diff options
| author | Rocco Marco Guglielmi <roccomarco.guglielmi@gmail.com> | 2018-03-10 23:02:03 +0000 |
|---|---|---|
| committer | Rocco Marco Guglielmi <roccomarco.guglielmi@gmail.com> | 2018-03-10 23:02:03 +0000 |
| commit | a271d810c1d8b722132ff20e7ee066bca328cde9 (patch) | |
| tree | 20a0c970ec384b60e8e52c8a84197dfd0836429d /os/ex | |
| parent | 1d00f3853bde753fb0aab2f36db153547056baa1 (diff) | |
| download | ChibiOS-a271d810c1d8b722132ff20e7ee066bca328cde9.tar.gz ChibiOS-a271d810c1d8b722132ff20e7ee066bca328cde9.tar.bz2 ChibiOS-a271d810c1d8b722132ff20e7ee066bca328cde9.zip | |
Updated LIS3DSH driver and demos
git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@11690 110e8d01-0319-4d1e-a829-52ad28d1bb01
Diffstat (limited to 'os/ex')
| -rw-r--r-- | os/ex/ST/lis3dsh.c | 528 | ||||
| -rw-r--r-- | os/ex/ST/lis3dsh.h | 411 |
2 files changed, 606 insertions, 333 deletions
diff --git a/os/ex/ST/lis3dsh.c b/os/ex/ST/lis3dsh.c index b981db754..4cbfac8c0 100644 --- a/os/ex/ST/lis3dsh.c +++ b/os/ex/ST/lis3dsh.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.
@@ -57,7 +57,7 @@ * @param[in] n number of adjacent registers to write
* @param[in] b pointer to a buffer.
*/
-static void lis3dshSPIReadRegister(SPIDriver *spip, uint8_t reg, size_t n,
+static void lis3dshSPIReadRegister(SPIDriver *spip, uint8_t reg, size_t n,
uint8_t* b) {
uint8_t cmd;
cmd = reg | LIS3DSH_RW;
@@ -88,177 +88,313 @@ static void lis3dshSPIWriteRegister(SPIDriver *spip, uint8_t reg, size_t n, }
#endif /* LIS3DSH_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 LIS3DSH_NUMBER_OF_AXES;
+static size_t acc_get_axes_number(void *ip) {
+ (void)ip;
+
+ return LIS3DSH_ACC_NUMBER_OF_AXES;
}
-static msg_t read_raw(void *ip, int32_t axes[LIS3DSH_NUMBER_OF_AXES]) {
- uint8_t buff [LIS3DSH_NUMBER_OF_AXES * 2], i;
+/**
+ * @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[]) {
+ LIS3DSHDriver* devp;
+ uint8_t buff [LIS3DSH_ACC_NUMBER_OF_AXES * 2], i;
int16_t tmp;
+ msg_t msg = MSG_OK;
+
osalDbgCheck((ip != NULL) && (axes != NULL));
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LIS3DSHDriver*, (BaseAccelerometer*)ip);
- osalDbgAssert((((LIS3DSHDriver *)ip)->state == LIS3DSH_READY),
- "read_raw(), invalid state");
+ osalDbgAssert((devp->state == LIS3DSH_READY),
+ "acc_read_raw(), invalid state");
#if LIS3DSH_USE_SPI
- osalDbgAssert((((LIS3DSHDriver *)ip)->config->spip->state == SPI_READY),
- "read_raw(), channel not ready");
-
#if LIS3DSH_SHARED_SPI
- spiAcquireBus(((LIS3DSHDriver *)ip)->config->spip);
- spiStart(((LIS3DSHDriver *)ip)->config->spip,
- ((LIS3DSHDriver *)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 /* LIS3DSH_SHARED_SPI */
- lis3dshSPIReadRegister(((LIS3DSHDriver *)ip)->config->spip, LIS3DSH_AD_OUT_X_L,
- LIS3DSH_NUMBER_OF_AXES * 2, buff);
+ lis3dshSPIReadRegister(devp->config->spip, LIS3DSH_AD_OUT_X_L,
+ LIS3DSH_ACC_NUMBER_OF_AXES * 2, buff);
#if LIS3DSH_SHARED_SPI
- spiReleaseBus(((LIS3DSHDriver *)ip)->config->spip);
+ spiReleaseBus(devp->config->spip);
#endif /* LIS3DSH_SHARED_SPI */
#endif /* LIS3DSH_USE_SPI */
- for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) {
- tmp = buff[2*i] + (buff[2*i+1] << 8);
+
+ for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++) {
+ tmp = buff[2 * i] + (buff[2 * i + 1] << 8);
axes[i] = (int32_t)tmp;
}
- return MSG_OK;
+ 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[]) {
+ LIS3DSHDriver* devp;
uint32_t i;
- int32_t raw[LIS3DSH_NUMBER_OF_AXES];
+ int32_t raw[LIS3DSH_ACC_NUMBER_OF_AXES];
msg_t msg;
osalDbgCheck((ip != NULL) && (axes != NULL));
- osalDbgAssert((((LIS3DSHDriver *)ip)->state == LIS3DSH_READY),
- "read_cooked(), invalid state");
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LIS3DSHDriver*, (BaseAccelerometer*)ip);
+
+ osalDbgAssert((devp->state == LIS3DSH_READY),
+ "acc_read_cooked(), invalid state");
- msg = read_raw(ip, raw);
- for(i = 0; i < LIS3DSH_NUMBER_OF_AXES ; i++){
- axes[i] = (raw[i] * ((LIS3DSHDriver *)ip)->sensitivity[i]);
- axes[i] -= ((LIS3DSHDriver *)ip)->bias[i];
+ msg = acc_read_raw(ip, raw);
+ for(i = 0; i < LIS3DSH_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) {
+ LIS3DSHDriver* devp;
uint32_t i;
-
- osalDbgCheck((ip != NULL) && (bp !=NULL));
+ msg_t msg = MSG_OK;
- osalDbgAssert((((LIS3DSHDriver *)ip)->state == LIS3DSH_READY) ||
- (((LIS3DSHDriver *)ip)->state == LIS3DSH_STOP),
- "set_bias(), invalid state");
-
- for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) {
- ((LIS3DSHDriver *)ip)->bias[i] = bp[i];
+ osalDbgCheck((ip != NULL) && (bp != NULL));
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LIS3DSHDriver*, (BaseAccelerometer*)ip);
+
+ osalDbgAssert((devp->state == LIS3DSH_READY),
+ "acc_set_bias(), invalid state");
+
+ for(i = 0; i < LIS3DSH_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) {
+ LIS3DSHDriver* devp;
uint32_t i;
+ msg_t msg = MSG_OK;
osalDbgCheck(ip != NULL);
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LIS3DSHDriver*, (BaseAccelerometer*)ip);
- osalDbgAssert((((LIS3DSHDriver *)ip)->state == LIS3DSH_READY) ||
- (((LIS3DSHDriver *)ip)->state == LIS3DSH_STOP),
