Improved LPS25H driver and related demo: added multiple register read/write.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9810 35acf78f-673a-0410-8e92-d51de3d6d3f4

4 files changed, 128 insertions, 115 deletions

diff --git a/os/ex/ST/lps25h.c b/os/ex/ST/lps25h.c
index 89de543bc..47832500d 100644
--- a/os/ex/ST/lps25h.c
+++ b/os/ex/ST/lps25h.c
@@ -15,7 +15,7 @@
 

     You should have received a copy of the GNU General Public License

     along with this program.  If not, see <http://www.gnu.org/licenses/>.

-	

+

 */

 

 /**

@@ -50,21 +50,22 @@
  * @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.

+ * @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

  */

-uint8_t lps25hI2CReadRegister(I2CDriver *i2cp, lps25h_sad_t sad, uint8_t reg,

-                               msg_t* msgp) {

-  msg_t msg;

-  uint8_t rxbuf;

-  msg = i2cMasterTransmitTimeout(i2cp, sad, &reg, 1, &rxbuf, 1,

-                                 TIME_INFINITE);

-  if(msgp != NULL){

-    *msgp = msg;

-  }

-  return rxbuf;

+msg_t lps25hI2CReadRegister(I2CDriver *i2cp, lps25h_sad_t sad, uint8_t reg,

+                              uint8_t* rxbuf, size_t n) {

+  uint8_t txbuf = reg;  

+  if(n > 1)

+    txbuf |= LPS25H_SUB_MS;

+  

+  return i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, n,

+                                  TIME_INFINITE);

 }

 

 /**

@@ -73,16 +74,19 @@ uint8_t lps25hI2CReadRegister(I2CDriver *i2cp, lps25h_sad_t sad, uint8_t reg,
  *

  * @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

+ * @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

  * @return               the operation status.

  */

-msg_t lps25hI2CWriteRegister(I2CDriver *i2cp, lps25h_sad_t sad, uint8_t reg,

-                              uint8_t value) {

-  uint8_t txbuf[2];

-  txbuf[0] = reg;

-  txbuf[1] = value;

-  return i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, NULL, 0, TIME_INFINITE);

+msg_t lps25hI2CWriteRegister(I2CDriver *i2cp, lps25h_sad_t sad, uint8_t* txbuf,                             size_t n) {

+  if (n > 1)

+    (*txbuf) |= LPS25H_SUB_MS;

+  return i2cMasterTransmitTimeout(i2cp, sad, txbuf, n + 1, NULL, 0,

+                                  TIME_INFINITE);

 }

 #endif /* LPS25H_USE_I2C */

 

@@ -96,8 +100,11 @@ static size_t get_axes_number(void *ip) {
 }

 

 static msg_t read_raw(void *ip, int32_t* axis) {

-  int32_t tmp;

+  uint8_t buff[3];

   msg_t msg = MSG_OK;

+  

+  *axis = 0;

+    

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

   osalDbgAssert((((LPS25HDriver *)ip)->state == LPS25H_READY),

               "read_raw(), invalid state");

@@ -110,31 +117,22 @@ static msg_t read_raw(void *ip, int32_t* axis) {
   i2cStart(((LPS25HDriver *)ip)->config->i2cp,

            ((LPS25HDriver *)ip)->config->i2ccfg);

 #endif /* LPS25H_SHARED_I2C */

-	tmp = lps25hI2CReadRegister(((LPS25HDriver *)ip)->config->i2cp,

-								((LPS25HDriver *)ip)->config->slaveaddress,

-								  LPS25H_AD_PRESS_OUT_XL, NULL);

-	if (msg != MSG_OK)

-		return msg;

-	tmp +=  lps25hI2CReadRegister(((LPS25HDriver *)ip)->config->i2cp,

-	                                ((LPS25HDriver *)ip)->config->slaveaddress,

-	                                  LPS25H_AD_PRESS_OUT_L, NULL) << 8;

-    if (msg != MSG_OK)

