Updated LIS302DL driver

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@11702 110e8d01-0319-4d1e-a829-52ad28d1bb01

5 files changed, 573 insertions, 352 deletions

diff --git a/os/ex/ST/lis302dl.c b/os/ex/ST/lis302dl.c
index 58eaf2d57..1bcb8851d 100644
--- a/os/ex/ST/lis302dl.c
+++ b/os/ex/ST/lis302dl.c
@@ -1,5 +1,5 @@
 /*

-    ChibiOS - Copyright (C) 2016 Rocco Marco Guglielmi

+    ChibiOS - Copyright (C) 2016-2018 Rocco Marco Guglielmi

 

     This file is part of ChibiOS.

 

@@ -86,157 +86,291 @@ static void lis302dlSPIWriteRegister(SPIDriver *spip, uint8_t reg, size_t n,
 }

 #endif /* LIS302DL_USE_SPI */

 

-/*

- * Interface implementation.

+/**

+ * @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 get_axes_number(void *ip) {

-

-  osalDbgCheck(ip != NULL);

-  return LIS302DL_NUMBER_OF_AXES;

+static size_t acc_get_axes_number(void *ip) {

+  (void)ip;

+                

+  return LIS302DL_ACC_NUMBER_OF_AXES;

 }

 

-static msg_t read_raw(void *ip, int32_t axes[LIS302DL_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[]) {

+  LIS302DLDriver* devp;

   uint8_t i, tmp;

+  msg_t msg = MSG_OK;

 

   osalDbgCheck((ip != NULL) && (axes != NULL));

+    

+  /* Getting parent instance pointer.*/

+  devp = objGetInstance(LIS302DLDriver*, (BaseAccelerometer*)ip);

 

-  osalDbgAssert((((LIS302DLDriver *)ip)->state == LIS302DL_READY),

-              "read_raw(), invalid state");

+  osalDbgAssert((devp->state == LIS302DL_READY),

+                "acc_read_raw(), invalid state");

 

 #if LIS302DL_USE_SPI

-  osalDbgAssert((((LIS302DLDriver *)ip)->config->spip->state == SPI_READY),

-                "read_raw(), channel not ready");

-

 #if	LIS302DL_SHARED_SPI

-  spiAcquireBus(((LIS302DLDriver *)ip)->config->spip);

-  spiStart(((LIS302DLDriver *)ip)->config->spip,

-          ((LIS302DLDriver *)ip)->config->spicfg);

+  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 /* LIS302DL_SHARED_SPI */

 

-    for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++) {

-      lis302dlSPIReadRegister(((LIS302DLDriver *)ip)->config->spip,

+    for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++) {

+      lis302dlSPIReadRegister(devp->config->spip,

                               LIS302DL_AD_OUT_X + (i * 2), 1, &tmp);

       axes[i] = (int32_t)((int8_t)tmp);

     }

 

 #if	LIS302DL_SHARED_SPI

-  spiReleaseBus(((LIS302DLDriver *)ip)->config->spip);

-#endif /* LIS302DL_SHARED_SPI */

-

-#endif /* LIS302DL_USE_SPI */ 

-  return MSG_OK;

+  spiReleaseBus(devp->config->spip);

+#endif /* LIS302DL_SHARED_SPI */   

+#endif /* LIS302DL_USE_SPI */

+  return msg;

 }

 

-static msg_t read_cooked(void *ip, float 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] 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[]) {

+  LIS302DLDriver* devp;

   uint32_t i;

-  int32_t raw[LIS302DL_NUMBER_OF_AXES];

+  int32_t raw[LIS302DL_ACC_NUMBER_OF_AXES];

   msg_t msg;

 

   osalDbgCheck((ip != NULL) && (axes != NULL));

 

-  osalDbgAssert((((LIS302DLDriver *)ip)->state == LIS302DL_READY),

-                "read_cooked(), invalid state");

+  /* Getting parent instance pointer.*/

+  devp = objGetInstance(LIS302DLDriver*, (BaseAccelerometer*)ip);

+

+  osalDbgAssert((devp->state == LIS302DL_READY),

+                "acc_read_cooked(), invalid state");

 

-  msg = read_raw(ip, raw);

-  for(i = 0; i < LIS302DL_NUMBER_OF_AXES ; i++){

-    axes[i] = (raw[i] * ((LIS302DLDriver *)ip)->sensitivity[i]);

-    axes[i] -= ((LIS302DLDriver *)ip)->bias[i];

+  msg = acc_read_raw(ip, raw);

+  for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++) {

+    axes[i] = (raw[i] * devp->accsensitivity[i]) - devp->accbias[i];

   }

   return msg;

 }

 

-static msg_t set_bias(void *ip, float *bp) {

+/**

+ * @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) {

+  LIS302DLDriver* devp;

   uint32_t i;

-  

-  osalDbgCheck((ip != NULL) && (bp !=NULL));

+  msg_t msg = MSG_OK;

 

-  osalDbgAssert((((LIS302DLDriver *)ip)->state == LIS302DL_READY) ||

-                (((LIS302DLDriver *)ip)->state == LIS302DL_STOP),

-                "set_bias(), invalid state");

-  

-  for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++) {

-    ((LIS302DLDriver *)ip)->bias[i] = bp[i];

+  osalDbgCheck((ip != NULL) && (bp != NULL));

+

+  /* Getting parent instance pointer.*/

+  devp = objGetInstance(LIS302DLDriver*, (BaseAccelerometer*)ip);

+

+  osalDbgAssert((devp->state == LIS302DL_READY),

+                "acc_set_bias(), invalid state");

+

+  for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++) {

+    devp->accbias[i] = bp[i];

   }

-  return MSG_OK;

+  return msg;

 }

 

-static msg_t reset_bias(void *ip) {

+/**

+ * @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) {

+  LIS302DLDriver* devp;

   uint32_t i;

+  msg_t msg = MSG_OK;

 

   osalDbgCheck(ip != NULL);

+    

+  /* Getting parent instance pointer.*/

+  devp = objGetInstance(LIS302DLDriver*, (BaseAccelerometer*)ip);

 

-  osalDbgAssert((((LIS302DLDriver *)ip)->state == LIS302DL_READY) ||

-                (((LIS302DLDriver *)ip)->state == LIS302DL_STOP),

-              "reset_bias(), invalid state");

+  osalDbgAssert((devp->state == LIS302DL_READY),

+                "acc_reset_bias(), invalid state");

