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-rw-r--r--os/ex/ST/lsm303dlhc.c1808
1 files changed, 904 insertions, 904 deletions
diff --git a/os/ex/ST/lsm303dlhc.c b/os/ex/ST/lsm303dlhc.c
index 74cde4caf..ab57cb5d9 100644
--- a/os/ex/ST/lsm303dlhc.c
+++ b/os/ex/ST/lsm303dlhc.c
@@ -1,904 +1,904 @@
-/*
- 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 lsm303dlhc.c
- * @brief LSM303DLHC MEMS interface module code.
- *
- * @addtogroup lsm303dlhc
- * @{
- */
-
-#include "hal.h"
-#include "lsm303dlhc.h"
-
-/*===========================================================================*/
-/* Driver local definitions. */
-/*===========================================================================*/
-
-#define LSM303DLHC_ACC_SENS_2G ((float)0.0610f)
-#define LSM303DLHC_ACC_SENS_4G ((float)0.1221f)
-#define LSM303DLHC_ACC_SENS_8G ((float)0.2442f)
-#define LSM303DLHC_ACC_SENS_16G ((float)0.4884f)
-
-#define LSM303DLHC_COMP_SENS_XY_1_3GA ((float)1100.0f)
-#define LSM303DLHC_COMP_SENS_XY_1_9GA ((float)855.0f)
-#define LSM303DLHC_COMP_SENS_XY_2_5GA ((float)670.0f)
-#define LSM303DLHC_COMP_SENS_XY_4_0GA ((float)450.0f)
-#define LSM303DLHC_COMP_SENS_XY_4_7GA ((float)400.0f)
-#define LSM303DLHC_COMP_SENS_XY_5_6GA ((float)330.0f)
-#define LSM303DLHC_COMP_SENS_XY_8_1GA ((float)230.0f)
-
-#define LSM303DLHC_COMP_SENS_Z_1_3GA ((float)980.0f)
-#define LSM303DLHC_COMP_SENS_Z_1_9GA ((float)765.0f)
-#define LSM303DLHC_COMP_SENS_Z_2_5GA ((float)600.0f)
-#define LSM303DLHC_COMP_SENS_Z_4_0GA ((float)400.0f)
-#define LSM303DLHC_COMP_SENS_Z_4_7GA ((float)355.0f)
-#define LSM303DLHC_COMP_SENS_Z_5_6GA ((float)295.0f)
-#define LSM303DLHC_COMP_SENS_Z_8_1GA ((float)205.0f)
-
-#define LSM303DLHC_DI ((uint8_t)0xFF)
-#define LSM303DLHC_DI_0 ((uint8_t)0x01)
-#define LSM303DLHC_DI_1 ((uint8_t)0x02)
-#define LSM303DLHC_DI_2 ((uint8_t)0x04)
-#define LSM303DLHC_DI_3 ((uint8_t)0x08)
-#define LSM303DLHC_DI_4 ((uint8_t)0x10)
-#define LSM303DLHC_DI_5 ((uint8_t)0x20)
-#define LSM303DLHC_DI_6 ((uint8_t)0x40)
-#define LSM303DLHC_DI_7 ((uint8_t)0x80)
-
-#define LSM303DLHC_AD_0 ((uint8_t)0x01)
-#define LSM303DLHC_AD_1 ((uint8_t)0x02)
-#define LSM303DLHC_AD_2 ((uint8_t)0x04)
-#define LSM303DLHC_AD_3 ((uint8_t)0x08)
-#define LSM303DLHC_AD_4 ((uint8_t)0x10)
-#define LSM303DLHC_AD_5 ((uint8_t)0x20)
-#define LSM303DLHC_AD_6 ((uint8_t)0x40)
-#define LSM303DLHC_RW ((uint8_t)0x80)
-
-#define LSM303DLHC_AD_ACC_CTRL_REG1 ((uint8_t)0x20)
-#define LSM303DLHC_AD_ACC_CTRL_REG2 ((uint8_t)0x21)
-#define LSM303DLHC_AD_ACC_CTRL_REG3 ((uint8_t)0x22)
-#define LSM303DLHC_AD_ACC_CTRL_REG4 ((uint8_t)0x23)
-#define LSM303DLHC_AD_ACC_CTRL_REG5 ((uint8_t)0x24)
-#define LSM303DLHC_AD_ACC_CTRL_REG6 ((uint8_t)0x25)
-#define LSM303DLHC_AD_ACC_REFERENCE ((uint8_t)0x26)
-#define LSM303DLHC_AD_ACC_STATUS_REG ((uint8_t)0x27)
-#define LSM303DLHC_AD_ACC_OUT_X_L ((uint8_t)0x28)
-#define LSM303DLHC_AD_ACC_OUT_X_H ((uint8_t)0x29)
-#define LSM303DLHC_AD_ACC_OUT_Y_L ((uint8_t)0x2A)
-#define LSM303DLHC_AD_ACC_OUT_Y_H ((uint8_t)0x2B)
-#define LSM303DLHC_AD_ACC_OUT_Z_L ((uint8_t)0x2C)
-#define LSM303DLHC_AD_ACC_OUT_Z_H ((uint8_t)0x2D)
-#define LSM303DLHC_AD_ACC_FIFO_CTRL_REG ((uint8_t)0x2E)
-#define LSM303DLHC_AD_ACC_FIFO_SRC_REG ((uint8_t)0x2F)
-#define LSM303DLHC_AD_ACC_INT1_CFG ((uint8_t)0x30)
-#define LSM303DLHC_AD_ACC_INT1_SRC ((uint8_t)0x31)
-#define LSM303DLHC_AD_ACC_INT1_THS ((uint8_t)0x32)
-#define LSM303DLHC_AD_ACC_INT1_DURATION ((uint8_t)0x33)
-#define LSM303DLHC_AD_ACC_INT2_CFG ((uint8_t)0x34)
-#define LSM303DLHC_AD_ACC_INT2_SRC ((uint8_t)0x35)
-#define LSM303DLHC_AD_ACC_INT2_THS ((uint8_t)0x36)
-#define LSM303DLHC_AD_ACC_INT2_DURATION ((uint8_t)0x37)
-#define LSM303DLHC_AD_ACC_CLICK_CFG ((uint8_t)0x38)
-#define LSM303DLHC_AD_ACC_CLICK_SRC ((uint8_t)0x39)
-#define LSM303DLHC_AD_ACC_CLICK_THS ((uint8_t)0x3A)
-#define LSM303DLHC_AD_ACC_TIME_LIMIT ((uint8_t)0x3B)
-#define LSM303DLHC_AD_ACC_TIME_LATENCY ((uint8_t)0x3C)
-#define LSM303DLHC_AD_ACC_TIME_WINDOW ((uint8_t)0x3D)
-#define LSM303DLHC_AD_COMP_CRA_REG ((uint8_t)0x00)
-#define LSM303DLHC_AD_COMP_CRB_REG ((uint8_t)0x01)
-#define LSM303DLHC_AD_COMP_MR_REG ((uint8_t)0x02)
-#define LSM303DLHC_AD_COMP_OUT_X_H ((uint8_t)0x03)
-#define LSM303DLHC_AD_COMP_OUT_X_L ((uint8_t)0x04)
-#define LSM303DLHC_AD_COMP_OUT_Z_H ((uint8_t)0x05)
-#define LSM303DLHC_AD_COMP_OUT_Z_L ((uint8_t)0x06)
-#define LSM303DLHC_AD_COMP_OUT_Y_H ((uint8_t)0x07)
-#define LSM303DLHC_AD_COMP_OUT_Y_L ((uint8_t)0x08)
-#define LSM303DLHC_AD_COMP_SR_REG ((uint8_t)0x09)
-#define LSM303DLHC_AD_COMP_IRA_REG ((uint8_t)0x0A)
-#define LSM303DLHC_AD_COMP_IRB_REG ((uint8_t)0x0B)
-#define LSM303DLHC_AD_COMP_IRC_REG ((uint8_t)0x0C)
-#define LSM303DLHC_AD_COMP_TEMP_OUT_H ((uint8_t)0x31)
-#define LSM303DLHC_AD_COMP_TEMP_OUT_L ((uint8_t)0x32)
-
-#define LSM303DLHC_ACC_CTRL_REG4_FS_MASK ((uint8_t)0x30)
-#define LSM303DLHC_COMP_CTRL_REGB_FS_MASK ((uint8_t)0xE0)
-
-#define TO_G ((float)0.001f)
-#define TO_SI ((float)0.00981f)
-
-/*===========================================================================*/
-/* Driver exported variables. */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Driver local variables and types. */
-/*===========================================================================*/
-
-/**
- * @brief Accelerometer Power Mode
- */
-typedef enum {
- LSM303DLHC_ACC_PM_NORMAL = 0x00, /**< Normal mode enabled */
- LSM303DLHC_ACC_PM_LP = 0x08 /**< Low Power mode enabled */
-} lsm303dlhc_acc_pm_t;
-
-/**
- * @brief Accelerometer and Compass Slave Address.