- "reset_bias(), invalid state");
+ osalDbgAssert((devp->state == LIS3DSH_READY),
+ "acc_reset_bias(), invalid state");
- for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
- ((LIS3DSHDriver *)ip)->bias[i] = 0;
- return MSG_OK;
+ for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
+ devp->accbias[i] = LIS3DSH_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) {
+ LIS3DSHDriver* devp;
uint32_t i;
-
- osalDbgCheck((ip != NULL) && (sp !=NULL));
+ msg_t msg = MSG_OK;
- osalDbgAssert((((LIS3DSHDriver *)ip)->state == LIS3DSH_READY),
- "set_sensivity(), invalid state");
-
- for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) {
- ((LIS3DSHDriver *)ip)->sensitivity[i] = sp[i];
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LIS3DSHDriver*, (BaseAccelerometer*)ip);
+
+ osalDbgCheck((ip != NULL) && (sp != NULL));
+
+ osalDbgAssert((devp->state == LIS3DSH_READY),
+ "acc_set_sensivity(), invalid state");
+
+ for(i = 0; i < LIS3DSH_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) {
+ LIS3DSHDriver* devp;
uint32_t i;
+ msg_t msg = MSG_OK;
osalDbgCheck(ip != NULL);
-
- osalDbgAssert((((LIS3DSHDriver *)ip)->state == LIS3DSH_READY),
- "reset_sensivity(), invalid state");
-
- if(((LIS3DSHDriver *)ip)->config->fullscale == LIS3DSH_FS_2G)
- for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
- ((LIS3DSHDriver *)ip)->sensitivity[i] = LIS3DSH_SENS_2G;
- else if(((LIS3DSHDriver *)ip)->config->fullscale == LIS3DSH_FS_4G)
- for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
- ((LIS3DSHDriver *)ip)->sensitivity[i] = LIS3DSH_SENS_4G;
- else if(((LIS3DSHDriver *)ip)->config->fullscale == LIS3DSH_FS_6G)
- for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
- ((LIS3DSHDriver *)ip)->sensitivity[i] = LIS3DSH_SENS_6G;
- else if(((LIS3DSHDriver *)ip)->config->fullscale == LIS3DSH_FS_8G)
- for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
- ((LIS3DSHDriver *)ip)->sensitivity[i] = LIS3DSH_SENS_8G;
- else if(((LIS3DSHDriver *)ip)->config->fullscale == LIS3DSH_FS_16G)
- for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
- ((LIS3DSHDriver *)ip)->sensitivity[i] = LIS3DSH_SENS_16G;
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LIS3DSHDriver*, (BaseAccelerometer*)ip);
+
+ osalDbgAssert((devp->state == LIS3DSH_READY),
+ "acc_reset_sensivity(), invalid state");
+
+ if(devp->config->accfullscale == LIS3DSH_ACC_FS_2G)
+ for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = LIS3DSH_ACC_SENS_2G;
+ else if(devp->config->accfullscale == LIS3DSH_ACC_FS_4G)
+ for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = LIS3DSH_ACC_SENS_4G;
+ else if(devp->config->accfullscale == LIS3DSH_ACC_FS_6G)
+ for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = LIS3DSH_ACC_SENS_6G;
+ else if(devp->config->accfullscale == LIS3DSH_ACC_FS_8G)
+ for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = LIS3DSH_ACC_SENS_8G;
+ else if(devp->config->accfullscale == LIS3DSH_ACC_FS_16G)
+ for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = LIS3DSH_ACC_SENS_16G;
else {
- osalDbgAssert(FALSE, "reset_sensivity(), accelerometer 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, lis3dsh_fs_t fs) {
+/**
+ * @brief Changes the LIS3DSHDriver 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 LIS3DSHDriver 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(LIS3DSHDriver *devp,
+ lis3dsh_acc_fs_t fs) {
float newfs, scale;
uint8_t i, cr;
+ msg_t msg;
+
+ osalDbgCheck(devp != NULL);
+
+ osalDbgAssert((devp->state == LIS3DSH_READY),
+ "acc_set_full_scale(), invalid state");
+ osalDbgAssert((devp->config->spip->state == SPI_READY),
+ "acc_set_full_scale(), channel not ready");
- if(fs == LIS3DSH_FS_2G) {
- newfs = LIS3DSH_2G;
+ /* Computing new fullscale value.*/
+ if(fs == LIS3DSH_ACC_FS_2G) {
+ newfs = LIS3DSH_ACC_2G;
}
- else if(fs == LIS3DSH_FS_4G) {
- newfs = LIS3DSH_4G;
+ else if(fs == LIS3DSH_ACC_FS_4G) {
+ newfs = LIS3DSH_ACC_4G;
}
- else if(fs == LIS3DSH_FS_6G) {
- newfs = LIS3DSH_6G;
+ else if(fs == LIS3DSH_ACC_FS_6G) {
+ newfs = LIS3DSH_ACC_6G;
}
- else if(fs == LIS3DSH_FS_8G) {
- newfs = LIS3DSH_8G;
+ else if(fs == LIS3DSH_ACC_FS_8G) {
+ newfs = LIS3DSH_ACC_8G;
}
- else if(fs == LIS3DSH_FS_16G) {
- newfs = LIS3DSH_16G;
+ else if(fs == LIS3DSH_ACC_FS_16G) {
+ newfs = LIS3DSH_ACC_16G;
}
else {
- return MSG_RESET;
+ msg = MSG_RESET;
+ return msg;
}
- if(newfs != ((LIS3DSHDriver *)ip)->fullscale) {
- scale = newfs / ((LIS3DSHDriver *)ip)->fullscale;
- ((LIS3DSHDriver *)ip)->fullscale = newfs;
+ if(newfs != devp->accfullscale) {
+ /* Computing scale value.*/
+ scale = newfs / devp->accfullscale;
+ devp->accfullscale = newfs;
#if LIS3DSH_USE_SPI
#if LIS3DSH_SHARED_SPI
- spiAcquireBus(((LIS3DSHDriver *)ip)->config->spip);
- spiStart(((LIS3DSHDriver *)ip)->config->spip,
- ((LIS3DSHDriver *)ip)->config->spicfg);
+ spiAcquireBus(devp->config->spip);
+ spiStart(devp->config->spip,
+ devp->config->spicfg);
#endif /* LIS3DSH_SHARED_SPI */
- lis3dshSPIReadRegister(((LIS3DSHDriver *)ip)->config->spip,
- LIS3DSH_AD_CTRL_REG5, 1, &cr);
+
+ /* Getting data from register.*/
+ lis3dshSPIReadRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG5, 1, &cr);