 

-  for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)

-    ((LIS302DLDriver *)ip)->bias[i] = 0;

-  return MSG_OK;

+  for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++)

+    devp->accbias[i] = LIS302DL_ACC_BIAS;

+  return msg;

 }

 

-static msg_t set_sensivity(void *ip, float *sp) {

+/**

+ * @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) {

+  LIS302DLDriver* devp;

   uint32_t i;

-  

-  osalDbgCheck((ip != NULL) && (sp !=NULL));

+  msg_t msg = MSG_OK;

 

-  osalDbgAssert((((LIS302DLDriver *)ip)->state == LIS302DL_READY),

-                "set_sensivity(), invalid state");

-  

-  for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++) {

-    ((LIS302DLDriver *)ip)->sensitivity[i] = sp[i];

+  /* Getting parent instance pointer.*/

+  devp = objGetInstance(LIS302DLDriver*, (BaseAccelerometer*)ip);

+

+  osalDbgCheck((ip != NULL) && (sp != NULL));

+

+  osalDbgAssert((devp->state == LIS302DL_READY),

+                "acc_set_sensivity(), invalid state");

+

+  for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++) {

+    devp->accsensitivity[i] = sp[i];

   }

-  return MSG_OK;

+  return msg;

 }

 

-static msg_t reset_sensivity(void *ip) {

+/**

+ * @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) {

+  LIS302DLDriver* devp;

   uint32_t i;

+  msg_t msg = MSG_OK;

 

   osalDbgCheck(ip != NULL);

-

-  osalDbgAssert((((LIS302DLDriver *)ip)->state == LIS302DL_READY),

-                "reset_sensivity(), invalid state");

-

-  if(((LIS302DLDriver *)ip)->config->fullscale == LIS302DL_FS_2G)

-    for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)

-      ((LIS302DLDriver *)ip)->sensitivity[i] = LIS302DL_SENS_2G;

-  else if(((LIS302DLDriver *)ip)->config->fullscale == LIS302DL_FS_8G)

-	for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)

-      ((LIS302DLDriver *)ip)->sensitivity[i] = LIS302DL_SENS_8G;

+    

+  /* Getting parent instance pointer.*/

+  devp = objGetInstance(LIS302DLDriver*, (BaseAccelerometer*)ip);

+

+  osalDbgAssert((devp->state == LIS302DL_READY),

+                "acc_reset_sensivity(), invalid state");

+

+  if(devp->config->accfullscale == LIS302DL_ACC_FS_2G)

+    for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++)

+      devp->accsensitivity[i] = LIS302DL_ACC_SENS_2G;

+  else if(devp->config->accfullscale == LIS302DL_ACC_FS_8G)

+    for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++)

+      devp->accsensitivity[i] = LIS302DL_ACC_SENS_8G;

   else {

-    osalDbgAssert(FALSE, "reset_sensivity(), full scale issue");

+    osalDbgAssert(FALSE, 

+                  "acc_reset_sensivity(), accelerometer full scale issue");

     return MSG_RESET;

   }

-  return MSG_OK;

+  return msg;

 }

 

-static msg_t set_full_scale(void *ip, lis302dl_fs_t fs) {

+/**

+ * @brief   Changes the LIS302DLDriver 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] ip        pointer to @p LIS302DLDriver 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(LIS302DLDriver *devp,

+                                lis302dl_acc_fs_t fs) {

   float newfs, scale;

   uint8_t i, cr;

+  msg_t msg;

 

-  if(fs == LIS302DL_FS_2G) {

-    newfs = LIS302DL_2G;

+  osalDbgCheck(devp != NULL);

+

+  osalDbgAssert((devp->state == LIS302DL_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 == LIS302DL_ACC_FS_2G) {

+    newfs = LIS302DL_ACC_2G;

   }

-  else if(fs == LIS302DL_FS_8G) {

-    newfs = LIS302DL_8G;

+  else if(fs == LIS302DL_ACC_FS_8G) {

+    newfs = LIS302DL_ACC_8G;

   }

   else {

-    return MSG_RESET;

+    msg = MSG_RESET;

+    return msg;

   }

 

-  if(newfs != ((LIS302DLDriver *)ip)->fullscale) {

-    scale = newfs / ((LIS302DLDriver *)ip)->fullscale;

-    ((LIS302DLDriver *)ip)->fullscale = newfs;

+  if(newfs != devp->accfullscale) {

+    /* Computing scale value.*/

+    scale = newfs / devp->accfullscale;

+    devp->accfullscale = newfs;

 

 #if LIS302DL_USE_SPI

 #if LIS302DL_SHARED_SPI

-  spiAcquireBus(((LIS302DLDriver *)ip)->config->spip);

-  spiStart(((LIS302DLDriver *)ip)->config->spip,

-          ((LIS302DLDriver *)ip)->config->spicfg);

+    spiAcquireBus(devp->config->spip);

+    spiStart(devp->config->spip,

+             devp->config->spicfg);

 #endif /* LIS302DL_SHARED_SPI */

-    lis302dlSPIReadRegister(((LIS302DLDriver *)ip)->config->spip,

-                            LIS302DL_AD_CTRL_REG1, 1, &cr);

+

+    /* Getting data from register.*/

+    lis302dlSPIReadRegister(devp->config->spip, LIS302DL_AD_CTRL_REG1, 1, &cr);

+    

 #if LIS302DL_SHARED_SPI

-  spiReleaseBus(((LIS302DLDriver *)ip)->config->spip);

+    spiReleaseBus(devp->config->spip);

 #endif /* LIS302DL_SHARED_SPI */

 #endif /* LIS302DL_USE_SPI */

 

@@ -245,34 +379,37 @@ static msg_t set_full_scale(void *ip, lis302dl_fs_t fs) {
 

 #if LIS302DL_USE_SPI

 #if LIS302DL_SHARED_SPI

-  spiAcquireBus(((LIS302DLDriver *)ip)->config->spip);

-  spiStart(((LIS302DLDriver *)ip)->config->spip,

-          ((LIS302DLDriver *)ip)->config->spicfg);

+    spiAcquireBus(devp->config->spip);

+    spiStart(devp->config->spip,

+             devp->config->spicfg);

 #endif /* LIS302DL_SHARED_SPI */

-    lis302dlSPIWriteRegister(((LIS302DLDriver *)ip)->config->spip,

-                             LIS302DL_AD_CTRL_REG1, 1, &cr);

