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EX: Added support for the ADXL355 

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@13463 27425a3e-05d8-49a3-a47f-9c15f0e5edd8
This commit is contained in:
Rocco Marco Guglielmi 2020-03-20 13:53:11 +00:00
parent 356fde65ae
commit 29c0a99e9b
6 changed files with 1268 additions and 5 deletions
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10
doc/ex/src/main.dox
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@ -29,6 +29,12 @@
* - EX resides on top of HAL which offers, among others, a set of abstract * - EX resides on top of HAL which offers, among others, a set of abstract
* interfaces like Generic Sensor, Gyroscope, Magnetometer, Accelerometer, * interfaces like Generic Sensor, Gyroscope, Magnetometer, Accelerometer,
* Barometer, Thermometer: EX offers a phisical implementation of them. * Barometer, Thermometer: EX offers a phisical implementation of them.
* - Currently Analog Devices supported devices are:
* - @b ADXL355: Low Noise, Low Drift, Low Power, 3-Axis Accelerometers;
* - Currently Bosch supported devices are:
* - @b BMP085: Digital pressure sensor;
* - Currently Micron Technology supported devices are:
* - @b M25Q: Serial NOR Flash;
* - Currently STMicroelectronics supported devices are: * - Currently STMicroelectronics supported devices are:
* - @b HTS221: Capacitive digital humidity sensor; * - @b HTS221: Capacitive digital humidity sensor;
* - @b L3GD20: 3-axis digital gyroscope; * - @b L3GD20: 3-axis digital gyroscope;
@ -38,8 +44,4 @@
* - @b LPS25H: Piezoresistive 260-1260 hPa pressure sensor; * - @b LPS25H: Piezoresistive 260-1260 hPa pressure sensor;
* - @b LSM6DS0: 6-axis iNEMO inertial module; * - @b LSM6DS0: 6-axis iNEMO inertial module;
* - @b LSM303DLHC: Ultra compact high performance e-compass; * - @b LSM303DLHC: Ultra compact high performance e-compass;
* - Currently Micron Technology supported devices are:
* - @b M25Q: Serial NOR Flash;
* - Currently Bosch supported devices are:
* - @b BMP085: Digital pressure sensor;
*/ */

605
os/ex/devices/ADI/adxl355.c Normal file
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/*
ChibiOS - Copyright (C) 2016..2019 Rocco Marco Guglielmi
This file is part of ChibiOS.
ChibiOS is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 3 of the License, or
(at your option) any later version.
ChibiOS is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/**
* @file adxl355.c
* @brief ADXL355 MEMS interface module code.
*
* @addtogroup ADXL355
* @ingroup EX_ADI
* @{
*/
#include "hal.h"
#include "adxl355.h"
/*===========================================================================*/
/* Driver local definitions. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver exported variables. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local variables and types. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local functions. */
/*===========================================================================*/
#if (ADXL355_USE_SPI) || defined(__DOXYGEN__)
/**
* @brief Reads a generic register value using SPI.
* @pre The SPI interface must be initialized and the driver started.
*
* @param[in] spip pointer to the SPI interface
* @param[in] reg starting register address
* @param[in] n number of consecutive registers to read
* @param[in] b pointer to an output buffer.
*/
static void adxl355SPIReadRegister(SPIDriver *spip, uint8_t reg, size_t n,
uint8_t* b) {
uint8_t cmd;
cmd = (reg << 1) | ADXL355_RW;
spiSelect(spip);
spiSend(spip, 1, &cmd);
spiReceive(spip, n, b);
spiUnselect(spip);
}
/**
* @brief Writes a value into a generic register using SPI.
* @pre The SPI interface must be initialized and the driver started.
*
* @param[in] spip pointer to the SPI interface
* @param[in] reg starting register address
* @param[in] n number of adjacent registers to write
* @param[in] b pointer to a buffer of values.
*/
static void adxl355SPIWriteRegister(SPIDriver *spip, uint8_t reg, size_t n,
uint8_t* b) {
uint8_t cmd;
cmd = (reg << 1);
spiSelect(spip);
spiSend(spip, 1, &cmd);
spiSend(spip, n, b);
spiUnselect(spip);
}
#endif /* ADXL355_USE_SPI */
/**
* @brief Return the number of axes of the BaseAccelerometer.
*
* @param[in] ip pointer to @p BaseAccelerometer interface.
*
* @return the number of axes.
*/
static size_t acc_get_axes_number(void *ip) {
(void)ip;
return ADXL355_ACC_NUMBER_OF_AXES;
}
/**
* @brief Retrieves raw data from the BaseAccelerometer.
* @note This data is retrieved from MEMS register without any algebraical
* manipulation.
* @note The axes array must be at least the same size of the
* BaseAccelerometer axes number.
*
* @param[in] ip pointer to @p BaseAccelerometer interface.
* @param[out] axes a buffer which would be filled with raw data.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
* @retval MSG_RESET if one or more I2C errors occurred, the errors can
* be retrieved using @p i2cGetErrors().
* @retval MSG_TIMEOUT if a timeout occurred before operation end.
