EX: added support for LIS302DL

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9459 35acf78f-673a-0410-8e92-d51de3d6d3f4

1 files changed, 432 insertions, 0 deletions

diff --git a/os/ex/ST/lis302dl.c b/os/ex/ST/lis302dl.c
new file mode 100644
index 000000000..c0ce0988b
--- /dev/null
+++ b/os/ex/ST/lis302dl.c
@@ -0,0 +1,432 @@
+/*
+    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    lis302dl.c
+ * @brief   LIS302DL MEMS interface module code.
+ *
+ * @addtogroup lis302dl
+ * @{
+ */
+
+#include "hal.h"
+
+#include "lis302dl.h"
+
+/*===========================================================================*/
+/* Driver local definitions.                                                 */
+/*===========================================================================*/
+
+#define  LIS302DL_SENS_2G                   ((float)18.0f)
+#define  LIS302DL_SENS_8G                   ((float)72.0f)
+
+#define  LIS302DL_DI                        ((uint8_t)0xFF)
+#define  LIS302DL_DI_0                      ((uint8_t)0x01)
+#define  LIS302DL_DI_1                      ((uint8_t)0x02)
+#define  LIS302DL_DI_2                      ((uint8_t)0x04)
+#define  LIS302DL_DI_3                      ((uint8_t)0x08)
+#define  LIS302DL_DI_4                      ((uint8_t)0x10)
+#define  LIS302DL_DI_5                      ((uint8_t)0x20)
+#define  LIS302DL_DI_6                      ((uint8_t)0x40)
+#define  LIS302DL_DI_7                      ((uint8_t)0x80)
+
+#define  LIS302DL_AD                        ((uint8_t)0x3F)
+#define  LIS302DL_AD_0                      ((uint8_t)0x01)
+#define  LIS302DL_AD_1                      ((uint8_t)0x02)
+#define  LIS302DL_AD_2                      ((uint8_t)0x04)
+#define  LIS302DL_AD_3                      ((uint8_t)0x08)
+#define  LIS302DL_AD_4                      ((uint8_t)0x10)
+#define  LIS302DL_AD_5                      ((uint8_t)0x20)
+
+#define  LIS302DL_MS                        ((uint8_t)0x40)
+#define  LIS302DL_RW                        ((uint8_t)0x80)
+
+#define  LIS302DL_AD_WHO_AM_I               ((uint8_t)0x0F)
+#define  LIS302DL_AD_CTRL_REG1              ((uint8_t)0x20)
+#define  LIS302DL_AD_CTRL_REG2              ((uint8_t)0x21)
+#define  LIS302DL_AD_CTRL_REG3              ((uint8_t)0x22)
+#define  LIS302DL_AD_HP_FILER_RESET         ((uint8_t)0x23)
+#define  LIS302DL_AD_STATUS_REG             ((uint8_t)0x27)
+#define  LIS302DL_AD_OUT_X                  ((uint8_t)0x29)
+#define  LIS302DL_AD_OUT_Y                  ((uint8_t)0x2B)
+#define  LIS302DL_AD_OUT_Z                  ((uint8_t)0x2D)
+#define  LIS302DL_AD_FF_WU_CFG_1            ((uint8_t)0x30)
+#define  LIS302DL_AD_FF_WU_SRC_1            ((uint8_t)0x31)
+#define  LIS302DL_AD_FF_WU_THS_1            ((uint8_t)0x32)
+#define  LIS302DL_AD_FF_WU_DURATION_1       ((uint8_t)0x33)
+#define  LIS302DL_AD_FF_WU_CFG_2            ((uint8_t)0x34)
+#define  LIS302DL_AD_FF_WU_SRC_2            ((uint8_t)0x35)