- */
-typedef enum {
- LSM303DLHC_SAD_ACC = 0x19, /**< SAD for accelerometer. */
- LSM303DLHC_SAD_COMP = 0x1E /**< SAD for compass. */
-} lsm303dlhc_sad_t;
-/*===========================================================================*/
-/* Driver local functions. */
-/*===========================================================================*/
-
-#if (LSM303DLHC_USE_I2C) || defined(__DOXYGEN__)
-/**
- * @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
- * @return the read value.
- */
-uint8_t lsm303dlhcI2CReadRegister(I2CDriver *i2cp, lsm303dlhc_sad_t sad, uint8_t reg,
- msg_t* msgp) {
- msg_t msg;
-#if defined(STM32F103_MCUCONF)
- uint8_t rxbuf[2];
- msg = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 2,
- TIME_INFINITE);
- if(msgp != NULL){
- *msgp = msg;
- }
- return rxbuf[0];
-#else
- uint8_t txbuf, rxbuf;
- txbuf = reg;
- msg = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, &rxbuf, 1,
- TIME_INFINITE);
- if(msgp != NULL){
- *msgp = msg;
- }
- return rxbuf;
-#endif
-}
-
-/**
- * @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 lsm303dlhcI2CWriteRegister(I2CDriver *i2cp, lsm303dlhc_sad_t sad, uint8_t reg,
- uint8_t value) {
- uint8_t rxbuf;
- uint8_t txbuf[2];
- if(sad == LSM303DLHC_SAD_ACC) {
- switch (reg) {
- default:
- /* Reserved register must not be written, according to the datasheet
- * this could permanently damage the device.
- */
- osalDbgAssert(FALSE, "lsm303dlhcWriteRegisterI2C(), reserved register");
- case LSM303DLHC_AD_ACC_STATUS_REG:
- case LSM303DLHC_AD_ACC_OUT_X_L:
- case LSM303DLHC_AD_ACC_OUT_X_H:
- case LSM303DLHC_AD_ACC_OUT_Y_L:
- case LSM303DLHC_AD_ACC_OUT_Y_H:
- case LSM303DLHC_AD_ACC_OUT_Z_L:
- case LSM303DLHC_AD_ACC_OUT_Z_H:
- case LSM303DLHC_AD_ACC_FIFO_SRC_REG:
- case LSM303DLHC_AD_ACC_INT1_SRC:
- case LSM303DLHC_AD_ACC_INT2_SRC:
- /* Read only registers cannot be written, the command is ignored.*/
- return MSG_RESET;
- case LSM303DLHC_AD_ACC_CTRL_REG1:
- case LSM303DLHC_AD_ACC_CTRL_REG2:
- case LSM303DLHC_AD_ACC_CTRL_REG3:
- case LSM303DLHC_AD_ACC_CTRL_REG4:
- case LSM303DLHC_AD_ACC_CTRL_REG5:
- case LSM303DLHC_AD_ACC_CTRL_REG6:
- case LSM303DLHC_AD_ACC_REFERENCE:
- case LSM303DLHC_AD_ACC_FIFO_CTRL_REG:
- case LSM303DLHC_AD_ACC_INT1_CFG:
- case LSM303DLHC_AD_ACC_INT1_THS:
- case LSM303DLHC_AD_ACC_INT1_DURATION:
- case LSM303DLHC_AD_ACC_INT2_CFG:
- case LSM303DLHC_AD_ACC_INT2_THS:
- case LSM303DLHC_AD_ACC_INT2_DURATION:
- case LSM303DLHC_AD_ACC_CLICK_CFG:
- case LSM303DLHC_AD_ACC_CLICK_SRC:
- case LSM303DLHC_AD_ACC_CLICK_THS:
- case LSM303DLHC_AD_ACC_TIME_LIMIT:
- case LSM303DLHC_AD_ACC_TIME_LATENCY:
- case LSM303DLHC_AD_ACC_TIME_WINDOW:
- txbuf[0] = reg;
- txbuf[1] = value;
- return i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0, TIME_INFINITE);
- break;
- }
- }
- if(sad == LSM303DLHC_SAD_COMP) {
- switch (reg) {
- default:
- /* Reserved register must not be written, according to the datasheet
- * this could permanently damage the device.
- */
- osalDbgAssert(FALSE, "lsm303dlhcWriteRegisterI2C(), reserved register");
- case LSM303DLHC_AD_COMP_OUT_X_H:
- case LSM303DLHC_AD_COMP_OUT_X_L:
- case LSM303DLHC_AD_COMP_OUT_Z_H:
- case LSM303DLHC_AD_COMP_OUT_Z_L:
- case LSM303DLHC_AD_COMP_OUT_Y_H:
- case LSM303DLHC_AD_COMP_OUT_Y_L:
- case LSM303DLHC_AD_COMP_SR_REG:
- case LSM303DLHC_AD_COMP_IRA_REG:
- case LSM303DLHC_AD_COMP_IRB_REG:
- case LSM303DLHC_AD_COMP_IRC_REG:
- case LSM303DLHC_AD_COMP_TEMP_OUT_H:
- case LSM303DLHC_AD_COMP_TEMP_OUT_L:
- /* Read only registers cannot be written, the command is ignored.*/
- return MSG_RESET;
- case LSM303DLHC_AD_COMP_CRA_REG:
- case LSM303DLHC_AD_COMP_CRB_REG:
- case LSM303DLHC_AD_COMP_MR_REG:
- txbuf[0] = reg;
- txbuf[1] = value;
- return i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0, TIME_INFINITE);
- break;
- }
- }
- osalDbgAssert(FALSE, "lsm303dlhcWriteRegisterI2C(), wrong SAD");
- return MSG_RESET;
-}
-#endif /* LSM303DLHC_USE_I2C */
-
-/*
- * Interface implementation.
