mirror of https://github.com/rusefi/ChibiOS.git
429 lines
14 KiB
C
429 lines
14 KiB
C
/*
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ChibiOS - Copyright (C) 2016 Rocco Marco Guglielmi
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This file is part of ChibiOS.
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ChibiOS is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 3 of the License, or
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(at your option) any later version.
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ChibiOS is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file lis3dsh.c
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* @brief LIS3DSH MEMS interface module code.
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*
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* @addtogroup lis3dsh
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* @{
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*/
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#include "hal.h"
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#include "lis3dsh.h"
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/*===========================================================================*/
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/* Driver local definitions. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver exported variables. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver local variables and types. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver local functions. */
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/*===========================================================================*/
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#if (LIS3DSH_USE_SPI) || defined(__DOXYGEN__)
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/**
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* @brief Reads a generic register value using SPI.
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* @pre The SPI interface must be initialized and the driver started.
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* @note Multiple write/read requires proper settings in CTRL_REG6.
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*
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* @param[in] spip pointer to the SPI interface
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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 void lis3dshSPIReadRegister(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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cmd = reg | LIS3DSH_RW;
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spiSelect(spip);
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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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}
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/**
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* @brief Writes a value into a generic register using SPI.
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* @pre The SPI interface must be initialized and the driver started.
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* @note Multiple write/read requires proper settings in CTRL_REG6.
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*
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* @param[in] spip pointer to the SPI interface
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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 lis3dshSPIWriteRegister(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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cmd = reg;
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spiSelect(spip);
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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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#endif /* LIS3DSH_USE_SPI */
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/*
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* Interface implementation.
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*/
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static size_t get_axes_number(void *ip) {
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osalDbgCheck(ip != NULL);
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return LIS3DSH_NUMBER_OF_AXES;
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}
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static msg_t read_raw(void *ip, int32_t axes[LIS3DSH_NUMBER_OF_AXES]) {
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uint8_t buff [LIS3DSH_NUMBER_OF_AXES * 2], i;
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int16_t tmp;
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osalDbgCheck((ip != NULL) && (axes != NULL));
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osalDbgAssert((((LIS3DSHDriver *)ip)->state == LIS3DSH_READY),
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"read_raw(), invalid state");
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#if LIS3DSH_USE_SPI
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osalDbgAssert((((LIS3DSHDriver *)ip)->config->spip->state == SPI_READY),
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"read_raw(), channel not ready");
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#if LIS3DSH_SHARED_SPI
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spiAcquireBus(((LIS3DSHDriver *)ip)->config->spip);
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spiStart(((LIS3DSHDriver *)ip)->config->spip,
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((LIS3DSHDriver *)ip)->config->spicfg);
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#endif /* LIS3DSH_SHARED_SPI */
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lis3dshSPIReadRegister(((LIS3DSHDriver *)ip)->config->spip, LIS3DSH_AD_OUT_X_L,
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LIS3DSH_NUMBER_OF_AXES * 2, buff);
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for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) {
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tmp = buff[2*i] + (buff[2*i+1] << 8);
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axes[i] = (int32_t)tmp;
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}
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#if LIS3DSH_SHARED_SPI
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spiReleaseBus(((LIS3DSHDriver *)ip)->config->spip);
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#endif /* LIS3DSH_SHARED_SPI */
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#endif /* LIS3DSH_USE_SPI */
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return MSG_OK;
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}
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static msg_t read_cooked(void *ip, float axes[]) {
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uint32_t i;
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int32_t raw[LIS3DSH_NUMBER_OF_AXES];
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msg_t msg;
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osalDbgCheck((ip != NULL) && (axes != NULL));
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osalDbgAssert((((LIS3DSHDriver *)ip)->state == LIS3DSH_READY),
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"read_cooked(), invalid state");
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msg = read_raw(ip, raw);
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for(i = 0; i < LIS3DSH_NUMBER_OF_AXES ; i++){
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axes[i] = (raw[i] * ((LIS3DSHDriver *)ip)->sensitivity[i]);
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axes[i] -= ((LIS3DSHDriver *)ip)->bias[i];
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}
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return msg;
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}
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static msg_t set_bias(void *ip, int32_t *bp) {
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uint32_t i;
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osalDbgCheck((ip != NULL) && (bp !=NULL));
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osalDbgAssert((((LIS3DSHDriver *)ip)->state == LIS3DSH_READY) ||
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(((LIS3DSHDriver *)ip)->state == LIS3DSH_STOP),
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"set_bias(), invalid state");
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for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) {
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((LIS3DSHDriver *)ip)->bias[i] = bp[i];
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}
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return MSG_OK;
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}
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static msg_t reset_bias(void *ip) {
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uint32_t i;
