Updated LSM6DS0 driver to v 1.0.4 (Fixing Bug #915).

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@11447 35acf78f-673a-0410-8e92-d51de3d6d3f4

2 files changed, 52 insertions, 54 deletions

diff --git a/os/ex/ST/lsm6ds0.c b/os/ex/ST/lsm6ds0.c
index 392926ce4..81b35d559 100644
--- a/os/ex/ST/lsm6ds0.c
+++ b/os/ex/ST/lsm6ds0.c
@@ -554,28 +554,17 @@ static msg_t gyro_set_full_scale(void *ip, lsm6ds0_gyro_fs_t fs) {
   return msg;

 }

 

-static const struct BaseSensorVMT vmt_basesensor = {

+static const struct BaseSensorVMT vmt_sensor = {

   sens_get_axes_number, sens_read_raw, sens_read_cooked

 };

 

-static const struct BaseGyroscopeVMT vmt_basegyroscope = {

-  gyro_get_axes_number, gyro_read_raw, gyro_read_cooked,

-  gyro_sample_bias, gyro_set_bias, gyro_reset_bias,

-  gyro_set_sensivity, gyro_reset_sensivity

-};

-

-static const struct BaseAccelerometerVMT vmt_baseaccelerometer = {

-  acc_get_axes_number, acc_read_raw, acc_read_cooked,

-  acc_set_bias, acc_reset_bias, acc_set_sensivity, acc_reset_sensivity

-};

-

-static const struct LSM6DS0ACCVMT vmt_lsm6ds0acc = {

+static const struct LSM6DS0AccelerometerVMT vmt_accelerometer = {

   acc_get_axes_number, acc_read_raw, acc_read_cooked,

   acc_set_bias, acc_reset_bias, acc_set_sensivity, acc_reset_sensivity,

   acc_set_full_scale

 };

 

-static const struct LSM6DS0GYROVMT vmt_lsm6ds0gyro = {

+static const struct LSM6DS0GyroscopeVMT vmt_gyroscope = {

   gyro_get_axes_number, gyro_read_raw, gyro_read_cooked,

   gyro_sample_bias, gyro_set_bias, gyro_reset_bias,

   gyro_set_sensivity, gyro_reset_sensivity, gyro_set_full_scale

@@ -594,11 +583,9 @@ static const struct LSM6DS0GYROVMT vmt_lsm6ds0gyro = {
  */

 void lsm6ds0ObjectInit(LSM6DS0Driver *devp) {

   uint32_t i;

-  devp->vmt_basesensor = &vmt_basesensor;

-  devp->vmt_baseaccelerometer = &vmt_baseaccelerometer;

-  devp->vmt_basegyroscope = &vmt_basegyroscope;

-  devp->vmt_lsm6ds0acc = &vmt_lsm6ds0acc;

-  devp->vmt_lsm6ds0gyro = &vmt_lsm6ds0gyro;

+  devp->vmt_sensor = &vmt_sensor;

+  devp->vmt_accelerometer = &vmt_accelerometer;

+  devp->vmt_gyroscope = &vmt_gyroscope;

   devp->config = NULL;

   for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)

     devp->accbias[i] = 0.0f;

diff --git a/os/ex/ST/lsm6ds0.h b/os/ex/ST/lsm6ds0.h
index fa180d768..e1d52883b 100644
--- a/os/ex/ST/lsm6ds0.h
+++ b/os/ex/ST/lsm6ds0.h
@@ -43,22 +43,22 @@
 /**

  * @brief   LSM6DS0 driver version string.

  */

-#define EX_LSM6DS0_VERSION          "1.0.3"

+#define EX_LSM6DS0_VERSION                  "1.0.4"

 

 /**

  * @brief   LSM6DS0 driver version major number.

  */

-#define EX_LSM6DS0_MAJOR            1

+#define EX_LSM6DS0_MAJOR                    1

 

 /**

  * @brief   LSM6DS0 driver version minor number.

  */

-#define EX_LSM6DS0_MINOR            0

+#define EX_LSM6DS0_MINOR                    0

 

 /**

  * @brief   LSM6DS0 driver version patch number.

  */

-#define EX_LSM6DS0_PATCH            3

+#define EX_LSM6DS0_PATCH                    4

 /** @} */

 

 /**

@@ -99,11 +99,11 @@
  * @name   LSM6DS0 communication interfaces related bit masks

  * @{

  */

-#define LSM6DS0_DI_MASK             0xFF        /**< Data In mask           */

-#define LSM6DS0_DI(n)               (1 << n)    /**< Data In bit n          */

-#define LSM6DS0_AD_MASK             0x7F        /**< Address Data mask      */

-#define LSM6DS0_AD(n)               (1 << n)    /**< Address Data bit n     */

-#define LSM6DS0_MS                  (1 << 7)    /**< Multiple read write    */

+#define LSM6DS0_DI_MASK                     0xFF

+#define LSM6DS0_DI(n)                       (1 << n)

+#define LSM6DS0_AD_MASK                     0x7F

+#define LSM6DS0_AD(n)                       (1 << n)

+#define LSM6DS0_MS                          (1 << 7)

 /** @} */

 

 /**

@@ -677,33 +677,42 @@ typedef struct {
 } LSM6DS0Config;

 

 /**

- * @brief   Structure representing a LSM6DS0 driver.

