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Diffstat (limited to 'os/ex/ST/lsm303agr.c')
| -rw-r--r-- | os/ex/ST/lsm303agr.c | 1177 |
1 files changed, 1177 insertions, 0 deletions
diff --git a/os/ex/ST/lsm303agr.c b/os/ex/ST/lsm303agr.c new file mode 100644 index 000000000..747ef087d --- /dev/null +++ b/os/ex/ST/lsm303agr.c @@ -0,0 +1,1177 @@ +/*
+ ChibiOS - Copyright (C) 2016..2018 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 lsm303agr.c
+ * @brief LSM303AGR MEMS interface module code.
+ *
+ * @addtogroup LSM303AGR
+ * @ingroup EX_ST
+ * @{
+ */
+
+#include "hal.h"
+#include "lsm303agr.h"
+
+/*===========================================================================*/
+/* Driver local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local variables and types. */
+/*===========================================================================*/
+
+/**
+ * @brief Accelerometer and Compass Slave Address.
+ */
+typedef enum {
+ LSM303AGR_SAD_ACC = 0x19, /**< SAD for accelerometer. */
+ LSM303AGR_SAD_COMP = 0x1E /**< SAD for compass. */
+} lsm303agr_sad_t;
+
+/*===========================================================================*/
+/* Driver local functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Reads registers value using I2C.
+ * @pre The I2C interface must be initialized and the driver started.
+ * @note IF_ADD_INC bit must be 1 in CTRL_REG8.
+ *
+ * @param[in] i2cp pointer to the I2C interface.
+ * @param[in] sad slave address without R bit.
+ * @param[in] reg first sub-register address.
+ * @param[in] rxbuf receiving buffer.
+ * @param[in] n size of rxbuf.
+ * @return the operation status.
+ */
+static msg_t lsm303agrI2CReadRegister(I2CDriver *i2cp, lsm303agr_sad_t sad,
+ uint8_t reg, uint8_t *rxbuf, size_t n) {
+
+ uint8_t txbuf = reg | LSM303AGR_MS;
+ return i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, n,
+ TIME_INFINITE);
+}
+
+/**
+ * @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] txbuf buffer containing sub-address value in first position
+ * and values to write.
+ * @param[in] n size of txbuf less one (not considering the first
+ * element).
+ * @return the operation status.
+ */
+static msg_t lsm303agrI2CWriteRegister(I2CDriver *i2cp, lsm303agr_sad_t sad,
+ uint8_t *txbuf, size_t n) {
+ if (n != 1)
+ *txbuf |= LSM303AGR_MS;
+ return i2cMasterTransmitTimeout(i2cp, sad, txbuf, n + 1, NULL, 0,
+ TIME_INFINITE);
+}
+
+/**
+ * @brief Return the number of axes of the BaseAccelerometer.
+ *
+ * @param[in] ip pointer to @p BaseAccelerometer interface.
+ *
+ * @return the number of axes.
+ */
+static size_t acc_get_axes_number(void *ip) {
+ (void)ip;
+
+ return LSM303AGR_ACC_NUMBER_OF_AXES;
+}
+
+/**
+ * @brief Retrieves raw data from the BaseAccelerometer.
+ * @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
+ * BaseAccelerometer axes number.
+ *
+ * @param[in] ip pointer to @p BaseAccelerometer 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 acc_read_raw(void *ip, int32_t axes[]) {
+ LSM303AGRDriver* devp;
+ uint8_t buff [LSM303AGR_ACC_NUMBER_OF_AXES * 2], i;
+ int16_t tmp;
+ msg_t msg;
+
+ osalDbgCheck((ip != NULL) && (axes != NULL));
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LSM303AGRDriver*, (BaseAccelerometer*)ip);
+
+ osalDbgAssert((devp->state == LSM303AGR_READY),
+ "acc_read_raw(), invalid state");
+ osalDbgAssert((devp->config->i2cp->state == I2C_READY),
+ "acc_read_raw(), channel not ready");
+
+#if LSM303AGR_SHARED_I2C
+ i2cAcquireBus(devp->config->i2cp);
+ i2cStart(devp->config->i2cp,
+ devp->config->i2ccfg);
+#endif /* LSM303AGR_SHARED_I2C */
+
+ msg = lsm303agrI2CReadRegister(devp->config->i2cp, LSM303AGR_SAD_ACC,
+ LSM303AGR_AD_ACC_OUT_X_L, buff,
+ LSM303AGR_ACC_NUMBER_OF_AXES * 2);
+
+#if LSM303AGR_SHARED_I2C
+ i2cReleaseBus(devp->config->i2cp);
+#endif /* LSM303AGR_SHARED_I2C */
+
+ if(msg == MSG_OK)
+ for(i = 0; i < LSM303AGR_ACC_NUMBER_OF_AXES; i++) {
+ tmp = buff[2 * i] + (buff[2 * i + 1] << 8);
+ axes[i] = (int32_t)tmp;
+ }
+ return msg;
+}
+
+/**
+ * @brief Retrieves cooked data from the BaseAccelerometer.
+ * @note This data is manipulated according to the formula
+ * cooked = (raw * sensitivity) - bias.
+ * @note Final data is expressed as milli-G.
