Improved EX drivers

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@11685 110e8d01-0319-4d1e-a829-52ad28d1bb01

5 files changed, 50 insertions, 32 deletions

diff --git a/os/ex/ST/hts221.h b/os/ex/ST/hts221.h
index 2570a6ed1..893f9f314 100644
--- a/os/ex/ST/hts221.h
+++ b/os/ex/ST/hts221.h
@@ -66,23 +66,26 @@
  * @brief   HTS221 hygrometer subsystem characteristics.

  * @note    Sensitivity is expressed as %rH/LSB whereas %rH stand for percentage

  *          of relative humidity.

- *

+ * @note    Bias is expressed as %rH.

  * @{

  */

 #define HTS221_HYGRO_NUMBER_OF_AXES         1U

 

 #define HTS221_HYGRO_SENS                   0.00390625f

+#define HTS221_HYGRO_BIAS                   0.0f

 /** @} */

 

 /**

  * @brief   HTS221 thermometer subsystem characteristics.

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

+ * @note    Bias is expressed as °C.

  *

  * @{

  */

 #define HTS221_THERMO_NUMBER_OF_AXES        1U

 

 #define HTS221_THERMO_SENS                  0.0015625f

+#define HTS221_THERMO_BIAS                  0.0f

 /** @} */

  

 /**

diff --git a/os/ex/ST/l3gd20.c b/os/ex/ST/l3gd20.c
index fcb6dd17d..4313341e6 100644
--- a/os/ex/ST/l3gd20.c
+++ b/os/ex/ST/l3gd20.c
@@ -286,7 +286,7 @@ static msg_t gyro_reset_bias(void *ip) {
                 "gyro_reset_bias(), invalid state");
 
   for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++)
-    devp->gyrobias[i] = 0.0;
+    devp->gyrobias[i] = L3GD20_GYRO_BIAS;
   return MSG_OK;
 }
 

@@ -345,13 +345,13 @@ static msg_t gyro_reset_sensivity(void *ip) {
 
   if(devp->config->gyrofullscale == L3GD20_FS_250DPS)
     for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++)
-      devp->gyrosensitivity[i] = L3GD20_SENS_250DPS;
+      devp->gyrosensitivity[i] = L3GD20_GYRO_SENS_250DPS;
   else if(devp->config->gyrofullscale == L3GD20_FS_500DPS)
 	for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++)
-      devp->gyrosensitivity[i] = L3GD20_SENS_500DPS;
+      devp->gyrosensitivity[i] = L3GD20_GYRO_SENS_500DPS;
   else if(devp->config->gyrofullscale == L3GD20_FS_2000DPS)
 	for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++)
-      devp->gyrosensitivity[i] = L3GD20_SENS_2000DPS;
+      devp->gyrosensitivity[i] = L3GD20_GYRO_SENS_2000DPS;
   else {
     osalDbgAssert(FALSE, "gyro_reset_sensivity(), full scale issue");
     return MSG_RESET;
@@ -468,14 +468,11 @@ static const struct BaseGyroscopeVMT vmt_gyroscope = {
  * @init
  */
 void l3gd20ObjectInit(L3GD20Driver *devp) {
-  uint32_t i;

-  
   devp->vmt = &vmt_device;
   devp->gyro_if.vmt = &vmt_gyroscope;

   
   devp->config = NULL;
-  for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++)
-    devp->gyrobias[i] = 0.0f;
+
   devp->state  = L3GD20_STOP;
 }
 
@@ -560,7 +557,7 @@ void l3gd20Start(L3GD20Driver *devp, const L3GD20Config *config) {
     devp->gyrofullscale = L3GD20_250DPS;
     for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++) {

       if (devp->config->gyrosensitivity == NULL)

-        devp->gyrosensitivity[i] = L3GD20_SENS_250DPS;

+        devp->gyrosensitivity[i] = L3GD20_GYRO_SENS_250DPS;

       else

         devp->gyrosensitivity[i] = devp->config->gyrosensitivity[i];

     }
@@ -569,7 +566,7 @@ void l3gd20Start(L3GD20Driver *devp, const L3GD20Config *config) {
     devp->gyrofullscale = L3GD20_500DPS;
     for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++) {
       if (devp->config->gyrosensitivity == NULL)

