ChibiOS/EX: improved MEMS get_axes functions

Fixed bug related to LSM6DS0 get_temperature

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9390 35acf78f-673a-0410-8e92-d51de3d6d3f4

3 files changed, 93 insertions, 92 deletions

diff --git a/os/ex/ST/l3gd20.c b/os/ex/ST/l3gd20.c
index d1ba6a7e0..595c33609 100644
--- a/os/ex/ST/l3gd20.c
+++ b/os/ex/ST/l3gd20.c
@@ -190,7 +190,7 @@ static size_t get_axes_number(void *ip) {
 }
 
 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),
@@ -205,25 +205,25 @@ static msg_t read_raw(void *ip, int32_t axes[L3GD20_NUMBER_OF_AXES]) {
            ((L3GD20Driver *)ip)->config->spicfg);
 #endif /* L3GD20_SHARED_SPI */   
   if(((L3GD20Driver *)ip)->config->axesenabling & L3GD20_AE_X){
-    axes[0] = (int16_t)(l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip,
-                                       L3GD20_AD_OUT_X_L));
-    axes[0] += (int16_t)(l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip,
-                                        L3GD20_AD_OUT_X_H) << 8);
-    axes[0] -= ((L3GD20Driver *)ip)->bias[0];
+    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){
-    axes[1] = (int16_t)(l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip,
-                                       L3GD20_AD_OUT_Y_L));
-    axes[1] += (int16_t)(l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip,
-                                        L3GD20_AD_OUT_Y_H) << 8);
-    axes[1] -= ((L3GD20Driver *)ip)->bias[1];
+    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){
-    axes[2] = (int16_t)(l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip,
-                                       L3GD20_AD_OUT_Z_L));
-    axes[2] += (int16_t)(l3gd20SPIReadRegister(((L3GD20Driver *)ip)->config->spip,
-                                        L3GD20_AD_OUT_Z_H) << 8);
-    axes[2] -= ((L3GD20Driver *)ip)->bias[2];
+    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);
diff --git a/os/ex/ST/lis3mdl.c b/os/ex/ST/lis3mdl.c
index e8022ae2c..9d1a7e160 100644
--- a/os/ex/ST/lis3mdl.c
+++ b/os/ex/ST/lis3mdl.c
@@ -189,7 +189,7 @@ static size_t get_axes_number(void *ip) {
 }
 
 static msg_t read_raw(void *ip, int32_t axes[LIS3MDL_NUMBER_OF_AXES]) {
-
+  uint16_t tmp;
   osalDbgCheck((ip != NULL) && (axes != NULL));
   osalDbgAssert((((LIS3MDLDriver *)ip)->state == LIS3MDL_READY),
               "read_raw(), invalid state");
@@ -203,29 +203,29 @@ static msg_t read_raw(void *ip, int32_t axes[LIS3MDL_NUMBER_OF_AXES]) {
            ((LIS3MDLDriver *)ip)->config->i2ccfg);
 #endif /* LIS3MDL_SHARED_I2C */
 