+
#if LIS3DSH_SHARED_SPI
- spiReleaseBus(((LIS3DSHDriver *)ip)->config->spip);
+ spiReleaseBus(devp->config->spip);
#endif /* LIS3DSH_SHARED_SPI */
#endif /* LIS3DSH_USE_SPI */
@@ -267,34 +403,37 @@ static msg_t set_full_scale(void *ip, lis3dsh_fs_t fs) { #if LIS3DSH_USE_SPI
#if LIS3DSH_SHARED_SPI
- spiAcquireBus(((LIS3DSHDriver *)ip)->config->spip);
- spiStart(((LIS3DSHDriver *)ip)->config->spip,
- ((LIS3DSHDriver *)ip)->config->spicfg);
+ spiAcquireBus(devp->config->spip);
+ spiStart(devp->config->spip,
+ devp->config->spicfg);
#endif /* LIS3DSH_SHARED_SPI */
- lis3dshSPIWriteRegister(((LIS3DSHDriver *)ip)->config->spip,
- LIS3DSH_AD_CTRL_REG5, 1, &cr);
+
+ /* Getting data from register.*/
+ lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG5, 1, &cr);
+
#if LIS3DSH_SHARED_SPI
- spiReleaseBus(((LIS3DSHDriver *)ip)->config->spip);
+ spiReleaseBus(devp->config->spip);
#endif /* LIS3DSH_SHARED_SPI */
#endif /* LIS3DSH_USE_SPI */
/* Scaling sensitivity and bias. Re-calibration is suggested anyway. */
- for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) {
- ((LIS3DSHDriver *)ip)->sensitivity[i] *= scale;
- ((LIS3DSHDriver *)ip)->bias[i] *= scale;
+ for(i = 0; i < LIS3DSH_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 LIS3DSHVMT vmt_device = {
+ (size_t)0,
+ acc_set_full_scale
};
-static const struct LIS3DSHVMT 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 LIS3DSHVMT*),
+ acc_get_axes_number, acc_read_raw, acc_read_cooked,
+ acc_set_bias, acc_reset_bias, acc_set_sensivity, acc_reset_sensivity
};
/*===========================================================================*/
@@ -309,13 +448,14 @@ static const struct LIS3DSHVMT vmt_accelerometer = { * @init
*/
void lis3dshObjectInit(LIS3DSHDriver *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 < LIS3DSH_NUMBER_OF_AXES; i++)
- devp->bias[i] = 0.0f;
- devp->state = LIS3DSH_STOP;
+
+ devp->accaxes = LIS3DSH_ACC_NUMBER_OF_AXES;
+
+ devp->state = LIS3DSH_STOP;
}
/**
@@ -328,55 +468,55 @@ void lis3dshObjectInit(LIS3DSHDriver *devp) { */
void lis3dshStart(LIS3DSHDriver *devp, const LIS3DSHConfig *config) {
uint32_t i;
- osalDbgCheck((devp != NULL) && (config != NULL));
uint8_t cr;
- osalDbgAssert((devp->state == LIS3DSH_STOP) || (devp->state == LIS3DSH_READY),
- "lis3dshStart(), invalid state");
+ osalDbgCheck((devp != NULL) && (config != NULL));
+
+ osalDbgAssert((devp->state == LIS3DSH_STOP) ||
+ (devp->state == LIS3DSH_READY),
+ "lis3dshStart(), invalid state");
devp->config = config;
/* Control register 4 configuration block.*/
{
cr = LIS3DSH_CTRL_REG4_XEN | LIS3DSH_CTRL_REG4_YEN | LIS3DSH_CTRL_REG4_ZEN |
- devp->config->outputdatarate;
+ devp->config->accoutputdatarate;
#if LIS3DSH_USE_ADVANCED || defined(__DOXYGEN__)
- cr |= devp->config->blockdataupdate;
+ cr |= devp->config->accblockdataupdate;
#endif
}
#if LIS3DSH_USE_SPI
#if LIS3DSH_SHARED_SPI
- spiAcquireBus((devp)->config->spip);
+ spiAcquireBus(devp->config->spip);
#endif /* LIS3DSH_SHARED_SPI */
- spiStart((devp)->config->spip, (devp)->config->spicfg);
+ spiStart(devp->config->spip, devp->config->spicfg);
- lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG4,
- 1, &cr);
+ lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG4, 1, &cr);
#if LIS3DSH_SHARED_SPI
- spiReleaseBus((devp)->config->spip);
+ spiReleaseBus(devp->config->spip);
#endif /* LIS3DSH_SHARED_SPI */
#endif /* LIS3DSH_USE_SPI */
/* Control register 5 configuration block.*/
{
- cr = devp->config->fullscale;
+ cr = devp->config->accfullscale;
#if LIS3DSH_USE_ADVANCED || defined(__DOXYGEN__)
- cr |= devp->config->antialiasing;
+ cr |= devp->config->accantialiasing;
#endif
}
#if LIS3DSH_USE_SPI
#if LIS3DSH_SHARED_SPI
- spiAcquireBus((devp)->config->spip);
- spiStart((devp)->config->spip, (devp)->config->spicfg);
+ spiAcquireBus(devp->config->spip);
+ spiStart(devp->config->spip, devp->config->spicfg);
#endif /* LIS3DSH_SHARED_SPI */
- lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG5,
- 1, &cr);
+ lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG5, 1, &cr);
#if LIS3DSH_SHARED_SPI
- spiReleaseBus((devp)->config->spip);
+ spiReleaseBus(devp->config->spip);
#endif /* LIS3DSH_SHARED_SPI */
#endif /* LIS3DSH_USE_SPI */
@@ -384,79 +524,81 @@ void lis3dshStart(LIS3DSHDriver *devp, const LIS3DSHConfig *config) { {
cr = LIS3DSH_CTRL_REG6_ADD_INC;
#if LIS3DSH_USE_ADVANCED || defined(__DOXYGEN__)
- cr |= devp->config->blockdataupdate;
+ cr |= devp->config->accblockdataupdate;
#endif
}
#if LIS3DSH_USE_SPI
#if LIS3DSH_SHARED_SPI
- spiAcquireBus((devp)->config->spip);
- spiStart((devp)->config->spip, (devp)->config->spicfg);
+ spiAcquireBus(devp->config->spip);
+ spiStart(devp->config->spip, devp->config->spicfg);
#endif /* LIS3DSH_SHARED_SPI */
- lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG6,
- 1, &cr);
+ lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG6, 1, &cr);
#if LIS3DSH_SHARED_SPI
- spiReleaseBus((devp)->config->spip);
+ spiReleaseBus(devp->config->spip);
#endif /* LIS3DSH_SHARED_SPI */
#endif /* LIS3DSH_USE_SPI */
/* Storing sensitivity information according to user setting */