-        return msg;

-    tmp +=  lps25hI2CReadRegister(((LPS25HDriver *)ip)->config->i2cp,

-                                    ((LPS25HDriver *)ip)->config->slaveaddress,

-                                      LPS25H_AD_PRESS_OUT_H, NULL) << 16;

-	if (msg != MSG_OK)

-		return msg;

-	*axis = (int32_t)tmp;

-

-	

+

+  msg = lps25hI2CReadRegister(((LPS25HDriver *)ip)->config->i2cp,

+                              ((LPS25HDriver *)ip)->config->slaveaddress,

+                               LPS25H_AD_PRESS_OUT_XL, buff, 3);

+

 #if LPS25H_SHARED_I2C

   i2cReleaseBus(((LPS25HDriver *)ip)->config->i2cp);

 #endif /* LPS25H_SHARED_I2C */

 #endif /* LPS25H_USE_I2C */

-  return MSG_OK;

+

+  if(msg == MSG_OK) {

+    *axis = buff[0] + (buff[1] << 8) + (buff[2] << 16);

+  }

+  return msg;

 }

-	

+  

 static msg_t read_cooked(void *ip, float* axis) {

   int32_t raw;

   msg_t msg;

@@ -170,7 +168,7 @@ static msg_t reset_bias(void *ip) {
                 (((LPS25HDriver *)ip)->state == LPS25H_STOP),

                 "reset_bias(), invalid state");

 

-  ((LPS25HDriver *)ip)->bias = 0;

+  ((LPS25HDriver *)ip)->bias = 0.0f;

   return MSG_OK;

 }

 

@@ -223,7 +221,7 @@ void lps25hObjectInit(LPS25HDriver *devp) {
   devp->vmt_basebarometer = &vmt_basebarometer;

   devp->config = NULL;

   devp->bias = 0;

-  devp->state  = LPS25H_STOP;

+  devp->state = LPS25H_STOP;

 }

 

 /**

@@ -235,49 +233,74 @@ void lps25hObjectInit(LPS25HDriver *devp) {
  * @api

  */

 void lps25hStart(LPS25HDriver *devp, const LPS25HConfig *config) {

-  uint8_t cr;

+  uint8_t cr[2];

   osalDbgCheck((devp != NULL) && (config != NULL));

 

   osalDbgAssert((devp->state == LPS25H_STOP) || (devp->state == LPS25H_READY),

-              "lps25hStart(), invalid state");			  

+              "lps25hStart(), invalid state");

 

   devp->config = config;

-

 #if LPS25H_USE_I2C

-#if	LPS25H_SHARED_I2C

-  i2cAcquireBus((devp)->config->i2cp);

-#endif /* LPS25H_SHARED_I2C */

-  i2cStart((devp)->config->i2cp,

-           (devp)->config->i2ccfg);

-

   /* Control register 1 configuration block.*/

   {

-    cr = devp->config->outputdatarate | LPS25H_CTRL_REG1_PD;

+    cr[0] = LPS25H_AD_CTRL_REG1;

+    cr[1] = devp->config->outputdatarate | LPS25H_CTRL_REG1_PD;

 #if LPS25H_USE_ADVANCED || defined(__DOXYGEN__)

-    cr |= devp->config->blockdataupdate;

-

+    cr[1] |= devp->config->blockdataupdate;

 #endif

-    lps25hI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,

-                           LPS25H_AD_CTRL_REG1, cr);

   }

+  

+#if  LPS25H_SHARED_I2C

+  i2cAcquireBus((devp)->config->i2cp);

+#endif /* LPS25H_SHARED_I2C */

+  i2cStart((devp)->config->i2cp,

+           (devp)->config->i2ccfg);

+           

+  lps25hI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress, cr, 1);

+                           

+#if  LPS25H_SHARED_I2C

+  i2cReleaseBus((devp)->config->i2cp);

+#endif /* LPS25H_SHARED_I2C */

 

