rusefi
/
ChibiOS
mirror of https://github.com/rusefi/ChibiOS.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity
ChibiOS/os/ex/ST/lsm6ds0.c

894 lines
29 KiB
C
Raw Blame History

/*
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 lsm6ds0.c
* @brief LSM6DS0 MEMS interface module code.
*
* @addtogroup LSM6DS0
* @ingroup EX_ST
* @{
*/
#include "hal.h"
#include "lsm6ds0.h"
/*===========================================================================*/
/* Driver local definitions. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver exported variables. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local variables and types. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local functions. */
/*===========================================================================*/
#if (LSM6DS0_USE_I2C) || defined(__DOXYGEN__)
/**
* @brief Reads registers value using I2C.
* @pre The I2C interface must be initialized and the driver started.
* @note IF_ADD_INC bit must be 1 in CTRL_REG8
*
* @param[in] i2cp pointer to the I2C interface
* @param[in] sad slave address without R bit
* @param[in] reg first sub-register address
* @param[out] rxbuf pointer to an output buffer
* @param[in] n number of consecutive register to read
* @return the operation status.
* @notapi
*/
msg_t lsm6ds0I2CReadRegister(I2CDriver *i2cp, lsm6ds0_sad_t sad, uint8_t reg,
uint8_t* rxbuf, size_t n) {
return i2cMasterTransmitTimeout(i2cp, sad, &reg, 1, rxbuf, n,
TIME_INFINITE);
}
/**
* @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] txbuf buffer containing sub-address value in first position
* and values to write
* @param[in] n size of txbuf less one (not considering the first
* element)
* @return the operation status.
* @notapi
*/
#define lsm6ds0I2CWriteRegister(i2cp, sad, txbuf, n) \
i2cMasterTransmitTimeout(i2cp, sad, txbuf, n + 1, NULL, 0, \
TIME_INFINITE)
#endif /* LSM6DS0_USE_I2C */
/*
* Interface implementation.
*/
static size_t acc_get_axes_number(void *ip) {
osalDbgCheck(ip != NULL);
return LSM6DS0_ACC_NUMBER_OF_AXES;
}
static size_t gyro_get_axes_number(void *ip) {
osalDbgCheck(ip != NULL);
return LSM6DS0_GYRO_NUMBER_OF_AXES;
}
static size_t sens_get_axes_number(void *ip) {
size_t size = 0;
osalDbgCheck(ip != NULL);
if (((LSM6DS0Driver *)ip)->config->acccfg != NULL)
size += acc_get_axes_number(ip);
if (((LSM6DS0Driver *)ip)->config->gyrocfg != NULL)
size += gyro_get_axes_number(ip);
return size;
}
static msg_t acc_read_raw(void *ip, int32_t* axes) {
int16_t tmp;
uint8_t i, buff[2 * LSM6DS0_ACC_NUMBER_OF_AXES];
msg_t msg = MSG_OK;
osalDbgCheck(((ip != NULL) && (axes != NULL)) &&
(((LSM6DS0Driver *)ip)->config->acccfg != NULL));
osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),
"acc_read_raw(), invalid state");
#if LSM6DS0_USE_I2C
osalDbgAssert((((LSM6DS0Driver *)ip)->config->i2cp->state == I2C_READY),
"acc_read_raw(), channel not ready");
#if LSM6DS0_SHARED_I2C
i2cAcquireBus(((LSM6DS0Driver *)ip)->config->i2cp);
i2cStart(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->i2ccfg);
#endif /* LSM6DS0_SHARED_I2C */
msg = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->slaveaddress,
LSM6DS0_AD_OUT_X_L_XL, buff, 2 * LSM6DS0_ACC_NUMBER_OF_AXES);
