG1_ZEN | LIS302DL_CTRL_REG1_PD |
+ devp->config->outputdatarate |
+ devp->config->fullscale;
+ }
+
+ /* Control register 2 configuration block.*/
+ {
+#if LIS302DL_USE_ADVANCED || defined(__DOXYGEN__)
+ if(devp->config->hpmode != LIS302DL_HPM_BYPASSED)
+ cr[1] = devp->config->highpass;
+#endif
+ }
+
+ lis302dlSPIWriteRegister(devp->config->spip, LIS302DL_AD_CTRL_REG1,
+ 2, cr);
+
#if LIS302DL_SHARED_SPI
spiReleaseBus((devp)->config->spip);
#endif /* LIS302DL_SHARED_SPI */
#endif /* LIS302DL_USE_SPI */
/* Storing sensitivity information according to full scale value */
- if(devp->config->fullscale == LIS302DL_FS_2G)
+ if(devp->config->fullscale == LIS302DL_FS_2G) {
+ devp->fullscale = LIS302DL_2G;
for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = LIS302DL_SENS_2G;
- else if(devp->config->fullscale == LIS302DL_FS_8G)
- for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)
- devp->sensitivity[i] = LIS302DL_SENS_8G;
+ }
+ else if(devp->config->fullscale == LIS302DL_FS_8G) {
+ devp->fullscale = LIS302DL_8G;
+ for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)
+ devp->sensitivity[i] = LIS302DL_SENS_8G;
+ }
else {
osalDbgAssert(FALSE, "lis302dlStart(), accelerometer full scale issue");
}
@@ -403,7 +353,7 @@ void lis302dlStart(LIS302DLDriver *devp, const LIS302DLConfig *config) {
* @api
*/
void lis302dlStop(LIS302DLDriver *devp) {
-
+ uint8_t cr1;
osalDbgCheck(devp != NULL);
osalDbgAssert((devp->state == LIS302DL_STOP) || (devp->state == LIS302DL_READY),
@@ -416,8 +366,8 @@ void lis302dlStop(LIS302DLDriver *devp) {
spiStart((devp)->config->spip,
(devp)->config->spicfg);
#endif /* LIS302DL_SHARED_SPI */
- lis302dlSPIWriteRegister(devp->config->spip, LIS302DL_AD_CTRL_REG1,
- LIS302DL_PM_POWER_DOWN | LIS302DL_AE_DISABLED);
+ cr1 = 0;
+ lis302dlSPIWriteRegister(devp->config->spip, LIS302DL_AD_CTRL_REG1, 1, &cr1);
spiStop((devp)->config->spip);
#if LIS302DL_SHARED_SPI
spiReleaseBus((devp)->config->spip);
diff --git a/os/ex/ST/lis302dl.h b/os/ex/ST/lis302dl.h
index e4c175029..67815ba97 100644
--- a/os/ex/ST/lis302dl.h
+++ b/os/ex/ST/lis302dl.h
@@ -35,10 +35,130 @@
/*===========================================================================*/
/**
- * @brief LIS302DL number of axes.
+ * @name Version identification
+ * @{
*/
-#define LIS302DL_NUMBER_OF_AXES ((size_t) 3U)
+/**
+ * @brief LIS302DL driver version string.
+ */
+#define EX_LIS302DL_VERSION "1.0.0"
+/**
+ * @brief LIS302DL driver version major number.
+ */
+#define EX_LIS302DL_MAJOR 1
+
+/**
+ * @brief LIS302DL driver version minor number.
+ */
+#define EX_LIS302DL_MINOR 0
+
+/**
+ * @brief LIS302DL driver version patch number.
+ */
+#define EX_LIS302DL_PATCH 0
+/** @} */
+
+/**
+ * @brief LIS302DL characteristics.