+#define  LIS302DL_AD_FF_WU_THS_2            ((uint8_t)0x36)
+#define  LIS302DL_AD_FF_WU_DURATION_2       ((uint8_t)0x37)
+#define  LIS302DL_AD_CLICK_CFG              ((uint8_t)0x38)
+#define  LIS302DL_AD_CLICK_SRC              ((uint8_t)0x39)
+#define  LIS302DL_AD_CLICK_THSY_X           ((uint8_t)0x3B)
+#define  LIS302DL_AD_CLICK_THSZ             ((uint8_t)0x3C)
+#define  LIS302DL_AD_CLICK_TIME_LIMIT       ((uint8_t)0x3D)
+#define  LIS302DL_AD_CLICK_LATENCY          ((uint8_t)0x3E)
+#define  LIS302DL_AD_CLICK_WINDOW           ((uint8_t)0x3F)
+
+
+#define  LIS302DL_CTRL_REG1_FS_MASK         ((uint8_t)0x20)
+#define  TO_G                               ((float)0.001f)
+#define  TO_SI                              ((float)0.00981f)
+/*===========================================================================*/
+/* Driver exported variables.                                                */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local variables and types.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief  LIS302DL Power Mode
+ */
+typedef enum {
+  LIS302DL_PM_POWER_DOWN   = 0x00,  /**< Power down enabled.                */          
+  LIS302DL_PM_SLEEP_NORMAL = 0x40   /**< Normal operation mode.             */          
+}lis302dl_pm_t;
+
+/*===========================================================================*/
+/* Driver local functions.                                                   */
+/*===========================================================================*/
+
+#if (LIS302DL_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 lis302dlSPIReadRegister(SPIDriver *spip, uint8_t reg) {
+  uint8_t txbuf[2] = {LIS302DL_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 lis302dlSPIWriteRegister(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, "lis302dlSPIWriteRegister(), reserved register");
+    case LIS302DL_AD_WHO_AM_I:
+
+    case LIS302DL_AD_HP_FILER_RESET:
+    case LIS302DL_AD_STATUS_REG:
+    case LIS302DL_AD_OUT_X:
+    case LIS302DL_AD_OUT_Y:
+    case LIS302DL_AD_OUT_Z:
+    case LIS302DL_AD_FF_WU_SRC_1:
+    case LIS302DL_AD_FF_WU_SRC_2:
+    case LIS302DL_AD_CLICK_SRC:
+    /* Read only registers cannot be written, the command is ignored.*/
+      return;
+    case LIS302DL_AD_CTRL_REG1:
+    case LIS302DL_AD_CTRL_REG2:
+    case LIS302DL_AD_CTRL_REG3:
+    case LIS302DL_AD_FF_WU_CFG_1:
+    case LIS302DL_AD_FF_WU_THS_1:
+    case LIS302DL_AD_FF_WU_DURATION_1:
+    case LIS302DL_AD_FF_WU_CFG_2:
+    case LIS302DL_AD_FF_WU_THS_2:
+    case LIS302DL_AD_FF_WU_DURATION_2:
+    case LIS302DL_AD_CLICK_CFG:
+    case LIS302DL_AD_CLICK_THSY_X:
+    case LIS302DL_AD_CLICK_THSZ:
+    case LIS302DL_AD_CLICK_TIME_LIMIT:
+    case LIS302DL_AD_CLICK_LATENCY:
+    case LIS302DL_AD_CLICK_WINDOW:
+      spiSelect(spip);
+      uint8_t txbuf[2] = {reg, value};
+      spiSend(spip, 2, txbuf);
+      spiUnselect(spip);
+  }
+}
+#endif /* LIS302DL_USE_SPI */
+
+/*
+ * Interface implementation.