- if(devp->config->fullscale == LIS3DSH_FS_2G) {
- devp->fullscale = LIS3DSH_2G;
- if(devp->config->sensitivity == NULL)
- for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
- devp->sensitivity[i] = LIS3DSH_SENS_2G;
+ if(devp->config->accfullscale == LIS3DSH_ACC_FS_2G) {
+ devp->accfullscale = LIS3DSH_ACC_2G;
+ if(devp->config->accsensitivity == NULL)
+ for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = LIS3DSH_ACC_SENS_2G;
else
- for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
- devp->sensitivity[i] = devp->config->sensitivity[i];
+ for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = devp->config->accsensitivity[i];
}
- else if(devp->config->fullscale == LIS3DSH_FS_4G) {
- devp->fullscale = LIS3DSH_4G;
- if(devp->config->sensitivity == NULL)
- for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
- devp->sensitivity[i] = LIS3DSH_SENS_4G;
+ else if(devp->config->accfullscale == LIS3DSH_ACC_FS_4G) {
+ devp->accfullscale = LIS3DSH_ACC_4G;
+ if(devp->config->accsensitivity == NULL)
+ for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = LIS3DSH_ACC_SENS_4G;
else
- for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
- devp->sensitivity[i] = devp->config->sensitivity[i];
+ for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = devp->config->accsensitivity[i];
}
- else if(devp->config->fullscale == LIS3DSH_FS_6G) {
- devp->fullscale = LIS3DSH_6G;
- if(devp->config->sensitivity == NULL)
- for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
- devp->sensitivity[i] = LIS3DSH_SENS_6G;
+ else if(devp->config->accfullscale == LIS3DSH_ACC_FS_6G) {
+ devp->accfullscale = LIS3DSH_ACC_6G;
+ if(devp->config->accsensitivity == NULL)
+ for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = LIS3DSH_ACC_SENS_6G;
else
- for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
- devp->sensitivity[i] = devp->config->sensitivity[i];
+ for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = devp->config->accsensitivity[i];
}
- else if(devp->config->fullscale == LIS3DSH_FS_8G) {
- devp->fullscale = LIS3DSH_8G;
- if(devp->config->sensitivity == NULL)
- for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
- devp->sensitivity[i] = LIS3DSH_SENS_8G;
+ else if(devp->config->accfullscale == LIS3DSH_ACC_FS_8G) {
+ devp->accfullscale = LIS3DSH_ACC_8G;
+ if(devp->config->accsensitivity == NULL)
+ for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = LIS3DSH_ACC_SENS_8G;
else
- for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
- devp->sensitivity[i] = devp->config->sensitivity[i];
+ for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = devp->config->accsensitivity[i];
}
- else if(devp->config->fullscale == LIS3DSH_FS_16G) {
- devp->fullscale = LIS3DSH_16G;
- if(devp->config->sensitivity == NULL)
- for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
- devp->sensitivity[i] = LIS3DSH_SENS_16G;
+ else if(devp->config->accfullscale == LIS3DSH_ACC_FS_16G) {
+ devp->accfullscale = LIS3DSH_ACC_16G;
+ if(devp->config->accsensitivity == NULL)
+ for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = LIS3DSH_ACC_SENS_16G;
else
- for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
- devp->sensitivity[i] = devp->config->sensitivity[i];
+ for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = devp->config->accsensitivity[i];
}
else {
osalDbgAssert(FALSE, "lis3dshStart(), accelerometer full scale issue");
}
/* Storing bias information according to user setting */
- if(devp->config->bias != NULL)
- for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
- devp->bias[i] = devp->config->bias[i];
-
+ if(devp->config->accbias != NULL)
+ for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
+ devp->accbias[i] = devp->config->accbias[i];
+ else
+ for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
+ devp->accbias[i] = LIS3DSH_ACC_BIAS;
+
/* This is the Accelerometer transient recovery time */
osalThreadSleepMilliseconds(10);
@@ -474,23 +616,25 @@ void lis3dshStop(LIS3DSHDriver *devp) { uint8_t cr4;
osalDbgCheck(devp != NULL);
- osalDbgAssert((devp->state == LIS3DSH_STOP) || (devp->state == LIS3DSH_READY),
+ osalDbgAssert((devp->state == LIS3DSH_STOP) ||
+ (devp->state == LIS3DSH_READY),
"lis3dshStop(), invalid state");
if (devp->state == LIS3DSH_READY) {
#if (LIS3DSH_USE_SPI)
#if LIS3DSH_SHARED_SPI
- spiAcquireBus((devp)->config->spip);
- spiStart((devp)->config->spip,
- (devp)->config->spicfg);
+ spiAcquireBus(devp->config->spip);
+ spiStart(devp->config->spip,
+ devp->config->spicfg);
#endif /* LIS3DSH_SHARED_SPI */
/* Disabling all axes and enabling power down mode.*/
cr4 = 0;
lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG4,
1, &cr4);
- spiStop((devp)->config->spip);
+
+ spiStop(devp->config->spip);
#if LIS3DSH_SHARED_SPI
- spiReleaseBus((devp)->config->spip);
+ spiReleaseBus(devp->config->spip);
#endif /* LIS3DSH_SHARED_SPI */
#endif /* LIS3DSH_USE_SPI */
}
diff --git a/os/ex/ST/lis3dsh.h b/os/ex/ST/lis3dsh.h index 12b6dd6bf..48ff544cd 100644 --- a/os/ex/ST/lis3dsh.h +++ b/os/ex/ST/lis3dsh.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 LIS3DSH driver version string.