#if LSM6DS0_SHARED_I2C
i2cReleaseBus(((LSM6DS0Driver *)ip)->config->i2cp);
#endif /* LSM6DS0_SHARED_I2C */
#endif /* LSM6DS0_USE_I2C */
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) {
if(msg == MSG_OK) {
tmp = buff[2*i] + (buff[2*i+1] << 8);
axes[i] = (int32_t)tmp;
}
else{
axes[i] = 0;
}
}
return msg;
}
static msg_t gyro_read_raw(void *ip, int32_t* axes) {
int16_t tmp;
uint8_t i, buff[2 * LSM6DS0_GYRO_NUMBER_OF_AXES];
msg_t msg = MSG_OK;
osalDbgCheck(((ip != NULL) && (axes != NULL)) &&
(((LSM6DS0Driver *)ip)->config->gyrocfg != NULL));
osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),
"gyro_read_raw(), invalid state");
#if LSM6DS0_USE_I2C
osalDbgAssert((((LSM6DS0Driver *)ip)->config->i2cp->state == I2C_READY),
"gyro_read_raw(), channel not ready");
#if LSM6DS0_SHARED_I2C
i2cAcquireBus(((LSM6DS0Driver *)ip)->config->i2cp);
i2cStart(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->i2ccfg);
#endif /* LSM6DS0_SHARED_I2C */
msg = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->slaveaddress,
LSM6DS0_AD_OUT_X_L_G, buff, 2 * LSM6DS0_GYRO_NUMBER_OF_AXES);
#if LSM6DS0_SHARED_I2C
i2cReleaseBus(((LSM6DS0Driver *)ip)->config->i2cp);
#endif /* LSM6DS0_SHARED_I2C */
#endif /* LSM6DS0_USE_I2C */
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) {
if(msg == MSG_OK) {
tmp = buff[2*i] + (buff[2*i+1] << 8);
axes[i] = (int32_t)tmp;
}
else{
axes[i] = 0;
}
}
return msg;
}
static msg_t sens_read_raw(void *ip, int32_t axes[]) {
int32_t* bp = axes;
msg_t msg;
if (((LSM6DS0Driver *)ip)->config->acccfg != NULL) {
msg = acc_read_raw(ip, bp);
if(msg != MSG_OK)
return msg;
bp += LSM6DS0_ACC_NUMBER_OF_AXES;
}
if (((LSM6DS0Driver *)ip)->config->gyrocfg != NULL) {
msg = gyro_read_raw(ip, bp);
}
return msg;
}
static msg_t acc_read_cooked(void *ip, float axes[]) {
uint32_t i;
int32_t raw[LSM6DS0_ACC_NUMBER_OF_AXES];
msg_t msg;
osalDbgCheck(((ip != NULL) && (axes != NULL)) &&
(((LSM6DS0Driver *)ip)->config->acccfg != NULL));
osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),
"acc_read_cooked(), invalid state");
msg = acc_read_raw(ip, raw);
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES ; i++){
axes[i] = raw[i] * ((LSM6DS0Driver *)ip)->accsensitivity[i];
axes[i] -= ((LSM6DS0Driver *)ip)->accbias[i];
}
return msg;
}
static msg_t gyro_read_cooked(void *ip, float axes[]) {
uint32_t i;
int32_t raw[LSM6DS0_GYRO_NUMBER_OF_AXES];
msg_t msg;
osalDbgCheck(((ip != NULL) && (axes != NULL)) &&
(((LSM6DS0Driver *)ip)->config->gyrocfg != NULL));
osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),
"gyro_read_cooked(), invalid state");
msg = gyro_read_raw(ip, raw);
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES ; i++){
axes[i] = raw[i] * ((LSM6DS0Driver *)ip)->gyrosensitivity[i];
axes[i] -= ((LSM6DS0Driver *)ip)->gyrobias[i];
}
return msg;
}
static msg_t sens_read_cooked(void *ip, float axes[]) {
float* bp = axes;
msg_t msg;
if (((LSM6DS0Driver *)ip)->config->acccfg != NULL) {
msg = acc_read_cooked(ip, bp);
if(msg != MSG_OK)
return msg;
bp += LSM6DS0_ACC_NUMBER_OF_AXES;
}
if (((LSM6DS0Driver *)ip)->config->gyrocfg != NULL) {
msg = gyro_read_cooked(ip, bp);
}
return msg;
}
