Updated LPS25H and added a thermometer interface to the driver

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@11686 110e8d01-0319-4d1e-a829-52ad28d1bb01

2 files changed, 747 insertions, 136 deletions

diff --git a/os/ex/ST/lps25h.c b/os/ex/ST/lps25h.c
index ad5b197c9..2957ca87b 100644
--- a/os/ex/ST/lps25h.c
+++ b/os/ex/ST/lps25h.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.

 

@@ -57,10 +57,11 @@
  * @param[out] rxbuf     pointer to an output buffer

  * @param[in]  n         number of consecutive register to read

  * @return               the operation status.

+ *

  * @notapi

  */

-msg_t lps25hI2CReadRegister(I2CDriver *i2cp, lps25h_sad_t sad, uint8_t reg,

-                              uint8_t* rxbuf, size_t n) {

+static msg_t lps25hI2CReadRegister(I2CDriver *i2cp, lps25h_sad_t sad, 

+                                   uint8_t reg, uint8_t* rxbuf, size_t n) {

   uint8_t txbuf = reg;  

   if(n > 1)

     txbuf |= LPS25H_SUB_MS;

@@ -80,11 +81,11 @@ msg_t lps25hI2CReadRegister(I2CDriver *i2cp, lps25h_sad_t sad, uint8_t reg,
  * @param[in] n          size of txbuf less one (not considering the first

  *                       element)

  * @return               the operation status.

+ *

  * @notapi

- * @return               the operation status.

  */

-msg_t lps25hI2CWriteRegister(I2CDriver *i2cp, lps25h_sad_t sad, uint8_t* txbuf,

-                             size_t n) {

+static msg_t lps25hI2CWriteRegister(I2CDriver *i2cp, lps25h_sad_t sad, 

+                                    uint8_t* txbuf, size_t n) {

   if (n > 1)

     (*txbuf) |= LPS25H_SUB_MS;

   return i2cMasterTransmitTimeout(i2cp, sad, txbuf, n + 1, NULL, 0,

@@ -92,118 +93,448 @@ msg_t lps25hI2CWriteRegister(I2CDriver *i2cp, lps25h_sad_t sad, uint8_t* txbuf,
 }

 #endif /* LPS25H_USE_I2C */

 

-/*

- * Interface implementation.

+/**

+ * @brief   Return the number of axes of the BaseBarometer.

+ *

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

+ *

+ * @return              the number of axes.

  */

-static size_t get_axes_number(void *ip) {

+static size_t baro_get_axes_number(void *ip) {

+  (void)ip;

 

-  osalDbgCheck(ip != NULL);

-  return LPS25H_NUMBER_OF_AXES;

+  return LPS25H_BARO_NUMBER_OF_AXES;

 }

 

-static msg_t read_raw(void *ip, int32_t* axis) {

+/**

+ * @brief   Retrieves raw data from the BaseBarometer.

+ * @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

+ *          BaseBarometer axes number.

+ *

+ * @param[in] ip        pointer to @p BaseBarometer 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 baro_read_raw(void *ip, int32_t axes[]) {

+  LPS25HDriver* devp;

   uint8_t buff[3];

-  msg_t msg = MSG_OK;

+  msg_t msg;

+      

+  osalDbgCheck((ip != NULL) && (axes != NULL));

+

+  /* Getting parent instance pointer.*/

+  devp = objGetInstance(LPS25HDriver*, (BaseBarometer*)ip);

   

-  *axis = 0;

-    

-  osalDbgCheck((ip != NULL) && (axis != NULL));

-  osalDbgAssert((((LPS25HDriver *)ip)->state == LPS25H_READY),

-              "read_raw(), invalid state");

+  osalDbgAssert((devp->state == LPS25H_READY),

+                "baro_read_raw(), invalid state");

 

-#if LPS25H_USE_I2C

-  osalDbgAssert((((LPS25HDriver *)ip)->config->i2cp->state == I2C_READY),

-                "read_raw(), channel not ready");

+  osalDbgAssert((devp->config->i2cp->state == I2C_READY),

+                "baro_read_raw(), channel not ready");

+                

 #if LPS25H_SHARED_I2C

-  i2cAcquireBus(((LPS25HDriver *)ip)->config->i2cp);

-  i2cStart(((LPS25HDriver *)ip)->config->i2cp,

-           ((LPS25HDriver *)ip)->config->i2ccfg);

+  i2cAcquireBus(devp->config->i2cp);

+  i2cStart(devp->config->i2cp,

+           devp->config->i2ccfg);

 #endif /* LPS25H_SHARED_I2C */

 

