Improved LSM303DLHC driver

git-svn-id: https://svn.code.sf.net/p/chibios/svn2/trunk@11639 110e8d01-0319-4d1e-a829-52ad28d1bb01

2 files changed, 47 insertions, 41 deletions

diff --git a/os/ex/ST/lsm303dlhc.c b/os/ex/ST/lsm303dlhc.c
index d00ab2ecc..98656c766 100644
--- a/os/ex/ST/lsm303dlhc.c
+++ b/os/ex/ST/lsm303dlhc.c
@@ -97,7 +97,7 @@ static msg_t lsm303dlhcI2CWriteRegister(I2CDriver *i2cp, lsm303dlhc_sad_t sad,
 /**

  * @brief   Return the number of axes of the BaseAccelerometer.

  *

- * @param[in] ip        pointer to @p BaseAccelerometer interface

+ * @param[in] ip        pointer to @p BaseAccelerometer interface.

  *

  * @return              the number of axes.

  */

@@ -195,7 +195,7 @@ static msg_t acc_read_cooked(void *ip, float axes[]) {
                 "acc_read_cooked(), channel not ready");

 

   msg = acc_read_raw(ip, raw);

-  for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES ; i++) {

+  for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++) {

     axes[i] = raw[i] * devp->accsensitivity[i];

     axes[i] -= devp->accbias[i];

   }

@@ -217,6 +217,7 @@ static msg_t acc_read_cooked(void *ip, float axes[]) {
 static msg_t acc_set_bias(void *ip, float *bp) {

   LSM303DLHCDriver* devp;

   uint32_t i;

+  msg_t msg = MSG_OK;

 

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

 

@@ -229,7 +230,7 @@ static msg_t acc_set_bias(void *ip, float *bp) {
   for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++) {

     devp->accbias[i] = bp[i];

   }

-  return MSG_OK;

+  return msg;

 }

 

 /**

@@ -245,6 +246,7 @@ static msg_t acc_set_bias(void *ip, float *bp) {
 static msg_t acc_reset_bias(void *ip) {

   LSM303DLHCDriver* devp;

   uint32_t i;

+  msg_t msg = MSG_OK;

 

   osalDbgCheck(ip != NULL);

     

@@ -256,7 +258,7 @@ static msg_t acc_reset_bias(void *ip) {
 

   for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++)

     devp->accbias[i] = 0.0;

-  return MSG_OK;

+  return msg;

 }

 

 /**

@@ -274,6 +276,7 @@ static msg_t acc_reset_bias(void *ip) {
 static msg_t acc_set_sensivity(void *ip, float *sp) {

   LSM303DLHCDriver* devp;

   uint32_t i;

+  msg_t msg = MSG_OK;

 

   /* Getting parent instance pointer.*/

   devp = objGetInstance(LSM303DLHCDriver*, (BaseAccelerometer*)ip);

@@ -286,7 +289,7 @@ static msg_t acc_set_sensivity(void *ip, float *sp) {
   for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++) {

     devp->accsensitivity[i] = sp[i];

   }

-  return MSG_OK;

+  return msg;

 }

 

 /**

@@ -551,7 +554,8 @@ static msg_t comp_read_cooked(void *ip, float axes[]) {
 static msg_t comp_set_bias(void *ip, float *bp) {

   LSM303DLHCDriver* devp;

   uint32_t i;

-

+  msg_t msg = MSG_OK;

+  

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

     

   /* Getting parent instance pointer.*/

@@ -563,7 +567,7 @@ static msg_t comp_set_bias(void *ip, float *bp) {
   for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {

     devp->compbias[i] = bp[i];

   }

-  return MSG_OK;

+  return msg;

 }

 

 /**

@@ -579,6 +583,7 @@ static msg_t comp_set_bias(void *ip, float *bp) {
 static msg_t comp_reset_bias(void *ip) {

   LSM303DLHCDriver* devp;

   uint32_t i;

+  msg_t msg = MSG_OK;

 

   osalDbgCheck(ip != NULL);

     

@@ -590,7 +595,7 @@ static msg_t comp_reset_bias(void *ip) {
 

   for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++)

     devp->compbias[i] = 0.0;

-  return MSG_OK;

+  return msg;

 }

 

 /**

@@ -608,7 +613,8 @@ static msg_t comp_reset_bias(void *ip) {
 static msg_t comp_set_sensivity(void *ip, float *sp) {

   LSM303DLHCDriver* devp;

   uint32_t i;

-

+  msg_t msg = MSG_OK;

+  

   /* Getting parent instance pointer.*/

   devp = objGetInstance(LSM303DLHCDriver*, (BaseCompass*)ip);

 

@@ -620,7 +626,7 @@ static msg_t comp_set_sensivity(void *ip, float *sp) {
   for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {

     devp->compsensitivity[i] = sp[i];