*/
static msg_t acc_read_raw(void *ip, int32_t axes[]) {
ADXL355Driver* devp;
uint8_t buff [ADXL355_ACC_NUMBER_OF_AXES * 3], i;
int32_t tmp;
msg_t msg = MSG_OK;
osalDbgCheck((ip != NULL) && (axes != NULL));
/* Getting parent instance pointer.*/
devp = objGetInstance(ADXL355Driver*, (BaseAccelerometer*)ip);
osalDbgAssert((devp->state == ADXL355_READY),
"acc_read_raw(), invalid state");
#if ADXL355_USE_SPI
#if ADXL355_SHARED_SPI
osalDbgAssert((devp->config->spip->state == SPI_READY),
"acc_read_raw(), channel not ready");
spiAcquireBus(devp->config->spip);
spiStart(devp->config->spip,
devp->config->spicfg);
#endif /* ADXL355_SHARED_SPI */
adxl355SPIReadRegister(devp->config->spip, ADXL355_AD_XDATA3,
ADXL355_ACC_NUMBER_OF_AXES * 3, buff);
#if ADXL355_SHARED_SPI
spiReleaseBus(devp->config->spip);
#endif /* ADXL355_SHARED_SPI */
#endif /* ADXL355_USE_SPI */
for(i = 0; i < ADXL355_ACC_NUMBER_OF_AXES; i++) {
tmp = (buff[3 * i] << 12) | (buff[3 * i + 1] << 4) | (buff[3 * i + 2] >> 4);
if(tmp & 0x80000) {
tmp |= 0xFFF00000U;
}
axes[i] = tmp;
}
return msg;
}
/**
* @brief Retrieves cooked data from the BaseAccelerometer.
* @note This data is manipulated according to the formula
* cooked = (raw * sensitivity) - bias.
* @note Final data is expressed as milli-G.
* @note The axes array must be at least the same size of the
* BaseAccelerometer axes number.
*
* @param[in] ip pointer to @p BaseAccelerometer interface.
* @param[out] axes a buffer which would be filled with cooked data.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
* @retval MSG_RESET if one or more I2C errors occurred, the errors can
* be retrieved using @p i2cGetErrors().
* @retval MSG_TIMEOUT if a timeout occurred before operation end.
*/
static msg_t acc_read_cooked(void *ip, float axes[]) {
ADXL355Driver* devp;
uint32_t i;
int32_t raw[ADXL355_ACC_NUMBER_OF_AXES];
msg_t msg;
osalDbgCheck((ip != NULL) && (axes != NULL));
/* Getting parent instance pointer.*/
devp = objGetInstance(ADXL355Driver*, (BaseAccelerometer*)ip);
osalDbgAssert((devp->state == ADXL355_READY),
"acc_read_cooked(), invalid state");
msg = acc_read_raw(ip, raw);
for(i = 0; i < ADXL355_ACC_NUMBER_OF_AXES; i++) {
axes[i] = (raw[i] * devp->accsensitivity[i]) - devp->accbias[i];
}
return msg;
}
/**
* @brief Set bias values for the BaseAccelerometer.
* @note Bias must be expressed as milli-G.
* @note The bias buffer must be at least the same size of the
* BaseAccelerometer axes number.
*
* @param[in] ip pointer to @p BaseAccelerometer interface.
* @param[in] bp a buffer which contains biases.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*/
static msg_t acc_set_bias(void *ip, float *bp) {
ADXL355Driver* devp;
uint32_t i;
msg_t msg = MSG_OK;
osalDbgCheck((ip != NULL) && (bp != NULL));
/* Getting parent instance pointer.*/
devp = objGetInstance(ADXL355Driver*, (BaseAccelerometer*)ip);
osalDbgAssert((devp->state == ADXL355_READY),
"acc_set_bias(), invalid state");
for(i = 0; i < ADXL355_ACC_NUMBER_OF_AXES; i++) {
devp->accbias[i] = bp[i];
}
return msg;
}
/**
* @brief Reset bias values for the BaseAccelerometer.
* @note Default biases value are obtained from device datasheet when
* available otherwise they are considered zero.
*
* @param[in] ip pointer to @p BaseAccelerometer interface.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*/
static msg_t acc_reset_bias(void *ip) {
ADXL355Driver* devp;
uint32_t i;
msg_t msg = MSG_OK;
osalDbgCheck(ip != NULL);
/* Getting parent instance pointer.*/
devp = objGetInstance(ADXL355Driver*, (BaseAccelerometer*)ip);
osalDbgAssert((devp->state == ADXL355_READY),
"acc_reset_bias(), invalid state");
for(i = 0; i < ADXL355_ACC_NUMBER_OF_AXES; i++)
devp->accbias[i] = ADXL355_ACC_BIAS;
return msg;
}
/**
* @brief Set sensitivity values for the BaseAccelerometer.
* @note Sensitivity must be expressed as milli-G/LSB.
* @note The sensitivity buffer must be at least the same size of the
* BaseAccelerometer axes number.
*
* @param[in] ip pointer to @p BaseAccelerometer interface.
* @param[in] sp a buffer which contains sensitivities.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*/
static msg_t acc_set_sensivity(void *ip, float *sp) {
ADXL355Driver* devp;
uint32_t i;
msg_t msg = MSG_OK;
/* Getting parent instance pointer.*/
devp = objGetInstance(ADXL355Driver*, (BaseAccelerometer*)ip);
osalDbgCheck((ip != NULL) && (sp != NULL));
osalDbgAssert((devp->state == ADXL355_READY),
"acc_set_sensivity(), invalid state");
for(i = 0; i < ADXL355_ACC_NUMBER_OF_AXES; i++) {
devp->accsensitivity[i] = sp[i];
}
return msg;
}
/**
* @brief Reset sensitivity values for the BaseAccelerometer.
* @note Default sensitivities value are obtained from device datasheet.
*
* @param[in] ip pointer to @p BaseAccelerometer interface.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
* @retval MSG_RESET otherwise.