-  /* Control register 1 configuration block.*/

+  /* Resolution configuration block.*/

   {

-    cr = 0x05;

+    cr[0] = LPS25H_AD_RES_CONF;

+    cr[1] = 0x05;

 #if LPS25H_USE_ADVANCED || defined(__DOXYGEN__)

-    cr = devp->config->respressure | devp->config->restemperature;

-

+    cr[1] = devp->config->respressure | devp->config->restemperature;

 #endif

-    lps25hI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,

-                           LPS25H_AD_RES_CONF, cr);

+    

   }

-

-#if	LPS25H_SHARED_I2C

+#if  LPS25H_SHARED_I2C

+  i2cAcquireBus((devp)->config->i2cp);

+  i2cStart((devp)->config->i2cp,

+           (devp)->config->i2ccfg);

+#endif /* LPS25H_SHARED_I2C */

+           

+  lps25hI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,

+                         cr, 1);

+                         

+#if  LPS25H_SHARED_I2C

   i2cReleaseBus((devp)->config->i2cp);

 #endif /* LPS25H_SHARED_I2C */  

 #endif /* LPS25H_USE_I2C */

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

-  devp->sensitivity = LPS25H_SENS;

+

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

+    devp->sensitivity = LPS25H_SENS;

+  }

+  else{

+    /* Taking Sensitivity from user configurations */

+    devp->sensitivity = *devp->config->sensitivity;

+  }

+

+  if(devp->config->bias == NULL) {

+    devp->bias = 0.0f;

+  }

+  else{

+    /* Taking Bias from user configurations */

+    devp->bias = *devp->config->bias;

+  }

+

   /* This is the Barometer transient recovery time */

   osalThreadSleepMilliseconds(5);

 

@@ -292,27 +315,32 @@ void lps25hStart(LPS25HDriver *devp, const LPS25HConfig *config) {
  * @api

  */

 void lps25hStop(LPS25HDriver *devp) {

+  uint8_t cr[2];

 

   osalDbgCheck(devp != NULL);

 

   osalDbgAssert((devp->state == LPS25H_STOP) || (devp->state == LPS25H_READY),

                 "lps25hStop(), invalid state");

 

+  if (devp->state == LPS25H_READY) {

 #if (LPS25H_USE_I2C)

-  if (devp->state == LPS25H_STOP) {

-#if	LPS25H_SHARED_I2C

+#if  LPS25H_SHARED_I2C

     i2cAcquireBus((devp)->config->i2cp);

     i2cStart((devp)->config->i2cp,

              (devp)->config->i2ccfg);

 #endif /* LPS25H_SHARED_I2C */

+

+    cr[0] = LPS25H_AD_CTRL_REG1;

+    cr[1] = 0;

     lps25hI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,

-                           LPS25H_AD_CTRL_REG1, 0);

+                           cr, 1);

+                           

     i2cStop((devp)->config->i2cp);

-#if	LPS25H_SHARED_I2C

+#if  LPS25H_SHARED_I2C

     i2cReleaseBus((devp)->config->i2cp);

-#endif /* LPS25H_SHARED_I2C */    

-  }			  

+#endif /* LPS25H_SHARED_I2C */

 #endif /* LPS25H_USE_I2C */

+  }

   devp->state = LPS25H_STOP;

 }

 /** @} */

diff --git a/os/ex/ST/lps25h.h b/os/ex/ST/lps25h.h
index d7c7fc2ee..a03e4e3bf 100644
--- a/os/ex/ST/lps25h.h
+++ b/os/ex/ST/lps25h.h
@@ -15,7 +15,7 @@
 

     You should have received a copy of the GNU General Public License

     along with this program.  If not, see <http://www.gnu.org/licenses/>.

-	

+  

 */

 

 /**

@@ -40,7 +40,7 @@
 /**

  * @brief   LPS25H driver version string.

  */

-#define EX_LPS25H_VERSION           "1.0.1"

+#define EX_LPS25H_VERSION           "1.0.2"

 

 /**

  * @brief   LPS25H driver version major number.