+

+    /* Getting data from register.*/

+    lis302dlSPIWriteRegister(devp->config->spip, LIS302DL_AD_CTRL_REG1, 1, &cr);

+                           

 #if LIS302DL_SHARED_SPI

-  spiReleaseBus(((LIS302DLDriver *)ip)->config->spip);

+    spiReleaseBus(devp->config->spip);

 #endif /* LIS302DL_SHARED_SPI */

 #endif /* LIS302DL_USE_SPI */

 

     /* Scaling sensitivity and bias. Re-calibration is suggested anyway. */

-    for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++) {

-      ((LIS302DLDriver *)ip)->sensitivity[i] *= scale;

-      ((LIS302DLDriver *)ip)->bias[i] *= scale;

+    for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++) {

+      devp->accsensitivity[i] *= scale;

+      devp->accbias[i] *= scale;

     }

   }

-  return MSG_OK;

+  return msg;

 }

 

-static const struct BaseSensorVMT vmt_sensor = {

-  get_axes_number, read_raw, read_cooked

+static const struct LIS302DLVMT vmt_device = {

+  (size_t)0,

+  acc_set_full_scale

 };

 

-static const struct LIS302DLAccelerometerVMT vmt_accelerometer = {

-  get_axes_number, read_raw, read_cooked,

-  set_bias, reset_bias, set_sensivity, reset_sensivity,

-  set_full_scale

+static const struct BaseAccelerometerVMT vmt_accelerometer = {

+  sizeof(struct LIS302DLVMT*),

+  acc_get_axes_number, acc_read_raw, acc_read_cooked,

+  acc_set_bias, acc_reset_bias, acc_set_sensivity, acc_reset_sensivity

 };

 

 /*===========================================================================*/

@@ -287,13 +424,14 @@ static const struct LIS302DLAccelerometerVMT vmt_accelerometer = {
  * @init

  */

 void lis302dlObjectInit(LIS302DLDriver *devp) {

-  uint32_t i;

-  devp->vmt_sensor = &vmt_sensor;

-  devp->vmt_accelerometer = &vmt_accelerometer;

+  devp->vmt = &vmt_device;

+  devp->acc_if.vmt = &vmt_accelerometer;

+  

   devp->config = NULL;

-  for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)

-    devp->bias[i] = 0.0f;

-  devp->state  = LIS302DL_STOP;

+  

+  devp->accaxes = LIS302DL_ACC_NUMBER_OF_AXES;

+

+  devp->state = LIS302DL_STOP;

 }

 

 /**

@@ -318,15 +456,15 @@ void lis302dlStart(LIS302DLDriver *devp, const LIS302DLConfig *config) {
   {

     cr[0] = LIS302DL_CTRL_REG1_XEN | LIS302DL_CTRL_REG1_YEN | 

             LIS302DL_CTRL_REG1_ZEN | LIS302DL_CTRL_REG1_PD |

-            devp->config->outputdatarate |

-            devp->config->fullscale;

+            devp->config->accoutputdatarate |

+            devp->config->accfullscale;

   }

   

   /* Control register 2 configuration block.*/

   {

 #if LIS302DL_USE_ADVANCED || defined(__DOXYGEN__)

   if(devp->config->hpmode != LIS302DL_HPM_BYPASSED)

-    cr[1] = devp->config->highpass;

+    cr[1] = devp->config->acchighpass;

 #endif

   }

 

@@ -345,31 +483,35 @@ void lis302dlStart(LIS302DLDriver *devp, const LIS302DLConfig *config) {
 #endif /* LIS302DL_USE_SPI */

   

   /* Storing sensitivity information according to full scale value */

-  if(devp->config->fullscale == LIS302DL_FS_2G) {

-    devp->fullscale = LIS302DL_2G;

-    if(devp->config->sensitivity == NULL)

-      for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)

-        devp->sensitivity[i] = LIS302DL_SENS_2G;

+  if(devp->config->accfullscale == LIS302DL_ACC_FS_2G) {

+    devp->accfullscale = LIS302DL_ACC_2G;

+    if(devp->config->accsensitivity == NULL)

+      for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++)

+        devp->accsensitivity[i] = LIS302DL_ACC_SENS_2G;

     else

-      for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)

-        devp->sensitivity[i] = devp->config->sensitivity[i];

+      for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++)

+        devp->accsensitivity[i] = devp->config->accsensitivity[i];

   }

-  else if(devp->config->fullscale == LIS302DL_FS_8G) {

-    devp->fullscale = LIS302DL_8G;

-    if(devp->config->sensitivity == NULL)

-      for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)

-        devp->sensitivity[i] = LIS302DL_SENS_8G;

+  else if(devp->config->accfullscale == LIS302DL_ACC_FS_8G) {

+    devp->accfullscale = LIS302DL_ACC_8G;

+    if(devp->config->accsensitivity == NULL)

+      for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++)

+        devp->accsensitivity[i] = LIS302DL_ACC_SENS_8G;

     else

-      for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)

-        devp->sensitivity[i] = devp->config->sensitivity[i];

+      for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++)

+        devp->accsensitivity[i] = devp->config->accsensitivity[i];

   }

   else {

     osalDbgAssert(FALSE, "lis302dlStart(), accelerometer full scale issue");

   }

 

-  if(devp->config->bias != NULL)

-    for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)

-      devp->bias[i] = devp->config->bias[i];

+  /* Storing bias information according to user setting */

+  if(devp->config->accbias != NULL)

+    for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++)

+      devp->accbias[i] = devp->config->accbias[i];

+  else      

+    for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++)

+      devp->accbias[i] = LIS302DL_ACC_BIAS;

 

   /* This is the Accelerometer transient recovery time */

   osalThreadSleepMilliseconds(10);

@@ -388,7 +530,8 @@ void lis302dlStop(LIS302DLDriver *devp) {
   uint8_t cr1;

   osalDbgCheck(devp != NULL);

 

-  osalDbgAssert((devp->state == LIS302DL_STOP) || (devp->state == LIS302DL_READY),

+  osalDbgAssert((devp->state == LIS302DL_STOP) || 

+                (devp->state == LIS302DL_READY),

                 "lis302dlStop(), invalid state");

 

   if (devp->state == LIS302DL_READY) {

@@ -398,6 +541,7 @@ void lis302dlStop(LIS302DLDriver *devp) {
     spiStart((devp)->config->spip,

              (devp)->config->spicfg);

 #endif /* LIS302DL_SHARED_SPI */

+    /* Disabling all axes and enabling power down mode.*/

     cr1 = 0;

     lis302dlSPIWriteRegister(devp->config->spip, LIS302DL_AD_CTRL_REG1, 1, &cr1);

     spiStop((devp)->config->spip);

diff --git a/os/ex/ST/lis302dl.h b/os/ex/ST/lis302dl.h
index a6e710fc1..be1737d64 100644
--- a/os/ex/ST/lis302dl.h
+++ b/os/ex/ST/lis302dl.h
@@ -1,5 +1,5 @@
 /*

-    ChibiOS - Copyright (C) 2016 Rocco Marco Guglielmi

+    ChibiOS - Copyright (C) 2016-2018 Rocco Marco Guglielmi

 

     This file is part of ChibiOS.