*/
-#define EX_LIS3DSH_VERSION "1.0.3"
+#define EX_LIS3DSH_VERSION "1.0.4"
/**
* @brief LIS3DSH driver version major number.
@@ -58,27 +58,32 @@ /**
* @brief LIS3DSH driver version patch number.
*/
-#define EX_LIS3DSH_PATCH 3
+#define EX_LIS3DSH_PATCH 4
/** @} */
/**
- * @brief LIS3DSH characteristics.
+ * @brief LIS3DSH 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 LIS3DSH_NUMBER_OF_AXES 3U
+#define LIS3DSH_ACC_NUMBER_OF_AXES 3U
-#define LIS3DSH_2G 2.0f
-#define LIS3DSH_4G 4.0f
-#define LIS3DSH_6G 6.0f
-#define LIS3DSH_8G 8.0f
-#define LIS3DSH_16G 16.0f
+#define LIS3DSH_ACC_2G 2.0f
+#define LIS3DSH_ACC_4G 4.0f
+#define LIS3DSH_ACC_6G 6.0f
+#define LIS3DSH_ACC_8G 8.0f
+#define LIS3DSH_ACC_16G 16.0f
-#define LIS3DSH_SENS_2G 0.06f
-#define LIS3DSH_SENS_4G 0.12f
-#define LIS3DSH_SENS_6G 0.18f
-#define LIS3DSH_SENS_8G 0.24f
-#define LIS3DSH_SENS_16G 0.73f
+#define LIS3DSH_ACC_SENS_2G 0.06f
+#define LIS3DSH_ACC_SENS_4G 0.12f
+#define LIS3DSH_ACC_SENS_6G 0.18f
+#define LIS3DSH_ACC_SENS_8G 0.24f
+#define LIS3DSH_ACC_SENS_16G 0.73f
+
+#define LIS3DSH_ACC_BIAS 0.0f
/** @} */
/**
@@ -201,84 +206,84 @@ * @name LIS3DSH_CTRL_REG1 register bits definitions
* @{
*/
-#define LIS3DSH_CTRL_REG1_MASK 0xE9 /**< LIS3DSH_CTRL_REG1 mask */
-#define LIS3DSH_CTRL_REG1_SM1_EN (1 << 0) /**< SM1 enabled */
-#define LIS3DSH_CTRL_REG1_SM1_PIN (1 << 3) /**< SM1 pin */
-#define LIS3DSH_CTRL_REG1_HYST0_1 (1 << 5) /**< Hysteresis 1 bit 0 */
-#define LIS3DSH_CTRL_REG1_HYST1_1 (1 << 6) /**< Hysteresis 1 bit 1 */
-#define LIS3DSH_CTRL_REG1_HYST2_1 (1 << 7) /**< Hysteresis 1 bit 2 */
+#define LIS3DSH_CTRL_REG1_MASK 0xE9
+#define LIS3DSH_CTRL_REG1_SM1_EN (1 << 0)
+#define LIS3DSH_CTRL_REG1_SM1_PIN (1 << 3)
+#define LIS3DSH_CTRL_REG1_HYST0_1 (1 << 5)
+#define LIS3DSH_CTRL_REG1_HYST1_1 (1 << 6)
+#define LIS3DSH_CTRL_REG1_HYST2_1 (1 << 7)
/** @} */
/**
* @name LIS3DSH_CTRL_REG2 register bits definitions
* @{
*/
-#define LIS3DSH_CTRL_REG2_MASK 0xE9 /**< LIS3DSH_CTRL_REG2 mask */
-#define LIS3DSH_CTRL_REG2_SM2_EN (1 << 0) /**< SM2 enabled */
-#define LIS3DSH_CTRL_REG2_SM2_PIN (1 << 3) /**< SM2 pin */
-#define LIS3DSH_CTRL_REG2_HYST0_2 (1 << 5) /**< Hysteresis 2 bit 0 */
-#define LIS3DSH_CTRL_REG2_HYST1_2 (1 << 6) /**< Hysteresis 2 bit 1 */
-#define LIS3DSH_CTRL_REG2_HYST2_2 (1 << 7) /**< Hysteresis 2 bit 2 */
+#define LIS3DSH_CTRL_REG2_MASK 0xE9
+#define LIS3DSH_CTRL_REG2_SM2_EN (1 << 0)
+#define LIS3DSH_CTRL_REG2_SM2_PIN (1 << 3)
+#define LIS3DSH_CTRL_REG2_HYST0_2 (1 << 5)
+#define LIS3DSH_CTRL_REG2_HYST1_2 (1 << 6)
+#define LIS3DSH_CTRL_REG2_HYST2_2 (1 << 7)
/** @} */
/**
* @name LIS3DSH_CTRL_REG3 register bits definitions
* @{
*/
-#define LIS3DSH_CTRL_REG3_MASK 0xFF /**< LIS3DSH_CTRL_REG3 mask */
-#define LIS3DSH_CTRL_REG3_STRT (1 << 0) /**< Soft reset bit */
-#define LIS3DSH_CTRL_REG3_VFILT (1 << 2) /**< Vector filter */
-#define LIS3DSH_CTRL_REG3_INT1_EN (1 << 3) /**< Interrupt 1 enable */
-#define LIS3DSH_CTRL_REG3_INT2_EN (1 << 4) /**< Interrupt 2 enable */
-#define LIS3DSH_CTRL_REG3_IEL (1 << 5) /**< Interrupt latching */
-#define LIS3DSH_CTRL_REG3_IEA (1 << 6) /**< Interurpt polarity */
-#define LIS3DSH_CTRL_REG3_DR_EN (1 << 7) /**< Data ready signal */
+#define LIS3DSH_CTRL_REG3_MASK 0xFF
+#define LIS3DSH_CTRL_REG3_STRT (1 << 0)
+#define LIS3DSH_CTRL_REG3_VFILT (1 << 2)
+#define LIS3DSH_CTRL_REG3_INT1_EN (1 << 3)
+#define LIS3DSH_CTRL_REG3_INT2_EN (1 << 4)
+#define LIS3DSH_CTRL_REG3_IEL (1 << 5)
+#define LIS3DSH_CTRL_REG3_IEA (1 << 6)
+#define LIS3DSH_CTRL_REG3_DR_EN (1 << 7)
/** @} */
/**
