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Diffstat (limited to 'os/ex/ST/lps25h.c')
| -rw-r--r-- | os/ex/ST/lps25h.c | 318 |
1 files changed, 318 insertions, 0 deletions
diff --git a/os/ex/ST/lps25h.c b/os/ex/ST/lps25h.c new file mode 100644 index 000000000..28c00816c --- /dev/null +++ b/os/ex/ST/lps25h.c @@ -0,0 +1,318 @@ +/*
+ ChibiOS - Copyright (C) 2016 Rocco Marco Guglielmi
+
+ This file is part of ChibiOS.
+
+ ChibiOS is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
+/**
+ * @file lps25h.c
+ * @brief LPS25H MEMS interface module code.
+ *
+ * @addtogroup lps25h
+ * @{
+ */
+
+#include "hal.h"
+#include "lps25h.h"
+
+/*===========================================================================*/
+/* Driver local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local variables and types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local functions. */
+/*===========================================================================*/
+
+#if (LPS25H_USE_I2C) || defined(__DOXYGEN__)
+/**
+ * @brief Reads registers value using I2C.
+ * @pre The I2C interface must be initialized and the driver started.
+ *
+ * @param[in] i2cp pointer to the I2C interface
+ * @param[in] sad slave address without R bit
+ * @param[in] reg first sub-register address
+ * @return the read value.
+ */
+uint8_t lps25hI2CReadRegister(I2CDriver *i2cp, lps25h_sad_t sad, uint8_t reg,
+ msg_t* msgp) {
+ msg_t msg;
+ uint8_t rxbuf;
+ msg = i2cMasterTransmitTimeout(i2cp, sad, ®, 1, &rxbuf, 1,
+ TIME_INFINITE);
+ if(msgp != NULL){
+ *msgp = msg;
+ }
+ return rxbuf;
+}
+
+/**
+ * @brief Writes a value into a register using I2C.
+ * @pre The I2C interface must be initialized and the driver started.
+ *
+ * @param[in] i2cp pointer to the I2C interface
+ * @param[in] sad slave address without R bit
+ * @param[in] sub sub-register address
+ * @param[in] value the value to be written
+ * @return the operation status.
+ */
+msg_t lps25hI2CWriteRegister(I2CDriver *i2cp, lps25h_sad_t sad, uint8_t reg,
+ uint8_t value) {
+ uint8_t txbuf[2];
+ txbuf[0] = reg;
+ txbuf[1] = value;
+ return i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, NULL, 0, TIME_INFINITE);
+}
+#endif /* LPS25H_USE_I2C */
+
+/*
+ * Interface implementation.
+ */
+static size_t get_axes_number(void *ip) {
+
+ osalDbgCheck(ip != NULL);
+ return LPS25H_NUMBER_OF_AXES;
+}
+
+static msg_t read_raw(void *ip, int32_t* axis) {
+ int32_t tmp;
+ msg_t msg = MSG_OK;
+ osalDbgCheck((ip != NULL) && (axis != NULL));
+ osalDbgAssert((((LPS25HDriver *)ip)->state == LPS25H_READY),
+ "read_raw(), invalid state");
+
+#if LPS25H_USE_I2C
+ osalDbgAssert((((LPS25HDriver *)ip)->config->i2cp->state == I2C_READY),
+ "read_raw(), channel not ready");
+#if LPS25H_SHARED_I2C
+ i2cAcquireBus(((LPS25HDriver *)ip)->config->i2cp);
+ i2cStart(((LPS25HDriver *)ip)->config->i2cp,
+ ((LPS25HDriver *)ip)->config->i2ccfg);
+#endif /* LPS25H_SHARED_I2C */
+ tmp = lps25hI2CReadRegister(((LPS25HDriver *)ip)->config->i2cp,
+ ((LPS25HDriver *)ip)->config->slaveaddress,
+ LPS25H_AD_PRESS_OUT_XL, NULL);
+ if (msg != MSG_OK)
+ return msg;
+ tmp += lps25hI2CReadRegister(((LPS25HDriver *)ip)->config->i2cp,
+ ((LPS25HDriver *)ip)->config->slaveaddress,
+ LPS25H_AD_PRESS_OUT_L, NULL) << 8;
+ if (msg != MSG_OK)
+ return msg;
+ tmp += lps25hI2CReadRegister(((LPS25HDriver *)ip)->config->i2cp,
+ ((LPS25HDriver *)ip)->config->slaveaddress,
+ LPS25H_AD_PRESS_OUT_H, NULL) << 16;
+ if (msg != MSG_OK)
+ return msg;
+ *axis = (int32_t)tmp;
+
+
+#if LPS25H_SHARED_I2C
+ i2cReleaseBus(((LPS25HDriver *)ip)->config->i2cp);
+#endif /* LPS25H_SHARED_I2C */
+#endif /* LPS25H_USE_I2C */
+ return MSG_OK;
+}
+
+static msg_t read_cooked(void *ip, float* axis) {
+ int32_t raw;
+ msg_t msg;
+
+ osalDbgCheck((ip != NULL) && (axis != NULL));
+
+ osalDbgAssert((((LPS25HDriver *)ip)->state == LPS25H_READY),
+ "read_cooked(), invalid state");
+
+ msg = read_raw(ip, &raw);
+
+ *axis = raw / ((LPS25HDriver *)ip)->sensitivity;
+ *axis -= ((LPS25HDriver *)ip)->bias;
+ return msg;
+}
+
+
+static msg_t set_bias(void *ip, int32_t *bp) {
+ osalDbgCheck((ip != NULL) && (bp != NULL));
+
+ osalDbgAssert((((LPS25HDriver *)ip)->state == LPS25H_READY) ||