+ *
+ * @{
+ */
+#define LIS302DL_NUMBER_OF_AXES 3U
+
+#define LIS302DL_2G 2.0f
+#define LIS302DL_8G 8.0f
+
+#define LIS302DL_SENS_2G 18.0f
+#define LIS302DL_SENS_8G 72.0f
+/** @} */
+
+/**
+ * @name LIS302DL communication interfaces related bit masks
+ * @{
+ */
+#define LIS302DL_DI_MASK 0xFF /**< Data In mask */
+#define LIS302DL_DI(n) (1 << n) /**< Data In bit n */
+#define LIS302DL_AD_MASK 0x3F /**< Address Data mask */
+#define LIS302DL_AD(n) (1 << n) /**< Address Data bit n */
+#define LIS302DL_MS (1 << 6) /**< Multiple read write */
+#define LIS302DL_RW (1 << 7) /**< Read Write selector */
+/** @} */
+
+/**
+ * @name LIS302DL register addresses
+ * @{
+ */
+#define LIS302DL_AD_WHO_AM_I 0x0F
+#define LIS302DL_AD_CTRL_REG1 0x20
+#define LIS302DL_AD_CTRL_REG2 0x21
+#define LIS302DL_AD_CTRL_REG3 0x22
+#define LIS302DL_AD_HP_FILER_RESET 0x23
+#define LIS302DL_AD_STATUS_REG 0x27
+#define LIS302DL_AD_OUT_X 0x29
+#define LIS302DL_AD_OUT_Y 0x2B
+#define LIS302DL_AD_OUT_Z 0x2D
+#define LIS302DL_AD_FF_WU_CFG_1 0x30
+#define LIS302DL_AD_FF_WU_SRC_1 0x31
+#define LIS302DL_AD_FF_WU_THS_1 0x32
+#define LIS302DL_AD_FF_WU_DURATION_1 0x33
+#define LIS302DL_AD_FF_WU_CFG_2 0x34
+#define LIS302DL_AD_FF_WU_SRC_2 0x35
+#define LIS302DL_AD_FF_WU_THS_2 0x36
+#define LIS302DL_AD_FF_WU_DURATION_2 0x37
+#define LIS302DL_AD_CLICK_CFG 0x38
+#define LIS302DL_AD_CLICK_SRC 0x39
+#define LIS302DL_AD_CLICK_THSY_X 0x3B
+#define LIS302DL_AD_CLICK_THSZ 0x3C
+#define LIS302DL_AD_CLICK_TIME_LIMIT 0x3D
+#define LIS302DL_AD_CLICK_LATENCY 0x3E
+#define LIS302DL_AD_CLICK_WINDOW 0x3F
+/** @} */
+
+/**
+ * @name LIS302DL_CTRL_REG1 register bits definitions
+ * @{
+ */
+#define LIS302DL_CTRL_REG1_MASK 0xFF /**< LIS302DL_CTRL_REG1 mask */
+#define LIS302DL_CTRL_REG1_FS_MASK 0x20 /**< Full scale field mask */
+#define LIS302DL_CTRL_REG1_XEN (1 << 0) /**< X axis enable */
+#define LIS302DL_CTRL_REG1_YEN (1 << 1) /**< Y axis enable */
+#define LIS302DL_CTRL_REG1_ZEN (1 << 2) /**< Z axis enable */
+#define LIS302DL_CTRL_REG1_STM (1 << 3) /**< Self test P-M */
+#define LIS302DL_CTRL_REG1_STP (1 << 4) /**< Self test P-M */
+#define LIS302DL_CTRL_REG1_FS (1 << 5) /**< Full scale */
+#define LIS302DL_CTRL_REG1_PD (1 << 6) /**< Power-down mode enable */
+#define LIS302DL_CTRL_REG1_DR (1 << 7) /**< Output data rate */
+/** @} */
+
+/**
+ * @name LIS302DL_CTRL_REG2 register bits definitions
+ * @{
+ */