- */
-static size_t acc_get_axes_number(void *ip) {
-
- osalDbgCheck(ip != NULL);
- return LSM303DLHC_ACC_NUMBER_OF_AXES;
-}
-
-static size_t comp_get_axes_number(void *ip) {
-
- osalDbgCheck(ip != NULL);
- return LSM303DLHC_COMP_NUMBER_OF_AXES;
-}
-
-static size_t sens_get_axes_number(void *ip) {
- size_t size = 0;
-
- osalDbgCheck(ip != NULL);
- if (((LSM303DLHCDriver *)ip)->config->acccfg != NULL)
- size += acc_get_axes_number(ip);
- if (((LSM303DLHCDriver *)ip)->config->compcfg != NULL)
- size += comp_get_axes_number(ip);
- return size;
-}
-
-static msg_t acc_read_raw(void *ip, int32_t axes[]) {
- int16_t tmp;
- osalDbgCheck(((ip != NULL) && (axes != NULL)) &&
- (((LSM303DLHCDriver *)ip)->config->acccfg != NULL));
- osalDbgAssert((((LSM303DLHCDriver *)ip)->state == LSM303DLHC_READY),
- "acc_read_raw(), invalid state");
-
-#if LSM303DLHC_USE_I2C
- osalDbgAssert((((LSM303DLHCDriver *)ip)->config->i2cp->state == I2C_READY),
- "acc_read_raw(), channel not ready");
-#if LSM303DLHC_SHARED_I2C
- i2cAcquireBus(((LSM303DLHCDriver *)ip)->config->i2cp);
- i2cStart(((LSM303DLHCDriver *)ip)->config->i2cp,
- ((LSM303DLHCDriver *)ip)->config->i2ccfg);
-#endif /* LSM303DLHC_SHARED_I2C */
- if(((LSM303DLHCDriver *)ip)->config->acccfg->axesenabling & LSM303DLHC_ACC_AE_X){
- tmp = lsm303dlhcI2CReadRegister(((LSM303DLHCDriver *)ip)->config->i2cp,
- LSM303DLHC_SAD_ACC,
- LSM303DLHC_AD_ACC_OUT_X_L, NULL);
- tmp += lsm303dlhcI2CReadRegister(((LSM303DLHCDriver *)ip)->config->i2cp,
- LSM303DLHC_SAD_ACC,
- LSM303DLHC_AD_ACC_OUT_X_H, NULL) << 8;
- axes[0] = (int32_t)tmp - ((LSM303DLHCDriver *)ip)->accbias[0];
- }
- if(((LSM303DLHCDriver *)ip)->config->acccfg->axesenabling & LSM303DLHC_ACC_AE_Y){
- tmp = lsm303dlhcI2CReadRegister(((LSM303DLHCDriver *)ip)->config->i2cp,
- LSM303DLHC_SAD_ACC,
- LSM303DLHC_AD_ACC_OUT_Y_L, NULL);
- tmp += lsm303dlhcI2CReadRegister(((LSM303DLHCDriver *)ip)->config->i2cp,
- LSM303DLHC_SAD_ACC,
- LSM303DLHC_AD_ACC_OUT_Y_H, NULL) << 8;
- axes[1] = (int32_t)tmp - ((LSM303DLHCDriver *)ip)->accbias[1];
- }
- if(((LSM303DLHCDriver *)ip)->config->acccfg->axesenabling & LSM303DLHC_ACC_AE_Z){
- tmp = lsm303dlhcI2CReadRegister(((LSM303DLHCDriver *)ip)->config->i2cp,
- LSM303DLHC_SAD_ACC,
- LSM303DLHC_AD_ACC_OUT_Z_L, NULL);
- tmp += lsm303dlhcI2CReadRegister(((LSM303DLHCDriver *)ip)->config->i2cp,
- LSM303DLHC_SAD_ACC,
- LSM303DLHC_AD_ACC_OUT_Z_H, NULL) << 8;
- axes[2] = (int32_t)tmp - ((LSM303DLHCDriver *)ip)->accbias[2];
- }
-#if LSM303DLHC_SHARED_I2C
- i2cReleaseBus(((LSM303DLHCDriver *)ip)->config->i2cp);
-#endif /* LSM303DLHC_SHARED_I2C */
-#endif /* LSM303DLHC_USE_I2C */
- return MSG_OK;
-}
-
-static msg_t comp_read_raw(void *ip, int32_t axes[]) {
- int16_t tmp;
- osalDbgCheck(((ip != NULL) && (axes != NULL)) &&
- (((LSM303DLHCDriver *)ip)->config->compcfg != NULL));
- osalDbgAssert((((LSM303DLHCDriver *)ip)->state == LSM303DLHC_READY),
- "comp_read_raw(), invalid state");
-
-#if LSM303DLHC_USE_I2C
- osalDbgAssert((((LSM303DLHCDriver *)ip)->config->i2cp->state == I2C_READY),
- "comp_read_raw(), channel not ready");
-#if LSM303DLHC_SHARED_I2C
- i2cAcquireBus(((LSM303DLHCDriver *)ip)->config->i2cp);
- i2cStart(((LSM303DLHCDriver *)ip)->config->i2cp,
- ((LSM303DLHCDriver *)ip)->config->i2ccfg);
-#endif /* LSM303DLHC_SHARED_I2C */
- tmp = lsm303dlhcI2CReadRegister(((LSM303DLHCDriver *)ip)->config->i2cp,
- LSM303DLHC_SAD_COMP,
- LSM303DLHC_AD_COMP_OUT_X_L, NULL);
- tmp += lsm303dlhcI2CReadRegister(((LSM303DLHCDriver *)ip)->config->i2cp,
- LSM303DLHC_SAD_COMP,
- LSM303DLHC_AD_COMP_OUT_X_H, NULL) << 8;
- axes[0] = (int32_t)tmp - ((LSM303DLHCDriver *)ip)->compbias[0];
-
- tmp = lsm303dlhcI2CReadRegister(((LSM303DLHCDriver *)ip)->config->i2cp,
- LSM303DLHC_SAD_COMP,
- LSM303DLHC_AD_COMP_OUT_Y_L, NULL);
- tmp += lsm303dlhcI2CReadRegister(((LSM303DLHCDriver *)ip)->config->i2cp,
- LSM303DLHC_SAD_COMP,
- LSM303DLHC_AD_COMP_OUT_Y_H, NULL) << 8;
- axes[1] = (int32_t)tmp - ((LSM303DLHCDriver *)ip)->compbias[1];
-
- tmp = lsm303dlhcI2CReadRegister(((LSM303DLHCDriver *)ip)->config->i2cp,
- LSM303DLHC_SAD_COMP,
- LSM303DLHC_AD_COMP_OUT_Z_L, NULL);
- tmp += lsm303dlhcI2CReadRegister(((LSM303DLHCDriver *)ip)->config->i2cp,
- LSM303DLHC_SAD_COMP,
- LSM303DLHC_AD_COMP_OUT_Z_H, NULL) << 8;
- axes[2] = (int32_t)tmp - ((LSM303DLHCDriver *)ip)->compbias[2];
-#if LSM303DLHC_SHARED_I2C
- i2cReleaseBus(((LSM303DLHCDriver *)ip)->config->i2cp);
-#endif /* LSM303DLHC_SHARED_I2C */
-#endif /* LSM303DLHC_USE_I2C */
- return MSG_OK;
-}
-
-static msg_t sens_read_raw(void *ip, int32_t axes[]) {
- int32_t* bp = axes;
- msg_t msg;
- if (((LSM303DLHCDriver *)ip)->config->acccfg != NULL) {
- msg = acc_read_raw(ip, bp);
- if(msg != MSG_OK)
- return msg;
- bp += LSM303DLHC_ACC_NUMBER_OF_AXES;
- }
- if (((LSM303DLHCDriver *)ip)->config->compcfg != NULL) {
- msg = comp_read_raw(ip, bp);
- }
- return msg;
-}
-
-static msg_t acc_read_cooked(void *ip, float axes[]) {
- uint32_t i;
- int32_t raw[LSM303DLHC_ACC_NUMBER_OF_AXES];
- msg_t msg;
-
- osalDbgCheck(((ip != NULL) && (axes != NULL)) &&
- (((LSM303DLHCDriver *)ip)->config->acccfg != NULL));
-
- osalDbgAssert((((LSM303DLHCDriver *)ip)->state == LSM303DLHC_READY),
- "acc_read_cooked(), invalid state");
-
- msg = acc_read_raw(ip, raw);
- for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES ; i++){
- axes[i] = raw[i] * ((LSM303DLHCDriver *)ip)->accsensitivity[i];
- if(((LSM303DLHCDriver *)ip)->config->acccfg->unit == LSM303DLHC_ACC_UNIT_G){
- axes[i] *= TO_G;
- }
- else if(((LSM303DLHCDriver *)ip)->config->acccfg->unit == LSM303DLHC_ACC_UNIT_SI){
- axes[i] *= TO_SI;
- }
- }
- return msg;
-}
-
-static msg_t comp_read_cooked(void *ip, float axes[]) {
- uint32_t i;
- int32_t raw[LSM303DLHC_COMP_NUMBER_OF_AXES];
- msg_t msg;
-
- osalDbgCheck(((ip != NULL) && (axes != NULL)) &&
- (((LSM303DLHCDriver *)ip)->config->compcfg != NULL));
-
- osalDbgAssert((((LSM303DLHCDriver *)ip)->state == LSM303DLHC_READY),
- "comp_read_cooked(), invalid state");
-
- msg = comp_read_raw(ip, raw);
- for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES ; i++){
- axes[i] = raw[i] / ((LSM303DLHCDriver *)ip)->compsensitivity[i];
- }
- return msg;
-}
-
-static msg_t sens_read_cooked(void *ip, float axes[]) {
- float* bp = axes;
- msg_t msg;
- if (((LSM303DLHCDriver *)ip)->config->acccfg != NULL) {
- msg = acc_read_cooked(ip, bp);
- if(msg != MSG_OK)
- return msg;
- bp += LSM303DLHC_ACC_NUMBER_OF_AXES;
- }
- if (((LSM303DLHCDriver *)ip)->config->compcfg != NULL) {
- msg = comp_read_cooked(ip, bp);
- }
- return msg;
-}
-
-static msg_t acc_set_bias(void *ip, int32_t *bp) {
- uint32_t i;
-
- osalDbgCheck((ip != NULL) && (bp !=NULL));
-
- osalDbgAssert((((LSM303DLHCDriver *)ip)->state == LSM303DLHC_READY) ||
- (((LSM303DLHCDriver *)ip)->state == LSM303DLHC_STOP),
- "acc_set_bias(), invalid state");
-
- for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++) {
- ((LSM303DLHCDriver *)ip)->accbias[i] = bp[i];
- }
- return MSG_OK;
-}
-
-static msg_t comp_set_bias(void *ip, int32_t *bp) {
- uint32_t i;
-
- osalDbgCheck((ip != NULL) && (bp !=NULL));
-
- osalDbgAssert((((LSM303DLHCDriver *)ip)->state == LSM303DLHC_READY) ||