-  axes[0] = (int16_t)(lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
-                                             ((LIS3MDLDriver *)ip)->config->slaveaddress,
-                                               LIS3MDL_AD_OUT_X_L, NULL));
-  axes[0] += (int16_t)(lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
-                                              ((LIS3MDLDriver *)ip)->config->slaveaddress,
-                                                LIS3MDL_AD_OUT_X_H, NULL) << 8);
-  axes[0] -= ((LIS3MDLDriver *)ip)->bias[0];
-
-  axes[1] = (int16_t)(lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
-                                             ((LIS3MDLDriver *)ip)->config->slaveaddress,
-                                             LIS3MDL_AD_OUT_Y_L, NULL));
-  axes[1] += (int16_t)(lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
-                                              ((LIS3MDLDriver *)ip)->config->slaveaddress,
-                                              LIS3MDL_AD_OUT_Y_H, NULL) << 8);
-  axes[1] -= ((LIS3MDLDriver *)ip)->bias[1];
-
-  axes[2] = (int16_t)(lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
-                                             ((LIS3MDLDriver *)ip)->config->slaveaddress,
-                                               LIS3MDL_AD_OUT_Z_L, NULL));
-  axes[2] += (int16_t)(lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
-                                              ((LIS3MDLDriver *)ip)->config->slaveaddress,
-                                                LIS3MDL_AD_OUT_Z_H, NULL) << 8);
-  axes[2] -= ((LIS3MDLDriver *)ip)->bias[2];
+  tmp = lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
+                               ((LIS3MDLDriver *)ip)->config->slaveaddress,
+                                 LIS3MDL_AD_OUT_X_L, NULL);
+  tmp += lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
+                                ((LIS3MDLDriver *)ip)->config->slaveaddress,
+                                  LIS3MDL_AD_OUT_X_H, NULL) << 8;
+  axes[0] = (int32_t)tmp - ((LIS3MDLDriver *)ip)->bias[0];
+
+  tmp = lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
+                               ((LIS3MDLDriver *)ip)->config->slaveaddress,
+                                 LIS3MDL_AD_OUT_Y_L, NULL);
+  tmp += lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
+                                ((LIS3MDLDriver *)ip)->config->slaveaddress,
+                                  LIS3MDL_AD_OUT_Y_H, NULL) << 8;
+  axes[1] = (int32_t)tmp - ((LIS3MDLDriver *)ip)->bias[1];
+
+  tmp = lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
+                               ((LIS3MDLDriver *)ip)->config->slaveaddress,
+                                 LIS3MDL_AD_OUT_Z_L, NULL);
+  tmp += lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
+                                ((LIS3MDLDriver *)ip)->config->slaveaddress,
+                                  LIS3MDL_AD_OUT_Z_H, NULL) << 8;
+  axes[2] = (int32_t)tmp - ((LIS3MDLDriver *)ip)->bias[2];
 
 #if LIS3MDL_SHARED_I2C
   i2cReleaseBus(((LIS3MDLDriver *)ip)->config->i2cp);
diff --git a/os/ex/ST/lsm6ds0.c b/os/ex/ST/lsm6ds0.c
index 0a494d362..20a05dd90 100644
--- a/os/ex/ST/lsm6ds0.c
+++ b/os/ex/ST/lsm6ds0.c
@@ -44,7 +44,8 @@
 #define  LSM6DS0_GYRO_SENS_500DPS           ((float)0.01750f)
 #define  LSM6DS0_GYRO_SENS_2000DPS          ((float)0.07000f)
 
-#define  LSM6DS0_TEMP_SENS                  ((float)0.0625f)
+#define  LSM6DS0_TEMP_SENS                  ((float)16.0f)
+#define  LSM6DS0_TEMP_SENS_OFF              ((float)25.0f)
 
 #define  LSM6DS0_DI                         ((uint8_t)0xFF)
 #define  LSM6DS0_DI_0                       ((uint8_t)0x01)
@@ -289,7 +290,7 @@ static size_t sens_get_axes_number(void *ip) {
 }
 