static msg_t gyro_sample_bias(void *ip) {
uint32_t i, j;
int32_t raw[LSM6DS0_GYRO_NUMBER_OF_AXES];
float buff[LSM6DS0_GYRO_NUMBER_OF_AXES] = {0.0f, 0.0f, 0.0f};
msg_t msg;
osalDbgCheck(ip != NULL);
osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),
"sample_bias(), invalid state");
for(i = 0; i < LSM6DS0_GYRO_BIAS_ACQ_TIMES; i++){
msg = gyro_read_raw(ip, raw);
if(msg != MSG_OK)
return msg;
for(j = 0; j < LSM6DS0_GYRO_NUMBER_OF_AXES; j++){
buff[j] += raw[j];
}
osalThreadSleepMicroseconds(LSM6DS0_GYRO_BIAS_SETTLING_uS);
}
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++){
((LSM6DS0Driver *)ip)->gyrobias[i] = buff[i] / LSM6DS0_GYRO_BIAS_ACQ_TIMES;
((LSM6DS0Driver *)ip)->gyrobias[i] *= ((LSM6DS0Driver *)ip)->gyrosensitivity[i];
}
return msg;
}
static msg_t acc_set_bias(void *ip, float *bp) {
uint32_t i;
osalDbgCheck((ip != NULL) && (bp !=NULL));
osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY) ||
(((LSM6DS0Driver *)ip)->state == LSM6DS0_STOP),
"acc_set_bias(), invalid state");
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) {
((LSM6DS0Driver *)ip)->accbias[i] = bp[i];
}
return MSG_OK;
}
static msg_t gyro_set_bias(void *ip, float *bp) {
uint32_t i;
osalDbgCheck((ip != NULL) && (bp !=NULL));
osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY) ||
(((LSM6DS0Driver *)ip)->state == LSM6DS0_STOP),
"gyro_set_bias(), invalid state");
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) {
((LSM6DS0Driver *)ip)->gyrobias[i] = bp[i];
}
return MSG_OK;
}
static msg_t acc_reset_bias(void *ip) {
uint32_t i;
osalDbgCheck(ip != NULL);
osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY) ||
(((LSM6DS0Driver *)ip)->state == LSM6DS0_STOP),
"acc_reset_bias(), invalid state");
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
((LSM6DS0Driver *)ip)->accbias[i] = 0.0f;
return MSG_OK;
}
static msg_t gyro_reset_bias(void *ip) {
uint32_t i;
osalDbgCheck(ip != NULL);
osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY) ||
(((LSM6DS0Driver *)ip)->state == LSM6DS0_STOP),
"gyro_reset_bias(), invalid state");
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++)
((LSM6DS0Driver *)ip)->gyrobias[i] = 0.0f;
return MSG_OK;
}
static msg_t acc_set_sensivity(void *ip, float *sp) {
uint32_t i;
osalDbgCheck((ip != NULL) && (sp !=NULL));
osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),
"acc_set_sensivity(), invalid state");
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) {
((LSM6DS0Driver *)ip)->accsensitivity[i] = sp[i];
}
return MSG_OK;
}
static msg_t gyro_set_sensivity(void *ip, float *sp) {
uint32_t i;
osalDbgCheck((ip != NULL) && (sp !=NULL));
osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),
"gyro_set_sensivity(), invalid state");
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) {
((LSM6DS0Driver *)ip)->gyrosensitivity[i] = sp[i];
}
return MSG_OK;
}
static msg_t acc_reset_sensivity(void *ip) {
uint32_t i;
osalDbgCheck(ip != NULL);
osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),
"acc_reset_sensivity(), invalid state");
if(((LSM6DS0Driver *)ip)->config->acccfg->fullscale == LSM6DS0_ACC_FS_2G)
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
((LSM6DS0Driver *)ip)->accsensitivity[i] = LSM6DS0_ACC_SENS_2G;