+ (((LPS25HDriver *)ip)->state == LPS25H_STOP),
+ "set_bias(), invalid state");
+
+ ((LPS25HDriver *)ip)->bias = *bp;
+ return MSG_OK;
+}
+
+static msg_t reset_bias(void *ip) {
+ osalDbgCheck(ip != NULL);
+
+ osalDbgAssert((((LPS25HDriver *)ip)->state == LPS25H_READY) ||
+ (((LPS25HDriver *)ip)->state == LPS25H_STOP),
+ "reset_bias(), invalid state");
+
+ ((LPS25HDriver *)ip)->bias = 0;
+ return MSG_OK;
+}
+
+
+static msg_t set_sensivity(void *ip, float *sp) {
+
+ osalDbgCheck((ip != NULL) && (sp !=NULL));
+
+ osalDbgAssert((((LPS25HDriver *)ip)->state == LPS25H_READY),
+ "set_sensivity(), invalid state");
+
+ ((LPS25HDriver *)ip)->sensitivity = *sp;
+ return MSG_OK;
+}
+
+static msg_t reset_sensivity(void *ip) {
+
+ osalDbgCheck(ip != NULL);
+
+ osalDbgAssert((((LPS25HDriver *)ip)->state == LPS25H_READY),
+ "reset_sensivity(), invalid state");
+
+ ((LPS25HDriver *)ip)->sensitivity = LPS25H_SENS;
+ return MSG_OK;
+}
+
+static const struct BaseSensorVMT vmt_basesensor = {
+ get_axes_number, read_raw, read_cooked
+};
+
+static const struct BaseBarometerVMT vmt_basebarometer = {
+ get_axes_number, read_raw, read_cooked,
+ set_bias, reset_bias, set_sensivity, reset_sensivity
+};
+
+/*===========================================================================*/
+/* Driver exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Initializes an instance.
+ *
+ * @param[out] devp pointer to the @p LPS25HDriver object
+ *
+ * @init
+ */
+void lps25hObjectInit(LPS25HDriver *devp) {
+
+ devp->vmt_basesensor = &vmt_basesensor;
+ devp->vmt_basebarometer = &vmt_basebarometer;
+ devp->config = NULL;
+ devp->bias = 0;
+ devp->state = LPS25H_STOP;
+}
+
+/**
+ * @brief Configures and activates LPS25H Complex Driver peripheral.
+ *
+ * @param[in] devp pointer to the @p LPS25HDriver object
+ * @param[in] config pointer to the @p LPS25HConfig object
+ *
+ * @api
+ */
+void lps25hStart(LPS25HDriver *devp, const LPS25HConfig *config) {
+ uint8_t cr;
+ osalDbgCheck((devp != NULL) && (config != NULL));
+
+ osalDbgAssert((devp->state == LPS25H_STOP) || (devp->state == LPS25H_READY),
+ "lps25hStart(), invalid state");
+
+ devp->config = config;
+
+#if LPS25H_USE_I2C
+#if LPS25H_SHARED_I2C
+ i2cAcquireBus((devp)->config->i2cp);
+#endif /* LPS25H_SHARED_I2C */
+ i2cStart((devp)->config->i2cp,
+ (devp)->config->i2ccfg);
+
+ /* Control register 1 configuration block.*/
+ {
+ cr = devp->config->outputdatarate | LPS25H_CTRL_REG1_PD;
+#if LPS25H_USE_ADVANCED || defined(__DOXYGEN__)
+ cr |= devp->config->blockdataupdate;
+
+#endif
+ lps25hI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
+ LPS25H_AD_CTRL_REG1, cr);
+ }
+
+ /* Control register 1 configuration block.*/
+ {
+ cr = 0x05;
+#if LPS25H_USE_ADVANCED || defined(__DOXYGEN__)
+ cr = devp->config->respressure | devp->config->restemperature;
+
+#endif
+ lps25hI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
+ LPS25H_AD_RES_CONF, cr);
+ }
+
+#if LPS25H_SHARED_I2C
+ i2cReleaseBus((devp)->config->i2cp);
+#endif /* LPS25H_SHARED_I2C */
+#endif /* LPS25H_USE_I2C */
+ /* Storing sensitivity information according to full scale value */
+ devp->sensitivity = LPS25H_SENS;
+ /* This is the Barometer transient recovery time */
+ osalThreadSleepMilliseconds(5);
+
+ devp->state = LPS25H_READY;
+}
+
+/**
+ * @brief Deactivates the LPS25H Complex Driver peripheral.
+ *
+ * @param[in] devp pointer to the @p LPS25HDriver object
+ *
+ * @api
+ */
+void lps25hStop(LPS25HDriver *devp) {
+
+ osalDbgCheck(devp != NULL);
+
+ osalDbgAssert((devp->state == LPS25H_STOP) || (devp->state == LPS25H_READY),
+ "lps25hStop(), invalid state");
+
+#if (LPS25H_USE_I2C)
+ if (devp->state == LPS25H_STOP) {
+#if LPS25H_SHARED_I2C
+ i2cAcquireBus((devp)->config->i2cp);
+ i2cStart((devp)->config->i2cp,
+ (devp)->config->i2ccfg);
+#endif /* LPS25H_SHARED_I2C */
+ lps25hI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
+ LPS25H_AD_CTRL_REG1, 0);
+ i2cStop((devp)->config->i2cp);
+#if LPS25H_SHARED_I2C
+ i2cReleaseBus((devp)->config->i2cp);
+#endif /* LPS25H_SHARED_I2C */
+ }
+#endif /* LPS25H_USE_I2C */
+ devp->state = LPS25H_STOP;
+}
+/** @} */
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