   }

-  return MSG_OK;

+  return msg;

 }

 

 /**

@@ -1138,7 +1144,8 @@ void lsm303dlhcStop(LSM303DLHCDriver *devp) {
   uint8_t cr[2];

   osalDbgCheck(devp != NULL);

 

-  osalDbgAssert((devp->state == LSM303DLHC_STOP) || (devp->state == LSM303DLHC_READY),

+  osalDbgAssert((devp->state == LSM303DLHC_STOP) || 

+                (devp->state == LSM303DLHC_READY),

                 "lsm303dlhcStop(), invalid state");

 

   if (devp->state == LSM303DLHC_READY) {

diff --git a/os/ex/ST/lsm303dlhc.h b/os/ex/ST/lsm303dlhc.h
index 64b73187f..1288c4b36 100644
--- a/os/ex/ST/lsm303dlhc.h
+++ b/os/ex/ST/lsm303dlhc.h
@@ -287,11 +287,8 @@
 #define LSM303DLHC_MR_REG_M_MASK            0x03

 #define LSM303DLHC_MR_REG_M_MD0             (1 << 0)

 #define LSM303DLHC_MR_REG_M_MD1             (1 << 1)

-

 /** @} */

 

-//TODO: ADD more LSM303DLHC register bits definitions

-

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

 /* Driver pre-compile time settings.                                         */

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

@@ -500,7 +497,7 @@ typedef struct {
    */

   float                     *accsensitivity;

   /**

-   * @brief LSM303DLHC initial bias.

+   * @brief LSM303DLHC accelerometer subsystem initial bias.

    */

   float                     *accbias;

   /**

@@ -554,7 +551,7 @@ typedef struct {
 } LSM303DLHCConfig;

 

 /**

- * @brief   @p LSM303DLHC subsystem specific methods.

+ * @brief   @p LSM303DLHC specific methods.

  */

 #define _lsm303dlhc_methods_alone                                           \

   /* Change full scale value of LSM303DLHC accelerometer subsystem .*/      \

@@ -565,7 +562,7 @@ typedef struct {
                               lsm303dlhc_comp_fs_t fs);                     \

 

 /**

- * @brief   @p LSM303DLHC subsystem specific methods with inherited ones.

+ * @brief   @p LSM303DLHC specific methods with inherited ones.

  */

 #define _lsm303dlhc_methods                                                 \

   _base_object_methods                                                      \

@@ -589,21 +586,21 @@ struct LSM303DLHCVMT {
   lsm303dlhc_state_t        state;                                          \

   /* Current configuration data.*/                                          \

   const LSM303DLHCConfig    *config;                                        \

-  /* Axes number of the accelerometer subsystem.*/                          \

+  /* Accelerometer subsystem axes number.*/                                 \

   size_t                    accaxes;                                        \

-  /* Axes number of the compass subsystem.*/                                \

-  size_t                    compaxes;                                       \

-  /* Current accelerometer sensitivity.*/                                   \

+  /* Accelerometer subsystem current sensitivity.*/                         \

   float                     accsensitivity[LSM303DLHC_ACC_NUMBER_OF_AXES];  \

-  /* Accelerometer bias data.*/                                             \

+  /* Accelerometer subsystem current bias .*/                               \

   float                     accbias[LSM303DLHC_ACC_NUMBER_OF_AXES];         \

-  /* Current accelerometer full scale value.*/                              \

+  /* Accelerometer subsystem current full scale value.*/                    \

   float                     accfullscale;                                   \

-  /* Current compass sensitivity.*/                                         \

+  /* Compass subsystem axes number.*/                                       \

+  size_t                    compaxes;                                       \

+  /* Compass subsystem current sensitivity.*/                               \

   float                     compsensitivity[LSM303DLHC_COMP_NUMBER_OF_AXES];\

-  /* Compass bias data.*/                                                   \

+  /* Compass subsystem current bias.*/                                      \

   float                     compbias[LSM303DLHC_COMP_NUMBER_OF_AXES];       \

-  /* Current compass full scale value.*/                                    \

+  /* Compass subsystem current full scale value.*/                          \

   float                     compfullscale;

   

 /**

@@ -612,9 +609,9 @@ struct LSM303DLHCVMT {
 struct LSM303DLHCDriver {

   /** @brief Virtual Methods Table.*/

   const struct LSM303DLHCVMT    *vmt;

-  /** @brief Accelerometer interface.*/

+  /** @brief Base accelerometer interface.*/

   BaseAccelerometer             acc_if;

-  /** @brief Compass interface.*/

+  /** @brief Base compass interface.*/

   BaseCompass                   comp_if;

   _lsm303dlhc_data

 };

@@ -623,10 +620,11 @@ struct LSM303DLHCDriver {
 /*===========================================================================*/

 /* Driver macros.                                                            */

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

+

 /**

  * @brief   Return the number of axes of the BaseAccelerometer.