* @name LIS3DSH_CTRL_REG4 register bits definitions
* @{
*/
-#define LIS3DSH_CTRL_REG4_MASK 0xFF /**< LIS3DSH_CTRL_REG4 mask */
-#define LIS3DSH_CTRL_REG4_XEN (1 << 0) /**< X axis enable */
-#define LIS3DSH_CTRL_REG4_YEN (1 << 1) /**< Y axis enable */
-#define LIS3DSH_CTRL_REG4_ZEN (1 << 2) /**< Z axis enable */
-#define LIS3DSH_CTRL_REG4_BDU (1 << 3) /**< Block data update */
-#define LIS3DSH_CTRL_REG4_ODR_0 (1 << 4) /**< Output data rate bit 0 */
-#define LIS3DSH_CTRL_REG4_ODR_1 (1 << 5) /**< Output data rate bit 1 */
-#define LIS3DSH_CTRL_REG4_ODR_2 (1 << 6) /**< Output data rate bit 2 */
-#define LIS3DSH_CTRL_REG4_ODR_3 (1 << 7) /**< Output data rate bit 3 */
+#define LIS3DSH_CTRL_REG4_MASK 0xFF
+#define LIS3DSH_CTRL_REG4_XEN (1 << 0)
+#define LIS3DSH_CTRL_REG4_YEN (1 << 1)
+#define LIS3DSH_CTRL_REG4_ZEN (1 << 2)
+#define LIS3DSH_CTRL_REG4_BDU (1 << 3)
+#define LIS3DSH_CTRL_REG4_ODR_0 (1 << 4)
+#define LIS3DSH_CTRL_REG4_ODR_1 (1 << 5)
+#define LIS3DSH_CTRL_REG4_ODR_2 (1 << 6)
+#define LIS3DSH_CTRL_REG4_ODR_3 (1 << 7)
/** @} */
/**
* @name LIS3DSH_CTRL_REG5 register bits definitions
* @{
*/
-#define LIS3DSH_CTRL_REG5_MASK 0xFF /**< LIS3DSH_CTRL_REG5 mask */
-#define LIS3DSH_CTRL_REG5_SIM (1 << 0) /**< SPI interface mode */
-#define LIS3DSH_CTRL_REG5_ST1 (1 << 1) /**< Self test bit 1 */
-#define LIS3DSH_CTRL_REG5_ST2 (1 << 2) /**< Self test bit 2 */
-#define LIS3DSH_CTRL_REG5_FS_MASK 0x38 /**< Full scale field mask */
-#define LIS3DSH_CTRL_REG5_FS0 (1 << 3) /**< Full scale bit 0 */
-#define LIS3DSH_CTRL_REG5_FS1 (1 << 4) /**< Full scale bit 1 */
-#define LIS3DSH_CTRL_REG5_FS2 (1 << 5) /**< Full scale bit 2 */
-#define LIS3DSH_CTRL_REG5_BW1 (1 << 6) /**< Bandwidth bit 1 */
-#define LIS3DSH_CTRL_REG5_BW2 (1 << 7) /**< Bandwidth bit 2 */
+#define LIS3DSH_CTRL_REG5_MASK 0xFF
+#define LIS3DSH_CTRL_REG5_SIM (1 << 0)
+#define LIS3DSH_CTRL_REG5_ST1 (1 << 1)
+#define LIS3DSH_CTRL_REG5_ST2 (1 << 2)
+#define LIS3DSH_CTRL_REG5_FS_MASK 0x38
+#define LIS3DSH_CTRL_REG5_FS0 (1 << 3)
+#define LIS3DSH_CTRL_REG5_FS1 (1 << 4)
+#define LIS3DSH_CTRL_REG5_FS2 (1 << 5)
+#define LIS3DSH_CTRL_REG5_BW1 (1 << 6)
+#define LIS3DSH_CTRL_REG5_BW2 (1 << 7)
/** @} */
/**
* @name LIS3DSH_CTRL_REG6 register bits definitions
* @{
*/
-#define LIS3DSH_CTRL_REG6_MASK 0xFF /**< LIS3DSH_CTRL_REG6 mask */
-#define LIS3DSH_CTRL_REG6_P2_BOOT (1 << 0) /**< Boot on Interrupt 2 */
-#define LIS3DSH_CTRL_REG6_P1_OVRUN (1 << 1) /**< FIFO overrun on Int 1 */
-#define LIS3DSH_CTRL_REG6_P1_WTM (1 << 2) /**< FIFO watermark on Int 1 */
-#define LIS3DSH_CTRL_REG6_P1_EMPTY (1 << 3) /**< FIFO empty on Int 1 */
-#define LIS3DSH_CTRL_REG6_ADD_INC (1 << 4) /**< Register address incr. */
-#define LIS3DSH_CTRL_REG6_WTM_EN (1 << 5) /**< Enable FIFO watermark */
-#define LIS3DSH_CTRL_REG6_FIFO_EN (1 << 6) /**< Enable FIFO */
-#define LIS3DSH_CTRL_REG6_BOOT (1 << 7) /**< Force reboot */
+#define LIS3DSH_CTRL_REG6_MASK 0xFF
+#define LIS3DSH_CTRL_REG6_P2_BOOT (1 << 0)
+#define LIS3DSH_CTRL_REG6_P1_OVRUN (1 << 1)
+#define LIS3DSH_CTRL_REG6_P1_WTM (1 << 2)
+#define LIS3DSH_CTRL_REG6_P1_EMPTY (1 << 3)
+#define LIS3DSH_CTRL_REG6_ADD_INC (1 << 4)
+#define LIS3DSH_CTRL_REG6_WTM_EN (1 << 5)
+#define LIS3DSH_CTRL_REG6_FIFO_EN (1 << 6)
+#define LIS3DSH_CTRL_REG6_BOOT (1 << 7)
/** @} */
/*===========================================================================*/
@@ -308,12 +313,12 @@ #endif
/**
- * @brief LIS3DSH advanced configurations switch.
+ * @brief LIS3DSH accelerometer subsystem advanced configurations switch.
* @details If set to @p TRUE more configurations are available.