@@ -55,7 +55,7 @@
 /**

  * @brief   LPS25H driver version patch number.

  */

-#define EX_LPS25H_PATCH             1

+#define EX_LPS25H_PATCH             2

 /** @} */

 

 /**

@@ -115,13 +115,13 @@
  * @name    LPS25H_CTRL_REG1 register bits definitions
  * @{
  */
-#define LPS25H_CTRL_REG1_MASK               0xFF       
+#define LPS25H_CTRL_REG1_MASK               0xFF
 #define LPS25H_CTRL_REG1_SIM                (1 << 0)
-#define LPS25H_CTRL_REG1_RESET_AZ           (1 << 1) 
+#define LPS25H_CTRL_REG1_RESET_AZ           (1 << 1)
 #define LPS25H_CTRL_REG1_BDU                (1 << 2)
-#define LPS25H_CTRL_REG1_DIFF_EN            (1 << 3) 
+#define LPS25H_CTRL_REG1_DIFF_EN            (1 << 3)
 #define LPS25H_CTRL_REG1_ODR0               (1 << 4)
-#define LPS25H_CTRL_REG1_ODR1               (1 << 5) 
+#define LPS25H_CTRL_REG1_ODR1               (1 << 5)
 #define LPS25H_CTRL_REG1_ODR2               (1 << 6)
 #define LPS25H_CTRL_REG1_PD                 (1 << 7)
 /** @} */
@@ -130,12 +130,12 @@
  * @name    LPS25H_CTRL_REG2 register bits definitions

  * @{

  */

-#define LPS25H_CTRL_REG2_MASK               0xF3       

+#define LPS25H_CTRL_REG2_MASK               0xF3

 #define LPS25H_CTRL_REG2_ONE_SHOT           (1 << 0)

-#define LPS25H_CTRL_REG2_AUTO_ZERO          (1 << 1) 

-#define LPS25H_CTRL_REG2_SWRESET            (1 << 2) 

+#define LPS25H_CTRL_REG2_AUTO_ZERO          (1 << 1)

+#define LPS25H_CTRL_REG2_SWRESET            (1 << 2)

 #define LPS25H_CTRL_REG2_FIFO_MEAN_DEC      (1 << 4)

-#define LPS25H_CTRL_REG2_WTM_EN             (1 << 5) 

+#define LPS25H_CTRL_REG2_WTM_EN             (1 << 5)

 #define LPS25H_CTRL_REG2_FIFO_EN            (1 << 6)

 #define LPS25H_CTRL_REG2_BOOT               (1 << 7)

 /** @} */
@@ -144,9 +144,9 @@
  * @name    LPS25H_CTRL_REG3 register bits definitions

  * @{

  */

-#define LPS25H_CTRL_REG3_MASK               0xC3       

+#define LPS25H_CTRL_REG3_MASK               0xC3

 #define LPS25H_CTRL_REG3_INT_S1             (1 << 0)

-#define LPS25H_CTRL_REG3_INT_S2             (1 << 1) 

+#define LPS25H_CTRL_REG3_INT_S2             (1 << 1)

 #define LPS25H_CTRL_REG3_PP_OD              (1 << 6)

 #define LPS25H_CTRL_REG3_INT_H_L            (1 << 7)

 /** @} */

@@ -155,18 +155,18 @@
  * @name    LPS25H_CTRL_REG4 register bits definitions

  * @{

  */

-#define LPS25H_CTRL_REG4_MASK               0x0F       

+#define LPS25H_CTRL_REG4_MASK               0x0F

 #define LPS25H_CTRL_REG4_P1_DRDY            (1 << 0)

-#define LPS25H_CTRL_REG4_P1_OVERRUN         (1 << 1) 

+#define LPS25H_CTRL_REG4_P1_OVERRUN         (1 << 1)

 #define LPS25H_CTRL_REG4_P1_WTM             (1 << 2)