-        devp->gyrosensitivity[i] = L3GD20_SENS_500DPS;

+        devp->gyrosensitivity[i] = L3GD20_GYRO_SENS_500DPS;

       else

         devp->gyrosensitivity[i] = devp->config->gyrosensitivity[i];

     }
@@ -578,19 +575,24 @@ void l3gd20Start(L3GD20Driver *devp, const L3GD20Config *config) {
     devp->gyrofullscale = L3GD20_2000DPS;
     for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++) {
       if (devp->config->gyrosensitivity == NULL)

-        devp->gyrosensitivity[i] = L3GD20_SENS_2000DPS;

+        devp->gyrosensitivity[i] = L3GD20_GYRO_SENS_2000DPS;

       else

         devp->gyrosensitivity[i] = devp->config->gyrosensitivity[i];

     }
   }
   else
     osalDbgAssert(FALSE, "l3gd20Start(), full scale issue");

-  

+

+  /* Storing bias information.*/  

   if(devp->config->gyrobias != NULL) {

     for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++) {

       devp->gyrobias[i] = devp->config->gyrobias[i];

     }

   }

+  else {

+    for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++)

+      devp->gyrobias[i] = L3GD20_GYRO_BIAS;

+  }

   
   /* This is the Gyroscope transient recovery time.*/
   osalThreadSleepMilliseconds(10);
diff --git a/os/ex/ST/l3gd20.h b/os/ex/ST/l3gd20.h
index 5f17eb91b..c57615040 100644
--- a/os/ex/ST/l3gd20.h
+++ b/os/ex/ST/l3gd20.h
@@ -64,6 +64,7 @@
  * @brief   L3GD20 gyroscope system characteristics.

  * @note    Sensitivity is expressed as DPS/LSB whereas DPS stand for Degree 

  *          per second [°/s].

+ * @note    Bias is expressed as DPS.

  *

  * @{

  */
@@ -73,9 +74,11 @@
 #define L3GD20_500DPS                       500.0f
 #define L3GD20_2000DPS                      2000.0f
                                             
-#define L3GD20_SENS_250DPS                  0.00875f
-#define L3GD20_SENS_500DPS                  0.01750f
-#define L3GD20_SENS_2000DPS                 0.07000f
+#define L3GD20_GYRO_SENS_250DPS             0.00875f
+#define L3GD20_GYRO_SENS_500DPS             0.01750f
+#define L3GD20_GYRO_SENS_2000DPS            0.07000f

+

+#define L3GD20_GYRO_BIAS                    0.0f
 /** @} */
 
 /**
diff --git a/os/ex/ST/lsm303dlhc.c b/os/ex/ST/lsm303dlhc.c
index 64f965607..0a4d9689f 100644
--- a/os/ex/ST/lsm303dlhc.c
+++ b/os/ex/ST/lsm303dlhc.c
@@ -254,7 +254,7 @@ static msg_t acc_reset_bias(void *ip) {
                 "acc_reset_bias(), invalid state");

 

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

-    devp->accbias[i] = 0.0;

+    devp->accbias[i] = LSM303DLHC_ACC_BIAS;

   return msg;

 }

 

@@ -498,7 +498,7 @@ static msg_t comp_read_raw(void *ip, int32_t axes[]) {
  * @brief   Retrieves cooked data from the BaseCompass.

  * @note    This data is manipulated according to the formula

  *          cooked = (raw * sensitivity) - bias.

- * @note    Final data is expressed as Ga.

+ * @note    Final data is expressed as G.

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

  *          BaseCompass axes number.

  *

@@ -535,7 +535,7 @@ static msg_t comp_read_cooked(void *ip, float axes[]) {
 

 /**

  * @brief   Set bias values for the BaseCompass.

- * @note    Bias must be expressed as Ga.

+ * @note    Bias must be expressed as G.

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

  *          BaseCompass axes number.

  *

@@ -588,13 +588,13 @@ static msg_t comp_reset_bias(void *ip) {
                 "comp_reset_bias(), invalid state");

 

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

-    devp->compbias[i] = 0.0;

+    devp->compbias[i] = LSM303DLHC_COMP_BIAS;

   return msg;

 }

 

 /**

  * @brief   Set sensitivity values for the BaseCompass.

