mirror of https://github.com/rusefi/ChibiOS.git
UpdatedEX: LIS302DL driver updated to v1.0.0
git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9724 35acf78f-673a-0410-8e92-d51de3d6d3f4
This commit is contained in:
Rocco Marco Guglielmi
parent
4f6a6abcfc
commit
293f9d708b
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@ -33,58 +33,6 @@
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/* Driver local definitions. */
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/*===========================================================================*/
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#define LIS302DL_SENS_2G ((float)18.0f)
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#define LIS302DL_SENS_8G ((float)72.0f)
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#define LIS302DL_DI ((uint8_t)0xFF)
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#define LIS302DL_DI_0 ((uint8_t)0x01)
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#define LIS302DL_DI_1 ((uint8_t)0x02)
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#define LIS302DL_DI_2 ((uint8_t)0x04)
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#define LIS302DL_DI_3 ((uint8_t)0x08)
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#define LIS302DL_DI_4 ((uint8_t)0x10)
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#define LIS302DL_DI_5 ((uint8_t)0x20)
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#define LIS302DL_DI_6 ((uint8_t)0x40)
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#define LIS302DL_DI_7 ((uint8_t)0x80)
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#define LIS302DL_AD ((uint8_t)0x3F)
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#define LIS302DL_AD_0 ((uint8_t)0x01)
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#define LIS302DL_AD_1 ((uint8_t)0x02)
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#define LIS302DL_AD_2 ((uint8_t)0x04)
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#define LIS302DL_AD_3 ((uint8_t)0x08)
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#define LIS302DL_AD_4 ((uint8_t)0x10)
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#define LIS302DL_AD_5 ((uint8_t)0x20)
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#define LIS302DL_MS ((uint8_t)0x40)
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#define LIS302DL_RW ((uint8_t)0x80)
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#define LIS302DL_AD_WHO_AM_I ((uint8_t)0x0F)
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#define LIS302DL_AD_CTRL_REG1 ((uint8_t)0x20)
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#define LIS302DL_AD_CTRL_REG2 ((uint8_t)0x21)
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#define LIS302DL_AD_CTRL_REG3 ((uint8_t)0x22)
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#define LIS302DL_AD_HP_FILER_RESET ((uint8_t)0x23)
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#define LIS302DL_AD_STATUS_REG ((uint8_t)0x27)
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#define LIS302DL_AD_OUT_X ((uint8_t)0x29)
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#define LIS302DL_AD_OUT_Y ((uint8_t)0x2B)
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#define LIS302DL_AD_OUT_Z ((uint8_t)0x2D)
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#define LIS302DL_AD_FF_WU_CFG_1 ((uint8_t)0x30)
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#define LIS302DL_AD_FF_WU_SRC_1 ((uint8_t)0x31)
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#define LIS302DL_AD_FF_WU_THS_1 ((uint8_t)0x32)
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#define LIS302DL_AD_FF_WU_DURATION_1 ((uint8_t)0x33)
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#define LIS302DL_AD_FF_WU_CFG_2 ((uint8_t)0x34)
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#define LIS302DL_AD_FF_WU_SRC_2 ((uint8_t)0x35)
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#define LIS302DL_AD_FF_WU_THS_2 ((uint8_t)0x36)
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#define LIS302DL_AD_FF_WU_DURATION_2 ((uint8_t)0x37)
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#define LIS302DL_AD_CLICK_CFG ((uint8_t)0x38)
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#define LIS302DL_AD_CLICK_SRC ((uint8_t)0x39)
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#define LIS302DL_AD_CLICK_THSY_X ((uint8_t)0x3B)
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#define LIS302DL_AD_CLICK_THSZ ((uint8_t)0x3C)
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#define LIS302DL_AD_CLICK_TIME_LIMIT ((uint8_t)0x3D)
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#define LIS302DL_AD_CLICK_LATENCY ((uint8_t)0x3E)
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#define LIS302DL_AD_CLICK_WINDOW ((uint8_t)0x3F)
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#define LIS302DL_CTRL_REG1_FS_MASK ((uint8_t)0x20)
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#define TO_G ((float)0.001f)
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#define TO_SI ((float)0.00981f)
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/*===========================================================================*/
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/* Driver exported variables. */
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/*===========================================================================*/
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@ -93,14 +41,6 @@
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/* Driver local variables and types. */
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/*===========================================================================*/
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/**
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* @brief LIS302DL Power Mode
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*/
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typedef enum {
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LIS302DL_PM_POWER_DOWN = 0x00, /**< Power down enabled. */
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LIS302DL_PM_SLEEP_NORMAL = 0x40 /**< Normal operation mode. */
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}lis302dl_pm_t;
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/*===========================================================================*/
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/* Driver local functions. */
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/*===========================================================================*/
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@ -111,16 +51,18 @@ typedef enum {
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* @pre The SPI interface must be initialized and the driver started.
