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ChibiOS/os/ex/ST/l3gd20.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 l3gd20.c
* @brief L3GD20 MEMS interface module code.
*
* @addtogroup l3gd20
* @{
*/
#include "hal.h"
#include "l3gd20.h"
/*===========================================================================*/
/* Driver local definitions. */
/*===========================================================================*/
#define L3GD20_SENS_250DPS ((float)0.00875f)
#define L3GD20_SENS_500DPS ((float)0.01750f)
#define L3GD20_SENS_2000DPS ((float)0.07000f)
#define L3GD20_DI ((uint8_t)0xFF)
#define L3GD20_DI_0 ((uint8_t)0x01)
#define L3GD20_DI_1 ((uint8_t)0x02)
#define L3GD20_DI_2 ((uint8_t)0x04)
#define L3GD20_DI_3 ((uint8_t)0x08)
#define L3GD20_DI_4 ((uint8_t)0x10)
#define L3GD20_DI_5 ((uint8_t)0x20)
#define L3GD20_DI_6 ((uint8_t)0x40)
#define L3GD20_DI_7 ((uint8_t)0x80)
#define L3GD20_AD ((uint8_t)0x3F)
#define L3GD20_AD_0 ((uint8_t)0x01)
#define L3GD20_AD_1 ((uint8_t)0x02)
#define L3GD20_AD_2 ((uint8_t)0x04)
#define L3GD20_AD_3 ((uint8_t)0x08)
#define L3GD20_AD_4 ((uint8_t)0x10)
#define L3GD20_AD_5 ((uint8_t)0x20)
#define L3GD20_MS ((uint8_t)0x40)
#define L3GD20_RW ((uint8_t)0x80)
#define L3GD20_AD_WHO_AM_I ((uint8_t)0x0F)
#define L3GD20_AD_CTRL_REG1 ((uint8_t)0x20)
#define L3GD20_AD_CTRL_REG2 ((uint8_t)0x21)
#define L3GD20_AD_CTRL_REG3 ((uint8_t)0x22)
#define L3GD20_AD_CTRL_REG4 ((uint8_t)0x23)
#define L3GD20_AD_CTRL_REG5 ((uint8_t)0x24)
#define L3GD20_AD_REFERENCE ((uint8_t)0x25)
#define L3GD20_AD_OUT_TEMP ((uint8_t)0x26)
#define L3GD20_AD_STATUS_REG ((uint8_t)0x27)
#define L3GD20_AD_OUT_X_L ((uint8_t)0x28)
#define L3GD20_AD_OUT_X_H ((uint8_t)0x29)
#define L3GD20_AD_OUT_Y_L ((uint8_t)0x2A)
#define L3GD20_AD_OUT_Y_H ((uint8_t)0x2B)
#define L3GD20_AD_OUT_Z_L ((uint8_t)0x2C)
#define L3GD20_AD_OUT_Z_H ((uint8_t)0x2D)
#define L3GD20_AD_FIFO_CTRL_REG ((uint8_t)0x2E)
#define L3GD20_AD_FIFO_SRC_REG ((uint8_t)0x2F)
#define L3GD20_AD_INT1_CFG ((uint8_t)0x30)
#define L3GD20_AD_INT1_SRC ((uint8_t)0x31)
#define L3GD20_AD_INT1_TSH_XH ((uint8_t)0x32)
#define L3GD20_AD_INT1_TSH_XL ((uint8_t)0x33)
#define L3GD20_AD_INT1_TSH_YH ((uint8_t)0x34)
#define L3GD20_AD_INT1_TSH_YL ((uint8_t)0x35)
#define L3GD20_AD_INT1_TSH_ZH ((uint8_t)0x36)
#define L3GD20_AD_INT1_TSH_ZL ((uint8_t)0x37)
#define L3GD20_AD_INT1_DURATION ((uint8_t)0x38)
#define L3GD20_CTRL_REG4_FS_MASK ((uint8_t)0x30)
/*===========================================================================*/
/* Driver exported variables. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local variables and types. */
/*===========================================================================*/
/**
* @brief L3GD20 Power Mode
*/
typedef enum {
L3GD20_PM_POWER_DOWN = 0x00, /**< Power down enabled. */
L3GD20_PM_SLEEP_NORMAL = 0x08 /**< Normal operation mode. */
}l3gd20_pm_t;
/*===========================================================================*/
/* Driver local functions. */
/*===========================================================================*/
#if (L3GD20_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 register number
* @return register value.