+#define LIS302DL_CTRL_REG2_MASK 0xDF /**< LIS302DL_CTRL_REG2 mask */
+#define LIS302DL_CTRL_REG2_HPCF1 (1 << 0) /**< HP filter cutoff bit 0 */
+#define LIS302DL_CTRL_REG2_HPCF2 (1 << 1) /**< HP filter cutoff bit 1 */
+#define LIS302DL_CTRL_REG2_HPFFWU1 (1 << 2) /**< HP filter cutoff bit 2 */
+#define LIS302DL_CTRL_REG2_HPFFWU2 (1 << 3) /**< HP filter cutoff bit 3 */
+#define LIS302DL_CTRL_REG2_FDS (1 << 4) /**< HP filter mode bit 0 */
+#define LIS302DL_CTRL_REG2_BOOT (1 << 6) /**< HP filter mode bit 1 */
+#define LIS302DL_CTRL_REG2_SIM (1 << 7) /**< HP filter mode bit 1 */
+/** @} */
+
+/**
+ * @name LIS302DL_CTRL_REG3 register bits definitions
+ * @{
+ */
+#define LIS302DL_CTRL_REG3_MASK 0xFF /**< LIS302DL_CTRL_REG3 mask */
+#define LIS302DL_CTRL_REG3_I1CFG0 (1 << 0) /**< Interrupt 1 config bit 0 */
+#define LIS302DL_CTRL_REG3_I1CFG1 (1 << 1) /**< Interrupt 1 config bit 1 */
+#define LIS302DL_CTRL_REG3_I1CFG2 (1 << 2) /**< Interrupt 1 config bit 2 */
+#define LIS302DL_CTRL_REG3_I2CFG0 (1 << 3) /**< Interrupt 2 config bit 0 */
+#define LIS302DL_CTRL_REG3_I2CFG1 (1 << 4) /**< Interrupt 2 config bit 1 */
+#define LIS302DL_CTRL_REG3_I2CFG2 (1 << 5) /**< Interrupt 2 config bit 2 */
+#define LIS302DL_CTRL_REG3_PP_OD (1 << 6) /**< Push-pull open-drain */
+#define LIS302DL_CTRL_REG3_IHL (1 << 7) /**< Int active high low */
+/** @} */
/*===========================================================================*/
/* Driver pre-compile time settings. */
/*===========================================================================*/
@@ -65,6 +185,15 @@
#define LIS302DL_USE_I2C FALSE
#endif
+/**
+ * @brief LIS302DL advanced configurations switch.
+ * @details If set to @p TRUE more configurations are available.
+ * @note The default is @p FALSE.
+ */
+#if !defined(LIS302DL_USE_ADVANCED) || defined(__DOXYGEN__)
+#define LIS302DL_USE_ADVANCED FALSE
+#endif
+
/**
* @brief LIS302DL shared SPI switch.
* @details If set to @p TRUE the device acquires SPI bus ownership
@@ -108,8 +237,8 @@
* @brief LIS302DL full scale.
*/
typedef enum {
- LIS302DL_FS_2G = 0x00, /**< Full scale ±2g. */
- LIS302DL_FS_8G = 0x20 /**< Full scale ±8g. */
+ LIS302DL_FS_2G = 0x00, /**< Full scale ±2g. */
+ LIS302DL_FS_8G = 0x20 /**< Full scale ±8g. */
}lis302dl_fs_t;
/**
@@ -131,29 +260,6 @@ typedef enum {
LIS302DL_HP_3 = 0x13 /**< HP cutoff 0.25Hz or 1Hz */
}lis302dl_hp_t;
-/**
- * @brief LIS302DL axes enabling.