*/
static msg_t acc_reset_sensivity(void *ip) {
ADXL355Driver* devp;
uint32_t i;
msg_t msg = MSG_OK;
osalDbgCheck(ip != NULL);
/* Getting parent instance pointer.*/
devp = objGetInstance(ADXL355Driver*, (BaseAccelerometer*)ip);
osalDbgAssert((devp->state == ADXL355_READY),
"acc_reset_sensivity(), invalid state");
if(devp->config->accfullscale == ADXL355_ACC_FS_2G)
for(i = 0; i < ADXL355_ACC_NUMBER_OF_AXES; i++)
devp->accsensitivity[i] = ADXL355_ACC_SENS_2G;
else if(devp->config->accfullscale == ADXL355_ACC_FS_4G)
for(i = 0; i < ADXL355_ACC_NUMBER_OF_AXES; i++)
devp->accsensitivity[i] = ADXL355_ACC_SENS_4G;
else if(devp->config->accfullscale == ADXL355_ACC_FS_8G)
for(i = 0; i < ADXL355_ACC_NUMBER_OF_AXES; i++)
devp->accsensitivity[i] = ADXL355_ACC_SENS_8G;
else {
osalDbgAssert(FALSE,
"acc_reset_sensivity(), accelerometer full scale issue");
return MSG_RESET;
}
return msg;
}
/**
* @brief Changes the ADXL355Driver accelerometer fullscale value.
* @note This function also rescale sensitivities and biases based on
* previous and next fullscale value.
* @note A recalibration is highly suggested after calling this function.
*
* @param[in] devp pointer to @p ADXL355Driver interface.
* @param[in] fs new fullscale value.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
* @retval MSG_RESET otherwise.
*/
static msg_t acc_set_full_scale(ADXL355Driver *devp, adxl355_acc_fs_t fs) {
float newfs, scale;
uint8_t i, reg_val;
msg_t msg;
osalDbgCheck(devp != NULL);
osalDbgAssert((devp->state == ADXL355_READY),
"acc_set_full_scale(), invalid state");
osalDbgAssert((devp->config->spip->state == SPI_READY),
"acc_set_full_scale(), channel not ready");
/* Computing new fullscale value.*/
if(fs == ADXL355_ACC_FS_2G) {
newfs = ADXL355_ACC_2G;
}
else if(fs == ADXL355_ACC_FS_4G) {
newfs = ADXL355_ACC_4G;
}
else if(fs == ADXL355_ACC_FS_8G) {
newfs = ADXL355_ACC_8G;
}
else {
msg = MSG_RESET;
return msg;
}
if(newfs != devp->accfullscale) {
/* Computing scale value.*/
scale = newfs / devp->accfullscale;
devp->accfullscale = newfs;
#if ADXL355_USE_SPI
#if ADXL355_SHARED_SPI
spiAcquireBus(devp->config->spip);
spiStart(devp->config->spip,
devp->config->spicfg);
#endif /* ADXL355_SHARED_SPI */
/* Getting data from register.*/
adxl355SPIReadRegister(devp->config->spip, ADXL355_AD_RANGE, 1, &reg_val);
#if ADXL355_SHARED_SPI
spiReleaseBus(devp->config->spip);
#endif /* ADXL355_SHARED_SPI */
#endif /* ADXL355_USE_SPI */
reg_val &= ~(ADXL355_RANGE_RANGE_MASK);
reg_val |= fs;
#if ADXL355_USE_SPI
#if ADXL355_SHARED_SPI
spiAcquireBus(devp->config->spip);
spiStart(devp->config->spip,
devp->config->spicfg);
#endif /* ADXL355_SHARED_SPI */
/* Getting data from register.*/
adxl355SPIWriteRegister(devp->config->spip, ADXL355_AD_RANGE, 1, &reg_val);
#if ADXL355_SHARED_SPI
spiReleaseBus(devp->config->spip);
#endif /* ADXL355_SHARED_SPI */
#endif /* ADXL355_USE_SPI */
/* Scaling sensitivity and bias. Re-calibration is suggested anyway. */
for(i = 0; i < ADXL355_ACC_NUMBER_OF_AXES; i++) {
devp->accsensitivity[i] *= scale;
devp->accbias[i] *= scale;
}
}
return msg;
}
static const struct ADXL355VMT vmt_device = {
(size_t)0,
acc_set_full_scale
};
static const struct BaseAccelerometerVMT vmt_accelerometer = {
sizeof(struct ADXL355VMT*),
acc_get_axes_number, acc_read_raw, acc_read_cooked,
acc_set_bias, acc_reset_bias, acc_set_sensivity, acc_reset_sensivity
};
/*===========================================================================*/
/* Driver exported functions. */
/*===========================================================================*/
/**
* @brief Initializes an instance.
*
* @param[out] devp pointer to the @p ADXL355Driver object
*
* @init
*/
void adxl355ObjectInit(ADXL355Driver *devp) {
devp->vmt = &vmt_device;
devp->acc_if.vmt = &vmt_accelerometer;
devp->config = NULL;
devp->accaxes = ADXL355_ACC_NUMBER_OF_AXES;
devp->state = ADXL355_STOP;
}
/**
* @brief Configures and activates ADXL355 Complex Driver peripheral.