-  msg = lps25hI2CReadRegister(((LPS25HDriver *)ip)->config->i2cp,

-                              ((LPS25HDriver *)ip)->config->slaveaddress,

-                               LPS25H_AD_PRESS_OUT_XL, buff, 3);

+  msg = lps25hI2CReadRegister(devp->config->i2cp, devp->config->slaveaddress,

+                              LPS25H_AD_PRESS_OUT_XL, buff, 3);

 

 #if LPS25H_SHARED_I2C

-  i2cReleaseBus(((LPS25HDriver *)ip)->config->i2cp);

+  i2cReleaseBus(devp->config->i2cp);

 #endif /* LPS25H_SHARED_I2C */

-#endif /* LPS25H_USE_I2C */

 

   if(msg == MSG_OK) {

-    *axis = buff[0] + (buff[1] << 8) + (buff[2] << 16);

+    *axes = buff[0] + (buff[1] << 8) + (buff[2] << 16);

   }

   return msg;

 }

   

-static msg_t read_cooked(void *ip, float* axis) {

+/**

+ * @brief   Retrieves cooked data from the BaseBarometer.

+ * @note    This data is manipulated according to the formula

+ *          cooked = (raw * sensitivity) - bias.

+ * @note    Final data is expressed as hPa.

+ * @note    The axes array must be at least the same size of the

+ *          BaseBarometer axes number.

+ *

+ * @param[in] ip        pointer to @p BaseBarometer 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 baro_read_cooked(void *ip, float axes[]) {

+  LPS25HDriver* devp;

   int32_t raw;

   msg_t msg;

 

-  osalDbgCheck((ip != NULL) && (axis != NULL));

+  osalDbgCheck((ip != NULL) && (axes != NULL));

 

-  osalDbgAssert((((LPS25HDriver *)ip)->state == LPS25H_READY),

-              "read_cooked(), invalid state");

+  /* Getting parent instance pointer.*/

+  devp = objGetInstance(LPS25HDriver*, (BaseBarometer*)ip);

+  

+  osalDbgAssert((devp->state == LPS25H_READY),

+                "baro_read_cooked(), invalid state");

 

-  msg = read_raw(ip, &raw);

+  msg = baro_read_raw(ip, &raw);

 

-  *axis = raw * ((LPS25HDriver *)ip)->sensitivity;

-  *axis -= ((LPS25HDriver *)ip)->bias;

+  *axes = (raw * devp->barosensitivity) - devp->barobias;

+  

   return msg;

 }

 

 

-static msg_t set_bias(void *ip, float *bp) {

+/**

+ * @brief   Set bias values for the BaseBarometer.

+ * @note    Bias must be expressed as hPa.

+ * @note    The bias buffer must be at least the same size of the

+ *          BaseBarometer axes number.

+ *

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

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

+ *

+ * @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 baro_set_bias(void *ip, float *bp) {

+  LPS25HDriver* devp;

+  msg_t msg = MSG_OK;

+    

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

 

-  osalDbgAssert((((LPS25HDriver *)ip)->state == LPS25H_READY) ||

-                (((LPS25HDriver *)ip)->state == LPS25H_STOP),

-                "set_bias(), invalid state");

+  /* Getting parent instance pointer.*/

+  devp = objGetInstance(LPS25HDriver*, (BaseBarometer*)ip);

   

-  ((LPS25HDriver *)ip)->bias = *bp;

-  return MSG_OK;

+  osalDbgAssert((devp->state == LPS25H_READY),

+                "baro_set_bias(), invalid state");

+

+  devp->barobias = *bp;

+  return msg;

 }

 

-static msg_t reset_bias(void *ip) {

+/**

+ * @brief   Reset bias values for the BaseBarometer.

+ * @note    Default biases value are obtained from device datasheet when

+ *          available otherwise they are considered zero.

+ *

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

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ */

+static msg_t baro_reset_bias(void *ip) {

+  LPS25HDriver* devp;

+  msg_t msg = MSG_OK;

+  

   osalDbgCheck(ip != NULL);

 

-  osalDbgAssert((((LPS25HDriver *)ip)->state == LPS25H_READY) ||

-                (((LPS25HDriver *)ip)->state == LPS25H_STOP),

-                "reset_bias(), invalid state");

+  /* Getting parent instance pointer.*/

+  devp = objGetInstance(LPS25HDriver*, (BaseBarometer*)ip);

+  

+  osalDbgAssert((devp->state == LPS25H_READY),

+                "baro_reset_bias(), invalid state");

+                

+  devp->barobias = LPS25H_BARO_SENS;

+  return msg;

+}

+

+/**

+ * @brief   Set sensitivity values for the BaseBarometer.