else if(((LSM6DS0Driver *)ip)->config->acccfg->fullscale == LSM6DS0_ACC_FS_4G)
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
((LSM6DS0Driver *)ip)->accsensitivity[i] = LSM6DS0_ACC_SENS_4G;
else if(((LSM6DS0Driver *)ip)->config->acccfg->fullscale == LSM6DS0_ACC_FS_8G)
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
((LSM6DS0Driver *)ip)->accsensitivity[i] = LSM6DS0_ACC_SENS_8G;
else if(((LSM6DS0Driver *)ip)->config->acccfg->fullscale == LSM6DS0_ACC_FS_16G)
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
((LSM6DS0Driver *)ip)->accsensitivity[i] = LSM6DS0_ACC_SENS_16G;
else {
osalDbgAssert(FALSE, "acc_reset_sensivity(), accelerometer full scale issue");
return MSG_RESET;
}
return MSG_OK;
}
static msg_t gyro_reset_sensivity(void *ip) {
uint32_t i;
osalDbgCheck(ip != NULL);
osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),
"gyro_reset_sensivity(), invalid state");
if(((LSM6DS0Driver *)ip)->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_245DPS)
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
((LSM6DS0Driver *)ip)->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_245DPS;
else if(((LSM6DS0Driver *)ip)->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_500DPS)
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
((LSM6DS0Driver *)ip)->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_500DPS;
else if(((LSM6DS0Driver *)ip)->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_2000DPS)
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
((LSM6DS0Driver *)ip)->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_2000DPS;
else {
osalDbgAssert(FALSE, "gyro_reset_sensivity(), gyroscope full scale issue");
return MSG_RESET;
}
return MSG_OK;
}
static msg_t acc_set_full_scale(void *ip, lsm6ds0_acc_fs_t fs) {
float newfs, scale;
uint8_t i, cr[2];
msg_t msg;
if(fs == LSM6DS0_ACC_FS_2G) {
newfs = LSM6DS0_ACC_2G;
}
else if(fs == LSM6DS0_ACC_FS_4G) {
newfs = LSM6DS0_ACC_4G;
}
else if(fs == LSM6DS0_ACC_FS_8G) {
newfs = LSM6DS0_ACC_8G;
}
else if(fs == LSM6DS0_ACC_FS_16G) {
newfs = LSM6DS0_ACC_16G;
}
else {
return MSG_RESET;
}
if(newfs != ((LSM6DS0Driver *)ip)->accfullscale) {
scale = newfs / ((LSM6DS0Driver *)ip)->accfullscale;
((LSM6DS0Driver *)ip)->accfullscale = newfs;
#if LSM6DS0_SHARED_I2C
i2cAcquireBus(((LSM6DS0Driver *)ip)->config->i2cp);
i2cStart(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->i2ccfg);
#endif /* LSM6DS0_SHARED_I2C */
/* Updating register.*/
msg = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->slaveaddress,
LSM6DS0_AD_CTRL_REG6_XL, &cr[1], 1);
#if LSM6DS0_SHARED_I2C
i2cReleaseBus(((LSM6DS0Driver *)ip)->config->i2cp);
#endif /* LSM6DS0_SHARED_I2C */
if(msg != MSG_OK)
return msg;
cr[0] = LSM6DS0_AD_CTRL_REG6_XL;
cr[1] &= ~(LSM6DS0_CTRL_REG6_XL_FS_MASK);
cr[1] |= fs;
#if LSM6DS0_SHARED_I2C
i2cAcquireBus(((LSM6DS0Driver *)ip)->config->i2cp);
i2cStart(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->i2ccfg);
#endif /* LSM6DS0_SHARED_I2C */
msg = lsm6ds0I2CWriteRegister(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->slaveaddress, cr, 1);
#if LSM6DS0_SHARED_I2C
i2cReleaseBus(((LSM6DS0Driver *)ip)->config->i2cp);