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*
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* @param[in] spip pointer to the SPI interface
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* @param[in] reg register number
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* @return register value.
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* @param[in] reg starting register address
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* @param[in] n number of adjacent registers to write
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* @param[in] b pointer to a buffer.
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*/
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static uint8_t lis302dlSPIReadRegister(SPIDriver *spip, uint8_t reg) {
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uint8_t txbuf[2] = {LIS302DL_RW | reg, 0xFF};
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uint8_t rxbuf[2] = {0x00, 0x00};
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static void lis302dlSPIReadRegister(SPIDriver *spip, uint8_t reg, size_t n,
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uint8_t* b) {
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uint8_t cmd;
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(n == 1) ? (cmd = reg | LIS302DL_RW) : (cmd = reg | LIS302DL_RW | LIS302DL_MS);
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spiSelect(spip);
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spiExchange(spip, 2, txbuf, rxbuf);
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spiSend(spip, 1, &cmd);
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spiReceive(spip, n, b);
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spiUnselect(spip);
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return rxbuf[1];
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}
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/**
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@ -128,51 +70,19 @@ static uint8_t lis302dlSPIReadRegister(SPIDriver *spip, uint8_t reg) {
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* @pre The SPI interface must be initialized and the driver started.
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*
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* @param[in] spip pointer to the SPI interface
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* @param[in] reg register number
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* @param[in] value register value.
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* @param[in] reg starting register address
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* @param[in] n number of adjacent registers to write
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* @param[in] value pointer to a buffer of values.
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*/
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static void lis302dlSPIWriteRegister(SPIDriver *spip, uint8_t reg,
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uint8_t value) {
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switch (reg) {
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default:
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/* Reserved register must not be written, according to the datasheet
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* this could permanently damage the device.
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*/
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osalDbgAssert(FALSE, "lis302dlSPIWriteRegister(), reserved register");
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case LIS302DL_AD_WHO_AM_I:
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case LIS302DL_AD_HP_FILER_RESET:
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case LIS302DL_AD_STATUS_REG:
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case LIS302DL_AD_OUT_X:
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case LIS302DL_AD_OUT_Y:
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case LIS302DL_AD_OUT_Z:
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case LIS302DL_AD_FF_WU_SRC_1:
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case LIS302DL_AD_FF_WU_SRC_2:
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case LIS302DL_AD_CLICK_SRC:
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/* Read only registers cannot be written, the command is ignored.*/
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return;
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case LIS302DL_AD_CTRL_REG1:
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case LIS302DL_AD_CTRL_REG2:
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case LIS302DL_AD_CTRL_REG3:
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case LIS302DL_AD_FF_WU_CFG_1:
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case LIS302DL_AD_FF_WU_THS_1:
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case LIS302DL_AD_FF_WU_DURATION_1:
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case LIS302DL_AD_FF_WU_CFG_2:
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case LIS302DL_AD_FF_WU_THS_2:
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case LIS302DL_AD_FF_WU_DURATION_2:
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case LIS302DL_AD_CLICK_CFG:
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case LIS302DL_AD_CLICK_THSY_X:
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case LIS302DL_AD_CLICK_THSZ:
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case LIS302DL_AD_CLICK_TIME_LIMIT:
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case LIS302DL_AD_CLICK_LATENCY:
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case LIS302DL_AD_CLICK_WINDOW:
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static void lis302dlSPIWriteRegister(SPIDriver *spip, uint8_t reg, size_t n,
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uint8_t* b) {
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uint8_t cmd;
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(n == 1) ? (cmd = reg) : (cmd = reg | LIS302DL_MS);
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spiSelect(spip);
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uint8_t txbuf[2] = {reg, value};