- (((LSM303DLHCDriver *)ip)->state == LSM303DLHC_STOP),
- "comp_set_bias(), invalid state");
-
- for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
- ((LSM303DLHCDriver *)ip)->compbias[i] = bp[i];
- }
- return MSG_OK;
-}
-
-static msg_t acc_reset_bias(void *ip) {
- uint32_t i;
-
- osalDbgCheck(ip != NULL);
-
- osalDbgAssert((((LSM303DLHCDriver *)ip)->state == LSM303DLHC_READY) ||
- (((LSM303DLHCDriver *)ip)->state == LSM303DLHC_STOP),
- "acc_reset_bias(), invalid state");
-
- for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++)
- ((LSM303DLHCDriver *)ip)->accbias[i] = 0;
- return MSG_OK;
-}
-
-static msg_t comp_reset_bias(void *ip) {
- uint32_t i;
-
- osalDbgCheck(ip != NULL);
-
- osalDbgAssert((((LSM303DLHCDriver *)ip)->state == LSM303DLHC_READY) ||
- (((LSM303DLHCDriver *)ip)->state == LSM303DLHC_STOP),
- "comp_reset_bias(), invalid state");
-
- for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++)
- ((LSM303DLHCDriver *)ip)->compbias[i] = 0;
- return MSG_OK;
-}
-
-static msg_t acc_set_sensivity(void *ip, float *sp) {
- uint32_t i;
-
- osalDbgCheck((ip != NULL) && (sp !=NULL));
-
- osalDbgAssert((((LSM303DLHCDriver *)ip)->state == LSM303DLHC_READY),
- "acc_set_sensivity(), invalid state");
-
- for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++) {
- ((LSM303DLHCDriver *)ip)->accsensitivity[i] = sp[i];
- }
- return MSG_OK;
-}
-
-static msg_t comp_set_sensivity(void *ip, float *sp) {
- uint32_t i;
-
- osalDbgCheck((ip != NULL) && (sp !=NULL));
-
- osalDbgAssert((((LSM303DLHCDriver *)ip)->state == LSM303DLHC_READY),
- "comp_set_sensivity(), invalid state");
-
- for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
- ((LSM303DLHCDriver *)ip)->compsensitivity[i] = sp[i];
- }
- return MSG_OK;
-}
-
-static msg_t acc_reset_sensivity(void *ip) {
- uint32_t i;
-
- osalDbgCheck(ip != NULL);
-
- osalDbgAssert((((LSM303DLHCDriver *)ip)->state == LSM303DLHC_READY),
- "acc_reset_sensivity(), invalid state");
-
- if(((LSM303DLHCDriver *)ip)->config->acccfg->fullscale == LSM303DLHC_ACC_FS_2G)
- for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++)
- ((LSM303DLHCDriver *)ip)->accsensitivity[i] = LSM303DLHC_ACC_SENS_2G;
- else if(((LSM303DLHCDriver *)ip)->config->acccfg->fullscale == LSM303DLHC_ACC_FS_4G)
- for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++)
- ((LSM303DLHCDriver *)ip)->accsensitivity[i] = LSM303DLHC_ACC_SENS_4G;
- else if(((LSM303DLHCDriver *)ip)->config->acccfg->fullscale == LSM303DLHC_ACC_FS_8G)
- for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++)
- ((LSM303DLHCDriver *)ip)->accsensitivity[i] = LSM303DLHC_ACC_SENS_8G;
- else if(((LSM303DLHCDriver *)ip)->config->acccfg->fullscale == LSM303DLHC_ACC_FS_16G)
- for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++)
- ((LSM303DLHCDriver *)ip)->accsensitivity[i] = LSM303DLHC_ACC_SENS_16G;
- else {
- osalDbgAssert(FALSE, "reset_sensivity(), accelerometer full scale issue");
- return MSG_RESET;
- }
- return MSG_OK;
-}
-
-static msg_t comp_reset_sensivity(void *ip) {
- uint32_t i;
-
- osalDbgCheck(ip != NULL);
-
- osalDbgAssert((((LSM303DLHCDriver *)ip)->state == LSM303DLHC_READY),
- "comp_reset_sensivity(), invalid state");
-
- if(((LSM303DLHCDriver *)ip)->config->compcfg->fullscale == LSM303DLHC_COMP_FS_1_3_GA)
- for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
- if(i != 2) {
- ((LSM303DLHCDriver *)ip)->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_1_3GA;
- }
- else {
- ((LSM303DLHCDriver *)ip)->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_1_3GA;
- }
- }
- else if(((LSM303DLHCDriver *)ip)->config->compcfg->fullscale == LSM303DLHC_COMP_FS_1_9_GA)
- for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
- if(i != 2) {
- ((LSM303DLHCDriver *)ip)->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_1_9GA;
- }
- else {
- ((LSM303DLHCDriver *)ip)->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_1_9GA;
- }
- }
- else if(((LSM303DLHCDriver *)ip)->config->compcfg->fullscale == LSM303DLHC_COMP_FS_2_5_GA)
- for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
- if(i != 2) {
- ((LSM303DLHCDriver *)ip)->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_2_5GA;
- }
- else {
- ((LSM303DLHCDriver *)ip)->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_2_5GA;
- }
- }
- else if(((LSM303DLHCDriver *)ip)->config->compcfg->fullscale == LSM303DLHC_COMP_FS_4_0_GA)
- for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
- if(i != 2) {
- ((LSM303DLHCDriver *)ip)->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_4_0GA;
- }
- else {
- ((LSM303DLHCDriver *)ip)->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_4_0GA;
- }
- }
- else if(((LSM303DLHCDriver *)ip)->config->compcfg->fullscale == LSM303DLHC_COMP_FS_4_7_GA)
- for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
- if(i != 2) {
- ((LSM303DLHCDriver *)ip)->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_4_7GA;
- }
- else {
- ((LSM303DLHCDriver *)ip)->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_4_7GA;
- }
- }
- else if(((LSM303DLHCDriver *)ip)->config->compcfg->fullscale == LSM303DLHC_COMP_FS_5_6_GA)
- for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
- if(i != 2) {
- ((LSM303DLHCDriver *)ip)->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_5_6GA;
- }
- else {
- ((LSM303DLHCDriver *)ip)->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_5_6GA;
- }
- }
- else if(((LSM303DLHCDriver *)ip)->config->compcfg->fullscale == LSM303DLHC_COMP_FS_8_1_GA)
- for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
- if(i != 2) {
- ((LSM303DLHCDriver *)ip)->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_8_1GA;
- }
- else {
- ((LSM303DLHCDriver *)ip)->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_8_1GA;
- }
- }
- else {
- osalDbgAssert(FALSE, "reset_sensivity(), compass full scale issue");
- return MSG_RESET;
- }
- return MSG_OK;
-}
-
-static const struct BaseSensorVMT vmt_basesensor = {
- sens_get_axes_number, sens_read_raw, sens_read_cooked
-};
-
-static const struct BaseCompassVMT vmt_basecompass = {
- comp_get_axes_number, comp_read_raw, comp_read_cooked,
- comp_set_bias, comp_reset_bias, comp_set_sensivity, comp_reset_sensivity
-};
-
-static const struct BaseAccelerometerVMT vmt_baseaccelerometer = {
- 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 LSM303DLHCACCVMT vmt_lsm303dlhcacc = {
- 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 LSM303DLHCCOMPVMT vmt_lsm303dlhccomp = {
- 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 LSM303DLHCDriver object
- *
- * @init
- */
-void lsm303dlhcObjectInit(LSM303DLHCDriver *devp) {
- uint32_t i;
- devp->vmt_basesensor = &vmt_basesensor;
- devp->vmt_baseaccelerometer = &vmt_baseaccelerometer;
- devp->vmt_basecompass = &vmt_basecompass;
- devp->vmt_lsm303dlhcacc = &vmt_lsm303dlhcacc;
- devp->vmt_lsm303dlhccomp = &vmt_lsm303dlhccomp;
- devp->config = NULL;
- for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++)
- devp->accbias[i] = 0;
- for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++)
- devp->compbias[i] = 0;
- devp->state = LSM303DLHC_STOP;
-}
-
-/**
- * @brief Configures and activates LSM303DLHC Complex Driver peripheral.