#endif /* LSM6DS0_SHARED_I2C */
if(msg != MSG_OK)
return msg;
/* Scaling sensitivity and bias. Re-calibration is suggested anyway. */
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) {
((LSM6DS0Driver *)ip)->accsensitivity[i] *= scale;
((LSM6DS0Driver *)ip)->accbias[i] *= scale;
}
}
return msg;
}
static msg_t gyro_set_full_scale(void *ip, lsm6ds0_gyro_fs_t fs) {
float newfs, scale;
uint8_t i, cr[2];
msg_t msg;
if(fs == LSM6DS0_GYRO_FS_245DPS) {
newfs = LSM6DS0_GYRO_245DPS;
}
else if(fs == LSM6DS0_GYRO_FS_500DPS) {
newfs = LSM6DS0_GYRO_500DPS;
}
else if(fs == LSM6DS0_GYRO_FS_2000DPS) {
newfs = LSM6DS0_GYRO_2000DPS;
}
else {
return MSG_RESET;
}
if(newfs != ((LSM6DS0Driver *)ip)->gyrofullscale) {
scale = newfs / ((LSM6DS0Driver *)ip)->gyrofullscale;
((LSM6DS0Driver *)ip)->gyrofullscale = newfs;
#if LSM6DS0_SHARED_I2C
i2cAcquireBus(((LSM6DS0Driver *)ip)->config->i2cp);
i2cStart(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->i2ccfg);
#endif /* LSM6DS0_SHARED_I2C */
/* Updating register.*/
msg = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->slaveaddress,
LSM6DS0_AD_CTRL_REG1_G, &cr[1], 1);
#if LSM6DS0_SHARED_I2C
i2cReleaseBus(((LSM6DS0Driver *)ip)->config->i2cp);
#endif /* LSM6DS0_SHARED_I2C */
if(msg != MSG_OK)
return msg;
cr[0] = LSM6DS0_AD_CTRL_REG1_G;
cr[1] &= ~(LSM6DS0_CTRL_REG1_G_FS_MASK);
cr[1] |= fs;
#if LSM6DS0_SHARED_I2C
i2cAcquireBus(((LSM6DS0Driver *)ip)->config->i2cp);
i2cStart(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->i2ccfg);
#endif /* LSM6DS0_SHARED_I2C */
msg = lsm6ds0I2CWriteRegister(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->slaveaddress,
cr, 1);
#if LSM6DS0_SHARED_I2C
i2cReleaseBus(((LSM6DS0Driver *)ip)->config->i2cp);
#endif /* LSM6DS0_SHARED_I2C */
if(msg != MSG_OK)
return msg;
/* Scaling sensitivity and bias. Re-calibration is suggested anyway. */
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) {
((LSM6DS0Driver *)ip)->gyrosensitivity[i] *= scale;
((LSM6DS0Driver *)ip)->gyrobias[i] *= scale;
}
}
return msg;
}
static const struct BaseSensorVMT vmt_basesensor = {
sens_get_axes_number, sens_read_raw, sens_read_cooked
};
static const struct BaseGyroscopeVMT vmt_basegyroscope = {
gyro_get_axes_number, gyro_read_raw, gyro_read_cooked,
gyro_sample_bias, gyro_set_bias, gyro_reset_bias,
gyro_set_sensivity, gyro_reset_sensivity
};
static const struct BaseAccelerometerVMT vmt_baseaccelerometer = {
acc_get_axes_number, acc_read_raw, acc_read_cooked,
acc_set_bias, acc_reset_bias, acc_set_sensivity, acc_reset_sensivity
};
static const struct LSM6DS0ACCVMT vmt_lsm6ds0acc = {
acc_get_axes_number, acc_read_raw, acc_read_cooked,
acc_set_bias, acc_reset_bias, acc_set_sensivity, acc_reset_sensivity,
acc_set_full_scale
};
static const struct LSM6DS0GYROVMT vmt_lsm6ds0gyro = {
gyro_get_axes_number, gyro_read_raw, gyro_read_cooked,
gyro_sample_bias, gyro_set_bias, gyro_reset_bias,
gyro_set_sensivity, gyro_reset_sensivity, gyro_set_full_scale
};
/*===========================================================================*/
/* Driver exported functions. */
/*===========================================================================*/
/**
* @brief Initializes an instance.