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spiSend(spip, 2, txbuf);
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spiSend(spip, 1, &cmd);
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spiSend(spip, n, b);
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spiUnselect(spip);
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}
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}
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#endif /* LIS302DL_USE_SPI */
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/*
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@ -185,7 +95,8 @@ static size_t get_axes_number(void *ip) {
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}
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static msg_t read_raw(void *ip, int32_t axes[LIS302DL_NUMBER_OF_AXES]) {
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int8_t tmp;
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uint8_t i, tmp;
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osalDbgCheck((ip != NULL) && (axes != NULL));
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osalDbgAssert((((LIS302DLDriver *)ip)->state == LIS302DL_READY),
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@ -199,20 +110,10 @@ static msg_t read_raw(void *ip, int32_t axes[LIS302DL_NUMBER_OF_AXES]) {
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spiStart(((LIS302DLDriver *)ip)->config->spip,
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((LIS302DLDriver *)ip)->config->spicfg);
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#endif /* LIS302DL_SHARED_SPI */
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if(((LIS302DLDriver *)ip)->config->axesenabling & LIS302DL_AE_X){
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tmp = lis302dlSPIReadRegister(((LIS302DLDriver *)ip)->config->spip,
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LIS302DL_AD_OUT_X);
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axes[0] = tmp + ((LIS302DLDriver *)ip)->bias[0];
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}
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if(((LIS302DLDriver *)ip)->config->axesenabling & LIS302DL_AE_Y){
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tmp = lis302dlSPIReadRegister(((LIS302DLDriver *)ip)->config->spip,
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LIS302DL_AD_OUT_Y);
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axes[1] = tmp + ((LIS302DLDriver *)ip)->bias[1];
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}
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if(((LIS302DLDriver *)ip)->config->axesenabling & LIS302DL_AE_Z){
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tmp = lis302dlSPIReadRegister(((LIS302DLDriver *)ip)->config->spip,
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LIS302DL_AD_OUT_Z);
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axes[2] = tmp + ((LIS302DLDriver *)ip)->bias[2];
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for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++) {
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lis302dlSPIReadRegister(((LIS302DLDriver *)ip)->config->spip,
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LIS302DL_AD_OUT_X + (i * 2), 1, &tmp);
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axes[i] = (int32_t)((int8_t)tmp);
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}
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#if LIS302DL_SHARED_SPI
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spiReleaseBus(((LIS302DLDriver *)ip)->config->spip);
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@ -233,13 +134,8 @@ static msg_t read_cooked(void *ip, float axes[]) {
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msg = read_raw(ip, raw);
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for(i = 0; i < LIS302DL_NUMBER_OF_AXES ; i++){
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axes[i] = raw[i] * ((LIS302DLDriver *)ip)->sensitivity[i];
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if(((LIS302DLDriver *)ip)->config->unit == LIS302DL_ACC_UNIT_G){
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axes[i] *= TO_G;
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}
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else if(((LIS302DLDriver *)ip)->config->unit == LIS302DL_ACC_UNIT_SI){
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axes[i] *= TO_SI;
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}
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axes[i] = (raw[i] * ((LIS302DLDriver *)ip)->sensitivity[i]);
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axes[i] -= ((LIS302DLDriver *)ip)->bias[i];
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}
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return msg;
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}
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@ -302,12 +198,47 @@ static msg_t reset_sensivity(void *ip) {
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for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)
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((LIS302DLDriver *)ip)->sensitivity[i] = LIS302DL_SENS_8G;
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else {
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osalDbgAssert(FALSE, "reset_sensivity(), accelerometer full scale issue");
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osalDbgAssert(FALSE, "reset_sensivity(), full scale issue");
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return MSG_RESET;
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}
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return MSG_OK;
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}
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static msg_t set_full_scale(void *ip, lis302dl_fs_t fs) {
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float newfs, scale;
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uint8_t i, cr;
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if(fs == LIS302DL_FS_2G) {
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newfs = LIS302DL_2G;
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}
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else if(fs == LIS302DL_FS_8G) {