+ * @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[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 acc_read_cooked(void *ip, float axes[]) {
+ LSM303AGRDriver* devp;
+ uint32_t i;
+ int32_t raw[LSM303AGR_ACC_NUMBER_OF_AXES];
+ msg_t msg;
+
+ osalDbgCheck((ip != NULL) && (axes != NULL));
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LSM303AGRDriver*, (BaseAccelerometer*)ip);
+
+ osalDbgAssert((devp->state == LSM303AGR_READY),
+ "acc_read_cooked(), invalid state");
+
+ msg = acc_read_raw(ip, raw);
+ for(i = 0; i < LSM303AGR_ACC_NUMBER_OF_AXES; i++) {
+ axes[i] = (raw[i] * devp->accsensitivity[i]) - devp->accbias[i];
+ }
+ return msg;
+}
+
+/**
+ * @brief Set bias values for the BaseAccelerometer.
+ * @note Bias must be expressed as milli-G.
+ * @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] bp a buffer which contains biases.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ */
+static msg_t acc_set_bias(void *ip, float *bp) {
+ LSM303AGRDriver* devp;
+ uint32_t i;
+ msg_t msg = MSG_OK;
+
+ osalDbgCheck((ip != NULL) && (bp != NULL));
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LSM303AGRDriver*, (BaseAccelerometer*)ip);
+
+ osalDbgAssert((devp->state == LSM303AGR_READY),
+ "acc_set_bias(), invalid state");
+
+ for(i = 0; i < LSM303AGR_ACC_NUMBER_OF_AXES; i++) {
+ devp->accbias[i] = bp[i];
+ }
+ return msg;
+}
+
+/**
+ * @brief Reset bias values for the BaseAccelerometer.
+ * @note Default biases value are obtained from device datasheet when
+ * available otherwise they are considered zero.
+ *
+ * @param[in] ip pointer to @p BaseAccelerometer interface.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ */
+static msg_t acc_reset_bias(void *ip) {
+ LSM303AGRDriver* devp;
+ uint32_t i;
+ msg_t msg = MSG_OK;
+
+ osalDbgCheck(ip != NULL);
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LSM303AGRDriver*, (BaseAccelerometer*)ip);
+
+ osalDbgAssert((devp->state == LSM303AGR_READY),
+ "acc_reset_bias(), invalid state");
+
+ for(i = 0; i < LSM303AGR_ACC_NUMBER_OF_AXES; i++)
+ devp->accbias[i] = LSM303AGR_ACC_BIAS;
+ return msg;
+}
+
+/**
+ * @brief Set sensitivity values for the BaseAccelerometer.
+ * @note Sensitivity must be expressed as milli-G/LSB.
+ * @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] sp a buffer which contains sensitivities.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ */
+static msg_t acc_set_sensivity(void *ip, float *sp) {
+ LSM303AGRDriver* devp;
+ uint32_t i;
+ msg_t msg = MSG_OK;
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LSM303AGRDriver*, (BaseAccelerometer*)ip);
+
+ osalDbgCheck((ip != NULL) && (sp != NULL));
+
+ osalDbgAssert((devp->state == LSM303AGR_READY),
+ "acc_set_sensivity(), invalid state");
+
+ for(i = 0; i < LSM303AGR_ACC_NUMBER_OF_AXES; i++) {
+ devp->accsensitivity[i] = sp[i];
+ }
+ return msg;
+}
+
+/**
+ * @brief Reset sensitivity values for the BaseAccelerometer.
+ * @note Default sensitivities value are obtained from device datasheet.
+ *
+ * @param[in] ip pointer to @p BaseAccelerometer interface.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET otherwise.
+ */
+static msg_t acc_reset_sensivity(void *ip) {
+ LSM303AGRDriver* devp;
+ uint32_t i;
+ msg_t msg = MSG_OK;
+
+ osalDbgCheck(ip != NULL);
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LSM303AGRDriver*, (BaseAccelerometer*)ip);
+
+ osalDbgAssert((devp->state == LSM303AGR_READY),
+ "acc_reset_sensivity(), invalid state");
+
+ if(devp->config->accfullscale == LSM303AGR_ACC_FS_2G)
+ for(i = 0; i < LSM303AGR_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = LSM303AGR_ACC_SENS_2G;
+ else if(devp->config->accfullscale == LSM303AGR_ACC_FS_4G)
+ for(i = 0; i < LSM303AGR_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = LSM303AGR_ACC_SENS_4G;
+ else if(devp->config->accfullscale == LSM303AGR_ACC_FS_8G)
+ for(i = 0; i < LSM303AGR_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = LSM303AGR_ACC_SENS_8G;
+ else if(devp->config->accfullscale == LSM303AGR_ACC_FS_16G)
+ for(i = 0; i < LSM303AGR_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = LSM303AGR_ACC_SENS_16G;
+ else {
+ osalDbgAssert(FALSE, "reset_sensivity(), accelerometer full scale issue");
+ msg = MSG_RESET;
+ }
+ return msg;
+}
+
+/**
+ * @brief Changes the LSM303AGRDriver accelerometer fullscale value.
+ * @note This function also rescale sensitivities and biases based on
+ * previous and next fullscale value.
+ * @note A recalibration is highly suggested after calling this function.
+ *
+ * @param[in] ip pointer to @p LSM303AGRDriver interface.
+ * @param[in] fs new fullscale value.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET otherwise.