- */
-typedef enum {
- LIS302DL_AE_DISABLED = 0x00, /**< All axes disabled. */
- LIS302DL_AE_X = 0x01, /**< Only X-axis enabled. */
- LIS302DL_AE_Y = 0x02, /**< Only Y-axis enabled. */
- LIS302DL_AE_XY = 0x03, /**< X and Y axes enabled. */
- LIS302DL_AE_Z = 0x04, /**< Only Z-axis enabled. */
- LIS302DL_AE_XZ = 0x05, /**< X and Z axes enabled. */
- LIS302DL_AE_YZ = 0x06, /**< Y and Z axes enabled. */
- LIS302DL_AE_XYZ = 0x07 /**< All axes enabled. */
-}lis302dl_ae_t;
-
-/**
- * @brief LIS302DL accelerometer subsystem unit.
- */
-typedef enum {
- LIS302DL_ACC_UNIT_G = 0x00, /**< Cooked data in g. */
- LIS302DL_ACC_UNIT_MG = 0x01, /**< Cooked data in mg. */
- LIS302DL_ACC_UNIT_SI = 0x02, /**< Cooked data in m/s^2. */
-} lis302dl_acc_unit_t;
-
/**
* @brief Driver state machine possible states.
*/
@@ -188,6 +294,14 @@ typedef struct {
*/
const I2CConfig *i2ccfg;
#endif /* LIS302DL_USE_I2C */
+ /**
+ * @brief LIS302DL initial sensitivity.
+ */
+ float sensitivity[LIS302DL_NUMBER_OF_AXES];
+ /**
+ * @brief LIS302DL initial bias.
+ */
+ float bias[LIS302DL_NUMBER_OF_AXES];
/**
* @brief LIS302DL full scale value.
*/
@@ -196,18 +310,12 @@ typedef struct {
* @brief LIS302DL output data rate selection.
*/
lis302dl_odr_t outputdatarate;
+#if LIS302DL_USE_ADVANCED || defined(__DOXYGEN__)
/**
* @brief LIS302DL high pass filtering
*/
lis302dl_hp_t highpass;
- /**
- * @brief LIS302DL axes enabling.
- */
- lis302dl_ae_t axesenabling;
- /**
- * @brief LIS302DL unit for cooked data.
- */
- lis302dl_acc_unit_t unit;
+#endif
} LIS302DLConfig;
/**
@@ -219,7 +327,9 @@ typedef struct LIS302DLDriver LIS302DLDriver;
* @brief @p LIS302DL specific methods.
*/
#define _lis302dl_methods \
- _base_accelerometer_methods
+ _base_accelerometer_methods \
+ /* Change full scale value of LIS302DL .*/ \
+ msg_t (*set_full_scale)(void *instance, lis302dl_fs_t fs);
/**
@@ -243,7 +353,9 @@ struct LIS302DLVMT {
/* Current sensitivity.*/ \
float sensitivity[LIS302DL_NUMBER_OF_AXES]; \
/* Bias data.*/ \
- int32_t bias[LIS302DL_NUMBER_OF_AXES];
+ int32_t bias[LIS302DL_NUMBER_OF_AXES]; \
+ /* Current full scale value.*/ \
+ float fullscale;
/**
* @extends BaseAccelerometer.
@@ -268,19 +380,19 @@ struct LIS302DLDriver {
/*===========================================================================*/
/**
- * @brief Get current MEMS temperature.
- * @detail This information is very useful especially for high accuracy IMU.
+ * @brief Change accelerometer fullscale value.
*
* @param[in] ip pointer to a @p BaseAccelerometer class.
- * @param[out] temp the MEMS temperature as single precision floating.
+ * @param[in] fs the new full scale value.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
* @retval MSG_RESET if one or more errors occurred.