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newfs = LIS302DL_8G;
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}
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else {
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return MSG_RESET;
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}
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if(newfs != ((LIS302DLDriver *)ip)->fullscale) {
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scale = newfs / ((LIS302DLDriver *)ip)->fullscale;
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((LIS302DLDriver *)ip)->fullscale = newfs;
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/* Updating register.*/
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lis302dlSPIReadRegister(((LIS302DLDriver *)ip)->config->spip,
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LIS302DL_AD_CTRL_REG1, 1, &cr);
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cr &= ~(LIS302DL_CTRL_REG1_FS_MASK);
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cr |= fs;
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lis302dlSPIWriteRegister(((LIS302DLDriver *)ip)->config->spip,
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LIS302DL_AD_CTRL_REG1, 1, &cr);
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/* Scaling sensitivity and bias. Re-calibration is suggested anyway. */
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for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++) {
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((LIS302DLDriver *)ip)->sensitivity[i] *= scale;
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((LIS302DLDriver *)ip)->bias[i] *= scale;
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}
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}
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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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@ -319,7 +250,8 @@ static const struct BaseAccelerometerVMT vmt_baseaccelerometer = {
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static const struct LIS302DLVMT vmt_lis302dl = {
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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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set_bias, reset_bias, set_sensivity, reset_sensivity,
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set_full_scale
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};
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/*===========================================================================*/
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@ -354,6 +286,7 @@ void lis302dlObjectInit(LIS302DLDriver *devp) {
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*/
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void lis302dlStart(LIS302DLDriver *devp, const LIS302DLConfig *config) {
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uint32_t i;
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uint8_t cr[2] = {0, 0};
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osalDbgCheck((devp != NULL) && (config != NULL));
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osalDbgAssert((devp->state == LIS302DL_STOP) || (devp->state == LIS302DL_READY),
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@ -367,25 +300,42 @@ void lis302dlStart(LIS302DLDriver *devp, const LIS302DLConfig *config) {
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#endif /* LIS302DL_SHARED_SPI */
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spiStart((devp)->config->spip,
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(devp)->config->spicfg);
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/* Control register 1 configuration block.*/
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{
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cr[0] = LIS302DL_CTRL_REG1_XEN | LIS302DL_CTRL_REG1_YEN |
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LIS302DL_CTRL_REG1_ZEN | LIS302DL_CTRL_REG1_PD |
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devp->config->outputdatarate |
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devp->config->fullscale;
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}
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/* Control register 2 configuration block.*/
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{
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#if LIS302DL_USE_ADVANCED || defined(__DOXYGEN__)
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if(devp->config->hpmode != LIS302DL_HPM_BYPASSED)
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cr[1] = devp->config->highpass;
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#endif
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}
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lis302dlSPIWriteRegister(devp->config->spip, LIS302DL_AD_CTRL_REG1,
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LIS302DL_PM_SLEEP_NORMAL |
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devp->config->axesenabling |
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devp->config->fullscale |
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devp->config->outputdatarate);
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lis302dlSPIWriteRegister(devp->config->spip, LIS302DL_AD_CTRL_REG2,
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devp->config->highpass);
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2, cr);
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#if LIS302DL_SHARED_SPI
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spiReleaseBus((devp)->config->spip);
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#endif /* LIS302DL_SHARED_SPI */
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#endif /* LIS302DL_USE_SPI */
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/* Storing sensitivity information according to full scale value */
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if(devp->config->fullscale == LIS302DL_FS_2G)
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if(devp->config->fullscale == LIS302DL_FS_2G) {
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devp->fullscale = LIS302DL_2G;