+ * @note    Sensitivity must be expressed as hPa/LSB.

+ * @note    The sensitivity buffer must be at least the same size of the

+ *          BaseBarometer axes number.

+ *

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

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

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ */

+static msg_t baro_set_sensitivity(void *ip, float *sp) {

+  LPS25HDriver* devp;

+  msg_t msg = MSG_OK;

+  

+  osalDbgCheck((ip != NULL) && (sp != NULL));

+

+  /* Getting parent instance pointer.*/

+  devp = objGetInstance(LPS25HDriver*, (BaseBarometer*)ip);

+  

+  osalDbgAssert((devp->state == LPS25H_READY),

+                "baro_set_sensitivity(), invalid state");

+

+  devp->barosensitivity = *sp;

+  return msg;

+}

+

+/**

+ * @brief   Reset sensitivity values for the BaseBarometer.

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

+ *

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

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ */

+static msg_t baro_reset_sensitivity(void *ip) {

+  LPS25HDriver* devp;

+  msg_t msg = MSG_OK;

+  

+  osalDbgCheck(ip != NULL);

+

+    /* Getting parent instance pointer.*/

+  devp = objGetInstance(LPS25HDriver*, (BaseBarometer*)ip);

+  

+  osalDbgAssert((devp->state == LPS25H_READY),

+                "baro_reset_sensitivity(), invalid state");

+

+  devp->barosensitivity = LPS25H_BARO_SENS;

+  return msg;

+}

+

+/**

+ * @brief   Return the number of axes of the BaseThermometer.

+ *

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

+ *

+ * @return              the number of axes.

+ */

+static size_t thermo_get_axes_number(void *ip) {

+  (void)ip;

+  

+  return LPS25H_THERMO_NUMBER_OF_AXES;

+}

+

+/**

+ * @brief   Retrieves raw data from the BaseThermometer.

+ * @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

+ *          BaseThermometer axes number.

+ *

+ * @param[in] ip        pointer to @p BaseThermometer 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 thermo_read_raw(void *ip, int32_t axes[]) {

+  LPS25HDriver* devp;

+  int16_t tmp;

+  uint8_t buff[2];

+  msg_t msg;

+  

+  osalDbgCheck((ip != NULL) && (axes != NULL));

+

+  /* Getting parent instance pointer.*/

+  devp = objGetInstance(LPS25HDriver*, (BaseThermometer*)ip);

+  

+  osalDbgAssert((devp->state == LPS25H_READY),

+                "thermo_read_raw(), invalid state");  

+  

+  osalDbgAssert((devp->config->i2cp->state == I2C_READY),

+                "thermo_read_raw(), channel not ready");

+                

+#if LPS25H_SHARED_I2C

+  i2cAcquireBus(devp->config->i2cp);

+  i2cStart(devp->config->i2cp,

+           devp->config->i2ccfg);

+#endif /* LPS25H_SHARED_I2C */

 

-  ((LPS25HDriver *)ip)->bias = 0.0f;

-  return MSG_OK;

+  msg = lps25hI2CReadRegister(devp->config->i2cp, devp->config->slaveaddress,

+                              LPS25H_AD_TEMP_OUT_L, buff, 2);

+                                  

+#if LPS25H_SHARED_I2C

+  i2cReleaseBus(devp->config->i2cp);

+#endif /* LPS25H_SHARED_I2C */

+

+  if (msg == MSG_OK) {

+    tmp = buff[0] + (buff[1] << 8);

+    *axes = (int32_t)tmp;

+  }

+  return msg;

 }

 

+/**

+ * @brief   Retrieves cooked data from the BaseThermometer.

+ * @note    This data is manipulated according to the formula

+ *          cooked = (raw * sensitivity) - bias.

+ * @note    Final data is expressed as °C.

+ * @note    The axes array must be at least the same size of the

+ *          BaseThermometer axes number.

+ *

+ * @param[in] ip        pointer to @p BaseThermometer 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 thermo_read_cooked(void *ip, float* axis) {

+  LPS25HDriver* devp;

+  int32_t raw;

+  msg_t msg;

 

-static msg_t set_sensivity(void *ip, float *sp) {

+  osalDbgCheck((ip != NULL) && (axis != NULL));

+

+  /* Getting parent instance pointer.*/

+  devp = objGetInstance(LPS25HDriver*, (BaseThermometer*)ip);

   

-  osalDbgCheck((ip != NULL) && (sp !=NULL));

+  osalDbgAssert((devp->state == LPS25H_READY),

+                "thermo_read_cooked(), invalid state");

+

+  msg = thermo_read_raw(devp, &raw);

 

-  osalDbgAssert((((LPS25HDriver *)ip)->state == LPS25H_READY),

-                "set_sensivity(), invalid state");

+  *axis = (raw * devp->thermosensitivity) - devp->thermobias;

+

+  return msg;

+}

+

+/**

+ * @brief   Set bias values for the BaseThermometer.

