Improved LIS302DL driver and related demos: improved bias and sensitivity handling.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9828 35acf78f-673a-0410-8e92-d51de3d6d3f4

2 files changed, 68 insertions, 31 deletions

diff --git a/os/ex/ST/lis302dl.c b/os/ex/ST/lis302dl.c
index 846051b17..59d31d006 100644
--- a/os/ex/ST/lis302dl.c
+++ b/os/ex/ST/lis302dl.c
@@ -105,19 +105,23 @@ static msg_t read_raw(void *ip, int32_t axes[LIS302DL_NUMBER_OF_AXES]) {
 #if LIS302DL_USE_SPI

   osalDbgAssert((((LIS302DLDriver *)ip)->config->spip->state == SPI_READY),

                 "read_raw(), channel not ready");

+

 #if	LIS302DL_SHARED_SPI

   spiAcquireBus(((LIS302DLDriver *)ip)->config->spip);

   spiStart(((LIS302DLDriver *)ip)->config->spip,

-           ((LIS302DLDriver *)ip)->config->spicfg);

-#endif /* LIS302DL_SHARED_SPI */   

+          ((LIS302DLDriver *)ip)->config->spicfg);

+#endif /* LIS302DL_SHARED_SPI */

+

     for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++) {

       lis302dlSPIReadRegister(((LIS302DLDriver *)ip)->config->spip,

                               LIS302DL_AD_OUT_X + (i * 2), 1, &tmp);

       axes[i] = (int32_t)((int8_t)tmp);

     }

+

 #if	LIS302DL_SHARED_SPI

   spiReleaseBus(((LIS302DLDriver *)ip)->config->spip);

-#endif /* LIS302DL_SHARED_SPI */   

+#endif /* LIS302DL_SHARED_SPI */

+

 #endif /* LIS302DL_USE_SPI */ 

   return MSG_OK;

 }

@@ -222,13 +226,34 @@ static msg_t set_full_scale(void *ip, lis302dl_fs_t fs) {
     scale = newfs / ((LIS302DLDriver *)ip)->fullscale;

     ((LIS302DLDriver *)ip)->fullscale = newfs;

 

-    /* Updating register.*/

+#if LIS302DL_USE_SPI

+#if LIS302DL_SHARED_SPI

+  spiAcquireBus(((LIS302DLDriver *)ip)->config->spip);

+  spiStart(((LIS302DLDriver *)ip)->config->spip,

+          ((LIS302DLDriver *)ip)->config->spicfg);

+#endif /* LIS302DL_SHARED_SPI */

     lis302dlSPIReadRegister(((LIS302DLDriver *)ip)->config->spip,

                             LIS302DL_AD_CTRL_REG1, 1, &cr);

+#if LIS302DL_SHARED_SPI

+  spiReleaseBus(((LIS302DLDriver *)ip)->config->spip);

+#endif /* LIS302DL_SHARED_SPI */

+#endif /* LIS302DL_USE_SPI */

+

     cr &= ~(LIS302DL_CTRL_REG1_FS_MASK);

     cr |= fs;

+

+#if LIS302DL_USE_SPI

+#if LIS302DL_SHARED_SPI

+  spiAcquireBus(((LIS302DLDriver *)ip)->config->spip);

+  spiStart(((LIS302DLDriver *)ip)->config->spip,

+          ((LIS302DLDriver *)ip)->config->spicfg);

+#endif /* LIS302DL_SHARED_SPI */

     lis302dlSPIWriteRegister(((LIS302DLDriver *)ip)->config->spip,

                              LIS302DL_AD_CTRL_REG1, 1, &cr);

+#if LIS302DL_SHARED_SPI

+  spiReleaseBus(((LIS302DLDriver *)ip)->config->spip);

+#endif /* LIS302DL_SHARED_SPI */

+#endif /* LIS302DL_USE_SPI */

 

     /* Scaling sensitivity and bias. Re-calibration is suggested anyway. */

     for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++) {

@@ -272,7 +297,7 @@ void lis302dlObjectInit(LIS302DLDriver *devp) {
   devp->vmt_lis302dl = &vmt_lis302dl;

   devp->config = NULL;

   for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)

-    devp->bias[i] = 0;

+    devp->bias[i] = 0.0f;

   devp->state  = LIS302DL_STOP;

 }

 

@@ -293,14 +318,7 @@ void lis302dlStart(LIS302DLDriver *devp, const LIS302DLConfig *config) {
               "lis302dlStart(), invalid state");			  

 

   devp->config = config;

-  

-#if LIS302DL_USE_SPI

-#if	LIS302DL_SHARED_SPI

-  spiAcquireBus((devp)->config->spip);

-#endif /* LIS302DL_SHARED_SPI */

-  spiStart((devp)->config->spip,

-           (devp)->config->spicfg);

-           

+

   /* Control register 1 configuration block.*/

   {

     cr[0] = LIS302DL_CTRL_REG1_XEN | LIS302DL_CTRL_REG1_YEN | 

@@ -316,6 +334,12 @@ void lis302dlStart(LIS302DLDriver *devp, const LIS302DLConfig *config) {
     cr[1] = devp->config->highpass;