*/
static uint8_t l3gd20SPIReadRegister(SPIDriver *spip, uint8_t reg) {
uint8_t txbuf[2] = {L3GD20_RW | reg, 0xFF};
uint8_t rxbuf[2] = {0x00, 0x00};
spiSelect(spip);
spiExchange(spip, 2, txbuf, rxbuf);
spiUnselect(spip);
return rxbuf[1];
}
/**
* @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 register number
* @param[in] value register value.
*/
static void l3gd20SPIWriteRegister(SPIDriver *spip, uint8_t reg,
uint8_t value) {
switch (reg) {
default:
/* Reserved register must not be written, according to the datasheet
* this could permanently damage the device.
*/
osalDbgAssert(FALSE, "l3gd20SPIWriteRegister(), reserved register");
case L3GD20_AD_WHO_AM_I:
case L3GD20_AD_OUT_TEMP :
case L3GD20_AD_STATUS_REG:
case L3GD20_AD_OUT_X_L:
case L3GD20_AD_OUT_X_H:
case L3GD20_AD_OUT_Y_L:
case L3GD20_AD_OUT_Y_H:
case L3GD20_AD_OUT_Z_L:
case L3GD20_AD_OUT_Z_H:
case L3GD20_AD_FIFO_SRC_REG:
case L3GD20_AD_INT1_SRC:
/* Read only registers cannot be written, the command is ignored.*/
return;
case L3GD20_AD_CTRL_REG1:
case L3GD20_AD_CTRL_REG2:
case L3GD20_AD_CTRL_REG3:
case L3GD20_AD_CTRL_REG4:
case L3GD20_AD_CTRL_REG5:
case L3GD20_AD_REFERENCE:
case L3GD20_AD_FIFO_CTRL_REG:
case L3GD20_AD_INT1_CFG:
case L3GD20_AD_INT1_TSH_XH:
case L3GD20_AD_INT1_TSH_XL:
case L3GD20_AD_INT1_TSH_YH:
case L3GD20_AD_INT1_TSH_YL:
case L3GD20_AD_INT1_TSH_ZH:
case L3GD20_AD_INT1_TSH_ZL:
case L3GD20_AD_INT1_DURATION:
spiSelect(spip);
uint8_t txbuf[2] = {reg, value};
spiSend(spip, 2, txbuf);
spiUnselect(spip);
}
}
#endif /* L3GD20_USE_SPI */
/*
* Interface implementation.
*/
static size_t get_axes_number(void *ip) {
osalDbgCheck(ip != NULL);
return L3GD20_NUMBER_OF_AXES;
}
static msg_t read_raw(void *ip, int32_t axes[L3GD20_NUMBER_OF_AXES]) {
int16_t tmp;
osalDbgCheck((ip != NULL) && (axes != NULL));
osalDbgAssert((((L3GD20Driver *)ip)->state == L3GD20_READY),
"read_raw(), invalid state");
#if L3GD20_USE_SPI
osalDbgAssert((((L3GD20Driver *)ip)->config->spip->state == SPI_READY),
"read_raw(), channel not ready");
#if L3GD20_SHARED_SPI
spiAcquireBus(((L3GD20Driver *)ip)->config->spip);
spiStart(((L3GD20Driver *)ip)->config->spip,
((L3GD20Driver *)ip)->config->spicfg);
#endif /* L3GD20_SHARED_SPI */
if(((L3GD20Driver *)ip)->config->axesenabling & L3GD20_AE_X){
tmp = l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip,
L3GD20_AD_OUT_X_L);
tmp += l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip,
L3GD20_AD_OUT_X_H) << 8;
axes[0] = (int32_t)tmp + ((L3GD20Driver *)ip)->bias[0];
}
if(((L3GD20Driver *)ip)->config->axesenabling & L3GD20_AE_Y){
tmp = l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip,
L3GD20_AD_OUT_Y_L);
tmp += l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip,
L3GD20_AD_OUT_Y_H) << 8;
axes[1] = (int32_t)tmp + ((L3GD20Driver *)ip)->bias[1];
}
if(((L3GD20Driver *)ip)->config->axesenabling & L3GD20_AE_Z){
tmp = l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip,
L3GD20_AD_OUT_Z_L);
tmp += l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip,
L3GD20_AD_OUT_Z_H) << 8;
axes[2] = (int32_t)tmp + ((L3GD20Driver *)ip)->bias[2];
}
#if L3GD20_SHARED_SPI
spiReleaseBus(((L3GD20Driver *)ip)->config->spip);
#endif /* L3GD20_SHARED_SPI */
#endif /* L3GD20_USE_SPI */
return MSG_OK;
}
static msg_t read_cooked(void *ip, float axes[]) {
uint32_t i;
int32_t raw[L3GD20_NUMBER_OF_AXES];
msg_t msg;
osalDbgCheck((ip != NULL) && (axes != NULL));
osalDbgAssert((((L3GD20Driver *)ip)->state == L3GD20_READY),
"read_cooked(), invalid state");
msg = read_raw(ip, raw);
for(i = 0; i < L3GD20_NUMBER_OF_AXES ; i++){
axes[i] = raw[i] * ((L3GD20Driver *)ip)->sensitivity[i];
}
return msg;