- */

-typedef struct LSM6DS0Driver LSM6DS0Driver;

-

-/**

  * @brief   @p LSM6DS0 accelerometer subsystem specific methods.

  */

-#define _lsm6ds0_acc_methods                                                \

-  _base_accelerometer_methods                                               \

+#define _lsm6ds0_accelerometer_methods_alone                                \

   /* Change full scale value of LSM6DS0 accelerometer subsystem .*/         \

   msg_t (*set_full_scale)(void *instance, lsm6ds0_acc_fs_t fs);

   

+  

+/**

+ * @brief   @p LSM6DS0 accelerometer subsystem specific methods.

+ */

+#define _lsm6ds0_accelerometer_methods                                      \

+  _base_accelerometer_methods                                               \

+  _lsm6ds0_accelerometer_methods_alone

+

 /**

  * @brief   @p LSM6DS0 gyroscope subsystem specific methods.

  */

-#define _lsm6ds0_gyro_methods                                               \

-  _base_gyroscope_methods                                                   \

+#define _lsm6ds0_gyroscope_methods_alone                                    \

   /* Change full scale value of LSM6DS0 gyroscope subsystem .*/             \

   msg_t (*set_full_scale)(void *instance, lsm6ds0_gyro_fs_t fs);

   

+  

+/**

+ * @brief   @p LSM6DS0 gyroscope subsystem specific methods.

+ */

+#define _lsm6ds0_gyroscope_methods                                          \

+  _base_gyroscope_methods                                                   \

+  _lsm6ds0_gyroscope_methods_alone

+  

 /**

  * @extends BaseAccelerometerVMT

  *

  * @brief   @p LSM6DS0 accelerometer virtual methods table.

  */

-struct LSM6DS0ACCVMT {

-  _lsm6ds0_acc_methods

+struct LSM6DS0AccelerometerVMT {

+  _lsm6ds0_accelerometer_methods

 };

 

 /**

@@ -711,16 +720,14 @@ struct LSM6DS0ACCVMT {
  *

  * @brief   @p LSM6DS0 gyroscope virtual methods table.

  */

-struct LSM6DS0GYROVMT {

-  _lsm6ds0_gyro_methods

+struct LSM6DS0GyroscopeVMT {

+  _lsm6ds0_gyroscope_methods

 };

 

 /**

  * @brief   @p LSM6DS0Driver specific data.

  */

 #define _lsm6ds0_data                                                       \

-  _base_accelerometer_data                                                  \

-  _base_gyroscope_data                                                      \

   /* Driver state.*/                                                        \

   lsm6ds0_state_t           state;                                          \

   /* Current configuration data.*/                                          \

@@ -743,17 +750,21 @@ struct LSM6DS0GYROVMT {
  */

 struct LSM6DS0Driver {

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

-  const struct BaseSensorVMT *vmt_basesensor;

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

-  const struct BaseAccelerometerVMT *vmt_baseaccelerometer;

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

-  const struct BaseGyroscopeVMT *vmt_basegyroscope;

+  const struct BaseSensorVMT *vmt_sensor;

+  _base_sensor_data

   /** @brief LSM6DS0 Accelerometer Virtual Methods Table. */

-  const struct LSM6DS0ACCVMT *vmt_lsm6ds0acc;

+  const struct LSM6DS0AccelerometerVMT *vmt_accelerometer;

+  _base_accelerometer_data

   /** @brief LSM6DS0 Gyroscope Virtual Methods Table. */

-  const struct LSM6DS0GYROVMT *vmt_lsm6ds0gyro;

+  const struct LSM6DS0GyroscopeVMT *vmt_gyroscope;

+  _base_gyroscope_data

   _lsm6ds0_data

 };

+

+/**

+ * @brief   Structure representing a LSM6DS0 driver.

+ */

+typedef struct LSM6DS0Driver LSM6DS0Driver;

 /** @} */

 

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

@@ -763,7 +774,7 @@ struct LSM6DS0Driver {
 /**

  * @brief   Change accelerometer fullscale value.

  *

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

+ * @param[in] ip        pointer to a @p LSM6DS0Driver class.

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

  *

  * @return              The operation status.

@@ -772,12 +783,12 @@ struct LSM6DS0Driver {
  * @api

  */

 #define accelerometerSetFullScale(ip, fs)                                   \

-        (ip)->vmt_lsm6ds0acc->set_full_scale(ip, fs)

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

 

 /**

  * @brief   Change compass fullscale value.

  *

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

+ * @param[in] ip        pointer to a @p LSM6DS0Driver class.

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

  *

  * @return              The operation status.

@@ -786,7 +797,7 @@ struct LSM6DS0Driver {
  * @api

  */

 #define gyroscopeSetFullScale(ip, fs)                                         \

-        (ip)->vmt_lsm6ds0gyro->set_full_scale(ip, fs)

+        (ip)->vmt_gyroscope->set_full_scale(ip, fs)

   

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

 /* External declarations.                                                    */