+ */
+static msg_t acc_set_full_scale(LSM303AGRDriver *devp,
+ lsm303agr_acc_fs_t fs) {
+ float newfs, scale;
+ uint8_t i, buff[2];
+ msg_t msg;
+
+ osalDbgCheck(devp != NULL);
+
+ osalDbgAssert((devp->state == LSM303AGR_READY),
+ "acc_set_full_scale(), invalid state");
+ osalDbgAssert((devp->config->i2cp->state == I2C_READY),
+ "acc_set_full_scale(), channel not ready");
+
+ /* Computing new fullscale value.*/
+ if(fs == LSM303AGR_ACC_FS_2G) {
+ newfs = LSM303AGR_ACC_2G;
+ }
+ else if(fs == LSM303AGR_ACC_FS_4G) {
+ newfs = LSM303AGR_ACC_4G;
+ }
+ else if(fs == LSM303AGR_ACC_FS_8G) {
+ newfs = LSM303AGR_ACC_8G;
+ }
+ else if(fs == LSM303AGR_ACC_FS_16G) {
+ newfs = LSM303AGR_ACC_16G;
+ }
+ else {
+ msg = MSG_RESET;
+ return msg;
+ }
+
+ if(newfs != devp->accfullscale) {
+ /* Computing scale value.*/
+ scale = newfs / devp->accfullscale;
+ devp->accfullscale = newfs;
+
+#if LSM303AGR_SHARED_I2C
+ i2cAcquireBus(devp->config->i2cp);
+ i2cStart(devp->config->i2cp,
+ devp->config->i2ccfg);
+#endif /* LSM303AGR_SHARED_I2C */
+
+ /* Updating register.*/
+ msg = lsm303agrI2CReadRegister(devp->config->i2cp,
+ LSM303AGR_SAD_ACC,
+ LSM303AGR_AD_ACC_CTRL_REG4,
+ &buff[1], 1);
+
+#if LSM303AGR_SHARED_I2C
+ i2cReleaseBus(devp->config->i2cp);
+#endif /* LSM303AGR_SHARED_I2C */
+
+ if(msg != MSG_OK)
+ return msg;
+
+ buff[1] &= ~(LSM303AGR_CTRL_REG4_A_FS_MASK);
+ buff[1] |= fs;
+ buff[0] = LSM303AGR_AD_ACC_CTRL_REG4;
+
+#if LSM303AGR_SHARED_I2C
+ i2cAcquireBus(devp->config->i2cp);
+ i2cStart(devp->config->i2cp, devp->config->i2ccfg);
+#endif /* LSM303AGR_SHARED_I2C */
+
+ msg = lsm303agrI2CWriteRegister(devp->config->i2cp,
+ LSM303AGR_SAD_ACC, buff, 1);
+
+#if LSM303AGR_SHARED_I2C
+ i2cReleaseBus(devp->config->i2cp);
+#endif /* LSM303AGR_SHARED_I2C */
+
+ if(msg != MSG_OK)
+ return msg;
+
+ /* Scaling sensitivity and bias. Re-calibration is suggested anyway.*/
+ for(i = 0; i < LSM303AGR_ACC_NUMBER_OF_AXES; i++) {
+ devp->accsensitivity[i] *= scale;
+ devp->accbias[i] *= scale;
+ }
+ }
+ return msg;
+}
+
+/**
+ * @brief Return the number of axes of the BaseCompass.
+ *
+ * @param[in] ip pointer to @p BaseCompass interface
+ *
+ * @return the number of axes.
+ */
+static size_t comp_get_axes_number(void *ip) {
+
+ osalDbgCheck(ip != NULL);
+ return LSM303AGR_COMP_NUMBER_OF_AXES;
+}
+
+/**
+ * @brief Retrieves raw data from the BaseCompass.
+ * @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
+ * BaseCompass axes number.
+ *
+ * @param[in] ip pointer to @p BaseCompass 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 comp_read_raw(void *ip, int32_t axes[]) {
+ LSM303AGRDriver* devp;
+ uint8_t buff [LSM303AGR_COMP_NUMBER_OF_AXES * 2], i;
+ int16_t tmp;
+ msg_t msg;
+
+ osalDbgCheck((ip != NULL) && (axes != NULL));
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LSM303AGRDriver*, (BaseCompass*)ip);
+
+ osalDbgAssert((devp->state == LSM303AGR_READY),
+ "comp_read_raw(), invalid state");
+ osalDbgAssert((devp->config->i2cp->state == I2C_READY),
+ "comp_read_raw(), channel not ready");
+
+#if LSM303AGR_SHARED_I2C
+ i2cAcquireBus(devp->config->i2cp);
+ i2cStart(devp->config->i2cp,
+ devp->config->i2ccfg);
+#endif /* LSM303AGR_SHARED_I2C */
+ msg = lsm303agrI2CReadRegister(devp->config->i2cp, LSM303AGR_SAD_COMP,
+ LSM303AGR_AD_COMP_OUT_X_L, buff,
+ LSM303AGR_COMP_NUMBER_OF_AXES * 2);
+
+#if LSM303AGR_SHARED_I2C
+ i2cReleaseBus(devp->config->i2cp);
+#endif /* LSM303AGR_SHARED_I2C */
+
+ if(msg == MSG_OK)
+ for(i = 0; i < LSM303AGR_COMP_NUMBER_OF_AXES; i++) {
+ tmp = buff[2 * i] + (buff[2 * i + 1] << 8);
+ axes[i] = (int32_t)tmp;
+ }
+ return msg;
+}
+
+/**
+ * @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 G.
+ * @note The axes array must be at least the same size of the
+ * BaseCompass axes number.