- *
- * @param[in] devp pointer to the @p LSM303DLHCDriver object
- * @param[in] config pointer to the @p LSM303DLHCConfig object
- *
- * @api
- */
-void lsm303dlhcStart(LSM303DLHCDriver *devp, const LSM303DLHCConfig *config) {
- uint32_t i;
- osalDbgCheck((devp != NULL) && (config != NULL));
-
- osalDbgAssert((devp->state == LSM303DLHC_STOP) || (devp->state == LSM303DLHC_READY),
- "lsm303dlhcStart(), invalid state");
-
- devp->config = config;
-
-#if LSM303DLHC_USE_I2C
-#if LSM303DLHC_SHARED_I2C
- i2cAcquireBus((devp)->config->i2cp);
-#endif /* LSM303DLHC_SHARED_I2C */
- i2cStart((devp)->config->i2cp,
- (devp)->config->i2ccfg);
- if((devp)->config->acccfg != NULL) {
- lsm303dlhcI2CWriteRegister(devp->config->i2cp,
- LSM303DLHC_SAD_ACC,
- LSM303DLHC_AD_ACC_CTRL_REG1,
- devp->config->acccfg->axesenabling |
- devp->config->acccfg->outdatarate |
- devp->config->acccfg->lowpower);
- lsm303dlhcI2CWriteRegister(devp->config->i2cp,
- LSM303DLHC_SAD_ACC,
- LSM303DLHC_AD_ACC_CTRL_REG4,
- devp->config->acccfg->endianess |
- devp->config->acccfg->fullscale |
- devp->config->acccfg->blockdataupdate |
- devp->config->acccfg->highresmode);
- }
- if((devp)->config->compcfg != NULL) {
- lsm303dlhcI2CWriteRegister(devp->config->i2cp,
- LSM303DLHC_SAD_COMP,
- LSM303DLHC_AD_COMP_CRA_REG,
- devp->config->compcfg->outputdatarate);
- lsm303dlhcI2CWriteRegister(devp->config->i2cp,
- LSM303DLHC_SAD_COMP,
- LSM303DLHC_AD_COMP_CRB_REG,
- devp->config->compcfg->fullscale);
- lsm303dlhcI2CWriteRegister(devp->config->i2cp,
- LSM303DLHC_SAD_COMP,
- LSM303DLHC_AD_COMP_MR_REG,
- devp->config->compcfg->mode);
- }
-#if LSM303DLHC_SHARED_I2C
- i2cReleaseBus((devp)->config->i2cp);
-#endif /* LSM303DLHC_SHARED_I2C */
-#endif /* LSM303DLHC_USE_I2C */
- /* Storing sensitivity information according to full scale value */
- if((devp)->config->acccfg != NULL) {
- if(devp->config->acccfg->fullscale == LSM303DLHC_ACC_FS_2G)
- for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++)
- devp->accsensitivity[i] = LSM303DLHC_ACC_SENS_2G;
- else if(devp->config->acccfg->fullscale == LSM303DLHC_ACC_FS_4G)
- for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++)
- devp->accsensitivity[i] = LSM303DLHC_ACC_SENS_4G;
- else if(devp->config->acccfg->fullscale == LSM303DLHC_ACC_FS_8G)
- for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++)
- devp->accsensitivity[i] = LSM303DLHC_ACC_SENS_8G;
- else if(devp->config->acccfg->fullscale == LSM303DLHC_ACC_FS_16G)
- for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++)
- devp->accsensitivity[i] = LSM303DLHC_ACC_SENS_16G;
- else
- osalDbgAssert(FALSE, "lsm303dlhcStart(), accelerometer full scale issue");
- }
- if((devp)->config->compcfg != NULL) {
- if(devp->config->compcfg->fullscale == LSM303DLHC_COMP_FS_1_3_GA)
- for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
- if(i != 2) {
- devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_1_3GA;
- }
- else {
- devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_1_3GA;
- }
- }
- else if(devp->config->compcfg->fullscale == LSM303DLHC_COMP_FS_1_9_GA)
- for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
- if(i != 2) {
- devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_1_9GA;
- }
- else {
- devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_1_9GA;
- }
- }
- else if(devp->config->compcfg->fullscale == LSM303DLHC_COMP_FS_2_5_GA)
- for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
- if(i != 2) {
- devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_2_5GA;
- }
- else {
- devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_2_5GA;
- }
- }
- else if(devp->config->compcfg->fullscale == LSM303DLHC_COMP_FS_4_0_GA)
- for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
- if(i != 2) {
- devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_4_0GA;
- }
- else {
- devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_4_0GA;
- }
- }
- else if(devp->config->compcfg->fullscale == LSM303DLHC_COMP_FS_4_7_GA)
- for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
- if(i != 2) {
- devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_4_7GA;
- }
- else {
- devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_4_7GA;
- }
- }
- else if(devp->config->compcfg->fullscale == LSM303DLHC_COMP_FS_5_6_GA)
- for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
- if(i != 2) {
- devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_5_6GA;
- }
- else {
- devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_5_6GA;
- }
- }
- else if(devp->config->compcfg->fullscale == LSM303DLHC_COMP_FS_8_1_GA)
- for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
- if(i != 2) {
- devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_8_1GA;
- }
- else {
- devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_8_1GA;
- }
- }
- else
- osalDbgAssert(FALSE, "lsm303dlhcStart(), compass full scale issue");
- }
- /* This is the Compass transient recovery time */
- osalThreadSleepMilliseconds(5);
-
- devp->state = LSM303DLHC_READY;
-}
-
-/**
- * @brief Deactivates the LSM303DLHC Complex Driver peripheral.
- *
- * @param[in] devp pointer to the @p LSM303DLHCDriver object
- *
- * @api
- */
-void lsm303dlhcStop(LSM303DLHCDriver *devp) {
-
- osalDbgCheck(devp != NULL);
-
- osalDbgAssert((devp->state == LSM303DLHC_STOP) || (devp->state == LSM303DLHC_READY),
- "lsm303dlhcStop(), invalid state");
-
-#if (LSM303DLHC_USE_I2C)
- if (devp->state == LSM303DLHC_STOP) {
-#if LSM303DLHC_SHARED_I2C
- i2cAcquireBus((devp)->config->i2cp);
- i2cStart((devp)->config->i2cp,
- (devp)->config->i2ccfg);
-#endif /* LSM303DLHC_SHARED_I2C */
- if((devp)->config->acccfg != NULL) {
- lsm303dlhcI2CWriteRegister(devp->config->i2cp,
- LSM303DLHC_SAD_ACC,
- LSM303DLHC_AD_ACC_CTRL_REG1,
- LSM303DLHC_ACC_AE_DISABLED |
- LSM303DLHC_ACC_ODR_PD);
- }
- if((devp)->config->compcfg != NULL) {
- lsm303dlhcI2CWriteRegister(devp->config->i2cp,
- LSM303DLHC_SAD_COMP,
- LSM303DLHC_AD_COMP_MR_REG,
- LSM303DLHC_COMP_MD_SLEEP);
- }
- i2cStop((devp)->config->i2cp);
-#if LSM303DLHC_SHARED_I2C
- i2cReleaseBus((devp)->config->i2cp);
-#endif /* LSM303DLHC_SHARED_I2C */
- }
-#endif /* LSM303DLHC_USE_I2C */
- devp->state = LSM303DLHC_STOP;
-}
-/** @} */
+/*
+ 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 lsm303dlhc.c
+ * @brief LSM303DLHC MEMS interface module code.