* @api
*/
-#define accelerometerGetTemp(ip, tpp) \
- (ip)->vmt_lis302dl->get_temperature(ip, tpp)
+#define accelerometerSetFullScale(ip, fs) \
+ (ip)->vmt_lis302dl->set_full_scale(ip, fs)
+
/*===========================================================================*/
/* External declarations. */
diff --git a/testhal/STM32/STM32F4xx/SPI-LIS302DL/Makefile b/testhal/STM32/STM32F4xx/SPI-LIS302DL/Makefile
index d1fbfb2b1..13a8fe6f5 100644
--- a/testhal/STM32/STM32F4xx/SPI-LIS302DL/Makefile
+++ b/testhal/STM32/STM32F4xx/SPI-LIS302DL/Makefile
@@ -100,6 +100,7 @@ include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk
# Other files (optional).
include $(CHIBIOS)/os/ex/ST/lis302dl.mk
include $(CHIBIOS)/os/hal/lib/streams/streams.mk
+include $(CHIBIOS)/os/various/shell/shell.mk
# Define linker script file here
LDSCRIPT= $(STARTUPLD)/STM32F407xG.ld
@@ -115,6 +116,7 @@ CSRC = $(STARTUPSRC) \
$(BOARDSRC) \
$(LIS302DLSRC) \
$(STREAMSSRC) \
+ $(SHELLSRC) \
usbcfg.c main.c
# C++ sources that can be compiled in ARM or THUMB mode depending on the global
@@ -148,7 +150,7 @@ ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
INCDIR = $(CHIBIOS)/os/license \
$(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
$(HALINC) $(PLATFORMINC) $(BOARDINC) $(LIS302DLINC) \
- $(STREAMSINC) $(CHIBIOS)/os/various
+ $(STREAMSINC) $(SHELLINC)
#
# Project, sources and paths
@@ -198,7 +200,8 @@ CPPWARN = -Wall -Wextra -Wundef
#
# List all user C define here, like -D_DEBUG=1
-UDEFS = -DCHPRINTF_USE_FLOAT=1
+UDEFS = -DCHPRINTF_USE_FLOAT=1 -DSHELL_CMD_TEST_ENABLED=0 \
+ -DLIS302DL_USE_ADVANCED=0
# Define ASM defines here
UADEFS =
diff --git a/testhal/STM32/STM32F4xx/SPI-LIS302DL/debug/STM32F4xx-SPI-LIS302DL (OpenOCD, Flash and Run).launch b/testhal/STM32/STM32F4xx/SPI-LIS302DL/debug/STM32F4xx-SPI-LIS302DL (OpenOCD, Flash and Run).launch
index 9fd9e2b08..66baeff93 100644
--- a/testhal/STM32/STM32F4xx/SPI-LIS302DL/debug/STM32F4xx-SPI-LIS302DL (OpenOCD, Flash and Run).launch
+++ b/testhal/STM32/STM32F4xx/SPI-LIS302DL/debug/STM32F4xx-SPI-LIS302DL (OpenOCD, Flash and Run).launch
@@ -33,7 +33,7 @@
-
+
diff --git a/testhal/STM32/STM32F4xx/SPI-LIS302DL/main.c b/testhal/STM32/STM32F4xx/SPI-LIS302DL/main.c
index 429f7b0bb..fcdbfe81b 100644
--- a/testhal/STM32/STM32F4xx/SPI-LIS302DL/main.c
+++ b/testhal/STM32/STM32F4xx/SPI-LIS302DL/main.c
@@ -18,14 +18,15 @@
#include "hal.h"
#include "usbcfg.h"
-
+#include "string.h"
+#include "shell.h"
#include "chprintf.h"
+
#include "lis302dl.h"
-/* Enable use of special ANSI escape sequences */
-#define CHPRINTF_USE_ANSI_CODE TRUE
-
-static BaseSequentialStream * chp = (BaseSequentialStream*) &SDU1;
+/*===========================================================================*/
+/* LIS302DL related. */
+/*===========================================================================*/
/* LIS302DL Driver: This object represent an LIS302DL instance */
static LIS302DLDriver LIS302DLD1;
@@ -33,26 +34,111 @@ static LIS302DLDriver LIS302DLD1;
static int32_t rawdata[LIS302DL_NUMBER_OF_AXES];
static float cookeddata[LIS302DL_NUMBER_OF_AXES];
-static char axesID[LIS302DL_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};