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osalDbgCheck(ip != NULL);
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osalDbgAssert((((LIS3DSHDriver *)ip)->state == LIS3DSH_READY) ||
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(((LIS3DSHDriver *)ip)->state == LIS3DSH_STOP),
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"reset_bias(), invalid state");
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for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
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((LIS3DSHDriver *)ip)->bias[i] = 0;
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return MSG_OK;
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}
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static msg_t set_sensivity(void *ip, float *sp) {
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uint32_t i;
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osalDbgCheck((ip != NULL) && (sp !=NULL));
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osalDbgAssert((((LIS3DSHDriver *)ip)->state == LIS3DSH_READY),
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"set_sensivity(), invalid state");
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for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) {
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((LIS3DSHDriver *)ip)->sensitivity[i] = sp[i];
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}
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return MSG_OK;
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}
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static msg_t reset_sensivity(void *ip) {
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uint32_t i;
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osalDbgCheck(ip != NULL);
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osalDbgAssert((((LIS3DSHDriver *)ip)->state == LIS3DSH_READY),
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"reset_sensivity(), invalid state");
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if(((LIS3DSHDriver *)ip)->config->fullscale == LIS3DSH_FS_2G)
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for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
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((LIS3DSHDriver *)ip)->sensitivity[i] = LIS3DSH_SENS_2G;
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else if(((LIS3DSHDriver *)ip)->config->fullscale == LIS3DSH_FS_4G)
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for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
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((LIS3DSHDriver *)ip)->sensitivity[i] = LIS3DSH_SENS_4G;
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else if(((LIS3DSHDriver *)ip)->config->fullscale == LIS3DSH_FS_6G)
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for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
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((LIS3DSHDriver *)ip)->sensitivity[i] = LIS3DSH_SENS_6G;
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else if(((LIS3DSHDriver *)ip)->config->fullscale == LIS3DSH_FS_8G)
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for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
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((LIS3DSHDriver *)ip)->sensitivity[i] = LIS3DSH_SENS_8G;
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else if(((LIS3DSHDriver *)ip)->config->fullscale == LIS3DSH_FS_16G)
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for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
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((LIS3DSHDriver *)ip)->sensitivity[i] = LIS3DSH_SENS_16G;
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else {
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osalDbgAssert(FALSE, "reset_sensivity(), accelerometer 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, lis3dsh_fs_t fs) {
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float newfs, scale;
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uint8_t i, cr;
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if(fs == LIS3DSH_FS_2G) {
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newfs = LIS3DSH_2G;
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}
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else if(fs == LIS3DSH_FS_4G) {
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newfs = LIS3DSH_4G;
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}
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else if(fs == LIS3DSH_FS_6G) {
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newfs = LIS3DSH_6G;
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}
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else if(fs == LIS3DSH_FS_8G) {
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newfs = LIS3DSH_8G;
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}
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else if(fs == LIS3DSH_FS_16G) {
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newfs = LIS3DSH_16G;
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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 != ((LIS3DSHDriver *)ip)->fullscale) {
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scale = newfs / ((LIS3DSHDriver *)ip)->fullscale;
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((LIS3DSHDriver *)ip)->fullscale = newfs;
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/* Updating register.*/
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lis3dshSPIReadRegister(((LIS3DSHDriver *)ip)->config->spip,
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LIS3DSH_AD_CTRL_REG5, 1, &cr);
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cr &= ~(LIS3DSH_CTRL_REG5_FS_MASK);
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cr |= fs;
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lis3dshSPIWriteRegister(((LIS3DSHDriver *)ip)->config->spip,
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LIS3DSH_AD_CTRL_REG5, 1, &cr);
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/* Scaling sensitivity and bias. Re-calibration is suggested anyway. */
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for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) {
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((LIS3DSHDriver *)ip)->sensitivity[i] *= scale;
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((LIS3DSHDriver *)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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static const struct BaseAccelerometerVMT vmt_baseaccelerometer = {
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get_axes_number, read_raw, read_cooked,
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set_bias, reset_bias, set_sensivity, reset_sensivity
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};
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static const struct LIS3DSHVMT vmt_lis3dsh = {
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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_full_scale
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};
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/*===========================================================================*/
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/* Driver exported functions. */
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/*===========================================================================*/
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/**
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* @brief Initializes an instance.
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*
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* @param[out] devp pointer to the @p LIS3DSHDriver object
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*
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* @init
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*/
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void lis3dshObjectInit(LIS3DSHDriver *devp) {
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uint32_t i;
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devp->vmt_basesensor = &vmt_basesensor;
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devp->vmt_baseaccelerometer = &vmt_baseaccelerometer;
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devp->vmt_lis3dsh = &vmt_lis3dsh;
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devp->config = NULL;
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for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
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devp->bias[i] = 0;
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devp->state = LIS3DSH_STOP;
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}
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/**
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* @brief Configures and activates LIS3DSH Complex Driver peripheral.