+ */
+static size_t get_axes_number(void *ip) {
+
+  osalDbgCheck(ip != NULL);
+  return LIS302DL_NUMBER_OF_AXES;
+}
+
+static msg_t read_raw(void *ip, int32_t axes[LIS302DL_NUMBER_OF_AXES]) {
+  int8_t tmp;
+  osalDbgCheck((ip != NULL) && (axes != NULL));
+
+  osalDbgAssert((((LIS302DLDriver *)ip)->state == LIS302DL_READY),
+              "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);
+#endif /* LIS302DL_SHARED_SPI */   
+  if(((LIS302DLDriver *)ip)->config->axesenabling & LIS302DL_AE_X){
+    tmp = lis302dlSPIReadRegister(((LIS302DLDriver *)ip)->config->spip,
+										LIS302DL_AD_OUT_X);
+    axes[0] = tmp + ((LIS302DLDriver *)ip)->bias[0];
+  }
+  if(((LIS302DLDriver *)ip)->config->axesenabling & LIS302DL_AE_Y){
+    tmp = lis302dlSPIReadRegister(((LIS302DLDriver *)ip)->config->spip,
+										LIS302DL_AD_OUT_Y);
+    axes[1] = tmp  + ((LIS302DLDriver *)ip)->bias[1];
+  }
+  if(((LIS302DLDriver *)ip)->config->axesenabling & LIS302DL_AE_Z){
+    tmp = lis302dlSPIReadRegister(((LIS302DLDriver *)ip)->config->spip,
+										LIS302DL_AD_OUT_Z);
+    axes[2] = tmp + ((LIS302DLDriver *)ip)->bias[2];
+  }
+#if	LIS302DL_SHARED_SPI
+  spiReleaseBus(((LIS302DLDriver *)ip)->config->spip);
+#endif /* LIS302DL_SHARED_SPI */   
+#endif /* LIS302DL_USE_SPI */ 
+  return MSG_OK;
+}
+
+static msg_t read_cooked(void *ip, float axes[]) {
+  uint32_t i;
+  int32_t raw[LIS302DL_NUMBER_OF_AXES];
+  msg_t msg;
+
+  osalDbgCheck((ip != NULL) && (axes != NULL));
+
+  osalDbgAssert((((LIS302DLDriver *)ip)->state == LIS302DL_READY),
+              "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];
+    if(((LIS302DLDriver *)ip)->config->unit == LIS302DL_ACC_UNIT_G){
+      axes[i] *= TO_G;
+    }
+    else if(((LIS302DLDriver *)ip)->config->unit == LIS302DL_ACC_UNIT_SI){
+      axes[i] *= TO_SI;
+    }
+  }
+  return msg;
+}
+
+static msg_t set_bias(void *ip, int32_t *bp) {
+  uint32_t i;
+  
+  osalDbgCheck((ip != NULL) && (bp !=NULL));
+
+  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];
+  }
+  return MSG_OK;
+}
+
+static msg_t reset_bias(void *ip) {
+  uint32_t i;
+
+  osalDbgCheck(ip != NULL);
+
+  osalDbgAssert((((LIS302DLDriver *)ip)->state == LIS302DL_READY) ||
+                (((LIS302DLDriver *)ip)->state == LIS302DL_STOP),
+              "reset_bias(), invalid state");
+
+  for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)
+    ((LIS302DLDriver *)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((((LIS302DLDriver *)ip)->state == LIS302DL_READY),
+                "set_sensivity(), invalid state");
+  
+  for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++) {
+    ((LIS302DLDriver *)ip)->sensitivity[i] = sp[i];
+  }
+  return MSG_OK;
+}
+
+static msg_t reset_sensivity(void *ip) {
+  uint32_t i;
+
+  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;
+  else {
+    osalDbgAssert(FALSE, "reset_sensivity(), accelerometer full scale issue");
+    return MSG_RESET;
+  }
+  return MSG_OK;
+}
+
+static const struct BaseSensorVMT vmt_basesensor = {
+  get_axes_number, read_raw, read_cooked
+};
+
+static const struct BaseAccelerometerVMT vmt_baseaccelerometer = {
+  get_axes_number, read_raw, read_cooked,
+  set_bias, reset_bias, set_sensivity, reset_sensivity 
+};
+
+static const struct LIS302DLVMT vmt_lis302dl = {
+  get_axes_number, read_raw, read_cooked,
+  set_bias, reset_bias, set_sensivity, reset_sensivity 
+};
+
+/*===========================================================================*/
+/* Driver exported functions.                                                */
+/*===========================================================================*/
+
+/**
+ * @brief   Initializes an instance.