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for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)
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devp->sensitivity[i] = LIS302DL_SENS_2G;
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else if(devp->config->fullscale == LIS302DL_FS_8G)
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}
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else if(devp->config->fullscale == LIS302DL_FS_8G) {
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devp->fullscale = LIS302DL_8G;
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for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)
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devp->sensitivity[i] = LIS302DL_SENS_8G;
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}
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else {
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osalDbgAssert(FALSE, "lis302dlStart(), accelerometer full scale issue");
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}
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@ -403,7 +353,7 @@ void lis302dlStart(LIS302DLDriver *devp, const LIS302DLConfig *config) {
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* @api
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*/
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void lis302dlStop(LIS302DLDriver *devp) {
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uint8_t cr1;
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osalDbgCheck(devp != NULL);
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osalDbgAssert((devp->state == LIS302DL_STOP) || (devp->state == LIS302DL_READY),
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@ -416,8 +366,8 @@ void lis302dlStop(LIS302DLDriver *devp) {
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spiStart((devp)->config->spip,
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(devp)->config->spicfg);
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#endif /* LIS302DL_SHARED_SPI */
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lis302dlSPIWriteRegister(devp->config->spip, LIS302DL_AD_CTRL_REG1,
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LIS302DL_PM_POWER_DOWN | LIS302DL_AE_DISABLED);
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cr1 = 0;
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lis302dlSPIWriteRegister(devp->config->spip, LIS302DL_AD_CTRL_REG1, 1, &cr1);
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spiStop((devp)->config->spip);
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#if LIS302DL_SHARED_SPI
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spiReleaseBus((devp)->config->spip);
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@ -35,10 +35,130 @@
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/*===========================================================================*/
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/**
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* @brief LIS302DL number of axes.
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* @name Version identification
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* @{
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*/
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#define LIS302DL_NUMBER_OF_AXES ((size_t) 3U)
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/**
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* @brief LIS302DL driver version string.
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*/
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#define EX_LIS302DL_VERSION "1.0.0"
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/**
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* @brief LIS302DL driver version major number.
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*/
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#define EX_LIS302DL_MAJOR 1
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/**
|
||||
* @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. */
|
||||
|
|
|
|||
|
|
@ -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 =
|
||||
|
|
|
|||
|
|
@ -33,7 +33,7 @@
|
|||
<intAttribute key="org.eclipse.cdt.launch.ATTR_BUILD_BEFORE_LAUNCH_ATTR" value="2"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.COREFILE_PATH" value=""/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_REGISTER_GROUPS" value=""/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.FORMAT" value="<?xml version="1.0" encoding="UTF-8" standalone="no"?><contentList><content id="cr2-adc_lld_start_conversion-(format)" val="4"/><content id="CR2-adc-null-port_wait_for_interrupt-(format)" val="4"/><content id="CR2-adc-adcp-adc_lld_start_conversion-(format)" val="4"/></contentList>"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.FORMAT" value="<?xml version="1.0" encoding="UTF-8" standalone="no"?><contentList><content id="cr2-adc_lld_start_conversion-(format)" val="4"/><content id="CR2-adc-null-port_wait_for_interrupt-(format)" val="4"/><content id="CR2-adc-adcp-adc_lld_start_conversion-(format)" val="4"/><content id="null-read_raw.lto_priv.67-(format)" val="0"/><content id="buff[0]-null-read_raw.lto_priv.67-(format)" val="2"/><content id="buff[1]-null-read_raw.lto_priv.67-(format)" val="2"/><content id="buff[2]-null-read_raw.lto_priv.67-(format)" val="2"/></contentList>"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.GLOBAL_VARIABLES" value="<?xml version="1.0" encoding="UTF-8" standalone="no"?> <globalVariableList/> "/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.MEMORY_BLOCKS" value="<?xml version="1.0" encoding="UTF-8" standalone="no"?> <memoryBlockExpressionList/> "/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="./build/ch.elf"/>
|
||||
|
|
|
|||
|
|
@ -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);
|
||||
|
||||
/* Shell manager initialization.*/
|
||||
shellInit();
|
||||
|
||||
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]);
|
||||
|
||||
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
|
||||
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;
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -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 **
|
||||
|
|
|
|||
Loading…
Reference in New Issue