}
static msg_t sample_bias(void *ip) {
uint32_t i, j;
int32_t raw[L3GD20_NUMBER_OF_AXES];
int32_t buff[L3GD20_NUMBER_OF_AXES] = {0, 0, 0};
osalDbgCheck(ip != NULL);
osalDbgAssert((((L3GD20Driver *)ip)->state == L3GD20_READY),
"sample_bias(), invalid state");
for(i = 0; i < L3GD20_BIAS_ACQ_TIMES; i++){
read_raw(ip, raw);
for(j = 0; j < L3GD20_NUMBER_OF_AXES; j++){
buff[j] += raw[j];
}
osalThreadSleepMicroseconds(L3GD20_BIAS_SETTLING_uS);
}
for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++){
((L3GD20Driver *)ip)->bias[i] = buff[i] / L3GD20_BIAS_ACQ_TIMES;
}
return MSG_OK;
}
static msg_t set_bias(void *ip, int32_t *bp) {
uint32_t i;
osalDbgCheck((ip != NULL) && (bp !=NULL));
osalDbgAssert((((L3GD20Driver *)ip)->state == L3GD20_READY) ||
(((L3GD20Driver *)ip)->state == L3GD20_STOP),
"set_bias(), invalid state");
for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++) {
((L3GD20Driver *)ip)->bias[i] = bp[i];
}
return MSG_OK;
}
static msg_t reset_bias(void *ip) {
uint32_t i;
osalDbgCheck(ip != NULL);
osalDbgAssert((((L3GD20Driver *)ip)->state == L3GD20_READY) ||
(((L3GD20Driver *)ip)->state == L3GD20_STOP),
"reset_bias(), invalid state");
for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
((L3GD20Driver *)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((((L3GD20Driver *)ip)->state == L3GD20_READY),
"set_sensivity(), invalid state");
for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++) {
((L3GD20Driver *)ip)->sensitivity[i] = sp[i];
}
return MSG_OK;
}
static msg_t reset_sensivity(void *ip) {
uint32_t i;
osalDbgCheck(ip != NULL);
osalDbgAssert((((L3GD20Driver *)ip)->state == L3GD20_READY),
"reset_sensivity(), invalid state");
if(((L3GD20Driver *)ip)->config->fullscale == L3GD20_FS_250DPS)
for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
((L3GD20Driver *)ip)->sensitivity[i] = L3GD20_SENS_250DPS;
else if(((L3GD20Driver *)ip)->config->fullscale == L3GD20_FS_500DPS)
for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
((L3GD20Driver *)ip)->sensitivity[i] = L3GD20_SENS_500DPS;
else if(((L3GD20Driver *)ip)->config->fullscale == L3GD20_FS_2000DPS)
for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
((L3GD20Driver *)ip)->sensitivity[i] = L3GD20_SENS_2000DPS;
else {
osalDbgAssert(FALSE, "reset_sensivity(), full scale issue");
return MSG_RESET;
}
return MSG_OK;
}
static msg_t get_temperature(void *ip, float* tempp) {
#if L3GD20_USE_SPI
osalDbgAssert((((L3GD20Driver *)ip)->config->spip->state == SPI_READY),
"read_raw(), channel not ready");
#if L3GD20_SHARED_SPI
spiAcquireBus(((L3GD20Driver *)ip)->config->spip);
spiStart(((L3GD20Driver *)ip)->config->spip,
((L3GD20Driver *)ip)->config->spicfg);
#endif /* L3GD20_SHARED_SPI */
*tempp = (int8_t)l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip,
L3GD20_AD_OUT_TEMP);
#if L3GD20_SHARED_SPI
spiReleaseBus(((L3GD20Driver *)ip)->config->spip);
#endif /* L3GD20_SHARED_SPI */
#endif /* L3GD20_USE_SPI */
return MSG_OK;
}
static const struct BaseSensorVMT vmt_basesensor = {
get_axes_number, read_raw, read_cooked
};
static const struct BaseGyroscopeVMT vmt_basegyroscope = {
get_axes_number, read_raw, read_cooked,
sample_bias, set_bias, reset_bias,
set_sensivity, reset_sensivity
};
static const struct L3GD20VMT vmt_l3gd20 = {
get_axes_number, read_raw, read_cooked,
sample_bias, set_bias, reset_bias,
set_sensivity, reset_sensivity, get_temperature
};
/*===========================================================================*/
/* Driver exported functions. */
/*===========================================================================*/
/**
* @brief Initializes an instance.