 static msg_t acc_read_raw(void *ip, int32_t axes[]) {
-
+  int16_t tmp;
   osalDbgCheck(((ip != NULL) && (axes != NULL)) &&
               (((LSM6DS0Driver *)ip)->config->acccfg != NULL));
   osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),
@@ -304,31 +305,31 @@ static msg_t acc_read_raw(void *ip, int32_t axes[]) {
            ((LSM6DS0Driver *)ip)->config->i2ccfg);
 #endif /* LSM6DS0_SHARED_I2C */
   if(((LSM6DS0Driver *)ip)->config->acccfg->axesenabling & LSM6DS0_ACC_AE_X){
-    axes[0] = (int16_t)(lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
-                                               ((LSM6DS0Driver *)ip)->config->slaveaddress,
-                                               LSM6DS0_AD_OUT_X_L_XL, NULL));
-    axes[0] += (int16_t)(lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
-                                                ((LSM6DS0Driver *)ip)->config->slaveaddress,
-                                                LSM6DS0_AD_OUT_X_H_XL, NULL) << 8);
-	axes[0] -= ((LSM6DS0Driver *)ip)->accbias[0];
+    tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
+                                 ((LSM6DS0Driver *)ip)->config->slaveaddress,
+                                 LSM6DS0_AD_OUT_X_L_XL, NULL);
+    tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
+                                  ((LSM6DS0Driver *)ip)->config->slaveaddress,
+                                  LSM6DS0_AD_OUT_X_H_XL, NULL) << 8;
+    axes[0] = (int32_t)tmp - ((LSM6DS0Driver *)ip)->accbias[0];
   }
   if(((LSM6DS0Driver *)ip)->config->acccfg->axesenabling & LSM6DS0_ACC_AE_Y){
-    axes[1] = (int16_t)(lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
-                                               ((LSM6DS0Driver *)ip)->config->slaveaddress,
-                                               LSM6DS0_AD_OUT_Y_L_XL, NULL));
-    axes[1] += (int16_t)(lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
-                                                ((LSM6DS0Driver *)ip)->config->slaveaddress,
-                                                LSM6DS0_AD_OUT_Y_H_XL, NULL) << 8);
-	axes[1] -= ((LSM6DS0Driver *)ip)->accbias[1];
+    tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
+                                 ((LSM6DS0Driver *)ip)->config->slaveaddress,
+                                 LSM6DS0_AD_OUT_Y_L_XL, NULL);
+    tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
+                                  ((LSM6DS0Driver *)ip)->config->slaveaddress,
+                                  LSM6DS0_AD_OUT_Y_H_XL, NULL) << 8;
+    axes[1] = (int32_t)tmp - ((LSM6DS0Driver *)ip)->accbias[1];
   }
   if(((LSM6DS0Driver *)ip)->config->acccfg->axesenabling & LSM6DS0_ACC_AE_Z){
-    axes[2] = (int16_t)(lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
-                                               ((LSM6DS0Driver *)ip)->config->slaveaddress,
-                                               LSM6DS0_AD_OUT_Z_L_XL, NULL));
-    axes[2] += (int16_t)(lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
-                                                ((LSM6DS0Driver *)ip)->config->slaveaddress,
-                                                LSM6DS0_AD_OUT_Z_H_XL, NULL) << 8);
-	axes[2] -= ((LSM6DS0Driver *)ip)->accbias[2];
+    tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
+                                 ((LSM6DS0Driver *)ip)->config->slaveaddress,
+                                 LSM6DS0_AD_OUT_Z_L_XL, NULL);
+    tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
+                                  ((LSM6DS0Driver *)ip)->config->slaveaddress,
+                                  LSM6DS0_AD_OUT_Z_H_XL, NULL) << 8;
+    axes[2] = (int32_t)tmp - ((LSM6DS0Driver *)ip)->accbias[2];
   }
 #if LSM6DS0_SHARED_I2C
   i2cReleaseBus(((LSM6DS0Driver *)ip)->config->i2cp);
@@ -338,7 +339,7 @@ static msg_t acc_read_raw(void *ip, int32_t axes[]) {
 }
 
