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ChibiOS/os/ex/ST/lis3mdl.c

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/*
ChibiOS - Copyright (C) 2016 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 lis3mdl.c
* @brief LIS3MDL MEMS interface module code.
*
* @addtogroup lis3mdl
* @{
*/
#include "hal.h"
#include "lis3mdl.h"
/*===========================================================================*/
/* Driver local definitions. */
/*===========================================================================*/
#define LIS3MDL_SENS_4GA ((float)6842.0f)
#define LIS3MDL_SENS_8GA ((float)3421.0f)
#define LIS3MDL_SENS_12GA ((float)2281.0f)
#define LIS3MDL_SENS_16GA ((float)1711.0f)
#define LIS3MDL_TEMP_SENS ((float)8.0f)
#define LIS3MDL_DI ((uint8_t)0xFF)
#define LIS3MDL_DI_0 ((uint8_t)0x01)
#define LIS3MDL_DI_1 ((uint8_t)0x02)
#define LIS3MDL_DI_2 ((uint8_t)0x04)
#define LIS3MDL_DI_3 ((uint8_t)0x08)
#define LIS3MDL_DI_4 ((uint8_t)0x10)
#define LIS3MDL_DI_5 ((uint8_t)0x20)
#define LIS3MDL_DI_6 ((uint8_t)0x40)
#define LIS3MDL_DI_7 ((uint8_t)0x80)
#define LIS3MDL_AD ((uint8_t)0x3F)
#define LIS3MDL_AD_0 ((uint8_t)0x01)
#define LIS3MDL_AD_1 ((uint8_t)0x02)
#define LIS3MDL_AD_2 ((uint8_t)0x04)
#define LIS3MDL_AD_3 ((uint8_t)0x08)
#define LIS3MDL_AD_4 ((uint8_t)0x10)
#define LIS3MDL_AD_5 ((uint8_t)0x20)
#define LIS3MDL_AD_6 ((uint8_t)0x40)
#define LIS3MDL_RW ((uint8_t)0x80)
#define LIS3MDL_AD_WHO_AM_I ((uint8_t)0x0F)
#define LIS3MDL_AD_CTRL_REG1 ((uint8_t)0x20)
#define LIS3MDL_AD_CTRL_REG2 ((uint8_t)0x21)
#define LIS3MDL_AD_CTRL_REG3 ((uint8_t)0x22)
#define LIS3MDL_AD_CTRL_REG4 ((uint8_t)0x23)
#define LIS3MDL_AD_CTRL_REG5 ((uint8_t)0x24)
#define LIS3MDL_AD_STATUS_REG ((uint8_t)0x27)
#define LIS3MDL_AD_OUT_X_L ((uint8_t)0x28)
#define LIS3MDL_AD_OUT_X_H ((uint8_t)0x29)
#define LIS3MDL_AD_OUT_Y_L ((uint8_t)0x2A)
#define LIS3MDL_AD_OUT_Y_H ((uint8_t)0x2B)
#define LIS3MDL_AD_OUT_Z_L ((uint8_t)0x2C)
#define LIS3MDL_AD_OUT_Z_H ((uint8_t)0x2D)
#define LIS3MDL_AD_TEMP_OUT_L ((uint8_t)0x2E)
#define LIS3MDL_AD_TEMP_OUT_H ((uint8_t)0x2F)
#define LIS3MDL_AD_INT_CFG ((uint8_t)0x30)
#define LIS3MDL_AD_INT_SOURCE ((uint8_t)0x31)
#define LIS3MDL_AD_INT_THS_L ((uint8_t)0x32)
#define LIS3MDL_AD_INT_THS_H ((uint8_t)0x33)
#define LIS3MDL_CTRL_REG2_FS_MASK ((uint8_t)0x60)
/*===========================================================================*/
/* Driver exported variables. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local variables and types. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local functions. */
/*===========================================================================*/
#if (LIS3MDL_USE_I2C) || defined(__DOXYGEN__)
/**
* @brief Reads registers value using I2C.
* @pre The I2C interface must be initialized and the driver started.
*
* @param[in] i2cp pointer to the I2C interface
* @param[in] sad slave address without R bit
* @param[in] reg first sub-register address
* @return the read value.
*/
uint8_t lis3mdlI2CReadRegister(I2CDriver *i2cp, lis3mdl_sad_t sad, uint8_t reg,
msg_t* msgp) {
msg_t msg;
#if defined(STM32F103_MCUCONF)
uint8_t rxbuf[2];
msg = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 2,
TIME_INFINITE);
if(msgp != NULL){
*msgp = msg;
}
return rxbuf[0];
#else
uint8_t txbuf, rxbuf;
txbuf = reg;
msg = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, &rxbuf, 1,
TIME_INFINITE);
if(msgp != NULL){
*msgp = msg;
}
return rxbuf;
#endif
}
/**
* @brief Writes a value into a register using I2C.