+ *
+ * @addtogroup lsm303dlhc
+ * @{
+ */
+
+#include "hal.h"
+#include "lsm303dlhc.h"
+
+/*===========================================================================*/
+/* Driver local definitions. */
+/*===========================================================================*/
+
+#define LSM303DLHC_ACC_SENS_2G ((float)0.0610f)
+#define LSM303DLHC_ACC_SENS_4G ((float)0.1221f)
+#define LSM303DLHC_ACC_SENS_8G ((float)0.2442f)
+#define LSM303DLHC_ACC_SENS_16G ((float)0.4884f)
+
+#define LSM303DLHC_COMP_SENS_XY_1_3GA ((float)1100.0f)
+#define LSM303DLHC_COMP_SENS_XY_1_9GA ((float)855.0f)
+#define LSM303DLHC_COMP_SENS_XY_2_5GA ((float)670.0f)
+#define LSM303DLHC_COMP_SENS_XY_4_0GA ((float)450.0f)
+#define LSM303DLHC_COMP_SENS_XY_4_7GA ((float)400.0f)
+#define LSM303DLHC_COMP_SENS_XY_5_6GA ((float)330.0f)
+#define LSM303DLHC_COMP_SENS_XY_8_1GA ((float)230.0f)
+
+#define LSM303DLHC_COMP_SENS_Z_1_3GA ((float)980.0f)
+#define LSM303DLHC_COMP_SENS_Z_1_9GA ((float)765.0f)
+#define LSM303DLHC_COMP_SENS_Z_2_5GA ((float)600.0f)
+#define LSM303DLHC_COMP_SENS_Z_4_0GA ((float)400.0f)
+#define LSM303DLHC_COMP_SENS_Z_4_7GA ((float)355.0f)
+#define LSM303DLHC_COMP_SENS_Z_5_6GA ((float)295.0f)
+#define LSM303DLHC_COMP_SENS_Z_8_1GA ((float)205.0f)
+
+#define LSM303DLHC_DI ((uint8_t)0xFF)
+#define LSM303DLHC_DI_0 ((uint8_t)0x01)
+#define LSM303DLHC_DI_1 ((uint8_t)0x02)
+#define LSM303DLHC_DI_2 ((uint8_t)0x04)
+#define LSM303DLHC_DI_3 ((uint8_t)0x08)
+#define LSM303DLHC_DI_4 ((uint8_t)0x10)
+#define LSM303DLHC_DI_5 ((uint8_t)0x20)
+#define LSM303DLHC_DI_6 ((uint8_t)0x40)
+#define LSM303DLHC_DI_7 ((uint8_t)0x80)
+
+#define LSM303DLHC_AD_0 ((uint8_t)0x01)
+#define LSM303DLHC_AD_1 ((uint8_t)0x02)
+#define LSM303DLHC_AD_2 ((uint8_t)0x04)
+#define LSM303DLHC_AD_3 ((uint8_t)0x08)
+#define LSM303DLHC_AD_4 ((uint8_t)0x10)
+#define LSM303DLHC_AD_5 ((uint8_t)0x20)
+#define LSM303DLHC_AD_6 ((uint8_t)0x40)
+#define LSM303DLHC_RW ((uint8_t)0x80)
+
+#define LSM303DLHC_AD_ACC_CTRL_REG1 ((uint8_t)0x20)
+#define LSM303DLHC_AD_ACC_CTRL_REG2 ((uint8_t)0x21)
+#define LSM303DLHC_AD_ACC_CTRL_REG3 ((uint8_t)0x22)
+#define LSM303DLHC_AD_ACC_CTRL_REG4 ((uint8_t)0x23)
+#define LSM303DLHC_AD_ACC_CTRL_REG5 ((uint8_t)0x24)
+#define LSM303DLHC_AD_ACC_CTRL_REG6 ((uint8_t)0x25)
+#define LSM303DLHC_AD_ACC_REFERENCE ((uint8_t)0x26)
+#define LSM303DLHC_AD_ACC_STATUS_REG ((uint8_t)0x27)
+#define LSM303DLHC_AD_ACC_OUT_X_L ((uint8_t)0x28)
+#define LSM303DLHC_AD_ACC_OUT_X_H ((uint8_t)0x29)
+#define LSM303DLHC_AD_ACC_OUT_Y_L ((uint8_t)0x2A)
+#define LSM303DLHC_AD_ACC_OUT_Y_H ((uint8_t)0x2B)
+#define LSM303DLHC_AD_ACC_OUT_Z_L ((uint8_t)0x2C)
+#define LSM303DLHC_AD_ACC_OUT_Z_H ((uint8_t)0x2D)
+#define LSM303DLHC_AD_ACC_FIFO_CTRL_REG ((uint8_t)0x2E)
+#define LSM303DLHC_AD_ACC_FIFO_SRC_REG ((uint8_t)0x2F)
+#define LSM303DLHC_AD_ACC_INT1_CFG ((uint8_t)0x30)
+#define LSM303DLHC_AD_ACC_INT1_SRC ((uint8_t)0x31)
+#define LSM303DLHC_AD_ACC_INT1_THS ((uint8_t)0x32)
+#define LSM303DLHC_AD_ACC_INT1_DURATION ((uint8_t)0x33)
+#define LSM303DLHC_AD_ACC_INT2_CFG ((uint8_t)0x34)
+#define LSM303DLHC_AD_ACC_INT2_SRC ((uint8_t)0x35)
+#define LSM303DLHC_AD_ACC_INT2_THS ((uint8_t)0x36)
+#define LSM303DLHC_AD_ACC_INT2_DURATION ((uint8_t)0x37)
+#define LSM303DLHC_AD_ACC_CLICK_CFG ((uint8_t)0x38)
+#define LSM303DLHC_AD_ACC_CLICK_SRC ((uint8_t)0x39)
+#define LSM303DLHC_AD_ACC_CLICK_THS ((uint8_t)0x3A)
+#define LSM303DLHC_AD_ACC_TIME_LIMIT ((uint8_t)0x3B)
+#define LSM303DLHC_AD_ACC_TIME_LATENCY ((uint8_t)0x3C)
+#define LSM303DLHC_AD_ACC_TIME_WINDOW ((uint8_t)0x3D)
+#define LSM303DLHC_AD_COMP_CRA_REG ((uint8_t)0x00)
+#define LSM303DLHC_AD_COMP_CRB_REG ((uint8_t)0x01)
+#define LSM303DLHC_AD_COMP_MR_REG ((uint8_t)0x02)
+#define LSM303DLHC_AD_COMP_OUT_X_H ((uint8_t)0x03)
+#define LSM303DLHC_AD_COMP_OUT_X_L ((uint8_t)0x04)
+#define LSM303DLHC_AD_COMP_OUT_Z_H ((uint8_t)0x05)
+#define LSM303DLHC_AD_COMP_OUT_Z_L ((uint8_t)0x06)
+#define LSM303DLHC_AD_COMP_OUT_Y_H ((uint8_t)0x07)
+#define LSM303DLHC_AD_COMP_OUT_Y_L ((uint8_t)0x08)
+#define LSM303DLHC_AD_COMP_SR_REG ((uint8_t)0x09)
+#define LSM303DLHC_AD_COMP_IRA_REG ((uint8_t)0x0A)
+#define LSM303DLHC_AD_COMP_IRB_REG ((uint8_t)0x0B)
+#define LSM303DLHC_AD_COMP_IRC_REG ((uint8_t)0x0C)
+#define LSM303DLHC_AD_COMP_TEMP_OUT_H ((uint8_t)0x31)
+#define LSM303DLHC_AD_COMP_TEMP_OUT_L ((uint8_t)0x32)
+
+#define LSM303DLHC_ACC_CTRL_REG4_FS_MASK ((uint8_t)0x30)
+#define LSM303DLHC_COMP_CTRL_REGB_FS_MASK ((uint8_t)0xE0)
+
+#define TO_G ((float)0.001f)
+#define TO_SI ((float)0.00981f)
+
+/*===========================================================================*/
+/* Driver exported variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local variables and types. */
+/*===========================================================================*/
+
+/**
+ * @brief Accelerometer Power Mode
+ */
+typedef enum {
+ LSM303DLHC_ACC_PM_NORMAL = 0x00, /**< Normal mode enabled */
+ LSM303DLHC_ACC_PM_LP = 0x08 /**< Low Power mode enabled */
+} lsm303dlhc_acc_pm_t;
+
+/**
+ * @brief Accelerometer and Compass Slave Address.