+ * @note    Bias must be expressed as °C.

+ * @note    The bias buffer must be at least the same size of the

+ *          BaseThermometer axes number.

+ *

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

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

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ */

+static msg_t thermo_set_bias(void *ip, float *bp) {

+  LPS25HDriver* devp;

+  msg_t msg = MSG_OK;

+  

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

+

+  /* Getting parent instance pointer.*/

+  devp = objGetInstance(LPS25HDriver*, (BaseThermometer*)ip);

   

-  ((LPS25HDriver *)ip)->sensitivity = *sp;

-  return MSG_OK;

+  osalDbgAssert((devp->state == LPS25H_READY),

+                "thermo_set_bias(), invalid state");

+                

+  devp->thermobias = *bp;

+  

+  return msg;

 }

 

-static msg_t reset_sensivity(void *ip) {

+/**

+ * @brief   Reset bias values for the BaseThermometer.

+ * @note    Default biases value are obtained from device datasheet when

+ *          available otherwise they are considered zero.

+ *

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

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ */

+static msg_t thermo_reset_bias(void *ip) {

+  LPS25HDriver* devp;

+  msg_t msg = MSG_OK; 

+  

+  osalDbgCheck(ip != NULL);

+

+  /* Getting parent instance pointer.*/

+  devp = objGetInstance(LPS25HDriver*, (BaseThermometer*)ip);

+  

+  osalDbgAssert((devp->state == LPS25H_READY),

+                "thermo_reset_bias(), invalid state");

 

+  devp->thermobias = LPS25H_THERMO_BIAS;

+  

+  return msg;

+}

+

+/**

+ * @brief   Set sensitivity values for the BaseThermometer.

+ * @note    Sensitivity must be expressed as °C/LSB.

+ * @note    The sensitivity buffer must be at least the same size of the

+ *          BaseThermometer axes number.

+ *

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

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

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ */

+static msg_t thermo_set_sensitivity(void *ip, float *sp) {

+  LPS25HDriver* devp;

+  msg_t msg = MSG_OK;

+  

+  osalDbgCheck((ip != NULL) && (sp != NULL));

+

+  /* Getting parent instance pointer.*/

+  devp = objGetInstance(LPS25HDriver*, (BaseThermometer*)ip);

+  

+  osalDbgAssert((devp->state == LPS25H_READY),

+                "thermo_set_sensitivity(), invalid state");

+                

+  devp->thermosensitivity = *sp;

+  

+  return msg;

+}

+

+/**

+ * @brief   Reset sensitivity values for the BaseThermometer.

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

+ *

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

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ */

+static msg_t thermo_reset_sensitivity(void *ip) {

+  LPS25HDriver* devp;

+  msg_t msg = MSG_OK; 

+  

   osalDbgCheck(ip != NULL);

 

-  osalDbgAssert((((LPS25HDriver *)ip)->state == LPS25H_READY),

-                "reset_sensivity(), invalid state");

+  /* Getting parent instance pointer.*/

+  devp = objGetInstance(LPS25HDriver*, (BaseThermometer*)ip);

+  

+  osalDbgAssert((devp->state == LPS25H_READY),

+                "thermo_reset_sensitivity(), invalid state");

 

-  ((LPS25HDriver *)ip)->sensitivity = LPS25H_SENS;

-  return MSG_OK;

+  devp->thermosensitivity = LPS25H_THERMO_SENS;

+  

+  return msg;

 }

 

-static const struct BaseSensorVMT vmt_sensor = {

-  get_axes_number, read_raw, read_cooked

+static const struct LPS25HVMT vmt_device = {

+  (size_t)0

+};

+

+static const struct BaseBarometerVMT vmt_barometer = {

+  sizeof(struct LPS25HVMT*),

+  baro_get_axes_number, baro_read_raw, baro_read_cooked,

+  baro_set_bias, baro_reset_bias, baro_set_sensitivity,

+  baro_reset_sensitivity

 };

 

-static const struct LPS25HBarometerVMT vmt_barometer = {

-  get_axes_number, read_raw, read_cooked,

-  set_bias, reset_bias, set_sensivity, reset_sensivity

+static const struct BaseThermometerVMT vmt_thermometer = {

+  sizeof(struct LPS25HVMT*) + sizeof(BaseBarometer),

+  thermo_get_axes_number, thermo_read_raw, thermo_read_cooked,

+  thermo_set_bias, thermo_reset_bias, thermo_set_sensitivity,

+  thermo_reset_sensitivity

 };