*
* @param[in] devp pointer to the @p ADXL355Driver object
* @param[in] config pointer to the @p ADXL355Config object
*
* @api
*/
void adxl355Start(ADXL355Driver *devp, const ADXL355Config *config) {
uint32_t i;
uint8_t reg_val;
osalDbgCheck((devp != NULL) && (config != NULL));
osalDbgAssert((devp->state == ADXL355_STOP) ||
(devp->state == ADXL355_READY),
"adxl355Start(), invalid state");
devp->config = config;
/* Range register configuration block.*/
{
reg_val = ADXL355_RANGE_I2C_HS | devp->config->accfullscale;
#if ADXL355_USE_SPI
#if ADXL355_SHARED_SPI
spiAcquireBus(devp->config->spip);
#endif /* ADXL355_SHARED_SPI */
spiStart(devp->config->spip, devp->config->spicfg);
adxl355SPIWriteRegister(devp->config->spip, ADXL355_AD_RANGE, 1, &reg_val);
#if ADXL355_SHARED_SPI
spiReleaseBus(devp->config->spip);
#endif /* ADXL355_SHARED_SPI */
#endif /* ADXL355_USE_SPI */
}
/* Filter register configuration block.*/
{
reg_val = devp->config->accoutputdatarate;
#if ADXL355_USE_ADVANCED || defined(__DOXYGEN__)
reg_val |= devp->config->acchighpass;
#endif
#if ADXL355_USE_SPI
#if ADXL355_SHARED_SPI
spiAcquireBus(devp->config->spip);
spiStart(devp->config->spip, devp->config->spicfg);
#endif /* ADXL355_SHARED_SPI */
adxl355SPIWriteRegister(devp->config->spip, ADXL355_AD_FILTER, 1, &reg_val);
#if ADXL355_SHARED_SPI
spiReleaseBus(devp->config->spip);
#endif /* ADXL355_SHARED_SPI */
#endif /* ADXL355_USE_SPI */
}
/* Power control configuration block.*/
{
reg_val = 0;
#if ADXL355_USE_SPI
#if ADXL355_SHARED_SPI
spiAcquireBus(devp->config->spip);
spiStart(devp->config->spip, devp->config->spicfg);
#endif /* ADXL355_SHARED_SPI */
adxl355SPIWriteRegister(devp->config->spip, ADXL355_AD_POWER_CTL, 1, &reg_val);
#if ADXL355_SHARED_SPI
spiReleaseBus(devp->config->spip);
#endif /* ADXL355_SHARED_SPI */
#endif /* ADXL355_USE_SPI */
}
/* Storing sensitivity information according to user setting */
if(devp->config->accfullscale == ADXL355_ACC_FS_2G) {
devp->accfullscale = ADXL355_ACC_2G;
if(devp->config->accsensitivity == NULL)
for(i = 0; i < ADXL355_ACC_NUMBER_OF_AXES; i++)
devp->accsensitivity[i] = ADXL355_ACC_SENS_2G;
else
for(i = 0; i < ADXL355_ACC_NUMBER_OF_AXES; i++)
devp->accsensitivity[i] = devp->config->accsensitivity[i];
}
else if(devp->config->accfullscale == ADXL355_ACC_FS_4G) {
devp->accfullscale = ADXL355_ACC_4G;
if(devp->config->accsensitivity == NULL)
for(i = 0; i < ADXL355_ACC_NUMBER_OF_AXES; i++)
devp->accsensitivity[i] = ADXL355_ACC_SENS_4G;
else
for(i = 0; i < ADXL355_ACC_NUMBER_OF_AXES; i++)
devp->accsensitivity[i] = devp->config->accsensitivity[i];
}
else if(devp->config->accfullscale == ADXL355_ACC_FS_8G) {
devp->accfullscale = ADXL355_ACC_8G;
if(devp->config->accsensitivity == NULL)
for(i = 0; i < ADXL355_ACC_NUMBER_OF_AXES; i++)
devp->accsensitivity[i] = ADXL355_ACC_SENS_8G;
else
for(i = 0; i < ADXL355_ACC_NUMBER_OF_AXES; i++)
devp->accsensitivity[i] = devp->config->accsensitivity[i];
}
else {
osalDbgAssert(FALSE, "adxl355Start(), accelerometer full scale issue");
}
/* Storing bias information according to user setting */
if(devp->config->accbias != NULL)
for(i = 0; i < ADXL355_ACC_NUMBER_OF_AXES; i++)
devp->accbias[i] = devp->config->accbias[i];
else
for(i = 0; i < ADXL355_ACC_NUMBER_OF_AXES; i++)
devp->accbias[i] = ADXL355_ACC_BIAS;
/* This is the Accelerometer transient recovery time */
osalThreadSleepMilliseconds(10);
devp->state = ADXL355_READY;
}
/**
* @brief Deactivates the ADXL355 Complex Driver peripheral.
*
* @param[in] devp pointer to the @p ADXL355Driver object
*
* @api
*/
void adxl355Stop(ADXL355Driver *devp) {
uint8_t reg_val;
osalDbgCheck(devp != NULL);
osalDbgAssert((devp->state == ADXL355_STOP) ||
(devp->state == ADXL355_READY),
"adxl355Stop(), invalid state");
if (devp->state == ADXL355_READY) {
#if (ADXL355_USE_SPI)
#if ADXL355_SHARED_SPI
spiAcquireBus(devp->config->spip);
spiStart(devp->config->spip,
devp->config->spicfg);
#endif /* ADXL355_SHARED_SPI */
/* Disabling all axes and enabling power down mode.*/
reg_val = 1;
adxl355SPIWriteRegister(devp->config->spip, ADXL355_AD_POWER_CTL,
1, &reg_val);
spiStop(devp->config->spip);
#if ADXL355_SHARED_SPI
spiReleaseBus(devp->config->spip);
#endif /* ADXL355_SHARED_SPI */
#endif /* ADXL355_USE_SPI */
}
devp->state = ADXL355_STOP;
}
/** @} */

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/*
ChibiOS - Copyright (C) 2016..2019 Rocco Marco Guglielmi
This file is part of ChibiOS.
ChibiOS is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 3 of the License, or
(at your option) any later version.
ChibiOS is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/**
* @file adxl355.h
* @brief ADXL355 MEMS interface module header.
*
* @addtogroup ADXL355
* @ingroup EX_ADI
* @{
*/
#ifndef _ADXL355_H_
#define _ADXL355_H_
#include "ex_accelerometer.h"
/*===========================================================================*/
/* Driver constants. */
/*===========================================================================*/
/**
* @name Version identification
* @{
*/
/**
* @brief ADXL355 driver version string.
*/
#define EX_ADXL355_VERSION "1.0.0"
/**
* @brief ADXL355 driver version major number.
*/
#define EX_ADXL355_MAJOR 1
/**
* @brief ADXL355 driver version minor number.