+static char axisID[LIS302DL_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};
static uint32_t i;
static const SPIConfig spicfg = {
NULL,
- GPIOE, /* port of LIS302DL CS */
- GPIOE_CS_SPI, /* pin of LIS302DL CS */
- SPI_CR1_BR_0 | SPI_CR1_CPOL | SPI_CR1_CPHA,/* CR1 register*/ /* CR2 register */
+ GPIOE, /* port of LIS302DL CS.*/
+ GPIOE_CS_SPI, /* pin of LIS302DL CS.*/
+ SPI_CR1_BR_0 | SPI_CR1_CPOL | SPI_CR1_CPHA,/* CR1 register.*/
+ 0 /* CR2 register.*/
};
-static LIS302DLConfig lis302dlcfg = {
- &SPID1, /* Pointer to SPI Driver */
- &spicfg, /* Pointer to SPI Configuration */
+static LIS302DLConfig l3gd20cfg = {
+ &SPID1, /* Pointer to SPI Driver.*/
+ &spicfg, /* Pointer to SPI Configuration.*/
+ {0, 0, 0}, /* Use default sensitivity.*/
+ {0, 0, 0}, /* Use default bias.*/
LIS302DL_FS_2G, /* Full scale value */
LIS302DL_ODR_100HZ, /* Output data rate */
+#if LIS302DL_USE_ADVANCED || defined(__DOXYGEN__)
LIS302DL_HP_DISABLED, /* HP filter disabled */
- LIS302DL_AE_XYZ, /* Enabled axes */
- LIS302DL_ACC_UNIT_G /* Measurement unit for cooked */
+#endif
};
+/*===========================================================================*/
+/* 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[]) {
+ (void)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
+ accelerometerReadRaw(&LIS302DLD1, rawdata);
+ chprintf(chp, "LIS302DL Accelerometer raw data...\r\n");
+ for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++) {
+ chprintf(chp, "%c-axis: %d\r\n", axisID[i], rawdata[i]);
+ }
+ }
+ else if (!strcmp (argv[0], "cooked")) {
+#if CHPRINTF_USE_ANSI_CODE
+ chprintf(chp, "\033[2J\033[1;1H");
+#endif
+ accelerometerReadCooked(&LIS302DLD1, cookeddata);
+ chprintf(chp, "LIS302DL Accelerometer cooked data...\r\n");
+ for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++) {
+ chprintf(chp, "%c-axis: %.4f mg\r\n", axisID[i], cookeddata[i]);
+ }
+ }
+ else {
+ chprintf(chp, "Usage: read [raw|cooked]\r\n");
+ return;
+ }
+ }
+ chprintf(chp, "Stopped\r\n");
+}
+
+static void cmd_fullscale(BaseSequentialStream *chp, int argc, char *argv[]) {
+ (void)argv;
+ if (argc != 1) {
+ chprintf(chp, "Usage: fullscale [2G|8G]\r\n");
+ return;
+ }
+#if CHPRINTF_USE_ANSI_CODE
+ chprintf(chp, "\033[2J\033[1;1H");
+#endif
+ if(!strcmp (argv[0], "2G")) {
+ accelerometerSetFullScale(&LIS302DLD1, LIS302DL_FS_2G);
+ chprintf(chp, "LIS302DL Accelerometer full scale set to 2 g...\r\n");
+ }
+ else if(!strcmp (argv[0], "8G")) {
+ accelerometerSetFullScale(&LIS302DLD1, LIS302DL_FS_8G);
+ chprintf(chp, "LIS302DL Accelerometer full scale set to 8 g...\r\n");
+ }
+ else {
+ chprintf(chp, "Usage: fullscale [2G|8G]\r\n");
+ return;
+ }
+}
+
+static const ShellCommand commands[] = {
+ {"read", cmd_read},
+ {"fullscale", cmd_fullscale},
+ {NULL, NULL}
+};
+
+static const ShellConfig shell_cfg1 = {
+ (BaseSequentialStream *)&SDU1,
+ commands
+};
+
+/*===========================================================================*/
+/* Main code. */
+/*===========================================================================*/
+
/*
* LED blinker thread, times are in milliseconds.