+ *
+ * @param[out] devp     pointer to the @p LIS302DLDriver object
+ *
+ * @init
+ */
+void lis302dlObjectInit(LIS302DLDriver *devp) {
+  uint32_t i;
+  devp->vmt_basesensor = &vmt_basesensor;
+  devp->vmt_baseaccelerometer = &vmt_baseaccelerometer;
+  devp->vmt_lis302dl = &vmt_lis302dl;
+  devp->config = NULL;
+  for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)
+    devp->bias[i] = 0;
+  devp->state  = LIS302DL_STOP;
+}
+
+/**
+ * @brief   Configures and activates LIS302DL Complex Driver peripheral.
+ *
+ * @param[in] devp      pointer to the @p LIS302DLDriver object
+ * @param[in] config    pointer to the @p LIS302DLConfig object
+ *
+ * @api
+ */
+void lis302dlStart(LIS302DLDriver *devp, const LIS302DLConfig *config) {
+  uint32_t i;
+  osalDbgCheck((devp != NULL) && (config != NULL));
+
+  osalDbgAssert((devp->state == LIS302DL_STOP) || (devp->state == LIS302DL_READY),
+              "lis302dlStart(), invalid state");			  
+
+  devp->config = config;
+  
+#if LIS302DL_USE_SPI
+#if	LIS302DL_SHARED_SPI
+  spiAcquireBus((devp)->config->spip);
+#endif /* LIS302DL_SHARED_SPI */
+  spiStart((devp)->config->spip,
+           (devp)->config->spicfg);
+  lis302dlSPIWriteRegister(devp->config->spip, LIS302DL_AD_CTRL_REG1,
+                         devp->config->axesenabling |
+                         LIS302DL_PM_SLEEP_NORMAL |
+                         devp->config->axesenabling |
+						 devp->config->fullscale |
+						 devp->config->outputdatarate);
+  lis302dlSPIWriteRegister(devp->config->spip, LIS302DL_AD_CTRL_REG2,
+                         devp->config->highpass);
+#if	LIS302DL_SHARED_SPI
+  spiReleaseBus((devp)->config->spip);
+#endif /* LIS302DL_SHARED_SPI */  
+#endif /* LIS302DL_USE_SPI */
+  
+  /* Storing sensitivity information according to full scale value */
+  if(devp->config->fullscale == LIS302DL_FS_2G)
+    for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)
+      devp->sensitivity[i] = LIS302DL_SENS_2G;
+  else if(devp->config->fullscale == LIS302DL_FS_8G)
+	for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)
+      devp->sensitivity[i] = LIS302DL_SENS_8G;
+  else {
+    osalDbgAssert(FALSE, "lis302dlStart(), accelerometer full scale issue");
+  }
+  /* This is the Accelerometer transient recovery time */
+  osalThreadSleepMilliseconds(10);
+
+  devp->state = LIS302DL_READY;
+} 
+
+/**
+ * @brief   Deactivates the LIS302DL Complex Driver peripheral.
+ *
+ * @param[in] devp       pointer to the @p LIS302DLDriver object
+ *
+ * @api
+ */
+void lis302dlStop(LIS302DLDriver *devp) {
+
+  osalDbgCheck(devp != NULL);
+
+  osalDbgAssert((devp->state == LIS302DL_STOP) || (devp->state == LIS302DL_READY),
+                "lis302dlStop(), invalid state");
+
+#if (LIS302DL_USE_SPI)
+  if (devp->state == LIS302DL_STOP) {
+#if	LIS302DL_SHARED_SPI
+    spiAcquireBus((devp)->config->spip);
+    spiStart((devp)->config->spip,
+             (devp)->config->spicfg);
+#endif /* LIS302DL_SHARED_SPI */
+    lis302dlSPIWriteRegister(devp->config->spip, LIS302DL_AD_CTRL_REG1,
+                           LIS302DL_PM_POWER_DOWN | LIS302DL_AE_DISABLED);
+    spiStop((devp)->config->spip);
+#if	LIS302DL_SHARED_SPI
+    spiReleaseBus((devp)->config->spip);
+#endif /* LIS302DL_SHARED_SPI */    
+  }			  
+#endif /* LIS302DL_USE_SPI */
+  devp->state = LIS302DL_STOP;
+}
+/** @} */