 

@@ -43,7 +43,7 @@
 /**

  * @brief   LIS302DL driver version string.

  */

-#define EX_LIS302DL_VERSION                 "1.0.4"

+#define EX_LIS302DL_VERSION                 "1.0.5"

 

 /**

  * @brief   LIS302DL driver version major number.

@@ -58,21 +58,26 @@
 /**

  * @brief   LIS302DL driver version patch number.

  */

-#define EX_LIS302DL_PATCH                   4

+#define EX_LIS302DL_PATCH                   5

 /** @} */

 

 /**

- * @brief   LIS302DL characteristics.

+ * @brief   LIS302DL 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 LIS302DL_NUMBER_OF_AXES             3U

+#define LIS302DL_ACC_NUMBER_OF_AXES         3U

                                             

-#define LIS302DL_2G                         2.0f

-#define LIS302DL_8G                         8.0f

+#define LIS302DL_ACC_2G                     2.0f

+#define LIS302DL_ACC_8G                     8.0f

                                             

-#define LIS302DL_SENS_2G                    18.0f

-#define LIS302DL_SENS_8G                    72.0f

+#define LIS302DL_ACC_SENS_2G                18.0f

+#define LIS302DL_ACC_SENS_8G                72.0f

+

+#define LIS302DL_ACC_BIAS                   0.0f

 /** @} */

 

 /**

@@ -121,45 +126,45 @@
  * @name    LIS302DL_CTRL_REG1 register bits definitions

  * @{

  */

-#define LIS302DL_CTRL_REG1_MASK     0xFF        /**< LIS302DL_CTRL_REG1 mask  */

-#define LIS302DL_CTRL_REG1_XEN      (1 << 0)    /**< X axis enable            */

-#define LIS302DL_CTRL_REG1_YEN      (1 << 1)    /**< Y axis enable            */

-#define LIS302DL_CTRL_REG1_ZEN      (1 << 2)    /**< Z axis enable            */

-#define LIS302DL_CTRL_REG1_STM      (1 << 3)    /**< Self test P-M            */

-#define LIS302DL_CTRL_REG1_STP      (1 << 4)    /**< Self test P-M            */

-#define LIS302DL_CTRL_REG1_FS_MASK  0x20        /**< Full scale field mask    */

-#define LIS302DL_CTRL_REG1_FS       (1 << 5)    /**< Full scale               */

-#define LIS302DL_CTRL_REG1_PD       (1 << 6)    /**< Power-down mode enable   */

-#define LIS302DL_CTRL_REG1_DR       (1 << 7)    /**< Output data rate         */

+#define LIS302DL_CTRL_REG1_MASK             0xFF    

+#define LIS302DL_CTRL_REG1_XEN              (1 << 0)

+#define LIS302DL_CTRL_REG1_YEN              (1 << 1)

+#define LIS302DL_CTRL_REG1_ZEN              (1 << 2)

+#define LIS302DL_CTRL_REG1_STM              (1 << 3)

+#define LIS302DL_CTRL_REG1_STP              (1 << 4)

+#define LIS302DL_CTRL_REG1_FS_MASK          0x20    

+#define LIS302DL_CTRL_REG1_FS               (1 << 5)

+#define LIS302DL_CTRL_REG1_PD               (1 << 6)

+#define LIS302DL_CTRL_REG1_DR               (1 << 7)

 /** @} */

 

 /**

  * @name    LIS302DL_CTRL_REG2 register bits definitions

  * @{

  */                                              

-#define LIS302DL_CTRL_REG2_MASK     0xDF        /**< LIS302DL_CTRL_REG2 mask  */

-#define LIS302DL_CTRL_REG2_HPCF1    (1 << 0)    /**< HP filter cutoff bit 0   */

-#define LIS302DL_CTRL_REG2_HPCF2    (1 << 1)    /**< HP filter cutoff bit 1   */

-#define LIS302DL_CTRL_REG2_HPFFWU1  (1 << 2)    /**< HP filter cutoff bit 2   */

-#define LIS302DL_CTRL_REG2_HPFFWU2  (1 << 3)    /**< HP filter cutoff bit 3   */

-#define LIS302DL_CTRL_REG2_FDS      (1 << 4)    /**< HP filter mode bit 0     */

-#define LIS302DL_CTRL_REG2_BOOT     (1 << 6)    /**< HP filter mode bit 1     */

-#define LIS302DL_CTRL_REG2_SIM      (1 << 7)    /**< HP filter mode bit 1     */

+#define LIS302DL_CTRL_REG2_MASK             0xDF    

+#define LIS302DL_CTRL_REG2_HPCF1            (1 << 0)

+#define LIS302DL_CTRL_REG2_HPCF2            (1 << 1)

+#define LIS302DL_CTRL_REG2_HPFFWU1          (1 << 2)

+#define LIS302DL_CTRL_REG2_HPFFWU2          (1 << 3)

+#define LIS302DL_CTRL_REG2_FDS              (1 << 4)

+#define LIS302DL_CTRL_REG2_BOOT             (1 << 6)

+#define LIS302DL_CTRL_REG2_SIM              (1 << 7)

 /** @} */

 

 /**

  * @name    LIS302DL_CTRL_REG3 register bits definitions

  * @{

  */                                               

-#define LIS302DL_CTRL_REG3_MASK     0xFF        /**< LIS302DL_CTRL_REG3 mask  */

-#define LIS302DL_CTRL_REG3_I1CFG0   (1 << 0)    /**< Interrupt 1 config bit 0 */