 #endif

   }

+

+#if LIS302DL_USE_SPI

+#if LIS302DL_SHARED_SPI

+  spiAcquireBus((devp)->config->spip);

+#endif /* LIS302DL_SHARED_SPI */

+  spiStart((devp)->config->spip, (devp)->config->spicfg);

   

   lis302dlSPIWriteRegister(devp->config->spip, LIS302DL_AD_CTRL_REG1, 

                            2, cr);

@@ -328,17 +352,30 @@ void lis302dlStart(LIS302DLDriver *devp, const LIS302DLConfig *config) {
   /* Storing sensitivity information according to full scale value */

   if(devp->config->fullscale == LIS302DL_FS_2G) {

     devp->fullscale = LIS302DL_2G;

-    for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)

-      devp->sensitivity[i] = LIS302DL_SENS_2G;

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

+      for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)

+        devp->sensitivity[i] = LIS302DL_SENS_2G;

+    else

+      for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)

+        devp->sensitivity[i] = devp->config->sensitivity[i];

   }

   else if(devp->config->fullscale == LIS302DL_FS_8G) {

     devp->fullscale = LIS302DL_8G;

-    for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)

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

+      for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)

         devp->sensitivity[i] = LIS302DL_SENS_8G;

+    else

+      for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)

+        devp->sensitivity[i] = devp->config->sensitivity[i];

   }

   else {

     osalDbgAssert(FALSE, "lis302dlStart(), accelerometer full scale issue");

   }

+

+  if(devp->config->bias != NULL)

+    for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)

+      devp->bias[i] = devp->config->bias[i];

+

   /* This is the Accelerometer transient recovery time */

   osalThreadSleepMilliseconds(10);

 

@@ -359,8 +396,8 @@ void lis302dlStop(LIS302DLDriver *devp) {
   osalDbgAssert((devp->state == LIS302DL_STOP) || (devp->state == LIS302DL_READY),

                 "lis302dlStop(), invalid state");

 

-#if (LIS302DL_USE_SPI)

-  if (devp->state == LIS302DL_STOP) {

+  if (devp->state == LIS302DL_READY) {

+#if LIS302DL_USE_SPI

 #if	LIS302DL_SHARED_SPI

     spiAcquireBus((devp)->config->spip);

     spiStart((devp)->config->spip,

@@ -371,9 +408,9 @@ void lis302dlStop(LIS302DLDriver *devp) {
     spiStop((devp)->config->spip);

 #if	LIS302DL_SHARED_SPI

     spiReleaseBus((devp)->config->spip);

-#endif /* LIS302DL_SHARED_SPI */    

-  }			  

-#endif /* LIS302DL_USE_SPI */

+#endif /* LIS302DL_SHARED_SPI */   

+#endif /* LIS302DL_USE_SPI */ 

+  }

   devp->state = LIS302DL_STOP;

 }

 /** @} */

diff --git a/os/ex/ST/lis302dl.h b/os/ex/ST/lis302dl.h
index f310a2922..4b11dbef5 100644
--- a/os/ex/ST/lis302dl.h
+++ b/os/ex/ST/lis302dl.h
@@ -41,7 +41,7 @@
 /**

  * @brief   LIS302DL driver version string.

  */

-#define EX_LIS302DL_VERSION         "1.0.2"

+#define EX_LIS302DL_VERSION         "1.0.3"

 

 /**

  * @brief   LIS302DL driver version major number.

@@ -56,7 +56,7 @@
 /**

  * @brief   LIS302DL driver version patch number.

  */

-#define EX_LIS302DL_PATCH           2

+#define EX_LIS302DL_PATCH           3

 /** @} */

 

 /**

@@ -297,24 +297,24 @@ typedef struct {
   /**

    * @brief LIS302DL initial sensitivity.

    */

-  float                     sensitivity[LIS302DL_NUMBER_OF_AXES];

+  float                     *sensitivity;

   /**

    * @brief LIS302DL initial bias.

    */

-  float                     bias[LIS302DL_NUMBER_OF_AXES];

+  float                     *bias;

   /**

    * @brief LIS302DL full scale value.

    */

-  lis302dl_fs_t               fullscale;

+  lis302dl_fs_t             fullscale;

   /**

    * @brief LIS302DL output data rate selection.

    */

-  lis302dl_odr_t              outputdatarate;

+  lis302dl_odr_t            outputdatarate;

 #if LIS302DL_USE_ADVANCED || defined(__DOXYGEN__)

   /**

-   * @brief   LIS302DL high pass filtering

+   * @brief LIS302DL high pass filtering.

    */

-  lis302dl_hp_t               highpass;

+  lis302dl_hp_t             highpass;

 #endif

 } LIS302DLConfig;

 

@@ -347,9 +347,9 @@ struct LIS302DLVMT {
 #define _lis302dl_data                                                      \

   _base_accelerometer_data                                                  \

   /* Driver state.*/                                                        \

-  lis302dl_state_t            state;                                        \

+  lis302dl_state_t          state;                                          \

   /* Current configuration data.*/                                          \

-  const LIS302DLConfig        *config;                                      \

+  const LIS302DLConfig      *config;                                        \

   /* Current sensitivity.*/                                                 \

   float                     sensitivity[LIS302DL_NUMBER_OF_AXES];           \

   /* Bias data.*/                                                           \