 

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

@@ -219,10 +550,15 @@ static const struct LPS25HBarometerVMT vmt_barometer = {
  */

 void lps25hObjectInit(LPS25HDriver *devp) {

 

-  devp->vmt_sensor = &vmt_sensor;

-  devp->vmt_barometer = &vmt_barometer;

+  devp->vmt = &vmt_device;

+  devp->baro_if.vmt = &vmt_barometer;

+  devp->thermo_if.vmt = &vmt_thermometer;

+  

   devp->config = NULL;

-  devp->bias = 0;

+

+  devp->baroaxes = LPS25H_BARO_NUMBER_OF_AXES;

+  devp->thermoaxes = LPS25H_THERMO_NUMBER_OF_AXES;

+  

   devp->state = LPS25H_STOP;

 }

 

@@ -239,10 +575,10 @@ void lps25hStart(LPS25HDriver *devp, const LPS25HConfig *config) {
   osalDbgCheck((devp != NULL) && (config != NULL));

 

   osalDbgAssert((devp->state == LPS25H_STOP) || (devp->state == LPS25H_READY),

-              "lps25hStart(), invalid state");

+                "lps25hStart(), invalid state");

 

   devp->config = config;

-#if LPS25H_USE_I2C

+  

   /* Control register 1 configuration block.*/

   {

     cr[0] = LPS25H_AD_CTRL_REG1;

@@ -269,7 +605,7 @@ void lps25hStart(LPS25HDriver *devp, const LPS25HConfig *config) {
     cr[0] = LPS25H_AD_RES_CONF;

     cr[1] = 0x05;

 #if LPS25H_USE_ADVANCED || defined(__DOXYGEN__)

-    cr[1] = devp->config->respressure | devp->config->restemperature;

+    cr[1] = devp->config->baroresolution | devp->config->thermoresolution;

 #endif

     

   }

@@ -285,22 +621,37 @@ void lps25hStart(LPS25HDriver *devp, const LPS25HConfig *config) {
 #if  LPS25H_SHARED_I2C

   i2cReleaseBus((devp)->config->i2cp);

 #endif /* LPS25H_SHARED_I2C */  

-#endif /* LPS25H_USE_I2C */

 

-  if(devp->config->sensitivity == NULL) {

-    devp->sensitivity = LPS25H_SENS;

+  if(devp->config->barosensitivity == NULL) {

+    devp->barosensitivity = LPS25H_BARO_SENS;

+  }

+  else{

+    /* Taking barometer sensitivity from user configurations */

+    devp->barosensitivity = *(devp->config->barosensitivity);

+  }

+

+  if(devp->config->barobias == NULL) {

+    devp->barobias = LPS25H_BARO_BIAS;

   }

   else{

-    /* Taking Sensitivity from user configurations */

-    devp->sensitivity = *devp->config->sensitivity;

+    /* Taking barometer bias from user configurations */

+    devp->barobias = *(devp->config->barobias);

   }

 

-  if(devp->config->bias == NULL) {

-    devp->bias = 0.0f;

+  if(devp->config->thermosensitivity == NULL) {

+    devp->thermosensitivity = LPS25H_THERMO_SENS;

   }

   else{

-    /* Taking Bias from user configurations */

-    devp->bias = *devp->config->bias;

+    /* Taking thermometer sensitivity from user configurations */

+    devp->thermosensitivity = *(devp->config->thermosensitivity);

+  }

+

+  if(devp->config->thermobias == NULL) {

+    devp->thermobias = LPS25H_THERMO_BIAS;

+  }

+  else{

+    /* Taking thermometer bias from user configurations */

+    devp->thermobias = *(devp->config->thermobias);

   }

 

   /* This is the Barometer transient recovery time */

@@ -325,7 +676,6 @@ void lps25hStop(LPS25HDriver *devp) {
                 "lps25hStop(), invalid state");

 

   if (devp->state == LPS25H_READY) {

-#if (LPS25H_USE_I2C)

 #if  LPS25H_SHARED_I2C

     i2cAcquireBus((devp)->config->i2cp);

     i2cStart((devp)->config->i2cp,

@@ -341,7 +691,6 @@ void lps25hStop(LPS25HDriver *devp) {
 #if  LPS25H_SHARED_I2C

     i2cReleaseBus((devp)->config->i2cp);

 #endif /* LPS25H_SHARED_I2C */

-#endif /* LPS25H_USE_I2C */

   }

   devp->state = LPS25H_STOP;

 }

diff --git a/os/ex/ST/lps25h.h b/os/ex/ST/lps25h.h
index 519d8e846..54d96635c 100644
--- a/os/ex/ST/lps25h.h
+++ b/os/ex/ST/lps25h.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.