*/
@@ -62,8 +148,13 @@ static THD_FUNCTION(Thread1, arg) {
(void)arg;
chRegSetThreadName("blinker");
while (true) {
- palToggleLine(LINE_LED6);
- chThdSleepMilliseconds(250);
+ systime_t time;
+
+ time = serusbcfg.usbp->state == USB_ACTIVE ? 250 : 500;
+ palClearLine(LINE_LED6);
+ chThdSleepMilliseconds(time);
+ palSetLine(LINE_LED6);
+ chThdSleepMilliseconds(time);
}
}
@@ -82,9 +173,7 @@ int main(void) {
halInit();
chSysInit();
- /*
- * Initializes a serial-over-USB CDC driver.
- */
+ /* Initializes a serial-over-USB CDC driver.*/
sduObjectInit(&SDU1);
sduStart(&SDU1, &serusbcfg);
@@ -97,35 +186,29 @@ int main(void) {
chThdSleepMilliseconds(1500);
usbStart(serusbcfg.usbp, &usbcfg);
usbConnectBus(serusbcfg.usbp);
- /*
- * Creates the blinker thread.
- */
+
+ /* Creates the blinker thread.*/
chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO + 1, Thread1, NULL);
- /*
- * LIS302DL Object Initialization
- */
+ /* LIS302DL Object Initialization.*/
lis302dlObjectInit(&LIS302DLD1);
- /*
- * Activates the LIS302DL driver.
- */
- lis302dlStart(&LIS302DLD1, &lis302dlcfg);
+ /* Activates the LIS302DL driver.*/
+ lis302dlStart(&LIS302DLD1, &l3gd20cfg);
- while (TRUE) {
- palToggleLine(LINE_LED3);
- accelerometerReadRaw(&LIS302DLD1, rawdata);
- for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)
- chprintf(chp, "RAW-%c:%d\r\n", axesID[i], rawdata[i]);
+ /* Shell manager initialization.*/
+ shellInit();
- accelerometerReadCooked(&LIS302DLD1, cookeddata);
- for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)
- chprintf(chp, "COOKED-%c:%.3f g\r\n", axesID[i], cookeddata[i]);
-
- chThdSleepMilliseconds(150);
-#if CHPRINTF_USE_ANSI_CODE
- chprintf(chp, "\033[2J\033[1;1H");
-#endif
+ while(TRUE) {
+ if (SDU1.config->usbp->state == USB_ACTIVE) {
+ thread_t *shelltp = chThdCreateFromHeap(NULL, SHELL_WA_SIZE,
+ "shell", NORMALPRIO + 1,
+ shellThread, (void *)&shell_cfg1);
+ chThdWait(shelltp); /* Waiting termination. */
+ }
+ chThdSleepMilliseconds(1000);
}
lis302dlStop(&LIS302DLD1);
+ return 0;
}
+
diff --git a/testhal/STM32/STM32F4xx/SPI-LIS302DL/readme.txt b/testhal/STM32/STM32F4xx/SPI-LIS302DL/readme.txt
index 354fff29a..11e515e07 100644
--- a/testhal/STM32/STM32F4xx/SPI-LIS302DL/readme.txt
+++ b/testhal/STM32/STM32F4xx/SPI-LIS302DL/readme.txt
@@ -8,7 +8,7 @@ The demo runs on an STM32F407 Discovery board rev MB997B.
** The Demo **
-The demo flashes the board LED using a thread, read data from LIS302L printing
+The demo flashes the board LED using a thread, read data from LIS302DL printing
it on a BaseSequentialStream (SDU1, mapped on USB virtual COM port).
** Build Procedure **