*/
#define EX_ADXL355_MINOR 0
/**
* @brief ADXL355 driver version patch number.
*/
#define EX_ADXL355_PATCH 0
/** @} */
/**
* @brief ADXL355 accelerometer subsystem characteristics.
* @note Sensitivity is expressed as milli-G/LSB whereas
* 1 milli-G = 0.00980665 m/s^2.
* @note Bias is expressed as milli-G.
*
* @{
*/
#define ADXL355_ACC_NUMBER_OF_AXES 3U
#define ADXL355_ACC_2G 2.048f
#define ADXL355_ACC_4G 4.096f
#define ADXL355_ACC_8G 8.0192f
#define ADXL355_ACC_SENS_2G 0.003906f
#define ADXL355_ACC_SENS_4G 0.007813f
#define ADXL355_ACC_SENS_8G 0.015625f
#define ADXL355_ACC_BIAS 0.0f
/** @} */
/**
* @name ADXL355 communication interfaces related bit masks
* @{
*/
#define ADXL355_DI_MASK 0xFF
#define ADXL355_DI(n) (1 << n)
#define ADXL355_AD_MASK 0xFE
#define ADXL355_RW (1 << 0)
#define ADXL355_AD(n) (1 << (n + 1))
/** @} */
/**
* @name ADXL355 register addresses
* @{
*/
#define ADXL355_AD_DEVID_AD 0x00
#define ADXL355_AD_DEVID_MST 0x01
#define ADXL355_AD_PARTID 0x02
#define ADXL355_AD_REVID 0x03
#define ADXL355_AD_STATUS 0x04
#define ADXL355_AD_FIFO_ENTRIES 0x05
#define ADXL355_AD_TEMP2 0x06
#define ADXL355_AD_TEMP1 0x07
#define ADXL355_AD_XDATA3 0x08
#define ADXL355_AD_XDATA2 0x09
#define ADXL355_AD_XDATA1 0x0A
#define ADXL355_AD_YDATA3 0x0B
#define ADXL355_AD_YDATA2 0x0C
#define ADXL355_AD_YDATA1 0x0D
#define ADXL355_AD_ZDATA3 0x0E
#define ADXL355_AD_ZDATA2 0x0F
#define ADXL355_AD_ZDATA1 0x10
#define ADXL355_AD_FIFO_DATA 0x11
#define ADXL355_AD_OFFSET_X_H 0x1E
#define ADXL355_AD_OFFSET_X_L 0x1F
#define ADXL355_AD_OFFSET_Y_H 0x20
#define ADXL355_AD_OFFSET_Y_L 0x21
#define ADXL355_AD_OFFSET_Z_H 0x22
#define ADXL355_AD_OFFSET_Z_L 0x23
#define ADXL355_AD_ACT_EN 0x24
#define ADXL355_AD_ACT_THRES_L 0x25
#define ADXL355_AD_ACT_THRES_H 0x26
#define ADXL355_AD_ACT_COUNTER 0x27
#define ADXL355_AD_FILTER 0x28
#define ADXL355_AD_FIFO_SAMPLES 0x29
#define ADXL355_AD_INT_MAP 0x2A
#define ADXL355_AD_SYNC 0x2B
#define ADXL355_AD_RANGE 0x2C
#define ADXL355_AD_POWER_CTL 0x2D
#define ADXL355_AD_SELF_TEST 0x2E
#define ADXL355_AD_RESET 0x2F
/** @} */
/**
* @name ADXL355_FILTER register bits definitions
* @{
*/
#define ADXL355_FILTER_MASK 0x7F
#define ADXL355_FILTER_ORD_LPF_0 (1 << 0)
#define ADXL355_FILTER_ORD_LPF_1 (1 << 1)
#define ADXL355_FILTER_ORD_LPF_2 (1 << 2)
#define ADXL355_FILTER_ORD_LPF_3 (1 << 3)
#define ADXL355_FILTER_HPF_CORNER_0 (1 << 4)
#define ADXL355_FILTER_HPF_CORNER_1 (1 << 5)
#define ADXL355_FILTER_HPF_CORNER_2 (1 << 6)
/** @} */
/**
* @name ADXL355_FIFO_SAMPLES register bits definitions
* @{
*/
#define ADXL355_FIFO_SAMPLES_MASK 0x7F
#define ADXL355_FIFO_SAMPLES_BIT_0 (1 << 0)
#define ADXL355_FIFO_SAMPLES_BIT_1 (1 << 1)
#define ADXL355_FIFO_SAMPLES_BIT_2 (1 << 2)
#define ADXL355_FIFO_SAMPLES_BIT_3 (1 << 3)
#define ADXL355_FIFO_SAMPLES_BIT_4 (1 << 4)
#define ADXL355_FIFO_SAMPLES_BIT_5 (1 << 5)
#define ADXL355_FIFO_SAMPLES_BIT_6 (1 << 6)
/** @} */
/**
* @name ADXL355_INT_MAP register bits definitions
* @{
*/
#define ADXL355_INT_MAP_MASK 0xFF
#define ADXL355_INT_MAP_RDY_EN1 (1 << 0)
#define ADXL355_INT_MAP_FULL_EN1 (1 << 1)
#define ADXL355_INT_MAP_OVR_EN1 (1 << 2)
#define ADXL355_INT_MAP_ACT_EN1 (1 << 3)
#define ADXL355_INT_MAP_RDY_EN2 (1 << 4)
#define ADXL355_INT_MAP_FULL_EN2 (1 << 5)
#define ADXL355_INT_MAP_OVR_EN2 (1 << 6)
#define ADXL355_INT_MAP_ACT_EN2 (1 << 7)
/** @} */
/**
* @name ADXL355_SYNC register bits definitions
* @{
*/
#define ADXL355_SYNC_MASK 0x07
#define ADXL355_SYNC_EXT_SYNC_0 (1 << 0)
#define ADXL355_SYNC_EXT_SYNC_1 (1 << 1)
#define ADXL355_SYNC_EXT_CLK (1 << 2)
/** @} */
/**
* @name ADXL355_RANGE register bits definitions
* @{
*/
#define ADXL355_RANGE_MASK 0xC3
#define ADXL355_RANGE_RANGE_MASK 0x03
#define ADXL355_RANGE_RANGE_1 (1 << 1)
#define ADXL355_RANGE_RANGE_0 (1 << 0)
#define ADXL355_RANGE_RANGE_1 (1 << 1)
#define ADXL355_RANGE_INT_POL (1 << 6)
#define ADXL355_RANGE_I2C_HS (1 << 7)
/** @} */
/**
* @name ADXL355_POWER_CTL register bits definitions
* @{
*/
#define ADXL355_POWER_CTL_MASK 0x07
#define ADXL355_POWER_CTL_STANDBY (1 << 0)
#define ADXL355_POWER_CTL_TEMP_OFF (1 << 1)
#define ADXL355_POWER_CTL_DRDY_OFF (1 << 2)
/** @} */
/**
* @name ADXL355_SELT_TEST register bits definitions
* @{
*/
#define ADXL355_SELF_TEST_MASK 0x03
#define ADXL355_SELF_TEST_ST1 (1 << 0)
#define ADXL355_SELF_TEST_ST2 (1 << 1)
/** @} */
/*===========================================================================*/
/* Driver pre-compile time settings. */
/*===========================================================================*/
/**
* @name Configuration options
* @{
*/
/**
* @brief ADXL355 SPI interface switch.