* @note The default is @p FALSE.
*/
-#if !defined(LIS3DSH_USE_ADVANCED) || defined(__DOXYGEN__)
-#define LIS3DSH_USE_ADVANCED FALSE
+#if !defined(LIS3DSH_ACC_USE_ADVANCED) || defined(__DOXYGEN__)
+#define LIS3DSH_ACC_USE_ADVANCED FALSE
#endif
/**
@@ -347,6 +352,10 @@ #error "LIS3DSH_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION"
#endif
+#if LIS3DSH_USE_I2C
+#error "LIS3DSH's I2C support is not supported."
+#endif
+
/*===========================================================================*/
/* Driver data structures and types. */
/*===========================================================================*/
@@ -356,49 +365,54 @@ * @{
*/
/**
+ * @brief Structure representing a LIS3DSH driver.
+ */
+typedef struct LIS3DSHDriver LIS3DSHDriver;
+
+/**
* @brief LIS3DSH full scale.
*/
typedef enum {
- LIS3DSH_FS_2G = 0x00, /**< Full scale ±2g. */
- LIS3DSH_FS_4G = 0x08, /**< Full scale ±4g. */
- LIS3DSH_FS_6G = 0x10, /**< Full scale ±6g. */
- LIS3DSH_FS_8G = 0x18, /**< Full scale ±8g. */
- LIS3DSH_FS_16G = 0x20 /**< Full scale ±16g. */
-}lis3dsh_fs_t;
+ LIS3DSH_ACC_FS_2G = 0x00, /**< Full scale ±2g. */
+ LIS3DSH_ACC_FS_4G = 0x08, /**< Full scale ±4g. */
+ LIS3DSH_ACC_FS_6G = 0x10, /**< Full scale ±6g. */
+ LIS3DSH_ACC_FS_8G = 0x18, /**< Full scale ±8g. */
+ LIS3DSH_ACC_FS_16G = 0x20 /**< Full scale ±16g. */
+}lis3dsh_acc_fs_t;
/**
* @brief LIS3DSH output data rate.
*/
typedef enum {
- LIS3DSH_ODR_PD = 0x00, /**< ODR 100 Hz. */
- LIS3DSH_ODR_3_125HZ = 0x10, /**< ODR 3.125 Hz. */
- LIS3DSH_ODR_6_25HZ = 0x20, /**< ODR 6.25 Hz. */
- LIS3DSH_ODR_12_5HZ = 0x30, /**< ODR 12.5 Hz. */
- LIS3DSH_ODR_25HZ = 0x40, /**< ODR 25 Hz. */
- LIS3DSH_ODR_50HZ = 0x50, /**< ODR 50 Hz. */
- LIS3DSH_ODR_100HZ = 0x60, /**< ODR 100 Hz. */
- LIS3DSH_ODR_400HZ = 0x70, /**< ODR 400 Hz. */
- LIS3DSH_ODR_800HZ = 0x80, /**< ODR 800 Hz. */
- LIS3DSH_ODR_1600HZ = 0x90 /**< ODR 1600 Hz. */
-}lis3dsh_odr_t;
+ LIS3DSH_ACC_ODR_PD = 0x00, /**< ODR 100 Hz. */
+ LIS3DSH_ACC_ODR_3_125HZ = 0x10, /**< ODR 3.125 Hz. */
+ LIS3DSH_ACC_ODR_6_25HZ = 0x20, /**< ODR 6.25 Hz. */
+ LIS3DSH_ACC_ODR_12_5HZ = 0x30, /**< ODR 12.5 Hz. */
+ LIS3DSH_ACC_ODR_25HZ = 0x40, /**< ODR 25 Hz. */
+ LIS3DSH_ACC_ODR_50HZ = 0x50, /**< ODR 50 Hz. */
+ LIS3DSH_ACC_ODR_100HZ = 0x60, /**< ODR 100 Hz. */
+ LIS3DSH_ACC_ODR_400HZ = 0x70, /**< ODR 400 Hz. */
+ LIS3DSH_ACC_ODR_800HZ = 0x80, /**< ODR 800 Hz. */
+ LIS3DSH_ACC_ODR_1600HZ = 0x90 /**< ODR 1600 Hz. */
+}lis3dsh_acc_odr_t;
/**
* @brief LIS3DSH anti-aliasing bandwidth.
*/
typedef enum {
- LIS3DSH_BW_800HZ = 0x00, /**< AA filter BW 800Hz. */
- LIS3DSH_BW_200HZ = 0x40, /**< AA filter BW 200Hz. */
- LIS3DSH_BW_400HZ = 0x80, /**< AA filter BW 400Hz. */
- LIS3DSH_BW_50HZ = 0xC0 /**< AA filter BW 50Hz. */
-}lis3dsh_bw_t;
+ LIS3DSH_ACC_BW_800HZ = 0x00, /**< AA filter BW 800Hz. */
+ LIS3DSH_ACC_BW_200HZ = 0x40, /**< AA filter BW 200Hz. */
+ LIS3DSH_ACC_BW_400HZ = 0x80, /**< AA filter BW 400Hz. */
+ LIS3DSH_ACC_BW_50HZ = 0xC0 /**< AA filter BW 50Hz. */
+}lis3dsh_acc_bw_t;
/**
* @brief LIS3DSH block data update.
*/
typedef enum {
- LIS3DSH_BDU_CONTINUOUS = 0x00, /**< Block data continuously updated. */
- LIS3DSH_BDU_BLOCKED = 0x80 /**< Block data updated after reading. */
-} lis3dsh_bdu_t;
+ LIS3DSH_ACC_BDU_CONTINUOUS = 0x00,/**< Block data continuously updated. */
+ LIS3DSH_ACC_BDU_BLOCKED = 0x80 /**< Block data updated after reading. */
+} lis3dsh_acc_bdu_t;
/**
* @brief Driver state machine possible states.
@@ -435,94 +449,86 @@ typedef struct { const I2CConfig *i2ccfg;
#endif /* LIS3DSH_USE_I2C */
/**
- * @brief LIS3DSH initial sensitivity.
+ * @brief LIS3DSH accelerometer subsystem initial sensitivity.
*/
- float *sensitivity;
+ float *accsensitivity;
/**
- * @brief LIS3DSH initial bias.
+ * @brief LIS3DSH accelerometer subsystem initial bias.
*/
- float *bias;
+ float *accbias;
/**
- * @brief LIS3DSH full scale value.