 static msg_t gyro_read_raw(void *ip, int32_t axes[]) {
-
+  int16_t tmp;
   osalDbgCheck(((ip != NULL) && (axes != NULL)) &&
               (((LSM6DS0Driver *)ip)->config->gyrocfg != NULL));
   osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),
@@ -353,31 +354,31 @@ static msg_t gyro_read_raw(void *ip, int32_t axes[]) {
            ((LSM6DS0Driver *)ip)->config->i2ccfg);
 #endif /* LSM6DS0_SHARED_I2C */
   if(((LSM6DS0Driver *)ip)->config->gyrocfg->axesenabling & LSM6DS0_GYRO_AE_X){
-    axes[0] = (int16_t)(lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
-                                               ((LSM6DS0Driver *)ip)->config->slaveaddress,
-                                               LSM6DS0_AD_OUT_X_L_G, NULL));
-    axes[0] += (int16_t)(lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
-                                                ((LSM6DS0Driver *)ip)->config->slaveaddress,
-                                                LSM6DS0_AD_OUT_X_H_G, NULL) << 8);
-	axes[0] -= ((LSM6DS0Driver *)ip)->gyrobias[0];
+    tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
+                                 ((LSM6DS0Driver *)ip)->config->slaveaddress,
+                                   LSM6DS0_AD_OUT_X_L_G, NULL);
+    tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
+                                  ((LSM6DS0Driver *)ip)->config->slaveaddress,
+                                    LSM6DS0_AD_OUT_X_H_G, NULL) << 8;
+	axes[0] = (int32_t)tmp - ((LSM6DS0Driver *)ip)->gyrobias[0];
   }
   if(((LSM6DS0Driver *)ip)->config->acccfg->axesenabling & LSM6DS0_GYRO_AE_Y){
-    axes[1] = (int16_t)(lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
-                                               ((LSM6DS0Driver *)ip)->config->slaveaddress,
-                                               LSM6DS0_AD_OUT_Y_L_G, NULL));
-    axes[1] += (int16_t)(lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
-                                                ((LSM6DS0Driver *)ip)->config->slaveaddress,
-                                                LSM6DS0_AD_OUT_Y_H_G, NULL) << 8);
-	axes[1] -= ((LSM6DS0Driver *)ip)->gyrobias[1];
+    tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
+                                 ((LSM6DS0Driver *)ip)->config->slaveaddress,
+                                   LSM6DS0_AD_OUT_Y_L_G, NULL);
+    tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
+                                  ((LSM6DS0Driver *)ip)->config->slaveaddress,
+                                    LSM6DS0_AD_OUT_Y_H_G, NULL) << 8;
+    axes[1] = (int32_t)tmp - ((LSM6DS0Driver *)ip)->gyrobias[1];
   }
   if(((LSM6DS0Driver *)ip)->config->acccfg->axesenabling & LSM6DS0_GYRO_AE_Z){
-    axes[2] = (int16_t)(lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
-                                               ((LSM6DS0Driver *)ip)->config->slaveaddress,
-                                               LSM6DS0_AD_OUT_Z_L_G, NULL));
-    axes[2] += (int16_t)(lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
-                                                ((LSM6DS0Driver *)ip)->config->slaveaddress,
-                                                LSM6DS0_AD_OUT_Z_H_G, NULL) << 8);
-	axes[2] -= ((LSM6DS0Driver *)ip)->gyrobias[2];
+    tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
+                                 ((LSM6DS0Driver *)ip)->config->slaveaddress,
+                                   LSM6DS0_AD_OUT_Z_L_G, NULL);
+    tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
+                                  ((LSM6DS0Driver *)ip)->config->slaveaddress,
+                                    LSM6DS0_AD_OUT_Z_H_G, NULL) << 8;
+    axes[2] = (int32_t)tmp - ((LSM6DS0Driver *)ip)->gyrobias[2];
   }
 #if LSM6DS0_SHARED_I2C
   i2cReleaseBus(((LSM6DS0Driver *)ip)->config->i2cp);
@@ -624,17 +625,17 @@ static msg_t sens_get_temperature(void *ip, float* tempp) {
   i2cStart(((LSM6DS0Driver *)ip)->config->i2cp,
            ((LSM6DS0Driver *)ip)->config->i2ccfg);
 #endif /* LSM6DS0_SHARED_I2C */
-  temp = (int16_t)(lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
-                                          ((LSM6DS0Driver *)ip)->config->slaveaddress,
-                                            LSM6DS0_AD_OUT_TEMP_L, NULL));
-  temp += (int16_t)(lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
-                                           ((LSM6DS0Driver *)ip)->config->slaveaddress,
-                                             LSM6DS0_AD_OUT_TEMP_H, NULL) << 8);
+  temp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
+                                ((LSM6DS0Driver *)ip)->config->slaveaddress,
+                                  LSM6DS0_AD_OUT_TEMP_L, NULL);
+  temp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
+                                 ((LSM6DS0Driver *)ip)->config->slaveaddress,
+                                   LSM6DS0_AD_OUT_TEMP_H, NULL) << 8;
 #if LSM6DS0_SHARED_I2C
   i2cReleaseBus(((LSM6DS0Driver *)ip)->config->i2cp);
 #endif /* LSM6DS0_SHARED_I2C */
 #endif /* LSM6DS0_USE_I2C */
-  *tempp = (float)temp * LSM6DS0_TEMP_SENS;
+  *tempp = ((float)temp / LSM6DS0_TEMP_SENS) + LSM6DS0_TEMP_SENS_OFF;
   return MSG_OK;
 }