- * @note    Sensitivity must be expressed as Ga/LSB.

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

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

  *          BaseCompass axes number.

  *

@@ -860,11 +860,8 @@ void lsm303dlhcObjectInit(LSM303DLHCDriver *devp) {
   

   devp->accaxes = LSM303DLHC_ACC_NUMBER_OF_AXES;

   devp->compaxes = LSM303DLHC_COMP_NUMBER_OF_AXES;

-    

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

-    devp->accbias[i] = 0.0f;

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

-    devp->compbias[i] = 0.0f;

+

+

   devp->state  = LSM303DLHC_STOP;

 }

 

@@ -976,6 +973,9 @@ void lsm303dlhcStart(LSM303DLHCDriver *devp, const LSM303DLHCConfig *config) {
   if(devp->config->accbias != NULL)

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

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

+  else      

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

+      devp->accbias[i] = LSM303DLHC_ACC_BIAS;

 

 

   /* Configuring Compass subsystem */

@@ -1131,7 +1131,10 @@ void lsm303dlhcStart(LSM303DLHCDriver *devp, const LSM303DLHCConfig *config) {
   if(devp->config->compbias != NULL)

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

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

-

+  else      

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

+      devp->compbias[i] = LSM303DLHC_COMP_BIAS;

+    

   /* This is the MEMS transient recovery time */

   osalThreadSleepMilliseconds(5);

 

diff --git a/os/ex/ST/lsm303dlhc.h b/os/ex/ST/lsm303dlhc.h
index 51784e24b..0d7fa656e 100644
--- a/os/ex/ST/lsm303dlhc.h
+++ b/os/ex/ST/lsm303dlhc.h
@@ -63,7 +63,9 @@
 

 /**

  * @brief   LSM303DLHC accelerometer subsystem characteristics.

- * @note    Sensitivity is expressed as mG/LSB whereas 1 mG = 0.00980665 m/s^2.

+ * @note    Sensitivity is expressed as milli-G/LSB whereas 

+ *          1 milli-G = 0.00980665 m/s^2.

+ * @note    Bias is expressed as milli-G.

  *

  * @{

  */

@@ -78,11 +80,14 @@
 #define LSM303DLHC_ACC_SENS_4G              0.1221f

 #define LSM303DLHC_ACC_SENS_8G              0.2442f

 #define LSM303DLHC_ACC_SENS_16G             0.4884f

+

+#define LSM303DLHC_ACC_BIAS                 0.0f

 /** @} */

 

 /**

  * @brief   LSM303DLHC compass subsystem characteristics.

- * @note    Sensitivity is expressed as GA/LSB whereas GA stands for Gauss.

+ * @note    Sensitivity is expressed as G/LSB whereas G stands for Gauss.

+ * @note    Bias is expressed as G.

  *

  * @{

  */

@@ -111,6 +116,8 @@
 #define LSM303DLHC_COMP_SENS_Z_4P7GA        0.0028169f

 #define LSM303DLHC_COMP_SENS_Z_5P6GA        0.0033898f

 #define LSM303DLHC_COMP_SENS_Z_8P1GA        0.0048780f

+

+#define LSM303DLHC_COMP_BIAS                0.0f

 /** @} */

 

 /**

@@ -795,7 +802,7 @@ struct LSM303DLHCDriver {
  * @brief   Retrieves cooked data from the BaseCompass.

  * @note    This data is manipulated according to the formula

  *          cooked = (raw * sensitivity) - bias.

- * @note    Final data is expressed as Ga.

+ * @note    Final data is expressed as G.

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

  *          BaseCompass axes number.

  *

@@ -815,7 +822,7 @@ struct LSM303DLHCDriver {
 

 /**

  * @brief   Set bias values for the BaseCompass.

- * @note    Bias must be expressed as Ga.

+ * @note    Bias must be expressed as G.

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

  *          BaseCompass axes number.

  *

@@ -847,7 +854,7 @@ struct LSM303DLHCDriver {
 

 /**

  * @brief   Set sensitivity values for the BaseCompass.

- * @note    Sensitivity must be expressed as Ga/LSB.

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

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

  *          BaseCompass axes number.

  *