-#define LIS302DL_CTRL_REG3_I1CFG1   (1 << 1)    /**< Interrupt 1 config bit 1 */

-#define LIS302DL_CTRL_REG3_I1CFG2   (1 << 2)    /**< Interrupt 1 config bit 2 */

-#define LIS302DL_CTRL_REG3_I2CFG0   (1 << 3)    /**< Interrupt 2 config bit 0 */

-#define LIS302DL_CTRL_REG3_I2CFG1   (1 << 4)    /**< Interrupt 2 config bit 1 */

-#define LIS302DL_CTRL_REG3_I2CFG2   (1 << 5)    /**< Interrupt 2 config bit 2 */

-#define LIS302DL_CTRL_REG3_PP_OD    (1 << 6)    /**< Push-pull open-drain     */

-#define LIS302DL_CTRL_REG3_IHL      (1 << 7)    /**< Int active high low      */

+#define LIS302DL_CTRL_REG3_MASK             0xFF    

+#define LIS302DL_CTRL_REG3_I1CFG0           (1 << 0)

+#define LIS302DL_CTRL_REG3_I1CFG1           (1 << 1)

+#define LIS302DL_CTRL_REG3_I1CFG2           (1 << 2)

+#define LIS302DL_CTRL_REG3_I2CFG0           (1 << 3)

+#define LIS302DL_CTRL_REG3_I2CFG1           (1 << 4)

+#define LIS302DL_CTRL_REG3_I2CFG2           (1 << 5)

+#define LIS302DL_CTRL_REG3_PP_OD            (1 << 6)

+#define LIS302DL_CTRL_REG3_IHL              (1 << 7)

 /** @} */

 

 /*===========================================================================*/

@@ -180,6 +185,16 @@
 #endif

 

 /**

+ * @brief   LIS302DL 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(LIS302DL_SHARED_SPI) || defined(__DOXYGEN__)

+#define LIS302DL_SHARED_SPI                 FALSE

+#endif

+

+/**

  * @brief   LIS302DL I2C interface switch.

  * @details If set to @p TRUE the support for I2C is included.

  * @note    The default is @p FALSE.

@@ -189,22 +204,23 @@
 #endif

 

 /**

- * @brief   LIS302DL advanced configurations switch.

- * @details If set to @p TRUE more configurations are available.

- * @note    The default is @p FALSE.

+ * @brief   LIS302DL 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(LIS302DL_USE_ADVANCED) || defined(__DOXYGEN__)

-#define LIS302DL_USE_ADVANCED               FALSE

+#if !defined(LIS302DL_SHARED_I2C) || defined(__DOXYGEN__)

+#define LIS302DL_SHARED_I2C                 FALSE

 #endif

 

 /**

- * @brief   LIS302DL 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.

+ * @brief   LIS302DL accelerometer subsystem advanced configurations 

+ *          switch.

+ * @details If set to @p TRUE more configurations are available.

+ * @note    The default is @p FALSE.

  */

-#if !defined(LIS302DL_SHARED_SPI) || defined(__DOXYGEN__)

-#define LIS302DL_SHARED_SPI                 FALSE

+#if !defined(LIS302DL_ACC_USE_ADVANCED) || defined(__DOXYGEN__)

+#define LIS302DL_ACC_USE_ADVANCED           FALSE

 #endif

 /** @} */

 

@@ -220,12 +236,23 @@
 #error "LIS302DL_USE_SPI requires HAL_USE_SPI"

 #endif

 

+#if LIS302DL_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION

+#error "LIS302DL_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION"

+#endif

+

 #if LIS302DL_USE_I2C && !HAL_USE_I2C

 #error "LIS302DL_USE_I2C requires HAL_USE_I2C"

 #endif

 

-#if LIS302DL_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION

-#error "LIS302DL_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION"

+#if LIS302DL_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION

+#error "LIS302DL_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION"

+#endif

+

+/**

+ * @todo    Add support for LIS302DL over I2C.

+ */

+#if LIS302DL_USE_I2C

+#error "LIS302DL over I2C still not supported"

 #endif

 

 /*===========================================================================*/

@@ -237,31 +264,36 @@
  * @{

  */

 /**

+ * @brief   Structure representing a LIS302DL driver.

+ */

+typedef struct LIS302DLDriver LIS302DLDriver;

+

+/**

  * @brief   LIS302DL full scale.

  */

 typedef enum {

-  LIS302DL_FS_2G = 0x00,            /**< Full scale ±2g.                    */

-  LIS302DL_FS_8G = 0x20             /**< Full scale ±8g.                    */

-}lis302dl_fs_t;

+  LIS302DL_ACC_FS_2G = 0x00,        /**< Full scale ±2g.                    */

+  LIS302DL_ACC_FS_8G = 0x20         /**< Full scale ±8g.                    */

+}lis302dl_acc_fs_t;

 

 /**

  * @brief   LIS302DL output data rate and bandwidth.

  */

 typedef enum {

-  LIS302DL_ODR_100HZ = 0x00,        /**< ODR 100 Hz.                        */

-  LIS302DL_ODR_400HZ = 0x80         /**< ODR 400 Hz.                        */

-}lis302dl_odr_t;

+  LIS302DL_ACC_ODR_100HZ = 0x00,    /**< ODR 100 Hz.                        */

+  LIS302DL_ACC_ODR_400HZ = 0x80     /**< ODR 400 Hz.                        */

+}lis302dl_acc_odr_t;

 

 /**

  * @brief   LIS302DL high pass filtering.

  */

 typedef enum {

-  LIS302DL_HP_DISABLED = 0x00,      /**< HP bypassed.                       */

-  LIS302DL_HP_0 = 0x10,             /**< HP cutoff 2Hz (ODR 100Hz) or 8Hz   */

-  LIS302DL_HP_1 = 0x11,             /**< HP cutoff 1Hz or 4Hz               */

-  LIS302DL_HP_2 = 0x12,             /**< HP cutoff 0.5Hz or 2Hz             */

-  LIS302DL_HP_3 = 0x13              /**< HP cutoff 0.25Hz or 1Hz            */

-}lis302dl_hp_t;

+  LIS302DL_ACC_HP_DISABLED = 0x00,  /**< HP bypassed.                       */

+  LIS302DL_ACC_HP_0 = 0x10,         /**< HP cutoff 2Hz (ODR 100Hz) or 8Hz   */

+  LIS302DL_ACC_HP_1 = 0x11,         /**< HP cutoff 1Hz or 4Hz               */

+  LIS302DL_ACC_HP_2 = 0x12,         /**< HP cutoff 0.5Hz or 2Hz             */

+  LIS302DL_ACC_HP_3 = 0x13          /**< HP cutoff 0.25Hz or 1Hz            */

+}lis302dl_acc_hp_t;

 

 /**

  * @brief   Driver state machine possible states.