* @details If set to @p TRUE the support for SPI is included.
* @note The default is @p TRUE.
*/
#if !defined(ADXL355_USE_SPI) || defined(__DOXYGEN__)
#define ADXL355_USE_SPI TRUE
#endif
/**
* @brief ADXL355 shared SPI switch.
* @details If set to @p TRUE the device acquires SPI bus ownership
* on each transaction.
* @note The default is @p FALSE. Requires SPI_USE_MUTUAL_EXCLUSION.
*/
#if !defined(ADXL355_SHARED_SPI) || defined(__DOXYGEN__)
#define ADXL355_SHARED_SPI FALSE
#endif
/**
* @brief ADXL355 I2C interface switch.
* @details If set to @p TRUE the support for I2C is included.
* @note The default is @p FALSE.
*/
#if !defined(ADXL355_USE_I2C) || defined(__DOXYGEN__)
#define ADXL355_USE_I2C FALSE
#endif
/**
* @brief ADXL355 shared I2C switch.
* @details If set to @p TRUE the device acquires I2C bus ownership
* on each transaction.
* @note The default is @p FALSE. Requires I2C_USE_MUTUAL_EXCLUSION.
*/
#if !defined(ADXL355_SHARED_I2C) || defined(__DOXYGEN__)
#define ADXL355_SHARED_I2C FALSE
#endif
/**
* @brief ADXL355 advanced configurations switch.
* @details If set to @p TRUE more configurations are available.
* @note The default is @p FALSE.
*/
#if !defined(ADXL355_USE_ADVANCED) || defined(__DOXYGEN__)
#define ADXL355_USE_ADVANCED FALSE
#endif
/** @} */
/*===========================================================================*/
/* Derived constants and error checks. */
/*===========================================================================*/
#if !(ADXL355_USE_SPI ^ ADXL355_USE_I2C)
#error "ADXL355_USE_SPI and ADXL355_USE_I2C cannot be both true or both false"
#endif
#if ADXL355_USE_SPI && !HAL_USE_SPI
#error "ADXL355_USE_SPI requires HAL_USE_SPI"
#endif
#if ADXL355_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION
#error "ADXL355_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION"
#endif
#if ADXL355_USE_I2C && !HAL_USE_I2C
#error "ADXL355_USE_I2C requires HAL_USE_I2C"
#endif
#if ADXL355_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION
#error "ADXL355_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION"
#endif
/*
* CHTODO: Add support for ADXL355 over I2C.
*/
#if ADXL355_USE_I2C
#error "ADXL355 over I2C still not supported"
#endif
/*===========================================================================*/
/* Driver data structures and types. */
/*===========================================================================*/
/**
* @name ADXL355 data structures and types
* @{
*/
/**
* @brief Structure representing a ADXL355 driver.
*/
typedef struct ADXL355Driver ADXL355Driver;
/**
* @brief ADXL355 full scale.
*/
typedef enum {
ADXL355_ACC_FS_2G = 0x01, /**< Full scale ±2g. */
ADXL355_ACC_FS_4G = 0x02, /**< Full scale ±4g. */
ADXL355_ACC_FS_8G = 0x03, /**< Full scale ±8g. */
}adxl355_acc_fs_t;
/**
* @brief ADXL355 output data rate.
*/
typedef enum {
ADXL355_ACC_ODR_4000HZ = 0x00, /**< ODR 4000 Hz, LP cut-off ODR/4. */
ADXL355_ACC_ODR_2000HZ = 0x01, /**< ODR 2000 Hz, LP cut-off ODR/4. */
ADXL355_ACC_ODR_1000HZ = 0x02, /**< ODR 1000 Hz, LP cut-off ODR/4. */
ADXL355_ACC_ODR_500HZ = 0x03, /**< ODR 500 Hz, LP cut-off ODR/4. */
ADXL355_ACC_ODR_250HZ = 0x04, /**< ODR 250 Hz, LP cut-off ODR/4. */
ADXL355_ACC_ODR_125HZ = 0x06, /**< ODR 125 Hz, LP cut-off ODR/4. */
ADXL355_ACC_ODR_62P5HZ = 0x06, /**< ODR 62.5 Hz, LP cut-off ODR/4. */
ADXL355_ACC_ODR_31P25HZ = 0x07, /**< ODR 31.25 Hz, LP cut-off ODR/4. */
ADXL355_ACC_ODR_15P625HZ = 0x08, /**< ODR 15.625 Hz, LP cut-off ODR/4. */
ADXL355_ACC_ODR_7P913HZ = 0x09, /**< ODR 7.913 Hz, LP cut-off ODR/4. */
ADXL355_ACC_ODR_3P906HZ = 0x0A /**< ODR 3.906 Hz, LP cut-off ODR/4. */
}adxl355_acc_odr_t;
/**
* @brief ADXL355 HP filter.