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*
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* @param[in] devp pointer to the @p LIS3DSHDriver object
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* @param[in] config pointer to the @p LIS3DSHConfig object
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*
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* @api
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*/
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void lis3dshStart(LIS3DSHDriver *devp, const LIS3DSHConfig *config) {
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uint32_t i;
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osalDbgCheck((devp != NULL) && (config != NULL));
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uint8_t cr;
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osalDbgAssert((devp->state == LIS3DSH_STOP) || (devp->state == LIS3DSH_READY),
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"lis3dshStart(), invalid state");
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devp->config = config;
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#if LIS3DSH_USE_SPI
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#if LIS3DSH_SHARED_SPI
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spiAcquireBus((devp)->config->spip);
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#endif /* LIS3DSH_SHARED_SPI */
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spiStart((devp)->config->spip,
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(devp)->config->spicfg);
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/* Control register 4 configuration block.*/
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{
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cr = LIS3DSH_CTRL_REG4_XEN | LIS3DSH_CTRL_REG4_YEN | LIS3DSH_CTRL_REG4_ZEN |
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devp->config->outputdatarate;
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#if LIS3DSH_USE_ADVANCED || defined(__DOXYGEN__)
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cr |= devp->config->blockdataupdate;
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#endif
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}
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lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG4,
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1, &cr);
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/* Control register 5 configuration block.*/
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{
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cr = devp->config->fullscale;
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#if LIS3DSH_USE_ADVANCED || defined(__DOXYGEN__)
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cr |= devp->config->antialiasing;
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#endif
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}
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lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG5,
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1, &cr);
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/* Control register 6 configuration block.*/
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{
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cr = LIS3DSH_CTRL_REG6_ADD_INC;
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#if LIS3DSH_USE_ADVANCED || defined(__DOXYGEN__)
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cr |= devp->config->blockdataupdate;
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#endif
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}
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lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG6,
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1, &cr);
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#if LIS3DSH_SHARED_SPI
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spiReleaseBus((devp)->config->spip);
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#endif /* LIS3DSH_SHARED_SPI */
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#endif /* LIS3DSH_USE_SPI */
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/* Storing sensitivity information according to full scale value */
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if(devp->config->fullscale == LIS3DSH_FS_2G) {
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devp->fullscale = LIS3DSH_2G;
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for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
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devp->sensitivity[i] = LIS3DSH_SENS_2G;
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}
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else if(devp->config->fullscale == LIS3DSH_FS_4G) {
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devp->fullscale = LIS3DSH_4G;
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for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
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devp->sensitivity[i] = LIS3DSH_SENS_4G;
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}
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else if(devp->config->fullscale == LIS3DSH_FS_6G) {
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devp->fullscale = LIS3DSH_6G;
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for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
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devp->sensitivity[i] = LIS3DSH_SENS_6G;
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}
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else if(devp->config->fullscale == LIS3DSH_FS_8G) {
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devp->fullscale = LIS3DSH_8G;
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for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
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devp->sensitivity[i] = LIS3DSH_SENS_8G;
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}
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else if(devp->config->fullscale == LIS3DSH_FS_16G) {
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devp->fullscale = LIS3DSH_16G;
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for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
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devp->sensitivity[i] = LIS3DSH_SENS_16G;
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}
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else {
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osalDbgAssert(FALSE, "lis3dshStart(), accelerometer full scale issue");
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}
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/* This is the Accelerometer transient recovery time */
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osalThreadSleepMilliseconds(10);
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devp->state = LIS3DSH_READY;
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}
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/**
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* @brief Deactivates the LIS3DSH Complex Driver peripheral.
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*
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* @param[in] devp pointer to the @p LIS3DSHDriver object
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*
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* @api
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*/
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void lis3dshStop(LIS3DSHDriver *devp) {
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uint8_t cr4;
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osalDbgCheck(devp != NULL);
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osalDbgAssert((devp->state == LIS3DSH_STOP) || (devp->state == LIS3DSH_READY),
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"lis3dshStop(), invalid state");
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#if (LIS3DSH_USE_SPI)
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if (devp->state == LIS3DSH_STOP) {
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#if LIS3DSH_SHARED_SPI
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spiAcquireBus((devp)->config->spip);
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spiStart((devp)->config->spip,
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(devp)->config->spicfg);
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#endif /* LIS3DSH_SHARED_SPI */
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/* Disabling all axes and enabling power down mode.*/
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cr4 = 0;
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lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG4,
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1, &cr4);
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spiStop((devp)->config->spip);
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#if LIS3DSH_SHARED_SPI
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spiReleaseBus((devp)->config->spip);
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#endif /* LIS3DSH_SHARED_SPI */
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}
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#endif /* LIS3DSH_USE_SPI */
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devp->state = LIS3DSH_STOP;
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}
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/** @} */
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