+ */
+typedef enum {
+ LSM303DLHC_SAD_ACC = 0x19, /**< SAD for accelerometer. */
+ LSM303DLHC_SAD_COMP = 0x1E /**< SAD for compass. */
+} lsm303dlhc_sad_t;
+/*===========================================================================*/
+/* Driver local functions. */
+/*===========================================================================*/
+
+#if (LSM303DLHC_USE_I2C) || defined(__DOXYGEN__)
+/**
+ * @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
+ * @return the read value.
+ */
+uint8_t lsm303dlhcI2CReadRegister(I2CDriver *i2cp, lsm303dlhc_sad_t sad, uint8_t reg,
+ msg_t* msgp) {
+ msg_t msg;
+#if defined(STM32F103_MCUCONF)
+ uint8_t rxbuf[2];
+ msg = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 2,
+ TIME_INFINITE);
+ if(msgp != NULL){
+ *msgp = msg;
+ }
+ return rxbuf[0];
+#else
+ uint8_t txbuf, rxbuf;
+ txbuf = reg;
+ msg = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, &rxbuf, 1,
+ TIME_INFINITE);
+ if(msgp != NULL){
+ *msgp = msg;
+ }
+ return rxbuf;
+#endif
+}
+
+/**
+ * @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 lsm303dlhcI2CWriteRegister(I2CDriver *i2cp, lsm303dlhc_sad_t sad, uint8_t reg,
+ uint8_t value) {
+ uint8_t rxbuf;
+ uint8_t txbuf[2];
+ if(sad == LSM303DLHC_SAD_ACC) {
+ switch (reg) {
+ default:
+ /* Reserved register must not be written, according to the datasheet
+ * this could permanently damage the device.
+ */
+ osalDbgAssert(FALSE, "lsm303dlhcWriteRegisterI2C(), reserved register");
+ case LSM303DLHC_AD_ACC_STATUS_REG:
+ case LSM303DLHC_AD_ACC_OUT_X_L:
+ case LSM303DLHC_AD_ACC_OUT_X_H:
+ case LSM303DLHC_AD_ACC_OUT_Y_L:
+ case LSM303DLHC_AD_ACC_OUT_Y_H:
+ case LSM303DLHC_AD_ACC_OUT_Z_L:
+ case LSM303DLHC_AD_ACC_OUT_Z_H:
+ case LSM303DLHC_AD_ACC_FIFO_SRC_REG:
+ case LSM303DLHC_AD_ACC_INT1_SRC:
+ case LSM303DLHC_AD_ACC_INT2_SRC:
+ /* Read only registers cannot be written, the command is ignored.*/
+ return MSG_RESET;
+ case LSM303DLHC_AD_ACC_CTRL_REG1:
+ case LSM303DLHC_AD_ACC_CTRL_REG2:
+ case LSM303DLHC_AD_ACC_CTRL_REG3:
+ case LSM303DLHC_AD_ACC_CTRL_REG4:
+ case LSM303DLHC_AD_ACC_CTRL_REG5:
+ case LSM303DLHC_AD_ACC_CTRL_REG6:
+ case LSM303DLHC_AD_ACC_REFERENCE:
+ case LSM303DLHC_AD_ACC_FIFO_CTRL_REG:
+ case LSM303DLHC_AD_ACC_INT1_CFG:
+ case LSM303DLHC_AD_ACC_INT1_THS:
+ case LSM303DLHC_AD_ACC_INT1_DURATION:
+ case LSM303DLHC_AD_ACC_INT2_CFG:
+ case LSM303DLHC_AD_ACC_INT2_THS:
+ case LSM303DLHC_AD_ACC_INT2_DURATION:
+ case LSM303DLHC_AD_ACC_CLICK_CFG:
+ case LSM303DLHC_AD_ACC_CLICK_SRC:
+ case LSM303DLHC_AD_ACC_CLICK_THS:
+ case LSM303DLHC_AD_ACC_TIME_LIMIT:
+ case LSM303DLHC_AD_ACC_TIME_LATENCY:
+ case LSM303DLHC_AD_ACC_TIME_WINDOW:
+ txbuf[0] = reg;
+ txbuf[1] = value;
+ return i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0, TIME_INFINITE);
+ break;
+ }
+ }
+ if(sad == LSM303DLHC_SAD_COMP) {
+ switch (reg) {
+ default:
+ /* Reserved register must not be written, according to the datasheet
+ * this could permanently damage the device.
+ */
+ osalDbgAssert(FALSE, "lsm303dlhcWriteRegisterI2C(), reserved register");
+ case LSM303DLHC_AD_COMP_OUT_X_H:
+ case LSM303DLHC_AD_COMP_OUT_X_L:
+ case LSM303DLHC_AD_COMP_OUT_Z_H:
+ case LSM303DLHC_AD_COMP_OUT_Z_L:
+ case LSM303DLHC_AD_COMP_OUT_Y_H:
+ case LSM303DLHC_AD_COMP_OUT_Y_L:
+ case LSM303DLHC_AD_COMP_SR_REG:
+ case LSM303DLHC_AD_COMP_IRA_REG:
+ case LSM303DLHC_AD_COMP_IRB_REG:
+ case LSM303DLHC_AD_COMP_IRC_REG:
+ case LSM303DLHC_AD_COMP_TEMP_OUT_H:
+ case LSM303DLHC_AD_COMP_TEMP_OUT_L:
+ /* Read only registers cannot be written, the command is ignored.*/
+ return MSG_RESET;
+ case LSM303DLHC_AD_COMP_CRA_REG:
+ case LSM303DLHC_AD_COMP_CRB_REG:
+ case LSM303DLHC_AD_COMP_MR_REG:
+ txbuf[0] = reg;
+ txbuf[1] = value;
+ return i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0, TIME_INFINITE);
+ break;
+ }
+ }
+ osalDbgAssert(FALSE, "lsm303dlhcWriteRegisterI2C(), wrong SAD");
+ return MSG_RESET;
+}
+#endif /* LSM303DLHC_USE_I2C */
+
+/*
+ * Interface implementation.