*
* @param[out] devp pointer to the @p LSM6DS0Driver object
*
* @init
*/
void lsm6ds0ObjectInit(LSM6DS0Driver *devp) {
uint32_t i;
devp->vmt_basesensor = &vmt_basesensor;
devp->vmt_baseaccelerometer = &vmt_baseaccelerometer;
devp->vmt_basegyroscope = &vmt_basegyroscope;
devp->vmt_lsm6ds0acc = &vmt_lsm6ds0acc;
devp->vmt_lsm6ds0gyro = &vmt_lsm6ds0gyro;
devp->config = NULL;
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
devp->accbias[i] = 0.0f;
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++)
devp->gyrobias[i] = 0.0f;
devp->state = LSM6DS0_STOP;
}
/**
* @brief Configures and activates LSM6DS0 Complex Driver peripheral.
*
* @param[in] devp pointer to the @p LSM6DS0Driver object
* @param[in] config pointer to the @p LSM6DS0Config object
*
* @api
*/
void lsm6ds0Start(LSM6DS0Driver *devp, const LSM6DS0Config *config) {
uint32_t i;
uint8_t cr[5];
osalDbgCheck((devp != NULL) && (config != NULL) &&
((devp->config->acccfg != NULL) ||
(devp->config->gyrocfg != NULL)));
osalDbgAssert((devp->state == LSM6DS0_STOP) || (devp->state == LSM6DS0_READY),
"lsm6ds0Start(), invalid state");
devp->config = config;
/* Control register 8 configuration block.*/
{
cr[0] = LSM6DS0_AD_CTRL_REG8;
cr[1] = LSM6DS0_CTRL_REG8_IF_ADD_INC;
#if LSM6DS0_USE_ADVANCED || defined(__DOXYGEN__)
cr[1] |= devp->config->endianness | devp->config->blockdataupdate;
#endif
}
#if LSM6DS0_USE_I2C
#if LSM6DS0_SHARED_I2C
i2cAcquireBus((devp)->config->i2cp);
#endif /* LSM6DS0_SHARED_I2C */
i2cStart((devp)->config->i2cp, (devp)->config->i2ccfg);
lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
cr, 1);
#if LSM6DS0_SHARED_I2C
i2cReleaseBus((devp)->config->i2cp);
#endif /* LSM6DS0_SHARED_I2C */
#endif /* LSM6DS0_USE_I2C */
if((devp)->config->acccfg != NULL) {
cr[0] = LSM6DS0_AD_CTRL_REG5_XL;
/* Control register 5 configuration block.*/
{
cr[1] = LSM6DS0_CTRL_REG5_XL_XEN_XL | LSM6DS0_CTRL_REG5_XL_YEN_XL |
LSM6DS0_CTRL_REG5_XL_ZEN_XL;
#if LSM6DS0_ACC_USE_ADVANCED || defined(__DOXYGEN__)
cr[1] |= devp->config->acccfg->decmode;
#endif
}
/* Control register 6 configuration block.*/
{
cr[2] = devp->config->acccfg->outdatarate |
devp->config->acccfg->fullscale;
}
#if LSM6DS0_USE_I2C
#if LSM6DS0_SHARED_I2C
i2cAcquireBus((devp)->config->i2cp);
i2cStart((devp)->config->i2cp, (devp)->config->i2ccfg);
#endif /* LSM6DS0_SHARED_I2C */
lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
cr, 2);
#if LSM6DS0_SHARED_I2C
i2cReleaseBus((devp)->config->i2cp);
#endif /* LSM6DS0_SHARED_I2C */
#endif /* LSM6DS0_USE_I2C */
}
if((devp)->config->gyrocfg != NULL) {
cr[0] = LSM6DS0_AD_CTRL_REG1_G;
/* Control register 1 configuration block.*/
{
cr[1] = devp->config->gyrocfg->fullscale |
devp->config->gyrocfg->outdatarate;
#if LSM6DS0_GYRO_USE_ADVANCED || defined(__DOXYGEN__)
cr[1] |= devp->config->acccfg->decmode;