@@ -298,52 +330,51 @@ typedef struct {
   const I2CConfig           *i2ccfg;

 #endif /* LIS302DL_USE_I2C */

   /**

-   * @brief LIS302DL initial sensitivity.

+   * @brief LIS302DL accelerometer subsystem initial sensitivity.

    */

-  float                     *sensitivity;

+  float                     *accsensitivity;

   /**

-   * @brief LIS302DL initial bias.

+   * @brief LIS302DL accelerometer subsystem initial bias.

    */

-  float                     *bias;

+  float                     *accbias;

   /**

-   * @brief LIS302DL full scale value.

+   * @brief LIS302DL accelerometer subsystem initial full scale.

    */

-  lis302dl_fs_t             fullscale;

+  lis302dl_acc_fs_t         accfullscale;

   /**

    * @brief LIS302DL output data rate selection.

    */

-  lis302dl_odr_t            outputdatarate;

+  lis302dl_acc_odr_t        accoutputdatarate;

 #if LIS302DL_USE_ADVANCED || defined(__DOXYGEN__)

   /**

    * @brief LIS302DL high pass filtering.

    */

-  lis302dl_hp_t             highpass;

+  lis302dl_acc_hp_t         acchighpass;

 #endif

 } LIS302DLConfig;

 

 /**

- * @brief   @p LIS302DL accelerometer subsystem specific methods.

+ * @brief   @p LIS302DL specific methods.

  */

-#define _lis302dl_accelerometer_methods_alone                               \

+#define _lis302dl_methods_alone                                             \

   /* Change full scale value of LIS302DL .*/                                \

-  msg_t (*set_full_scale)(void *instance, lis302dl_fs_t fs);

+  msg_t (*set_full_scale)(LIS302DLDriver *devp, lis302dl_acc_fs_t fs);

    

    

 /**

- * @brief   @p LIS302DL accelerometer subsystem specific methods with inherited 

- *          ones.

+ * @brief   @p LIS302DL specific methods with inherited ones.

  */

-#define _lis302dl_accelerometer_methods                                     \

-  _base_accelerometer_methods                                               \

-  _lis302dl_accelerometer_methods_alone

+#define _lis302dl_methods                                                   \

+  _base_object_methods                                                      \

+  _lis302dl_methods_alone

 

 /**

- * @extends BaseAccelerometerVMT

+ * @extends BaseObjectVMT

  *

  * @brief   @p LIS302DL accelerometer virtual methods table.

  */

-struct LIS302DLAccelerometerVMT {

-  _lis302dl_accelerometer_methods

+struct LIS302DLVMT {

+  _lis302dl_methods

 };

 

 /**

@@ -354,34 +385,25 @@ struct LIS302DLAccelerometerVMT {
   lis302dl_state_t          state;                                          \

   /* Current configuration data.*/                                          \

   const LIS302DLConfig      *config;                                        \

+  /* Accelerometer subsystem axes number.*/                                 \

+  size_t                    accaxes;                                        \

   /* Current sensitivity.*/                                                 \

-  float                     sensitivity[LIS302DL_NUMBER_OF_AXES];           \

+  float                     accsensitivity[LIS302DL_ACC_NUMBER_OF_AXES];    \

   /* Bias data.*/                                                           \

-  int32_t                   bias[LIS302DL_NUMBER_OF_AXES];                  \

+  int32_t                   accbias[LIS302DL_ACC_NUMBER_OF_AXES];           \

   /* Current full scale value.*/                                            \

-  float                     fullscale;

+  float                     accfullscale;

 

 /**

- * @extends BaseAccelerometer

- *

  * @brief   LIS302DL 3-axis accelerometer class.

- * @details This class extends @p BaseAccelerometer by adding physical

- *          driver implementation.

  */

 struct LIS302DLDriver {

-  /** @brief BaseSensor Virtual Methods Table. */

-  const struct BaseSensorVMT *vmt_sensor;

-  _base_sensor_data

-  /** @brief BaseAccelerometer Virtual Methods Table. */

-  const struct LIS302DLAccelerometerVMT *vmt_accelerometer;

-  _base_accelerometer_data

+  /** @brief Virtual Methods Table.*/

+  const struct LIS302DLVMT     *vmt;

+  /** @brief Base accelerometer interface.*/

+  BaseAccelerometer           acc_if;

   _lis302dl_data

 };

-

-/**

- * @brief   Structure representing a LIS302DL driver.

- */

-typedef struct LIS302DLDriver LIS302DLDriver;

 /** @} */

 

 /*===========================================================================*/

@@ -389,19 +411,141 @@ typedef struct LIS302DLDriver LIS302DLDriver;
 /*===========================================================================*/

 

 /**

- * @brief   Change accelerometer fullscale value.

+ * @brief   Return the number of axes of the BaseAccelerometer.

+ *

+ * @param[in] devp      pointer to @p LIS302DLDriver.

  *

- * @param[in] ip        pointer to a @p LIS302DLDriver class.

- * @param[in] fs        the new full scale value.

+ * @return              the number of axes.

+ *

+ * @api

+ */

+#define lis302dlAccelerometerGetAxesNumber(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 LIS302DLDriver.

+ * @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 errors occurred.

+ * @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 lis302dlAccelerometerReadRaw(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 LIS302DLDriver.

+ * @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 lis302dlAccelerometerReadCooked(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 LIS302DLDriver.

+ * @param[in] bp        a buffer which contains biases.

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ *

+ * @api

+ */

+#define lis302dlAccelerometerSetBias(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 LIS302DLDriver.

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ *

+ * @api

+ */

+#define lis302dlAccelerometerResetBias(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 LIS302DLDriver.

+ * @param[in] sp        a buffer which contains sensitivities.

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ *

+ * @api

+ */

+#define lis302dlAccelerometerSetSensitivity(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 LIS302DLDriver.

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ * @retval MSG_RESET    otherwise.