*/
typedef enum {
ADXL355_ACC_HP_DISABLED = 0x00, /**< HP disabled. */
ADXL355_ACC_HP_LEV_1 = 0x10, /**< HP cut-off 247 x 10^-3 x ODR. */
ADXL355_ACC_HP_LEV_2 = 0x20, /**< HP cut-off 62.084 x 10^-3 x ODR. */
ADXL355_ACC_HP_LEV_3 = 0x30, /**< HP cut-off 15.545 x 10^-3 x ODR. */
ADXL355_ACC_HP_LEV_4 = 0x40, /**< HP cut-off 3.892 x 10^-3 x ODR. */
ADXL355_ACC_HP_LEV_5 = 0x50, /**< HP cut-off 0.954 x 10^-3 x ODR. */
ADXL355_ACC_HP_LEV_6 = 0x60, /**< HP cut-off 0.238 x 10^-3 x ODR. */
}adxl355_acc_hp_t;
/**
* @brief Driver state machine possible states.
*/
typedef enum {
ADXL355_UNINIT = 0, /**< Not initialized. */
ADXL355_STOP = 1, /**< Stopped. */
ADXL355_READY = 2, /**< Ready. */
} adxl355_state_t;
/**
* @brief ADXL355 configuration structure.
*/
typedef struct {
#if (ADXL355_USE_SPI) || defined(__DOXYGEN__)
/**
* @brief SPI driver associated to this ADXL355.
*/
SPIDriver *spip;
/**
* @brief SPI configuration associated to this ADXL355.
*/
const SPIConfig *spicfg;
#endif /* ADXL355_USE_SPI */
#if (ADXL355_USE_I2C) || defined(__DOXYGEN__)
/**
* @brief I2C driver associated to this ADXL355.
*/
I2CDriver *i2cp;
/**
* @brief I2C configuration associated to this ADXL355.
*/
const I2CConfig *i2ccfg;
#endif /* ADXL355_USE_I2C */
/**
* @brief ADXL355 accelerometer subsystem initial sensitivity.
*/
float *accsensitivity;
/**
* @brief ADXL355 accelerometer subsystem initial bias.
*/
float *accbias;
/**
* @brief ADXL355 accelerometer subsystem initial full scale.
*/
adxl355_acc_fs_t accfullscale;
/**
* @brief ADXL355 output data rate selection.
*/
adxl355_acc_odr_t accoutputdatarate;
#if ADXL355_USE_ADVANCED || defined(__DOXYGEN__)
/**
* @brief ADXL355 HP filter bandwidth.
*/
adxl355_acc_hp_t acchighpass;
#endif
} ADXL355Config;
/**
* @brief @p ADXL355 specific methods.
*/
#define _adxl355_methods_alone \
/* Change full scale value of ADXL355 accelerometer subsystem.*/ \
msg_t (*acc_set_full_scale)(ADXL355Driver *devp, adxl355_acc_fs_t fs);
/**
* @brief @p ADXL355 specific methods with inherited ones.
*/
#define _adxl355_methods \
_base_object_methods \
_adxl355_methods_alone
/**
* @extends BaseObjectVMT
*
* @brief @p ADXL355 virtual methods table.
*/
struct ADXL355VMT {
_adxl355_methods
};
/**
* @brief @p ADXL355Driver specific data.
*/
#define _adxl355_data \
_base_sensor_data \
/* Driver state.*/ \
adxl355_state_t state; \
/* Current configuration data.*/ \
const ADXL355Config *config; \
/* Accelerometer subsystem axes number.*/ \
size_t accaxes; \
/* Accelerometer subsystem current sensitivity.*/ \
float accsensitivity[ADXL355_ACC_NUMBER_OF_AXES]; \
/* Accelerometer subsystem current bias .*/ \
float accbias[ADXL355_ACC_NUMBER_OF_AXES]; \
/* Accelerometer subsystem current full scale value.*/ \
float accfullscale;
/**
* @brief ADXL355 3-axis accelerometer class.
*/
struct ADXL355Driver {
/** @brief Virtual Methods Table.*/
const struct ADXL355VMT *vmt;
/** @brief Base accelerometer interface.*/
BaseAccelerometer acc_if;
_adxl355_data
};
/** @} */
/*===========================================================================*/
/* Driver macros. */
/*===========================================================================*/
/**
* @brief Return the number of axes of the BaseAccelerometer.
*
* @param[in] devp pointer to @p ADXL355Driver.
*
* @return the number of axes.
*
* @api
*/
#define adxl355AccelerometerGetAxesNumber(devp) \
accelerometerGetAxesNumber(&((devp)->acc_if))
/**
* @brief Retrieves raw data from the BaseAccelerometer.
* @note This data is retrieved from MEMS register without any algebraical
* manipulation.
* @note The axes array must be at least the same size of the
* BaseAccelerometer axes number.
*
* @param[in] devp pointer to @p ADXL355Driver.
* @param[out] axes a buffer which would be filled with raw data.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
* @retval MSG_RESET if one or more I2C errors occurred, the errors can
* be retrieved using @p i2cGetErrors().
* @retval MSG_TIMEOUT if a timeout occurred before operation end.