 

@@ -30,6 +30,7 @@
 #define _LPS25H_H_

 

 #include "hal_barometer.h"

+#include "hal_thermometer.h"

 

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

 /* Driver constants.                                                         */

@@ -42,7 +43,7 @@
 /**

  * @brief   LPS25H driver version string.

  */

-#define EX_LPS25H_VERSION                   "1.0.4"

+#define EX_LPS25H_VERSION                   "1.0.5"

 

 /**

  * @brief   LPS25H driver version major number.

@@ -57,18 +58,35 @@
 /**

  * @brief   LPS25H driver version patch number.

  */

-#define EX_LPS25H_PATCH                     4

+#define EX_LPS25H_PATCH                     5

 /** @} */

 

 /**

- * @brief   LPS25H characteristics.
+ * @brief   LPS25H baromether subsystem characteristics.
+ * @note    Sensitivity is expressed as hPa/LSB whereas hPa stand for 

+ *          hectopascal.

+ * @note    Bias is expressed as hPa.

  *

  * @{

  */
-#define LPS25H_NUMBER_OF_AXES               1U
+#define LPS25H_BARO_NUMBER_OF_AXES          1U
                                             

-#define LPS25H_SENS                         0.00024414f
+#define LPS25H_BARO_SENS                    0.00024414f

+#define LPS25H_BARO_BIAS                    0.0f
 /** @} */
+

+/**

+ * @brief   LPS25H thermometer subsystem characteristics.

+ * @note    Sensitivity is expressed as °C/LSB.

+ * @note    Bias is expressed as °C.

+ *

+ * @{

+ */

+#define LPS25H_THERMO_NUMBER_OF_AXES        1U

+                                            

+#define LPS25H_THERMO_SENS                  0.00208333f

+#define LPS25H_THERMO_BIAS                  -42.5f

+/** @} */

 
 /**
  * @name    LPS25H communication interfaces related bit masks
@@ -254,10 +272,6 @@
 #error "LPS25H_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION"
 #endif

 

-/*

- * TODO: Add SPI support.

- */
-
 /*===========================================================================*/
 /* Driver data structures and types.                                         */
 /*===========================================================================*/
@@ -267,6 +281,11 @@
  * @{
  */

 /**

+ * @brief   Structure representing a LPS25H driver.

+ */

+typedef struct LPS25HDriver LPS25HDriver;

+

+/**

  * @brief  LPS25H slave address

  */

 typedef enum {

@@ -345,20 +364,28 @@ typedef struct {
   /**
    * @brief I2C configuration associated to this LPS25H.
    */
-  const I2CConfig           *i2ccfg;
+  const I2CConfig           *i2ccfg;

+  /**

+   * @brief LPS25H slave address

+   */

+  lps25h_sad_t              slaveaddress;
 #endif /* LPS25H_USE_I2C */
   /**
-   * @brief LPS25H initial sensitivity.
+   * @brief LPS25H barometer subsystem initial sensitivity.
    */
-  float*                    sensitivity;
+  float                     *barosensitivity;
   /**
-   * @brief LPS25H initial bias.
+   * @brief LPS25H barometer subsystem initial bias.
    */
-  float*                    bias;

+  float                     *barobias;

   /**

-   * @brief LPS25H slave address

+   * @brief LPS25H thermometer subsystem initial sensitivity.

    */

-  lps25h_sad_t              slaveaddress;
+  float                     *thermosensitivity;

+  /**

+   * @brief LPS25H thermometer subsystem initial bias.

+   */

+  float                     *thermobias;
   /**
    * @brief LPS25H output data rate selection.
    */
@@ -369,36 +396,36 @@ typedef struct {
    */
   lps25h_bdu_t              blockdataupdate;

   /**

-   * @brief   LPS25H pressure resolution.

+   * @brief LPS25H barometer subsystem  resolution.

    */

-  lps25h_avgp_t             respressure;

+  lps25h_avgp_t             baroresolution;

   /**

-   * @brief   LPS25H temperature resolution.

+   * @brief LPS25H thermometer subsystem  resolution.

    */

-  lps25h_avgt_t             restemperature;
+  lps25h_avgt_t             thermoresolution;
 #endif
 } LPS25HConfig;

 

 /**

- * @brief   @p LPS25H barometer subsystem specific methods.