+ *

+ * @api

+ */

+#define lis302dlAccelerometerResetSensitivity(devp)                         \

+        accelerometerResetSensitivity(&((devp)->acc_if))

+

+/**

+ * @brief   Changes the LIS302DLDriver 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 LIS302DLDriver.

+ * @param[in] fs        new fullscale value.

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ * @retval MSG_RESET    otherwise.

+ *

  * @api

  */

-#define accelerometerSetFullScale(ip, fs)                                   \

-        (ip)->vmt_accelerometer->set_full_scale(ip, fs)

-        

+#define lis302dlAccelerometerSetFullScale(devp, fs)                         \

+        (devp)->vmt->acc_set_full_scale(devp, fs)

 

 /*===========================================================================*/

 /* External declarations.                                                    */

diff --git a/testex/STM32/STM32F4xx/SPI-LIS302DL/Makefile b/testex/STM32/STM32F4xx/SPI-LIS302DL/Makefile
index 6a70d7b0e..b7f62bcc9 100644
--- a/testex/STM32/STM32F4xx/SPI-LIS302DL/Makefile
+++ b/testex/STM32/STM32F4xx/SPI-LIS302DL/Makefile
@@ -71,7 +71,7 @@ endif
 

 # Enables the use of FPU (no, softfp, hard).

 ifeq ($(USE_FPU),)

-  USE_FPU = hard

+  USE_FPU = no

 endif

 

 #

@@ -87,6 +87,9 @@ PROJECT = ch
 

 # Imported source files and paths

 CHIBIOS = ../../../..

+

+# Licensing files.

+include $(CHIBIOS)/os/license/license.mk

 # Startup files.

 include $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f4xx.mk

 # HAL-OSAL files (optional).

@@ -97,10 +100,10 @@ include $(CHIBIOS)/os/hal/osal/rt/osal.mk
 # RTOS files (optional).

 include $(CHIBIOS)/os/rt/rt.mk

 include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk

-# Other files (optional).

+# EX files (optional)..

 include $(CHIBIOS)/os/ex/ST/lis302dl.mk

+# Other files (optional).

 include $(CHIBIOS)/os/hal/lib/streams/streams.mk

-include $(CHIBIOS)/os/various/shell/shell.mk

 

 # Define linker script file here

 LDSCRIPT= $(STARTUPLD)/STM32F407xG.ld

@@ -114,14 +117,20 @@ CSRC = $(STARTUPSRC) \
        $(HALSRC) \

        $(PLATFORMSRC) \

        $(BOARDSRC) \

-	   $(LIS302DLSRC) \

+       $(LIS3DSHSRC) \

        $(STREAMSSRC) \

        $(SHELLSRC) \

        usbcfg.c main.c

 

+# C sources that can be compiled in ARM or THUMB mode depending on the global

+# setting.

+CSRC = $(ALLCSRC) \

+       $(TESTSRC) \

+       usbcfg.c main.c

+

 # C++ sources that can be compiled in ARM or THUMB mode depending on the global

 # setting.

-CPPSRC =

+CPPSRC = $(ALLCPPSRC)

 

 # C sources to be compiled in ARM mode regardless of the global setting.

 # NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler

@@ -147,10 +156,7 @@ TCPPSRC =
 ASMSRC =

 ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)

 

-INCDIR = $(CHIBIOS)/os/license \

-         $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \

-         $(HALINC) $(PLATFORMINC) $(BOARDINC) $(LIS302DLINC) \

-         $(STREAMSINC) $(SHELLINC)

+INCDIR = $(ALLINC) $(TESTINC)

 

 #

 # Project, sources and paths

@@ -200,7 +206,7 @@ CPPWARN = -Wall -Wextra -Wundef
 #

 

 # List all user C define here, like -D_DEBUG=1

-UDEFS = -DCHPRINTF_USE_FLOAT=1 -DSHELL_CMD_TEST_ENABLED=0 \

+UDEFS = -DCHPRINTF_USE_FLOAT=1 \

         -DLIS302DL_USE_ADVANCED=0 -DLIS302DL_SHARED_SPI=0

 

 # Define ASM defines here

diff --git a/testex/STM32/STM32F4xx/SPI-LIS302DL/main.c b/testex/STM32/STM32F4xx/SPI-LIS302DL/main.c
index aea1105f7..8b8cb1636 100644
--- a/testex/STM32/STM32F4xx/SPI-LIS302DL/main.c
+++ b/testex/STM32/STM32F4xx/SPI-LIS302DL/main.c
@@ -18,23 +18,23 @@
 #include "hal.h"

 

 #include "usbcfg.h"

-#include "string.h"

-#include "shell.h"

 #include "chprintf.h"

-

 #include "lis302dl.h"

 

+#define cls(chp)  chprintf(chp, "\033[2J\033[1;1H")

+

 /*===========================================================================*/

-/* LIS302DL related.                                                         */

+/* LIS302DL related.                                                          */

 /*===========================================================================*/

 

 /* LIS302DL Driver: This object represent an LIS302DL instance */

 static LIS302DLDriver LIS302DLD1;

 

-static int32_t rawdata[LIS302DL_NUMBER_OF_AXES];

-static float cookeddata[LIS302DL_NUMBER_OF_AXES];

+static int32_t accraw[LIS302DL_ACC_NUMBER_OF_AXES];

 

-static char axisID[LIS302DL_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};

+static float acccooked[LIS302DL_ACC_NUMBER_OF_AXES];

+

+static char axisID[LIS302DL_ACC_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};

 static uint32_t i;

 

 static const SPIConfig spicfg = {

@@ -46,100 +46,23 @@ static const SPIConfig spicfg = {
   0

 };

 

-static LIS302DLConfig l3gd20cfg = {

+static LIS302DLConfig lis302dlcfg = {

   &SPID1,

   &spicfg,

   NULL,

   NULL,

-  LIS302DL_FS_2G,

-  LIS302DL_ODR_100HZ,

-#if LIS302DL_USE_ADVANCED || defined(__DOXYGEN__)

-  LIS302DL_HP_DISABLED,

-#endif

-};

-

-/*===========================================================================*/

-/* Command line related.                                                     */

-/*===========================================================================*/

-

-/* Enable use of special ANSI escape sequences.*/

-#define CHPRINTF_USE_ANSI_CODE      TRUE

-#define SHELL_WA_SIZE               THD_WORKING_AREA_SIZE(2048)