+ *
+ * @param[in] ip pointer to @p BaseCompass 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 comp_read_cooked(void *ip, float axes[]) {
+ LSM303AGRDriver* devp;
+ uint32_t i;
+ int32_t raw[LSM303AGR_COMP_NUMBER_OF_AXES];
+ msg_t msg;
+
+ osalDbgCheck((ip != NULL) && (axes != NULL));
+
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LSM303AGRDriver*, (BaseCompass*)ip);
+
+ osalDbgAssert((devp->state == LSM303AGR_READY),
+ "comp_read_cooked(), invalid state");
+
+ msg = comp_read_raw(ip, raw);
+ for(i = 0; i < LSM303AGR_COMP_NUMBER_OF_AXES ; i++) {
+ axes[i] = (raw[i] * devp->compsensitivity[i]) - devp->compbias[i];
+ }
+ return msg;
+}
+
+/**
+ * @brief Set bias values for the BaseCompass.
+ * @note Bias must be expressed as G.
+ * @note The bias buffer must be at least the same size of the
+ * BaseCompass axes number.
+ *
+ * @param[in] ip pointer to @p BaseCompass interface.
+ * @param[in] bp a buffer which contains biases.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ */
+static msg_t comp_set_bias(void *ip, float *bp) {
+ LSM303AGRDriver* devp;
+ uint32_t i;
+ msg_t msg = MSG_OK;
+
+ osalDbgCheck((ip != NULL) && (bp != NULL));
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LSM303AGRDriver*, (BaseCompass*)ip);
+
+ osalDbgAssert((devp->state == LSM303AGR_READY),
+ "comp_set_bias(), invalid state");
+
+ for(i = 0; i < LSM303AGR_COMP_NUMBER_OF_AXES; i++) {
+ devp->compbias[i] = bp[i];
+ }
+ return msg;
+}
+
+/**
+ * @brief Reset bias values for the BaseCompass.
+ * @note Default biases value are obtained from device datasheet when
+ * available otherwise they are considered zero.
+ *
+ * @param[in] ip pointer to @p BaseCompass interface.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ */
+static msg_t comp_reset_bias(void *ip) {
+ LSM303AGRDriver* devp;
+ uint32_t i;
+ msg_t msg = MSG_OK;
+
+ osalDbgCheck(ip != NULL);
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LSM303AGRDriver*, (BaseCompass*)ip);
+
+ osalDbgAssert((devp->state == LSM303AGR_READY),
+ "comp_reset_bias(), invalid state");
+
+ for(i = 0; i < LSM303AGR_COMP_NUMBER_OF_AXES; i++)
+ devp->compbias[i] = LSM303AGR_COMP_BIAS;
+ return msg;
+}
+
+/**
+ * @brief Set sensitivity values for the BaseCompass.
+ * @note Sensitivity must be expressed as G/LSB.
+ * @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] sp a buffer which contains sensitivities.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ */
+static msg_t comp_set_sensivity(void *ip, float *sp) {
+ LSM303AGRDriver* devp;
+ uint32_t i;
+ msg_t msg = MSG_OK;
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LSM303AGRDriver*, (BaseCompass*)ip);
+
+ osalDbgCheck((ip != NULL) && (sp != NULL));
+
+ osalDbgAssert((devp->state == LSM303AGR_READY),
+ "comp_set_sensivity(), invalid state");
+
+ for(i = 0; i < LSM303AGR_COMP_NUMBER_OF_AXES; i++) {
+ devp->compsensitivity[i] = sp[i];
+ }
+ return msg;
+}
+
+/**
+ * @brief Reset sensitivity values for the BaseCompass.
+ * @note Default sensitivities value are obtained from device datasheet.
+ *
+ * @param[in] ip pointer to @p BaseCompass interface.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET otherwise.
+ */
+static msg_t comp_reset_sensivity(void *ip) {
+ LSM303AGRDriver* devp;
+ uint32_t i;
+ msg_t msg = MSG_OK;
+
+ osalDbgCheck(ip != NULL);
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LSM303AGRDriver*, (BaseCompass*)ip);
+
+ osalDbgAssert((devp->state == LSM303AGR_READY),
+ "comp_reset_sensivity(), invalid state");
+
+ if(devp->config->compfullscale == LSM303AGR_COMP_FS_1P3GA)
+ for(i = 0; i < LSM303AGR_COMP_NUMBER_OF_AXES; i++) {
+ if(i != 2) {
+ devp->compsensitivity[i] = LSM303AGR_COMP_SENS_XY_1P3GA;
+ }
+ else {
+ devp->compsensitivity[i] = LSM303AGR_COMP_SENS_Z_1P3GA;
+ }
+ }
+ else if(devp->config->compfullscale == LSM303AGR_COMP_FS_1P9GA)
+ for(i = 0; i < LSM303AGR_COMP_NUMBER_OF_AXES; i++) {
+ if(i != 2) {
+ devp->compsensitivity[i] = LSM303AGR_COMP_SENS_XY_1P9GA;
+ }
+ else {
+ devp->compsensitivity[i] = LSM303AGR_COMP_SENS_Z_1P9GA;
+ }
+ }
+ else if(devp->config->compfullscale == LSM303AGR_COMP_FS_2P5GA)
+ for(i = 0; i < LSM303AGR_COMP_NUMBER_OF_AXES; i++) {
+ if(i != 2) {
+ devp->compsensitivity[i] = LSM303AGR_COMP_SENS_XY_2P5GA;
+ }
+ else {
+ devp->compsensitivity[i] = LSM303AGR_COMP_SENS_Z_2P5GA;
+ }
+ }
+ else if(devp->config->compfullscale == LSM303AGR_COMP_FS_4P0GA)
+ for(i = 0; i < LSM303AGR_COMP_NUMBER_OF_AXES; i++) {
+ if(i != 2) {
+ devp->compsensitivity[i] = LSM303AGR_COMP_SENS_XY_4P0GA;