  *

- * @param[in] ip        pointer to @p BaseAccelerometer interface

+ * @param[in] devp      pointer to @p LSM303DLHCDriver.

  *

  * @return              the number of axes.

  *

@@ -642,7 +640,7 @@ struct LSM303DLHCDriver {
  * @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[in] devp      pointer to @p LSM303DLHCDriver.

  * @param[out] axes     a buffer which would be filled with raw data.

  *

  * @return              The operation status.

@@ -664,7 +662,7 @@ struct LSM303DLHCDriver {
  * @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[in] devp      pointer to @p LSM303DLHCDriver.

  * @param[out] axes     a buffer which would be filled with cooked data.

  *

  * @return              The operation status.

@@ -684,7 +682,7 @@ struct LSM303DLHCDriver {
  * @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] devp      pointer to @p LSM303DLHCDriver.

  * @param[in] bp        a buffer which contains biases.

  *

  * @return              The operation status.

@@ -700,7 +698,7 @@ struct LSM303DLHCDriver {
  * @note    Default biases value are obtained from device datasheet when

  *          available otherwise they are considered zero.

  *

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

+ * @param[in] devp      pointer to @p LSM303DLHCDriver.

  *

  * @return              The operation status.

  * @retval MSG_OK       if the function succeeded.

@@ -716,7 +714,7 @@ struct LSM303DLHCDriver {
  * @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] devp      pointer to @p LSM303DLHCDriver.

  * @param[in] sp        a buffer which contains sensitivities.

  *

  * @return              The operation status.

@@ -731,7 +729,7 @@ struct LSM303DLHCDriver {
  * @brief   Reset sensitivity values for the BaseAccelerometer.

  * @note    Default sensitivities value are obtained from device datasheet.

  *

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

+ * @param[in] devp      pointer to @p LSM303DLHCDriver.

  *

  * @return              The operation status.

  * @retval MSG_OK       if the function succeeded.

@@ -748,7 +746,7 @@ struct LSM303DLHCDriver {
  *          previous and next fullscale value.

  * @note    A recalibration is highly suggested after calling this function.

  *

- * @param[in] ip        pointer to @p LSM303DLHCDriver interface.

+ * @param[in] devp      pointer to @p LSM303DLHCDriver.

  * @param[in] fs        new fullscale value.

  *

  * @return              The operation status.

@@ -763,7 +761,7 @@ struct LSM303DLHCDriver {
 /**

  * @brief   Return the number of axes of the BaseCompass.

  *

- * @param[in] ip        pointer to @p BaseCompass interface

+ * @param[in] devp      pointer to @p LSM303DLHCDriver.

  *

  * @return              the number of axes.

  *

@@ -837,7 +835,7 @@ struct LSM303DLHCDriver {
  * @note    Default biases value are obtained from device datasheet when

  *          available otherwise they are considered zero.

  *

- * @param[in] ip        pointer to @p BaseCompass interface.

+ * @param[in] devp      pointer to @p LSM303DLHCDriver.

  *

  * @return              The operation status.

  * @retval MSG_OK       if the function succeeded.

@@ -853,7 +851,7 @@ struct LSM303DLHCDriver {
  * @note    The sensitivity buffer must be at least the same size of the

  *          BaseCompass axes number.

  *

- * @param[in] ip        pointer to @p BaseCompass interface.

+ * @param[in] devp      pointer to @p LSM303DLHCDriver.

  * @param[in] sp        a buffer which contains sensitivities.

  *

  * @return              The operation status.

@@ -868,7 +866,7 @@ struct LSM303DLHCDriver {
  * @brief   Reset sensitivity values for the BaseCompass.

  * @note    Default sensitivities value are obtained from device datasheet.

  *

- * @param[in] ip        pointer to @p BaseCompass interface.

+ * @param[in] devp      pointer to @p LSM303DLHCDriver.

  *

  * @return              The operation status.

  * @retval MSG_OK       if the function succeeded.

@@ -885,7 +883,7 @@ struct LSM303DLHCDriver {
  *          previous and next fullscale value.

  * @note    A recalibration is highly suggested after calling this function.

  *

- * @param[in] ip        pointer to @p LSM303DLHCDriver interface.

+ * @param[in] devp      pointer to @p LSM303DLHCDriver.

  * @param[in] fs        new fullscale value.

  *

  * @return              The operation status.

@@ -896,6 +894,7 @@ struct LSM303DLHCDriver {
  */

 #define lsm303dlhcCompassSetFullScale(devp, fs)                             \

         (devp)->vmt->comp_set_full_scale(devp, fs)

+        

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

 /* External declarations.                                                    */

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