+ * @brief   @p LPS25H specific methods.

  * @note    No methods so far, just a common ancestor interface.

  */

-#define _lps25h_barometer_methods_alone

+#define _lps25h_methods_alone

 

 /**

- * @brief @p LPS25H barometer subsystem specific methods with inherited ones.

+ * @brief @p LPS25H specific methods with inherited ones.

  */

-#define _lps25h_barometer_methods                                           \

-  _base_barometer_methods                                                   \

-  _lps25h_barometer_methods_alone

+#define _lps25h_methods                                                     \

+  _base_object_methods                                                      \

+  _lps25h_methods_alone

 

 /**

- * @extends BaseBarometerVMT

+ * @extends BaseObjectVMT

  *

- * @brief @p LPS25H barometer virtual methods table.

+ * @brief @p LPS25H virtual methods table.

  */

-struct LPS25HBarometerVMT {

-  _lps25h_barometer_methods

+struct LPS25HVMT {

+  _lps25h_methods

 };

   
 /**
@@ -409,38 +436,273 @@ struct LPS25HBarometerVMT {
   lps25h_state_t            state;                                          \
   /* Current configuration data.*/                                          \
   const LPS25HConfig        *config;                                        \
-  /* Current sensitivity data.*/                                            \
-  float                     sensitivity;                                    \
-  /* Current Bias data.*/                                                   \
-  float                     bias;
+  /* Barometer subsystem axes number.*/                                     \

+  size_t                    baroaxes;                                       \

+  /* Barometer subsystem current sensitivity.*/                             \

+  float                     barosensitivity;                                \

+  /* Barometer subsystem current bias .*/                                   \

+  float                     barobias;                                       \

+  /* Thermometer subsystem axes number.*/                                   \

+  size_t                    thermoaxes;                                     \

+  /* Thermometer subsystem current sensitivity.*/                           \

+  float                     thermosensitivity;                              \

+  /* Thermometer subsystem current bias.*/                                  \

+  float                     thermobias;
 
-/**
- * @extends BaseGyroscope
- *
- * @brief   LPS25H 3-axis barometer class.
- * @details This class extends @p BaseGyroscope by adding physical
- *          driver implementation.
+/**

+ * @brief   LPS25H 2-axis barometer/thermometer class.

  */
 struct LPS25HDriver {
-  /** @brief BaseSensor Virtual Methods Table. */
-  const struct BaseSensorVMT *vmt_sensor;

-  _base_sensor_data
-  /** @brief LPS25H Barometer Virtual Methods Table. */
-  const struct LPS25HBarometerVMT *vmt_barometer;

-  _base_barometer_data
+  /** @brief Virtual Methods Table.*/

+  const struct LPS25HVMT    *vmt;

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

+  BaseBarometer             baro_if;

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

+  BaseThermometer           thermo_if;

   _lps25h_data
-};

-

-/**

- * @brief   Structure representing a LPS25H driver.

- */

-typedef struct LPS25HDriver LPS25HDriver;
+};
 /** @} */
 
 /*===========================================================================*/
 /* Driver macros.                                                            */
 /*===========================================================================*/
-       
+ 

+/**

+ * @brief   Return the number of axes of the BaseBarometer.

+ *

+ * @param[in] devp      pointer to @p LPS25HDriver.

+ *

+ * @return              the number of axes.

+ *

+ * @api

+ */

+#define lps25hBarometerGetAxesNumber(devp)                                  \

+        barometerGetAxesNumber(&((devp)->baro_if))

+

+/**

+ * @brief   Retrieves raw data from the BaseBarometer.

+ * @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

+ *          BaseBarometer axes number.

+ *

+ * @param[in] devp      pointer to @p LPS25HDriver.

+ * @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 lps25hBarometerReadRaw(devp, axes)                                  \

+        barometerReadRaw(&((devp)->baro_if), axes)

+

+/**

+ * @brief   Retrieves cooked data from the BaseBarometer.

+ * @note    This data is manipulated according to the formula

+ *          cooked = (raw * sensitivity) - bias.

+ * @note    Final data is expressed as hPa.

+ * @note    The axes array must be at least the same size of the

+ *          BaseBarometer axes number.

+ *

+ * @param[in] devp      pointer to @p LPS25HDriver.

+ * @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 lps25hBarometerReadCooked(devp, axes)                               \

+        barometerReadCooked(&((devp)->baro_if), axes)

+

+/**

+ * @brief   Set bias values for the BaseBarometer.

+ * @note    Bias must be expressed as hPa.

+ * @note    The bias buffer must be at least the same size of the

+ *          BaseBarometer axes number.