+ }
+ else {
+ devp->compsensitivity[i] = LSM303AGR_COMP_SENS_Z_4P0GA;
+ }
+ }
+ else if(devp->config->compfullscale == LSM303AGR_COMP_FS_4P7GA)
+ for(i = 0; i < LSM303AGR_COMP_NUMBER_OF_AXES; i++) {
+ if(i != 2) {
+ devp->compsensitivity[i] = LSM303AGR_COMP_SENS_XY_4P7GA;
+ }
+ else {
+ devp->compsensitivity[i] = LSM303AGR_COMP_SENS_Z_4P7GA;
+ }
+ }
+ else if(devp->config->compfullscale == LSM303AGR_COMP_FS_5P6GA)
+ for(i = 0; i < LSM303AGR_COMP_NUMBER_OF_AXES; i++) {
+ if(i != 2) {
+ devp->compsensitivity[i] = LSM303AGR_COMP_SENS_XY_5P6GA;
+ }
+ else {
+ devp->compsensitivity[i] = LSM303AGR_COMP_SENS_Z_5P6GA;
+ }
+ }
+ else if(devp->config->compfullscale == LSM303AGR_COMP_FS_8P1GA)
+ for(i = 0; i < LSM303AGR_COMP_NUMBER_OF_AXES; i++) {
+ if(i != 2) {
+ devp->compsensitivity[i] = LSM303AGR_COMP_SENS_XY_8P1GA;
+ }
+ else {
+ devp->compsensitivity[i] = LSM303AGR_COMP_SENS_Z_8P1GA;
+ }
+ }
+ else {
+ osalDbgAssert(FALSE, "comp_reset_sensivity(), compass full scale issue");
+ msg = MSG_RESET;
+ }
+ return msg;
+}
+
+/**
+ * @brief Changes the LSM303AGRDriver compass fullscale value.
+ * @note This function also rescale sensitivities and biases based on
+ * previous and next fullscale value.
+ * @note A recalibration is highly suggested after calling this function.
+ *
+ * @param[in] ip pointer to @p LSM303AGRDriver interface.
+ * @param[in] fs new fullscale value.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET otherwise.
+ */
+static msg_t comp_set_full_scale(LSM303AGRDriver *devp,
+ lsm303agr_comp_fs_t fs) {
+ float newfs, scale;
+ uint8_t i, buff[2];
+ msg_t msg;
+
+ osalDbgCheck(devp != NULL);
+
+ osalDbgAssert((devp->state == LSM303AGR_READY),
+ "comp_set_full_scale(), invalid state");
+ osalDbgAssert((devp->config->i2cp->state == I2C_READY),
+ "comp_set_full_scale(), channel not ready");
+
+ /* Computing new fullscale value.*/
+ if(fs == LSM303AGR_COMP_FS_1P3GA) {
+ newfs = LSM303AGR_COMP_1P3GA;
+ }
+ else if(fs == LSM303AGR_COMP_FS_1P9GA) {
+ newfs = LSM303AGR_COMP_1P9GA;
+ }
+ else if(fs == LSM303AGR_COMP_FS_2P5GA) {
+ newfs = LSM303AGR_COMP_2P5GA;
+ }
+ else if(fs == LSM303AGR_COMP_FS_4P0GA) {
+ newfs = LSM303AGR_COMP_4P0GA;
+ }
+ else if(fs == LSM303AGR_COMP_FS_4P7GA) {
+ newfs = LSM303AGR_COMP_4P7GA;
+ }
+ else if(fs == LSM303AGR_COMP_FS_5P6GA) {
+ newfs = LSM303AGR_COMP_5P6GA;
+ }
+ else if(fs == LSM303AGR_COMP_FS_8P1GA) {
+ newfs = LSM303AGR_COMP_8P1GA;
+ }
+ else {
+ msg = MSG_RESET;
+ return msg;
+ }
+
+ if(newfs != devp->compfullscale) {
+ /* Computing scale value.*/
+ scale = newfs / devp->compfullscale;
+ devp->compfullscale = newfs;
+
+#if LSM303AGR_SHARED_I2C
+ i2cAcquireBus(devp->config->i2cp);
+ i2cStart(devp->config->i2cp, devp->config->i2ccfg);
+#endif /* LSM303AGR_SHARED_I2C */
+
+ /* Updating register.*/
+ msg = lsm303agrI2CReadRegister(devp->config->i2cp, LSM303AGR_SAD_COMP,
+ LSM303AGR_AD_COMP_CRB_REG, &buff[1], 1);
+
+#if LSM303AGR_SHARED_I2C
+ i2cReleaseBus(devp->config->i2cp);
+#endif /* LSM303AGR_SHARED_I2C */
+
+ if(msg != MSG_OK)
+ return msg;
+ buff[1] &= ~(LSM303AGR_CRB_REG_M_GN_MASK);
+ buff[1] |= fs;
+ buff[0] = LSM303AGR_AD_COMP_CRB_REG;
+
+#if LSM303AGR_SHARED_I2C
+ i2cAcquireBus(devp->config->i2cp);
+ i2cStart(devp->config->i2cp, devp->config->i2ccfg);
+#endif /* LSM303AGR_SHARED_I2C */
+
+ msg = lsm303agrI2CWriteRegister(devp->config->i2cp, LSM303AGR_SAD_COMP,
+ buff, 1);
+
+#if LSM303AGR_SHARED_I2C
+ i2cReleaseBus(devp->config->i2cp);
+#endif /* LSM303AGR_SHARED_I2C */
+
+ if(msg != MSG_OK)
+ return msg;
+
+ /* Scaling sensitivity and bias. Re-calibration is suggested anyway.*/
+ for(i = 0; i < LSM303AGR_COMP_NUMBER_OF_AXES; i++) {
+ devp->compsensitivity[i] *= scale;
+ devp->compbias[i] *= scale;
+ }
+ }
+ return msg;
+}
+
+static const struct LSM303AGRVMT vmt_device = {
+ (size_t)0,
+ acc_set_full_scale, comp_set_full_scale
+};
+
+static const struct BaseAccelerometerVMT vmt_accelerometer = {
+ sizeof(struct LSM303AGRVMT*),
+ acc_get_axes_number, acc_read_raw, acc_read_cooked,
+ acc_set_bias, acc_reset_bias, acc_set_sensivity, acc_reset_sensivity
+};
+
+static const struct BaseCompassVMT vmt_compass = {
+ sizeof(struct LSM303AGRVMT*) + sizeof(BaseAccelerometer),
+ comp_get_axes_number, comp_read_raw, comp_read_cooked,
+ comp_set_bias, comp_reset_bias, comp_set_sensivity, comp_reset_sensivity
+};
+
+/*===========================================================================*/
+/* Driver exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Initializes an instance.