+ * @brief LIS3DSH accelerometer subsystem initial full scale.
*/
- lis3dsh_fs_t fullscale;
+ lis3dsh_acc_fs_t accfullscale;
/**
* @brief LIS3DSH output data rate selection.
*/
- lis3dsh_odr_t outputdatarate;
-#if LIS3DSH_USE_ADVANCED || defined(__DOXYGEN__)
+ lis3dsh_acc_odr_t accoutputdatarate;
+#if LIS3DSH_ACC_USE_ADVANCED || defined(__DOXYGEN__)
/**
* @brief LIS3DSH anti-aliasing bandwidth.
*/
- lis3dsh_bw_t antialiasing;
+ lis3dsh_acc_bw_t accantialiasing;
/**
* @brief LIS3DSH block data update.
*/
- lis3dsh_bdu_t blockdataupdate;
+ lis3dsh_acc_bdu_t accblockdataupdate;
#endif
} LIS3DSHConfig;
/**
- * @brief @p LIS3DSH accelerometer subsystem specific methods.
+ * @brief @p LIS3DSH specific methods.
*/
-#define _lis3dsh_accelerometer_methods_alone \
- /* Change full scale value of LIS3DSH accelerometer subsystem .*/ \
- msg_t (*set_full_scale)(void *instance, lis3dsh_fs_t fs);
+#define _lis3dsh_methods_alone \
+ /* Change full scale value of LIS3DSH accelerometer subsystem.*/ \
+ msg_t (*acc_set_full_scale)(LIS3DSHDriver *instance, lis3dsh_acc_fs_t fs);
/**
- * @brief @p LIS3DSH accelerometer subsystems specific methods with inherited
+ * @brief @p LIS3DSH specific methods with inherited
* ones.
*/
-#define _lis3dsh_accelerometer_methods \
- _base_accelerometer_methods \
- _lis3dsh_accelerometer_methods_alone
+#define _lis3dsh_methods \
+ _base_object_methods \
+ _lis3dsh_methods_alone
/**
- * @extends BaseAccelerometerVMT
+ * @extends BaseObjectVMT
*
- * @brief @p LIS3DSH accelerometer virtual methods table.
+ * @brief @p LIS3DSH virtual methods table.
*/
-struct LIS3DSHAccelerometerVMT {
- _lis3dsh_accelerometer_methods
+struct LIS3DSHVMT {
+ _lis3dsh_methods
};
/**
* @brief @p LIS3DSHDriver specific data.
*/
#define _lis3dsh_data \
+ _base_sensor_data \
/* Driver state.*/ \
lis3dsh_state_t state; \
/* Current configuration data.*/ \
- const LIS3DSHConfig *config; \
- /* Current sensitivity.*/ \
- float sensitivity[LIS3DSH_NUMBER_OF_AXES]; \
- /* Bias data.*/ \
- int32_t bias[LIS3DSH_NUMBER_OF_AXES]; \
- /* Current full scale value.*/ \
- float fullscale;
+ const LIS3DSHConfig *config; \
+ /* Accelerometer subsystem axes number.*/ \
+ size_t accaxes; \
+ /* Accelerometer subsystem current sensitivity.*/ \
+ float accsensitivity[LIS3DSH_ACC_NUMBER_OF_AXES]; \
+ /* Accelerometer subsystem current bias .*/ \
+ float accbias[LIS3DSH_ACC_NUMBER_OF_AXES]; \
+ /* Accelerometer subsystem current full scale value.*/ \
+ float accfullscale;
/**
- * @extends BaseAccelerometer
- *
* @brief LIS3DSH 3-axis accelerometer class.
- * @details This class extends @p BaseAccelerometer by adding physical
- * driver implementation.
*/
struct LIS3DSHDriver {
- /** @brief BaseSensor Virtual Methods Table. */
- const struct BaseSensorVMT *vmt_sensor;
- _base_sensor_data
- /** @brief LIS3DSH Accelerometer Virtual Methods Table. */
- const struct LIS3DSHAccelerometerVMT *vmt_accelerometer;
- _base_accelerometer_data
+ /** @brief Virtual Methods Table.*/
+ const struct LIS3DSHVMT *vmt;
+ /** @brief Base accelerometer interface.*/
+ BaseAccelerometer acc_if;
_lis3dsh_data
};
-
-/**
- * @brief Structure representing a LIS3DSH driver.
- */
-typedef struct LIS3DSHDriver LIS3DSHDriver;
/** @} */
/*===========================================================================*/
@@ -530,18 +536,141 @@ typedef struct LIS3DSHDriver LIS3DSHDriver; /*===========================================================================*/
/**
- * @brief Change accelerometer fullscale value.
+ * @brief Return the number of axes of the BaseAccelerometer.
+ *
+ * @param[in] devp pointer to @p LIS3DSHDriver.
+ *
+ * @return the number of axes.
+ *
+ * @api
+ */
+#define lis3dshAccelerometerGetAxesNumber(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 LIS3DSHDriver.
+ * @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.
+ *
+ * @api
+ */
+#define lis3dshAccelerometerReadRaw(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 LIS3DSHDriver.
+ * @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 lis3dshAccelerometerReadCooked(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 LIS3DSHDriver.
+ * @param[in] bp a buffer which contains biases.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ *
+ * @api
+ */
+#define lis3dshAccelerometerSetBias(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 LIS3DSHDriver.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ *
+ * @api
+ */
+#define lis3dshAccelerometerResetBias(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] ip pointer to a @p LIS3DSHDriver class.
- * @param[in] fs the new full scale value.
+ * @param[in] devp pointer to @p LIS3DSHDriver.
+ * @param[in] sp a buffer which contains sensitivities.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
- * @retval MSG_RESET if one or more errors occurred.
+ *
+ * @api
+ */
+#define lis3dshAccelerometerSetSensitivity(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 LIS3DSHDriver.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET otherwise.
+ *
+ * @api
+ */
+#define lis3dshAccelerometerResetSensitivity(devp) \
+ accelerometerResetSensitivity(&((devp)->acc_if))
+
+/**
+ * @brief Changes the LIS3DSHDriver 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 LIS3DSHDriver.
+ * @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 lis3dshAccelerometerSetFullScale(devp, fs) \
+ (devp)->vmt->acc_set_full_scale(devp, fs)
/*===========================================================================*/
/* External declarations. */
|