* @pre The I2C interface must be initialized and the driver started.
*
* @param[in] i2cp pointer to the I2C interface
* @param[in] sad slave address without R bit
* @param[in] sub sub-register address
* @param[in] value the value to be written
* @return the operation status.
*/
msg_t lis3mdlI2CWriteRegister(I2CDriver *i2cp, lis3mdl_sad_t sad, uint8_t reg,
uint8_t value) {
uint8_t rxbuf;
uint8_t txbuf[2];
switch (reg) {
default:
/* Reserved register must not be written, according to the datasheet
* this could permanently damage the device.
*/
chDbgAssert(FALSE, "lis3mdlI2CWriteRegister(), reserved register");
case LIS3MDL_AD_WHO_AM_I:
case LIS3MDL_AD_STATUS_REG:
case LIS3MDL_AD_OUT_X_L:
case LIS3MDL_AD_OUT_X_H:
case LIS3MDL_AD_OUT_Y_L:
case LIS3MDL_AD_OUT_Y_H:
case LIS3MDL_AD_OUT_Z_L:
case LIS3MDL_AD_OUT_Z_H:
case LIS3MDL_AD_TEMP_OUT_L:
case LIS3MDL_AD_TEMP_OUT_H:
case LIS3MDL_AD_INT_SOURCE:
case LIS3MDL_AD_INT_THS_L:
case LIS3MDL_AD_INT_THS_H:
/* Read only registers cannot be written, the command is ignored.*/
return MSG_RESET;
case LIS3MDL_AD_CTRL_REG1:
case LIS3MDL_AD_CTRL_REG2:
case LIS3MDL_AD_CTRL_REG3:
case LIS3MDL_AD_CTRL_REG4:
case LIS3MDL_AD_CTRL_REG5:
case LIS3MDL_AD_INT_CFG:
txbuf[0] = reg;
txbuf[1] = value;
return i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0, TIME_INFINITE);
break;
}
}
#endif /* LIS3MDL_USE_I2C */
/*
* Interface implementation.
*/
static size_t get_axes_number(void *ip) {
osalDbgCheck(ip != NULL);
return LIS3MDL_NUMBER_OF_AXES;
}
static msg_t read_raw(void *ip, int32_t axes[LIS3MDL_NUMBER_OF_AXES]) {
uint16_t tmp;
osalDbgCheck((ip != NULL) && (axes != NULL));
osalDbgAssert((((LIS3MDLDriver *)ip)->state == LIS3MDL_READY),
"read_raw(), invalid state");
#if LIS3MDL_USE_I2C
osalDbgAssert((((LIS3MDLDriver *)ip)->config->i2cp->state == I2C_READY),
"read_raw(), channel not ready");
#if LIS3MDL_SHARED_I2C
i2cAcquireBus(((LIS3MDLDriver *)ip)->config->i2cp);
i2cStart(((LIS3MDLDriver *)ip)->config->i2cp,
((LIS3MDLDriver *)ip)->config->i2ccfg);
#endif /* LIS3MDL_SHARED_I2C */
tmp = lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
((LIS3MDLDriver *)ip)->config->slaveaddress,
LIS3MDL_AD_OUT_X_L, NULL);
tmp += lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
((LIS3MDLDriver *)ip)->config->slaveaddress,
LIS3MDL_AD_OUT_X_H, NULL) << 8;
axes[0] = (int32_t)tmp - ((LIS3MDLDriver *)ip)->bias[0];
tmp = lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
((LIS3MDLDriver *)ip)->config->slaveaddress,
LIS3MDL_AD_OUT_Y_L, NULL);
tmp += lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
((LIS3MDLDriver *)ip)->config->slaveaddress,
LIS3MDL_AD_OUT_Y_H, NULL) << 8;
axes[1] = (int32_t)tmp - ((LIS3MDLDriver *)ip)->bias[1];
tmp = lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
((LIS3MDLDriver *)ip)->config->slaveaddress,
LIS3MDL_AD_OUT_Z_L, NULL);
tmp += lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
((LIS3MDLDriver *)ip)->config->slaveaddress,
LIS3MDL_AD_OUT_Z_H, NULL) << 8;
axes[2] = (int32_t)tmp - ((LIS3MDLDriver *)ip)->bias[2];
#if LIS3MDL_SHARED_I2C
i2cReleaseBus(((LIS3MDLDriver *)ip)->config->i2cp);
#endif /* LIS3MDL_SHARED_I2C */
#endif /* LIS3MDL_USE_I2C */
return MSG_OK;
}
static msg_t read_cooked(void *ip, float axes[]) {
uint32_t i;
int32_t raw[LIS3MDL_NUMBER_OF_AXES];
msg_t msg;
osalDbgCheck((ip != NULL) && (axes != NULL));
osalDbgAssert((((LIS3MDLDriver *)ip)->state == LIS3MDL_READY),
"read_cooked(), invalid state");
msg = read_raw(ip, raw);
for(i = 0; i < LIS3MDL_NUMBER_OF_AXES ; i++){
axes[i] = raw[i] / ((LIS3MDLDriver *)ip)->sensitivity[i];
}
return msg;
}