+ *
+ * @param[out] devp pointer to the @p LSM303AGRDriver object
+ *
+ * @init
+ */
+void lsm303agrObjectInit(LSM303AGRDriver *devp) {
+ devp->vmt = &vmt_device;
+ devp->acc_if.vmt = &vmt_accelerometer;
+ devp->comp_if.vmt = &vmt_compass;
+
+ devp->config = NULL;
+
+ devp->accaxes = LSM303AGR_ACC_NUMBER_OF_AXES;
+ devp->compaxes = LSM303AGR_COMP_NUMBER_OF_AXES;
+
+ devp->state = LSM303AGR_STOP;
+}
+
+/**
+ * @brief Configures and activates LSM303AGR Complex Driver peripheral.
+ *
+ * @param[in] devp pointer to the @p LSM303AGRDriver object
+ * @param[in] config pointer to the @p LSM303AGRConfig object
+ *
+ * @api
+ */
+void lsm303agrStart(LSM303AGRDriver *devp, const LSM303AGRConfig *config) {
+ uint32_t i;
+ uint8_t cr[6];
+ osalDbgCheck((devp != NULL) && (config != NULL));
+
+ osalDbgAssert((devp->state == LSM303AGR_STOP) ||
+ (devp->state == LSM303AGR_READY),
+ "lsm303agrStart(), invalid state");
+
+ devp->config = config;
+
+ /* Configuring Accelerometer subsystem.*/
+
+ /* Multiple write starting address.*/
+ cr[0] = LSM303AGR_AD_ACC_CTRL_REG1;
+
+ /* Control register 1 configuration block.*/
+ {
+ cr[1] = LSM303AGR_CTRL_REG1_A_XEN | LSM303AGR_CTRL_REG1_A_YEN |
+ LSM303AGR_CTRL_REG1_A_ZEN | devp->config->accoutdatarate;
+#if LSM303AGR_ACC_USE_ADVANCED || defined(__DOXYGEN__)
+ cr[1] |= devp->config->acclowpower;
+#endif
+ }
+
+ /* Control register 2 configuration block.*/
+ {
+ cr[2] = 0;
+ }
+
+ /* Control register 3 configuration block.*/
+ {
+ cr[3] = 0;
+ }
+
+ /* Control register 4 configuration block.*/
+ {
+ cr[4] = devp->config->accfullscale;
+#if LSM303AGR_ACC_USE_ADVANCED || defined(__DOXYGEN__)
+ cr[4] |= devp->config->accendianess |
+ devp->config->accblockdataupdate |
+ devp->config->acchighresmode;
+#endif
+ }
+
+#if LSM303AGR_SHARED_I2C
+ i2cAcquireBus((devp)->config->i2cp);
+#endif /* LSM303AGR_SHARED_I2C */
+ i2cStart((devp)->config->i2cp, (devp)->config->i2ccfg);
+
+ lsm303agrI2CWriteRegister(devp->config->i2cp, LSM303AGR_SAD_ACC, cr, 4);
+
+#if LSM303AGR_SHARED_I2C
+ i2cReleaseBus((devp)->config->i2cp);
+#endif /* LSM303AGR_SHARED_I2C */
+
+ /* Storing sensitivity according to user settings */
+ if(devp->config->accfullscale == LSM303AGR_ACC_FS_2G) {
+ devp->accfullscale = LSM303AGR_ACC_2G;
+ for(i = 0; i < LSM303AGR_ACC_NUMBER_OF_AXES; i++) {
+ if(devp->config->accsensitivity == NULL)
+ devp->accsensitivity[i] = LSM303AGR_ACC_SENS_2G;
+ else
+ devp->accsensitivity[i] = devp->config->accsensitivity[i];
+ }
+ }
+ else if(devp->config->accfullscale == LSM303AGR_ACC_FS_4G) {
+ devp->accfullscale = LSM303AGR_ACC_4G;
+ for(i = 0; i < LSM303AGR_ACC_NUMBER_OF_AXES; i++) {
+ if(devp->config->accsensitivity == NULL)
+ devp->accsensitivity[i] = LSM303AGR_ACC_SENS_4G;
+ else
+ devp->accsensitivity[i] = devp->config->accsensitivity[i];
+ }
+ }
+ else if(devp->config->accfullscale == LSM303AGR_ACC_FS_8G) {
+ devp->accfullscale = LSM303AGR_ACC_8G;
+ for(i = 0; i < LSM303AGR_ACC_NUMBER_OF_AXES; i++) {
+ if(devp->config->accsensitivity == NULL)
+ devp->accsensitivity[i] = LSM303AGR_ACC_SENS_8G;
+ else
+ devp->accsensitivity[i] = devp->config->accsensitivity[i];
+ }
+ }
+ else if(devp->config->accfullscale == LSM303AGR_ACC_FS_16G) {