-#define LPS25H_CTRL_REG4_P1_EMPTY           (1 << 3) 

+#define LPS25H_CTRL_REG4_P1_EMPTY           (1 << 3)

 /** @} */
 

 /**

  * @name    LPS25H_INT1_CFG register bits definitions

  * @{

  */

-#define LPS25H_INT1_CFG_MASK                0x07      

+#define LPS25H_INT1_CFG_MASK                0x07

 #define LPS25H_INT1_CFG_PH_E                (1 << 0)

 #define LPS25H_INT1_CFG_PL_E                (1 << 1)

 #define LPS25H_INT1_CFG_LIR                 (1 << 2)

@@ -223,7 +223,7 @@
  *          on each transaction.
  * @note    The default is @p FALSE. Requires I2C_USE_MUTUAL_EXCLUSION
  */
-#if !defined(LPS25H_SHARED_SPI) || defined(__DOXYGEN__)
+#if !defined(LPS25H_SHARED_I2C) || defined(__DOXYGEN__)
 #define LPS25H_SHARED_I2C                   FALSE
 #endif
 /** @} */
@@ -348,12 +348,12 @@ typedef struct {
   /**
    * @brief LPS25H initial sensitivity.
    */
-  float                     sensitivity;
+  float*                    sensitivity;
   /**
    * @brief LPS25H initial bias.
    */
-  float                     bias;

-	  /**

+  float*                    bias;

+  /**

    * @brief LPS25H slave address

    */

   lps25h_sad_t              slaveaddress;
@@ -383,21 +383,6 @@ typedef struct {
 typedef struct LPS25HDriver LPS25HDriver;
 
 /**
- * @brief   @p LPS25H specific methods.
- */
-#define _lps25h_methods                                                     \
-  _base_barometer_methods
-
-/**
- * @extends BaseGyroscopeVMT
- *
- * @brief   @p LPS25H virtual methods table.
- */
-struct LPS25HVMT {
-  _lps25h_methods
-};
-
-/**
  * @brief   @p LPS25HDriver specific data.
  */
 #define _lps25h_data                                                        \
diff --git a/testhal/STM32/STM32F4xx/I2C-LPS25H/Makefile b/testhal/STM32/STM32F4xx/I2C-LPS25H/Makefile
index 057c420fb..6593f01be 100644
--- a/testhal/STM32/STM32F4xx/I2C-LPS25H/Makefile
+++ b/testhal/STM32/STM32F4xx/I2C-LPS25H/Makefile
@@ -201,7 +201,7 @@ CPPWARN = -Wall -Wextra -Wundef
 

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

 UDEFS = -DCHPRINTF_USE_FLOAT=1 -DSHELL_CMD_TEST_ENABLED=0 \

-        -DLPS25H_USE_ADVANCED=0

+        -DLPS25H_USE_ADVANCED=1 -DLPS25H_SHARED_I2C=1

 

 # Define ASM defines here

 UADEFS =

diff --git a/testhal/STM32/STM32F4xx/I2C-LPS25H/main.c b/testhal/STM32/STM32F4xx/I2C-LPS25H/main.c
index c31fef938..b708fe6d2 100644
--- a/testhal/STM32/STM32F4xx/I2C-LPS25H/main.c
+++ b/testhal/STM32/STM32F4xx/I2C-LPS25H/main.c
@@ -42,8 +42,8 @@ static const I2CConfig i2ccfg = {
 static const LPS25HConfig lps25hcfg = {

   &I2CD1,

   &i2ccfg,

-  0,                           /* Use default sensitivity.*/

-  0,                           /* Use default bias.*/

+  NULL,                        /* Use default sensitivity.*/

+  NULL,                        /* Use default bias.*/

   LPS25H_SAD_VCC,              /* SA0 connected to VCC */

   LPS25H_ODR_7HZ,              /* Output data rate 7 Hz.*/

 #if LPS25H_USE_ADVANCED || defined(__DOXYGEN__)