static msg_t set_bias(void *ip, int32_t *bp) {
uint32_t i;
osalDbgCheck((ip != NULL) && (bp !=NULL));
osalDbgAssert((((LIS3MDLDriver *)ip)->state == LIS3MDL_READY) ||
(((LIS3MDLDriver *)ip)->state == LIS3MDL_STOP),
"set_bias(), invalid state");
for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++) {
((LIS3MDLDriver *)ip)->bias[i] = bp[i];
}
return MSG_OK;
}
static msg_t reset_bias(void *ip) {
uint32_t i;
osalDbgCheck(ip != NULL);
osalDbgAssert((((LIS3MDLDriver *)ip)->state == LIS3MDL_READY) ||
(((LIS3MDLDriver *)ip)->state == LIS3MDL_STOP),
"reset_bias(), invalid state");
for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
((LIS3MDLDriver *)ip)->bias[i] = 0;
return MSG_OK;
}
static msg_t set_sensivity(void *ip, float *sp) {
uint32_t i;
osalDbgCheck((ip != NULL) && (sp !=NULL));
osalDbgAssert((((LIS3MDLDriver *)ip)->state == LIS3MDL_READY),
"set_sensivity(), invalid state");
for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++) {
((LIS3MDLDriver *)ip)->sensitivity[i] = sp[i];
}
return MSG_OK;
}
static msg_t reset_sensivity(void *ip) {
uint32_t i;
osalDbgCheck(ip != NULL);
osalDbgAssert((((LIS3MDLDriver *)ip)->state == LIS3MDL_READY),
"reset_sensivity(), invalid state");
if(((LIS3MDLDriver *)ip)->config->fullscale == LIS3MDL_FS_4GA)
for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
((LIS3MDLDriver *)ip)->sensitivity[i] = LIS3MDL_SENS_4GA;
else if(((LIS3MDLDriver *)ip)->config->fullscale == LIS3MDL_FS_8GA)
for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
((LIS3MDLDriver *)ip)->sensitivity[i] = LIS3MDL_SENS_8GA;
else if(((LIS3MDLDriver *)ip)->config->fullscale == LIS3MDL_FS_12GA)
for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
((LIS3MDLDriver *)ip)->sensitivity[i] = LIS3MDL_SENS_12GA;
else if(((LIS3MDLDriver *)ip)->config->fullscale == LIS3MDL_FS_16GA)
for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
((LIS3MDLDriver *)ip)->sensitivity[i] = LIS3MDL_SENS_16GA;
else {
osalDbgAssert(FALSE, "reset_sensivity(), compass full scale issue");
return MSG_RESET;
}
return MSG_OK;
}
static msg_t get_temperature(void *ip, float* tempp) {
int16_t temp;
#if LIS3MDL_USE_I2C
osalDbgAssert((((LIS3MDLDriver *)ip)->config->i2cp->state == I2C_READY),
"gyro_read_raw(), channel not ready");
#if LIS3MDL_SHARED_I2C
i2cAcquireBus(((LIS3MDLDriver *)ip)->config->i2cp);
i2cStart(((LIS3MDLDriver *)ip)->config->i2cp,
((LIS3MDLDriver *)ip)->config->i2ccfg);
#endif /* LIS3MDL_SHARED_I2C */
temp = (int16_t)(lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
((LIS3MDLDriver *)ip)->config->slaveaddress,
LIS3MDL_AD_TEMP_OUT_L, NULL));
temp += (int16_t)(lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
((LIS3MDLDriver *)ip)->config->slaveaddress,
LIS3MDL_AD_TEMP_OUT_H, NULL) << 8);
#if LIS3MDL_SHARED_I2C
i2cReleaseBus(((LIS3MDLDriver *)ip)->config->i2cp);
#endif /* LIS3MDL_SHARED_I2C */
#endif /* LIS3MDL_USE_I2C */
*tempp = (float)temp / LIS3MDL_TEMP_SENS;
return MSG_OK;
}
static const struct BaseSensorVMT vmt_basesensor = {
get_axes_number, read_raw, read_cooked
};
static const struct BaseCompassVMT vmt_basecompass = {
get_axes_number, read_raw, read_cooked,
set_bias, reset_bias, set_sensivity, reset_sensivity
};
static const struct LIS3MDLVMT vmt_lis3mdl = {
get_axes_number, read_raw, read_cooked,
set_bias, reset_bias, set_sensivity, reset_sensivity,
get_temperature
};
/*===========================================================================*/
/* Driver exported functions. */
/*===========================================================================*/
/**
* @brief Initializes an instance.