+ devp->accfullscale = LSM303AGR_ACC_16G;
+ for(i = 0; i < LSM303AGR_ACC_NUMBER_OF_AXES; i++) {
+ if(devp->config->accsensitivity == NULL)
+ devp->accsensitivity[i] = LSM303AGR_ACC_SENS_16G;
+ else
+ devp->accsensitivity[i] = devp->config->accsensitivity[i];
+ }
+ }
+ else
+ osalDbgAssert(FALSE, "lsm303agrStart(), accelerometer full scale issue");
+
+ /* Storing bias information */
+ if(devp->config->accbias != NULL)
+ for(i = 0; i < LSM303AGR_ACC_NUMBER_OF_AXES; i++)
+ devp->accbias[i] = devp->config->accbias[i];
+ else
+ for(i = 0; i < LSM303AGR_ACC_NUMBER_OF_AXES; i++)
+ devp->accbias[i] = LSM303AGR_ACC_BIAS;
+
+ /* Configuring Compass subsystem */
+ /* Multiple write starting address.*/
+ cr[0] = LSM303AGR_AD_COMP_CRA_REG;
+
+ /* Control register A configuration block.*/
+ {
+ cr[1] = devp->config->compoutputdatarate;
+ }
+
+ /* Control register B configuration block.*/
+ {
+ cr[2] = devp->config->compfullscale;
+ }
+
+ /* Mode register configuration block.*/
+ {
+ cr[3] = 0;
+#if LSM303AGR_COMP_USE_ADVANCED || defined(__DOXYGEN__)
+ cr[3] |= devp->config->compmode;
+#endif
+ }
+
+#if LSM303AGR_SHARED_I2C
+ i2cAcquireBus((devp)->config->i2cp);
+ i2cStart((devp)->config->i2cp, (devp)->config->i2ccfg);
+#endif /* LSM303AGR_SHARED_I2C */
+
+ lsm303agrI2CWriteRegister(devp->config->i2cp, LSM303AGR_SAD_COMP,
+ cr, 3);
+
+#if LSM303AGR_SHARED_I2C
+ i2cReleaseBus((devp)->config->i2cp);
+#endif /* LSM303AGR_SHARED_I2C */
+
+ if(devp->config->compfullscale == LSM303AGR_COMP_FS_1P3GA) {
+ devp->compfullscale = LSM303AGR_COMP_1P3GA;
+ for(i = 0; i < LSM303AGR_COMP_NUMBER_OF_AXES; i++) {
+ if(devp->config->compsensitivity == NULL) {
+ if(i != 2) {
+ devp->compsensitivity[i] = LSM303AGR_COMP_SENS_XY_1P3GA;
+ }
+ else {
+ devp->compsensitivity[i] = LSM303AGR_COMP_SENS_Z_1P3GA;
+ }
+ }
+ else {
+ devp->compsensitivity[i] = devp->config->compsensitivity[i];
+ }
+ }
+ }
+ else if(devp->config->compfullscale == LSM303AGR_COMP_FS_1P9GA) {
+ devp->compfullscale = LSM303AGR_COMP_1P9GA;
+ for(i = 0; i < LSM303AGR_COMP_NUMBER_OF_AXES; i++) {
+ if(devp->config->compsensitivity == NULL) {
+ if(i != 2) {
+ devp->compsensitivity[i] = LSM303AGR_COMP_SENS_XY_1P9GA;
+ }
+ else {
+ devp->compsensitivity[i] = LSM303AGR_COMP_SENS_Z_1P9GA;
+ }
+ }
+ else {
+ devp->compsensitivity[i] = devp->config->compsensitivity[i];
+ }
+ }
+ }
+ else if(devp->config->compfullscale == LSM303AGR_COMP_FS_2P5GA) {
+ devp->compfullscale = LSM303AGR_COMP_2P5GA;
+ for(i = 0; i < LSM303AGR_COMP_NUMBER_OF_AXES; i++) {
+ if(devp->config->compsensitivity == NULL) {
+ if(i != 2) {
+ devp->compsensitivity[i] = LSM303AGR_COMP_SENS_XY_2P5GA;
+ }
+ else {
+ devp->compsensitivity[i] = LSM303AGR_COMP_SENS_Z_2P5GA;
+ }
+ }
+ else {
+ devp->compsensitivity[i] = devp->config->compsensitivity[i];
+ }
+ }
+ }
+ else if(devp->config->compfullscale == LSM303AGR_COMP_FS_4P0GA) {
+ devp->compfullscale = LSM303AGR_COMP_4P0GA;
+ for(i = 0; i < LSM303AGR_COMP_NUMBER_OF_AXES; i++) {
+ if(devp->config->compsensitivity == NULL) {
+ if(i != 2) {
+ devp->compsensitivity[i] = LSM303AGR_COMP_SENS_XY_4P0GA;
+ }
+ else {
+ devp->compsensitivity[i] = LSM303AGR_COMP_SENS_Z_4P0GA;
+ }
+ }
+ else {