*
* @param[out] devp pointer to the @p L3GD20Driver object
*
* @init
*/
void l3gd20ObjectInit(L3GD20Driver *devp) {
uint32_t i;
devp->vmt_basesensor = &vmt_basesensor;
devp->vmt_basegyroscope = &vmt_basegyroscope;
devp->vmt_l3gd20 = &vmt_l3gd20;
devp->config = NULL;
for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
devp->bias[i] = 0;
devp->state = L3GD20_STOP;
}
/**
* @brief Configures and activates L3GD20 Complex Driver peripheral.
*
* @param[in] devp pointer to the @p L3GD20Driver object
* @param[in] config pointer to the @p L3GD20Config object
*
* @api
*/
void l3gd20Start(L3GD20Driver *devp, const L3GD20Config *config) {
uint32_t i;
osalDbgCheck((devp != NULL) && (config != NULL));
osalDbgAssert((devp->state == L3GD20_STOP) || (devp->state == L3GD20_READY),
"l3gd20Start(), invalid state");
devp->config = config;
#if L3GD20_USE_SPI
#if L3GD20_SHARED_SPI
spiAcquireBus((devp)->config->spip);
#endif /* L3GD20_SHARED_SPI */
spiStart((devp)->config->spip,
(devp)->config->spicfg);
l3gd20SPIWriteRegister(devp->config->spip, L3GD20_AD_CTRL_REG1,
devp->config->axesenabling |
L3GD20_PM_SLEEP_NORMAL |
devp->config->outputdatarate);
l3gd20SPIWriteRegister(devp->config->spip, L3GD20_AD_CTRL_REG4,
devp->config->fullscale |
devp->config->blockdataupdate |
devp->config->endianness);
#if L3GD20_SHARED_SPI
spiReleaseBus((devp)->config->spip);
#endif /* L3GD20_SHARED_SPI */
#endif /* L3GD20_USE_SPI */
/* Storing sensitivity information according to full scale value */
if(devp->config->fullscale == L3GD20_FS_250DPS)
for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = L3GD20_SENS_250DPS;
else if(devp->config->fullscale == L3GD20_FS_500DPS)
for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = L3GD20_SENS_500DPS;
else if(devp->config->fullscale == L3GD20_FS_2000DPS)
for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = L3GD20_SENS_2000DPS;
else
osalDbgAssert(FALSE, "l3gd20Start(), full scale issue");
/* This is the Gyroscope transient recovery time */
osalThreadSleepMilliseconds(10);
devp->state = L3GD20_READY;
}
/**
* @brief Deactivates the L3GD20 Complex Driver peripheral.
*
* @param[in] devp pointer to the @p L3GD20Driver object
*
* @api
*/
void l3gd20Stop(L3GD20Driver *devp) {
osalDbgCheck(devp != NULL);
osalDbgAssert((devp->state == L3GD20_STOP) || (devp->state == L3GD20_READY),
"l3gd20Stop(), invalid state");
#if (L3GD20_USE_SPI)
if (devp->state == L3GD20_STOP) {
#if L3GD20_SHARED_SPI
spiAcquireBus((devp)->config->spip);
spiStart((devp)->config->spip,
(devp)->config->spicfg);
#endif /* L3GD20_SHARED_SPI */
l3gd20SPIWriteRegister(devp->config->spip, L3GD20_AD_CTRL_REG1,
L3GD20_PM_POWER_DOWN | L3GD20_AE_DISABLED);
spiStop((devp)->config->spip);
#if L3GD20_SHARED_SPI
spiReleaseBus((devp)->config->spip);
#endif /* L3GD20_SHARED_SPI */
}
#endif /* L3GD20_USE_SPI */
devp->state = L3GD20_STOP;
}
/** @} */
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