-

-static void cmd_read(BaseSequentialStream *chp, int argc, char *argv[]) {

-  (void)argv;

-  if (argc != 1) {

-    chprintf(chp, "Usage: read [raw|cooked]\r\n");

-    return;

-  }

-

-  while (chnGetTimeout((BaseChannel *)chp, 150) == Q_TIMEOUT) {

-    if (!strcmp (argv[0], "raw")) {

-#if CHPRINTF_USE_ANSI_CODE

-      chprintf(chp, "\033[2J\033[1;1H");

-#endif

-      accelerometerReadRaw(&LIS302DLD1, rawdata);

-      chprintf(chp, "LIS302DL Accelerometer raw data...\r\n");

-      for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++) {

-        chprintf(chp, "%c-axis: %d\r\n", axisID[i], rawdata[i]);

-      }

-    }

-    else if (!strcmp (argv[0], "cooked")) {

-#if CHPRINTF_USE_ANSI_CODE

-      chprintf(chp, "\033[2J\033[1;1H");

-#endif

-      accelerometerReadCooked(&LIS302DLD1, cookeddata);

-      chprintf(chp, "LIS302DL Accelerometer cooked data...\r\n");

-      for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++) {

-        chprintf(chp, "%c-axis: %.4f mg\r\n", axisID[i], cookeddata[i]);

-      }

-    }

-    else {

-      chprintf(chp, "Usage: read [raw|cooked]\r\n");

-      return;

-    }

-  }

-  chprintf(chp, "Stopped\r\n");

-}

-

-static void cmd_fullscale(BaseSequentialStream *chp, int argc, char *argv[]) {

-  (void)argv;

-  if (argc != 1) {

-    chprintf(chp, "Usage: fullscale [2G|8G]\r\n");

-    return;

-  }

-#if CHPRINTF_USE_ANSI_CODE

-    chprintf(chp, "\033[2J\033[1;1H");

+  LIS302DL_ACC_FS_2G,

+  LIS302DL_ACC_ODR_100HZ,

+#if LIS302DL_USE_ADVANCED

+  LIS302DL_ACC_HP_1,

 #endif

-  if(!strcmp (argv[0], "2G")) {

-    accelerometerSetFullScale(&LIS302DLD1, LIS302DL_FS_2G);

-    chprintf(chp, "LIS302DL Accelerometer full scale set to 2G...\r\n");

-  }

-  else if(!strcmp (argv[0], "8G")) {

-    accelerometerSetFullScale(&LIS302DLD1, LIS302DL_FS_8G);

-    chprintf(chp, "LIS302DL Accelerometer full scale set to 8G...\r\n");

-  }

-  else {

-    chprintf(chp, "Usage: fullscale [2G|8G]\r\n");

-    return;

-  }

-}

-

-static const ShellCommand commands[] = {

-  {"read", cmd_read},

-  {"fullscale", cmd_fullscale},

-  {NULL, NULL}

-};

-

-static const ShellConfig shell_cfg1 = {

-  (BaseSequentialStream *)&SDU1,

-  commands

 };

 

 /*===========================================================================*/

-/* Main code.                                                                */

+/* Generic code.                                                             */

 /*===========================================================================*/

 

+static BaseSequentialStream* chp = (BaseSequentialStream*)&SDU1;

 /*

  * LED blinker thread, times are in milliseconds.

  */

@@ -152,9 +75,7 @@ static THD_FUNCTION(Thread1, arg) {
     systime_t time;

 

     time = serusbcfg.usbp->state == USB_ACTIVE ? 250 : 500;

-    palClearLine(LINE_LED6);

-    chThdSleepMilliseconds(time);

-    palSetLine(LINE_LED6);

+    palToggleLine(LINE_LED6);

     chThdSleepMilliseconds(time);

   }

 }

@@ -195,21 +116,23 @@ int main(void) {
   lis302dlObjectInit(&LIS302DLD1);

 

   /* Activates the LIS302DL driver.*/

-  lis302dlStart(&LIS302DLD1, &l3gd20cfg);

+  lis302dlStart(&LIS302DLD1, &lis302dlcfg);

 

-  /* Shell manager initialization.*/

-  shellInit();

+  /* Normal main() thread activity, printing MEMS data on the SDU1.*/

+  while (true) {

+    lis302dlAccelerometerReadRaw(&LIS302DLD1, accraw);

+    chprintf(chp, "LIS302DL Accelerometer raw data...\r\n");

+    for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++) {

+      chprintf(chp, "%c-axis: %d\r\n", axisID[i], accraw[i]);

+    }

 

-  while(TRUE) {

-    if (SDU1.config->usbp->state == USB_ACTIVE) {

-      thread_t *shelltp = chThdCreateFromHeap(NULL, SHELL_WA_SIZE,

-                                              "shell", NORMALPRIO + 1,

-                                              shellThread, (void *)&shell_cfg1);

-      chThdWait(shelltp);               /* Waiting termination.             */

+    lis302dlAccelerometerReadCooked(&LIS302DLD1, acccooked);

+    chprintf(chp, "LIS302DL Accelerometer cooked data...\r\n");

+    for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++) {

+      chprintf(chp, "%c-axis: %.3f\r\n", axisID[i], acccooked[i]);

     }

-    chThdSleepMilliseconds(1000);

+    chThdSleepMilliseconds(100);

+    cls(chp);

   }

   lis302dlStop(&LIS302DLD1);

-  return 0;

 }

-

diff --git a/testex/STM32/STM32F4xx/SPI-LIS302DL/readme.txt b/testex/STM32/STM32F4xx/SPI-LIS302DL/readme.txt
index 11e515e07..3a02b8d69 100644
--- a/testex/STM32/STM32F4xx/SPI-LIS302DL/readme.txt
+++ b/testex/STM32/STM32F4xx/SPI-LIS302DL/readme.txt
@@ -4,12 +4,16 @@
 

 ** TARGET **

 

-The demo runs on an STM32F407 Discovery board rev MB997B.

+The demo runs on an STM32F407 Discovery board REV B or previous.

 

 ** The Demo **

 

-The demo flashes the board LED using a thread, read data from LIS302DL printing

-it on a BaseSequentialStream (SDU1, mapped on USB virtual COM port).

+The application demonstrates the use of the STM32F4xx SPI driver in order

+to acquire data from LIS302L using ChibiOS/EX.

+

+** Board Setup **

+

+None required.

 

 ** Build Procedure **