+ devp->compsensitivity[i] = devp->config->compsensitivity[i];
+ }
+ }
+ }
+ else if(devp->config->compfullscale == LSM303AGR_COMP_FS_4P7GA) {
+ devp->compfullscale = LSM303AGR_COMP_4P7GA;
+ for(i = 0; i < LSM303AGR_COMP_NUMBER_OF_AXES; i++) {
+ if(devp->config->compsensitivity == NULL) {
+ if(i != 2) {
+ devp->compsensitivity[i] = LSM303AGR_COMP_SENS_XY_4P7GA;
+ }
+ else {
+ devp->compsensitivity[i] = LSM303AGR_COMP_SENS_Z_4P7GA;
+ }
+ }
+ else {
+ devp->compsensitivity[i] = devp->config->compsensitivity[i];
+ }
+ }
+ }
+ else if(devp->config->compfullscale == LSM303AGR_COMP_FS_5P6GA) {
+ devp->compfullscale = LSM303AGR_COMP_5P6GA;
+ for(i = 0; i < LSM303AGR_COMP_NUMBER_OF_AXES; i++) {
+ if(devp->config->compsensitivity == NULL) {
+ if(i != 2) {
+ devp->compsensitivity[i] = LSM303AGR_COMP_SENS_XY_5P6GA;
+ }
+ else {
+ devp->compsensitivity[i] = LSM303AGR_COMP_SENS_Z_5P6GA;
+ }
+ }
+ else {
+ devp->compsensitivity[i] = devp->config->compsensitivity[i];
+ }
+ }
+ }
+ else if(devp->config->compfullscale == LSM303AGR_COMP_FS_8P1GA) {
+ devp->compfullscale = LSM303AGR_COMP_8P1GA;
+ for(i = 0; i < LSM303AGR_COMP_NUMBER_OF_AXES; i++) {
+ if(devp->config->compsensitivity == NULL) {
+ if(i != 2) {
+ devp->compsensitivity[i] = LSM303AGR_COMP_SENS_XY_8P1GA;
+ }
+ else {
+ devp->compsensitivity[i] = LSM303AGR_COMP_SENS_Z_8P1GA;
+ }
+ }
+ else {
+ devp->compsensitivity[i] = devp->config->compsensitivity[i];
+ }
+ }
+ }
+ else
+ osalDbgAssert(FALSE, "lsm303agrStart(), compass full scale issue");
+
+ /* Storing bias information */
+ if(devp->config->compbias != NULL)
+ for(i = 0; i < LSM303AGR_COMP_NUMBER_OF_AXES; i++)
+ devp->compbias[i] = devp->config->compbias[i];
+ else
+ for(i = 0; i < LSM303AGR_COMP_NUMBER_OF_AXES; i++)
+ devp->compbias[i] = LSM303AGR_COMP_BIAS;
+
+ /* This is the MEMS transient recovery time */
+ osalThreadSleepMilliseconds(5);
+
+ devp->state = LSM303AGR_READY;
+}
+
+/**
+ * @brief Deactivates the LSM303AGR Complex Driver peripheral.
+ *
+ * @param[in] devp pointer to the @p LSM303AGRDriver object
+ *
+ * @api
+ */
+void lsm303agrStop(LSM303AGRDriver *devp) {
+ uint8_t cr[2];
+ osalDbgCheck(devp != NULL);
+
+ osalDbgAssert((devp->state == LSM303AGR_STOP) ||
+ (devp->state == LSM303AGR_READY),
+ "lsm303agrStop(), invalid state");
+
+ if (devp->state == LSM303AGR_READY) {
+#if LSM303AGR_SHARED_I2C
+ i2cAcquireBus((devp)->config->i2cp);
+ i2cStart((devp)->config->i2cp, (devp)->config->i2ccfg);
+#endif /* LSM303AGR_SHARED_I2C */
+
+ /* Disabling accelerometer. */
+ cr[0] = LSM303AGR_AD_ACC_CTRL_REG1;
+ cr[1] = LSM303AGR_ACC_AE_DISABLED | LSM303AGR_ACC_ODR_PD;
+ lsm303agrI2CWriteRegister(devp->config->i2cp, LSM303AGR_SAD_ACC,
+ cr, 1);
+
+ /* Disabling compass. */
+ cr[0] = LSM303AGR_AD_COMP_MR_REG;
+ cr[1] = LSM303AGR_COMP_MD_SLEEP;
+ lsm303agrI2CWriteRegister(devp->config->i2cp, LSM303AGR_SAD_ACC,
+ cr, 1);
+ lsm303agrI2CWriteRegister(devp->config->i2cp, LSM303AGR_SAD_COMP,
+ cr, 1);
+
+ i2cStop((devp)->config->i2cp);
+#if LSM303AGR_SHARED_I2C
+ i2cReleaseBus((devp)->config->i2cp);
+#endif /* LSM303AGR_SHARED_I2C */
+ }
+ devp->state = LSM303AGR_STOP;
+}
+/** @} */
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