*
* @param[out] devp pointer to the @p LIS3MDLDriver object
*
* @init
*/
void lis3mdlObjectInit(LIS3MDLDriver *devp) {
uint32_t i;
devp->vmt_basesensor = &vmt_basesensor;
devp->vmt_basecompass = &vmt_basecompass;
devp->vmt_lis3mdl = &vmt_lis3mdl;
devp->config = NULL;
for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
devp->bias[i] = 0;
devp->state = LIS3MDL_STOP;
}
/**
* @brief Configures and activates LIS3MDL Complex Driver peripheral.
*
* @param[in] devp pointer to the @p LIS3MDLDriver object
* @param[in] config pointer to the @p LIS3MDLConfig object
*
* @api
*/
void lis3mdlStart(LIS3MDLDriver *devp, const LIS3MDLConfig *config) {
uint32_t i;
osalDbgCheck((devp != NULL) && (config != NULL));
osalDbgAssert((devp->state == LIS3MDL_STOP) || (devp->state == LIS3MDL_READY),
"lis3mdlStart(), invalid state");
devp->config = config;
#if LIS3MDL_USE_I2C
#if LIS3MDL_SHARED_I2C
i2cAcquireBus((devp)->config->i2cp);
#endif /* LIS3MDL_SHARED_I2C */
i2cStart((devp)->config->i2cp,
(devp)->config->i2ccfg);
lis3mdlI2CWriteRegister(devp->config->i2cp,
devp->config->slaveaddress,
LIS3MDL_AD_CTRL_REG1,
devp->config->temperature |
devp->config->outputdatarate |
devp->config->operationmodexy);
lis3mdlI2CWriteRegister(devp->config->i2cp,
devp->config->slaveaddress,
LIS3MDL_AD_CTRL_REG2,
devp->config->fullscale);
lis3mdlI2CWriteRegister(devp->config->i2cp,
devp->config->slaveaddress,
LIS3MDL_AD_CTRL_REG3,
devp->config->conversionmode);
lis3mdlI2CWriteRegister(devp->config->i2cp,
devp->config->slaveaddress,
LIS3MDL_AD_CTRL_REG4,
devp->config->operationmodez |
devp->config->endianness);
lis3mdlI2CWriteRegister(devp->config->i2cp,
devp->config->slaveaddress,
LIS3MDL_AD_CTRL_REG5,
devp->config->blockdataupdate);
#if LIS3MDL_SHARED_I2C
i2cReleaseBus((devp)->config->i2cp);
#endif /* LIS3MDL_SHARED_I2C */
#endif /* LIS3MDL_USE_I2C */
/* Storing sensitivity information according to full scale value */
if(devp->config->fullscale == LIS3MDL_FS_4GA)
for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = LIS3MDL_SENS_4GA;
else if(devp->config->fullscale == LIS3MDL_FS_8GA)
for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = LIS3MDL_SENS_8GA;
else if(devp->config->fullscale == LIS3MDL_FS_12GA)
for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = LIS3MDL_SENS_12GA;
else if(devp->config->fullscale == LIS3MDL_FS_16GA)
for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = LIS3MDL_SENS_16GA;
else
osalDbgAssert(FALSE, "lis3mdlStart(), compass full scale issue");
devp->state = LIS3MDL_READY;
}
/**
* @brief Deactivates the LIS3MDL Complex Driver peripheral.
*
* @param[in] devp pointer to the @p LIS3MDLDriver object
*
* @api
*/
void lis3mdlStop(LIS3MDLDriver *devp) {
osalDbgCheck(devp != NULL);
osalDbgAssert((devp->state == LIS3MDL_STOP) || (devp->state == LIS3MDL_READY),
"lis3mdlStop(), invalid state");
#if (LIS3MDL_USE_I2C)
if (devp->state == LIS3MDL_STOP) {
#if LIS3MDL_SHARED_I2C
i2cAcquireBus((devp)->config->i2cp);
i2cStart((devp)->config->i2cp,
(devp)->config->i2ccfg);
#endif /* LIS3MDL_SHARED_I2C */
lis3mdlI2CWriteRegister(devp->config->i2cp,
devp->config->slaveaddress,
LIS3MDL_AD_CTRL_REG3,
LIS3MDL_MD_POWER_DOWN);
i2cStop((devp)->config->i2cp);
#if LIS3MDL_SHARED_I2C
i2cReleaseBus((devp)->config->i2cp);
#endif /* LIS3MDL_SHARED_I2C */
}
#endif /* LIS3MDL_USE_I2C */
devp->state = LIS3MDL_STOP;
}
/** @} */
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