#endif
}
/* Control register 2 configuration block.*/
{
cr[2] = 0;
#if LSM6DS0_GYRO_USE_ADVANCED || defined(__DOXYGEN__)
cr[2] |= devp->config->gyrocfg->outsel;
#endif
}
/* Control register 3 configuration block.*/
{
cr[3] = 0;
#if LSM6DS0_GYRO_USE_ADVANCED || defined(__DOXYGEN__)
cr[3] |= devp->config->gyrocfg->hpfenable |
devp->config->gyrocfg->lowmodecfg |
devp->config->gyrocfg->hpcfg;
#endif
}
/* Control register 4 configuration block.*/
{
cr[4] = LSM6DS0_CTRL_REG4_XEN_G | LSM6DS0_CTRL_REG4_YEN_G |
LSM6DS0_CTRL_REG4_ZEN_G;
}
#if LSM6DS0_USE_I2C
#if LSM6DS0_SHARED_I2C
i2cAcquireBus((devp)->config->i2cp);
i2cStart((devp)->config->i2cp, (devp)->config->i2ccfg);
#endif /* LSM6DS0_SHARED_I2C */
lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
cr, 4);
#if LSM6DS0_SHARED_I2C
i2cReleaseBus((devp)->config->i2cp);
#endif /* LSM6DS0_SHARED_I2C */
#endif /* LSM6DS0_USE_I2C */
cr[0] = LSM6DS0_AD_CTRL_REG9;
/* Control register 9 configuration block.*/
{
cr[1] = 0;
}
#if LSM6DS0_USE_I2C
#if LSM6DS0_SHARED_I2C
i2cAcquireBus((devp)->config->i2cp);
i2cStart((devp)->config->i2cp, (devp)->config->i2ccfg);
#endif /* LSM6DS0_SHARED_I2C */
lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
cr, 1);
#if LSM6DS0_SHARED_I2C
i2cReleaseBus((devp)->config->i2cp);
#endif /* LSM6DS0_SHARED_I2C */
#endif /* LSM6DS0_USE_I2C */
}
/* Storing sensitivity information according to full scale value */
if((devp)->config->acccfg != NULL) {
if(devp->config->acccfg->fullscale == LSM6DS0_ACC_FS_2G) {
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) {
if((devp)->config->acccfg->bias == NULL)
devp->accsensitivity[i] = LSM6DS0_ACC_SENS_2G;
else
devp->accsensitivity[i] = devp->config->acccfg->sensitivity[i];
}
devp->accfullscale = LSM6DS0_ACC_2G;
}
else if(devp->config->acccfg->fullscale == LSM6DS0_ACC_FS_4G) {
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) {
if((devp)->config->acccfg->bias == NULL)
devp->accsensitivity[i] = LSM6DS0_ACC_SENS_4G;
else
devp->accsensitivity[i] = devp->config->acccfg->sensitivity[i];
}
devp->accfullscale = LSM6DS0_ACC_4G;
}
else if(devp->config->acccfg->fullscale == LSM6DS0_ACC_FS_8G) {
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) {
if((devp)->config->acccfg->bias == NULL)
devp->accsensitivity[i] = LSM6DS0_ACC_SENS_8G;
else
devp->accsensitivity[i] = devp->config->acccfg->sensitivity[i];
}
devp->accfullscale = LSM6DS0_ACC_8G;
}
else if(devp->config->acccfg->fullscale == LSM6DS0_ACC_FS_16G) {
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) {
if((devp)->config->acccfg->bias == NULL)
devp->accsensitivity[i] = LSM6DS0_ACC_SENS_16G;
else
devp->accsensitivity[i] = devp->config->acccfg->sensitivity[i];
}
devp->accfullscale = LSM6DS0_ACC_16G;
}
else
osalDbgAssert(FALSE, "lsm6ds0Start(), accelerometer full scale issue");