*
* @api
*/
#define adxl355AccelerometerReadRaw(devp, axes) \
accelerometerReadRaw(&((devp)->acc_if), axes)
/**
* @brief Retrieves cooked data from the BaseAccelerometer.
* @note This data is manipulated according to the formula
* cooked = (raw * sensitivity) - bias.
* @note Final data is expressed as milli-G.
* @note The axes array must be at least the same size of the
* BaseAccelerometer axes number.
*
* @param[in] devp pointer to @p ADXL355Driver.
* @param[out] axes a buffer which would be filled with cooked data.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
* @retval MSG_RESET if one or more I2C errors occurred, the errors can
* be retrieved using @p i2cGetErrors().
* @retval MSG_TIMEOUT if a timeout occurred before operation end.
*
* @api
*/
#define adxl355AccelerometerReadCooked(devp, axes) \
accelerometerReadCooked(&((devp)->acc_if), axes)
/**
* @brief Set bias values for the BaseAccelerometer.
* @note Bias must be expressed as milli-G.
* @note The bias buffer must be at least the same size of the
* BaseAccelerometer axes number.
*
* @param[in] devp pointer to @p ADXL355Driver.
* @param[in] bp a buffer which contains biases.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*
* @api
*/
#define adxl355AccelerometerSetBias(devp, bp) \
accelerometerSetBias(&((devp)->acc_if), bp)
/**
* @brief Reset bias values for the BaseAccelerometer.
* @note Default biases value are obtained from device datasheet when
* available otherwise they are considered zero.
*
* @param[in] devp pointer to @p ADXL355Driver.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*
* @api
*/
#define adxl355AccelerometerResetBias(devp) \
accelerometerResetBias(&((devp)->acc_if))
/**
* @brief Set sensitivity values for the BaseAccelerometer.
* @note Sensitivity must be expressed as milli-G/LSB.
* @note The sensitivity buffer must be at least the same size of the
* BaseAccelerometer axes number.
*
* @param[in] devp pointer to @p ADXL355Driver.
* @param[in] sp a buffer which contains sensitivities.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*
* @api
*/
#define adxl355AccelerometerSetSensitivity(devp, sp) \
accelerometerSetSensitivity(&((devp)->acc_if), sp)
/**
* @brief Reset sensitivity values for the BaseAccelerometer.
* @note Default sensitivities value are obtained from device datasheet.
*
* @param[in] devp pointer to @p ADXL355Driver.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
* @retval MSG_RESET otherwise.
*
* @api
*/
#define adxl355AccelerometerResetSensitivity(devp) \
accelerometerResetSensitivity(&((devp)->acc_if))
/**
* @brief Changes the ADXL355Driver accelerometer fullscale value.
* @note This function also rescale sensitivities and biases based on
* previous and next fullscale value.
* @note A recalibration is highly suggested after calling this function.
*
* @param[in] devp pointer to @p ADXL355Driver.
* @param[in] fs new fullscale value.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
* @retval MSG_RESET otherwise.
*
* @api
*/
#define adxl355AccelerometerSetFullScale(devp, fs) \
(devp)->vmt->acc_set_full_scale(devp, fs)
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
#ifdef __cplusplus
extern "C" {
#endif
void adxl355ObjectInit(ADXL355Driver *devp);
void adxl355Start(ADXL355Driver *devp, const ADXL355Config *config);
void adxl355Stop(ADXL355Driver *devp);
#ifdef __cplusplus
}
#endif
#endif /* _ADXL355_H_ */
/** @} */

10
os/ex/devices/ADI/adxl355.mk Normal file
View File

@ -0,0 +1,10 @@
# List of all the ADX355 device files.
ADXL355SRC := $(CHIBIOS)/os/ex/devices/ADI/adxl355.c
# Required include directories
ADXL355INC := $(CHIBIOS)/os/ex/include \
$(CHIBIOS)/os/ex/devices/ADI
# Shared variables
ALLCSRC += $(ADXL355SRC)
ALLINC += $(ADXL355INC)

11
os/ex/dox/main.dox
View File

@ -31,6 +31,11 @@
* - STMicroelectronics Devices * - STMicroelectronics Devices
* . * .
* *
* @section adi_devices Analog Devices Devices
* This section contains all the drivers of devices produced by ADI.
* Devices currently supported are MEMS and are:
* - @b ADXL355: Low Noise, Low Drift, Low Power, 3-Axis Accelerometers;
*
* @section bosch_devices Bosch Devices * @section bosch_devices Bosch Devices
* This section contains all the drivers of devices produced by Bosch. * This section contains all the drivers of devices produced by Bosch.
* Devices currently supported are MEMS and are: * Devices currently supported are MEMS and are:
@ -76,6 +81,12 @@
* *
* @ingroup EX * @ingroup EX
*/ */
/**
* @defgroup EX_ADI Analog Devices Devices
* @brief Analog Devices Devices.
*
* @ingroup EX_DEVICES
*/
/** /**
* @defgroup EX_BOSCH Bosch Devices * @defgroup EX_BOSCH Bosch Devices

4
readme.txt
View File

@ -74,7 +74,9 @@
***************************************************************************** *****************************************************************************
*** Next *** *** Next ***
- NEW: Added latency measurement test application: - EX: Added support for ADXL355 Low Noise, Low Drift, Low Power, 3-Axis
MEMS Accelerometers.
- NEW: Added latency measurement test application.
- FIX: Fixed error in EXTIv1 ISRs (bug #1077) - FIX: Fixed error in EXTIv1 ISRs (bug #1077)
(backported to 20.3.1) (backported to 20.3.1)
- FIX: Fixed problem in chMtxUnlockAllS() (bug #1076) - FIX: Fixed problem in chMtxUnlockAllS() (bug #1076)