+ *

+ * @param[in] devp      pointer to @p LPS25HDriver.

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

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ *

+ * @api

+ */

+#define lps25hBarometerSetBias(devp, bp)                                    \

+        barometerSetBias(&((devp)->baro_if), bp)

+

+/**

+ * @brief   Reset bias values for the BaseBarometer.

+ * @note    Default biases value are obtained from device datasheet when

+ *          available otherwise they are considered zero.

+ *

+ * @param[in] devp      pointer to @p LPS25HDriver.

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ *

+ * @api

+ */

+#define lps25hBarometerResetBias(devp)                                      \

+        barometerResetBias(&((devp)->baro_if))

+

+/**

+ * @brief   Set sensitivity values for the BaseBarometer.

+ * @note    Sensitivity must be expressed as hPa/LSB.

+ * @note    The sensitivity buffer must be at least the same size of the

+ *          BaseBarometer axes number.

+ *

+ * @param[in] devp      pointer to @p LPS25HDriver.

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

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ *

+ * @api

+ */

+#define lps25hBarometerSetSensitivity(devp, sp)                             \

+        barometerSetSensitivity(&((devp)->baro_if), sp)

+

+/**

+ * @brief   Reset sensitivity values for the BaseBarometer.

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

+ *

+ * @param[in] devp      pointer to @p LPS25HDriver.

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ *

+ * @api

+ */

+#define lps25hBarometerResetSensitivity(devp)                               \

+        barometerResetSensitivity(&((devp)->baro_if))

+

+/**

+ * @brief   Return the number of axes of the BaseThermometer.

+ *

+ * @param[in] devp      pointer to @p LPS25HDriver.

+ *

+ * @return              the number of axes.

+ *

+ * @api

+ */

+#define lps25hThermometerGetAxesNumber(devp)                                \

+        thermometerGetAxesNumber(&((devp)->thermo_if))

+

+/**

+ * @brief   Retrieves raw data from the BaseThermometer.

+ * @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

+ *          BaseThermometer axes number.

+ *

+ * @param[in] devp      pointer to @p LPS25HDriver.

+ * @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 lps25hThermometerReadRaw(devp, axes)                                \

+        thermometerReadRaw(&((devp)->thermo_if), axes)

+

+/**

+ * @brief   Retrieves cooked data from the BaseThermometer.

+ * @note    This data is manipulated according to the formula

+ *          cooked = (raw * sensitivity) - bias.

+ * @note    Final data is expressed as °C.

+ * @note    The axes array must be at least the same size of the

+ *          BaseThermometer axes number.

+ *

+ * @param[in] devp      pointer to @p LPS25HDriver.

+ * @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 lps25hThermometerReadCooked(devp, axes)                             \

+        thermometerReadCooked(&((devp)->thermo_if), axes)

+

+/**

+ * @brief   Set bias values for the BaseThermometer.

+ * @note    Bias must be expressed as °C.

+ * @note    The bias buffer must be at least the same size of the

+ *          BaseThermometer axes number.

+ *

+ * @param[in] devp      pointer to @p LPS25HDriver.

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

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ *

+ * @api

+ */

+#define lps25hThermometerSetBias(devp, bp)                                  \

+        thermometerSetBias(&((devp)->thermo_if), bp)

+

+/**

+ * @brief   Reset bias values for the BaseThermometer.

+ * @note    Default biases value are obtained from device datasheet when

+ *          available otherwise they are considered zero.

+ *

+ * @param[in] devp      pointer to @p LPS25HDriver.

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ *

+ * @api

+ */

+#define lps25hThermometerResetBias(devp)                                    \

+        thermometerResetBias(&((devp)->thermo_if))

+

+/**

+ * @brief   Set sensitivity values for the BaseThermometer.

+ * @note    Sensitivity must be expressed as °C/LSB.

+ * @note    The sensitivity buffer must be at least the same size of the

+ *          BaseThermometer axes number.

+ *

+ * @param[in] devp      pointer to @p LPS25HDriver.

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

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ *

+ * @api

+ */

+#define lps25hThermometerSetSensitivity(devp, sp)                           \

+        thermometerSetSensitivity(&((devp)->thermo_if), sp)

+

+/**

+ * @brief   Reset sensitivity values for the BaseThermometer.

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

+ *

+ * @param[in] devp      pointer to @p LPS25HDriver.

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ *

+ * @api

+ */

+#define lps25hThermometerResetSensitivity(devp)                             \

+        thermometerResetSensitivity(&((devp)->thermo_if))

+        
 /*===========================================================================*/
 /* External declarations.                                                    */
 /*===========================================================================*/