}
if((devp)->config->gyrocfg != NULL) {
if(devp->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_245DPS) {
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) {
if((devp)->config->acccfg->bias == NULL)
devp->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_245DPS;
else
devp->gyrosensitivity[i] = devp->config->gyrocfg->sensitivity[i];
}
devp->gyrofullscale = LSM6DS0_GYRO_245DPS;
}
else if(devp->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_500DPS) {
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) {
if((devp)->config->acccfg->bias == NULL)
devp->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_500DPS;
else
devp->gyrosensitivity[i] = devp->config->gyrocfg->sensitivity[i];
}
devp->gyrofullscale = LSM6DS0_GYRO_500DPS;
}
else if(devp->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_2000DPS) {
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) {
if((devp)->config->acccfg->bias == NULL)
devp->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_2000DPS;
else
devp->gyrosensitivity[i] = devp->config->gyrocfg->sensitivity[i];
}
devp->gyrofullscale = LSM6DS0_GYRO_2000DPS;
}
else
osalDbgAssert(FALSE, "lsm6ds0Start(), gyroscope full scale issue");
}
/* This is the Gyroscope transient recovery time */
osalThreadSleepMilliseconds(5);
devp->state = LSM6DS0_READY;
}
/**
* @brief Deactivates the LSM6DS0 Complex Driver peripheral.
*
* @param[in] devp pointer to the @p LSM6DS0Driver object
*
* @api
*/
void lsm6ds0Stop(LSM6DS0Driver *devp) {
uint8_t cr[2];
osalDbgCheck(devp != NULL);
osalDbgAssert((devp->state == LSM6DS0_STOP) || (devp->state == LSM6DS0_READY),
"lsm6ds0Stop(), invalid state");
if (devp->state == LSM6DS0_READY) {
if((devp)->config->acccfg != NULL) {
cr[0] = LSM6DS0_AD_CTRL_REG6_XL;
/* Control register 6 configuration block.*/
{
cr[1] = 0;
}
#if LSM6DS0_USE_I2C
#if LSM6DS0_SHARED_I2C
i2cAcquireBus((devp)->config->i2cp);
i2cStart((devp)->config->i2cp, (devp)->config->i2ccfg);
#endif /* LSM6DS0_SHARED_I2C */
lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
cr, 1);
#if LSM6DS0_SHARED_I2C
i2cReleaseBus((devp)->config->i2cp);
#endif /* LSM6DS0_SHARED_I2C */
#endif /* LSM6DS0_USE_I2C */
}
if((devp)->config->gyrocfg != NULL) {
cr[0] = LSM6DS0_AD_CTRL_REG9;
/* Control register 9 configuration block.*/
{
cr[1] = LSM6DS0_CTRL_REG9_SLEEP_G;
}
#if LSM6DS0_USE_I2C
#if LSM6DS0_SHARED_I2C
i2cAcquireBus((devp)->config->i2cp);
i2cStart((devp)->config->i2cp, (devp)->config->i2ccfg);
#endif /* LSM6DS0_SHARED_I2C */
lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
cr, 1);
i2cStop((devp)->config->i2cp);
#if LSM6DS0_SHARED_I2C
i2cReleaseBus((devp)->config->i2cp);
#endif /* LSM6DS0_SHARED_I2C */
#endif /* LSM6DS0_USE_I2C */
}
}
devp->state = LSM6DS0_STOP;
}
/** @} */
Reference in New Issue View Git Blame Copy Permalink