+ */
+static size_t acc_get_axes_number(void *ip) {
+
+ osalDbgCheck(ip != NULL);
+ return LSM303DLHC_ACC_NUMBER_OF_AXES;
+}
+
+static size_t comp_get_axes_number(void *ip) {
+
+ osalDbgCheck(ip != NULL);
+ return LSM303DLHC_COMP_NUMBER_OF_AXES;
+}
+
+static size_t sens_get_axes_number(void *ip) {
+ size_t size = 0;
+
+ osalDbgCheck(ip != NULL);
+ if (((LSM303DLHCDriver *)ip)->config->acccfg != NULL)
+ size += acc_get_axes_number(ip);
+ if (((LSM303DLHCDriver *)ip)->config->compcfg != NULL)
+ size += comp_get_axes_number(ip);
+ return size;
+}
+
+static msg_t acc_read_raw(void *ip, int32_t axes[]) {
+ int16_t tmp;
+ osalDbgCheck(((ip != NULL) && (axes != NULL)) &&
+ (((LSM303DLHCDriver *)ip)->config->acccfg != NULL));
+ osalDbgAssert((((LSM303DLHCDriver *)ip)->state == LSM303DLHC_READY),
+ "acc_read_raw(), invalid state");
+
+#if LSM303DLHC_USE_I2C
+ osalDbgAssert((((LSM303DLHCDriver *)ip)->config->i2cp->state == I2C_READY),
+ "acc_read_raw(), channel not ready");
+#if LSM303DLHC_SHARED_I2C
+ i2cAcquireBus(((LSM303DLHCDriver *)ip)->config->i2cp);
+ i2cStart(((LSM303DLHCDriver *)ip)->config->i2cp,
+ ((LSM303DLHCDriver *)ip)->config->i2ccfg);
+#endif /* LSM303DLHC_SHARED_I2C */
+ if(((LSM303DLHCDriver *)ip)->config->acccfg->axesenabling & LSM303DLHC_ACC_AE_X){
+ tmp = lsm303dlhcI2CReadRegister(((LSM303DLHCDriver *)ip)->config->i2cp,
+ LSM303DLHC_SAD_ACC,
+ LSM303DLHC_AD_ACC_OUT_X_L, NULL);
+ tmp += lsm303dlhcI2CReadRegister(((LSM303DLHCDriver *)ip)->config->i2cp,
+ LSM303DLHC_SAD_ACC,
+ LSM303DLHC_AD_ACC_OUT_X_H, NULL) << 8;
+ axes[0] = (int32_t)tmp - ((LSM303DLHCDriver *)ip)->accbias[0];
+ }
+ if(((LSM303DLHCDriver *)ip)->config->acccfg->axesenabling & LSM303DLHC_ACC_AE_Y){
+ tmp = lsm303dlhcI2CReadRegister(((LSM303DLHCDriver *)ip)->config->i2cp,
+ LSM303DLHC_SAD_ACC,
+ LSM303DLHC_AD_ACC_OUT_Y_L, NULL);
+ tmp += lsm303dlhcI2CReadRegister(((LSM303DLHCDriver *)ip)->config->i2cp,
+ LSM303DLHC_SAD_ACC,
+ LSM303DLHC_AD_ACC_OUT_Y_H, NULL) << 8;
+ axes[1] = (int32_t)tmp - ((LSM303DLHCDriver *)ip)->accbias[1];
+ }
+ if(((LSM303DLHCDriver *)ip)->config->acccfg->axesenabling & LSM303DLHC_ACC_AE_Z){
+ tmp = lsm303dlhcI2CReadRegister(((LSM303DLHCDriver *)ip)->config->i2cp,
+ LSM303DLHC_SAD_ACC,
+ LSM303DLHC_AD_ACC_OUT_Z_L, NULL);
+ tmp += lsm303dlhcI2CReadRegister(((LSM303DLHCDriver *)ip)->config->i2cp,
+ LSM303DLHC_SAD_ACC,
+ LSM303DLHC_AD_ACC_OUT_Z_H, NULL) << 8;
+ axes[2] = (int32_t)tmp - ((LSM303DLHCDriver *)ip)->accbias[2];
+ }
+#if LSM303DLHC_SHARED_I2C
+ i2cReleaseBus(((LSM303DLHCDriver *)ip)->config->i2cp);
+#endif /* LSM303DLHC_SHARED_I2C */
+#endif /* LSM303DLHC_USE_I2C */
+ return MSG_OK;
+}
+
+static msg_t comp_read_raw(void *ip, int32_t axes[]) {
+ int16_t tmp;
+ osalDbgCheck(((ip != NULL) && (axes != NULL)) &&
+ (((LSM303DLHCDriver *)ip)->config->compcfg != NULL));
+ osalDbgAssert((((LSM303DLHCDriver *)ip)->state == LSM303DLHC_READY),
+ "comp_read_raw(), invalid state");
+
+#if LSM303DLHC_USE_I2C
+ osalDbgAssert((((LSM303DLHCDriver *)ip)->config->i2cp->state == I2C_READY),
+ "comp_read_raw(), channel not ready");
+#if LSM303DLHC_SHARED_I2C
+ i2cAcquireBus(((LSM303DLHCDriver *)ip)->config->i2cp);
+ i2cStart(((LSM303DLHCDriver *)ip)->config->i2cp,
+ ((LSM303DLHCDriver *)ip)->config->i2ccfg);
+#endif /* LSM303DLHC_SHARED_I2C */
+ tmp = lsm303dlhcI2CReadRegister(((LSM303DLHCDriver *)ip)->config->i2cp,
+ LSM303DLHC_SAD_COMP,
+ LSM303DLHC_AD_COMP_OUT_X_L, NULL);
+ tmp += lsm303dlhcI2CReadRegister(((LSM303DLHCDriver *)ip)->config->i2cp,
+ LSM303DLHC_SAD_COMP,
+ LSM303DLHC_AD_COMP_OUT_X_H, NULL) << 8;
+ axes[0] = (int32_t)tmp - ((LSM303DLHCDriver *)ip)->compbias[0];
+
+ tmp = lsm303dlhcI2CReadRegister(((LSM303DLHCDriver *)ip)->config->i2cp,
+ LSM303DLHC_SAD_COMP,
+ LSM303DLHC_AD_COMP_OUT_Y_L, NULL);
+ tmp += lsm303dlhcI2CReadRegister(((LSM303DLHCDriver *)ip)->config->i2cp,
+ LSM303DLHC_SAD_COMP,
+ LSM303DLHC_AD_COMP_OUT_Y_H, NULL) << 8;
+ axes[1] = (int32_t)tmp - ((LSM303DLHCDriver *)ip)->compbias[1];
+
+ tmp = lsm303dlhcI2CReadRegister(((LSM303DLHCDriver *)ip)->config->i2cp,
+ LSM303DLHC_SAD_COMP,
+ LSM303DLHC_AD_COMP_OUT_Z_L, NULL);
+ tmp += lsm303dlhcI2CReadRegister(((LSM303DLHCDriver *)ip)->config->i2cp,
+ LSM303DLHC_SAD_COMP,
+ LSM303DLHC_AD_COMP_OUT_Z_H, NULL) << 8;
+ axes[2] = (int32_t)tmp - ((LSM303DLHCDriver *)ip)->compbias[2];
+#if LSM303DLHC_SHARED_I2C
+ i2cReleaseBus(((LSM303DLHCDriver *)ip)->config->i2cp);
+#endif /* LSM303DLHC_SHARED_I2C */
+#endif /* LSM303DLHC_USE_I2C */
+ return MSG_OK;
+}
+
+static msg_t sens_read_raw(void *ip, int32_t axes[]) {
+ int32_t* bp = axes;
+ msg_t msg;
+ if (((LSM303DLHCDriver *)ip)->config->acccfg != NULL) {
+ msg = acc_read_raw(ip, bp);
+ if(msg != MSG_OK)
+ return msg;
+ bp += LSM303DLHC_ACC_NUMBER_OF_AXES;
+ }
+ if (((LSM303DLHCDriver *)ip)->config->compcfg != NULL) {
+ msg = comp_read_raw(ip, bp);
+ }
+ return msg;
+}
+
+static msg_t acc_read_cooked(void *ip, float axes[]) {
+ uint32_t i;
+ int32_t raw[LSM303DLHC_ACC_NUMBER_OF_AXES];
+ msg_t msg;
+
+ osalDbgCheck(((ip != NULL) && (axes != NULL)) &&
+ (((LSM303DLHCDriver *)ip)->config->acccfg != NULL));
+
+ osalDbgAssert((((LSM303DLHCDriver *)ip)->state == LSM303DLHC_READY),
+ "acc_read_cooked(), invalid state");
+
+ msg = acc_read_raw(ip, raw);
+ for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES ; i++){
+ axes[i] = raw[i] * ((LSM303DLHCDriver *)ip)->accsensitivity[i];
+ if(((LSM303DLHCDriver *)ip)->config->acccfg->unit == LSM303DLHC_ACC_UNIT_G){
+ axes[i] *= TO_G;
+ }
+ else if(((LSM303DLHCDriver *)ip)->config->acccfg->unit == LSM303DLHC_ACC_UNIT_SI){
+ axes[i] *= TO_SI;
+ }
+ }
+ return msg;
+}
+
+static msg_t comp_read_cooked(void *ip, float axes[]) {
+ uint32_t i;
+ int32_t raw[LSM303DLHC_COMP_NUMBER_OF_AXES];
+ msg_t msg;
+
+ osalDbgCheck(((ip != NULL) && (axes != NULL)) &&
+ (((LSM303DLHCDriver *)ip)->config->compcfg != NULL));
+
+ osalDbgAssert((((LSM303DLHCDriver *)ip)->state == LSM303DLHC_READY),
+ "comp_read_cooked(), invalid state");
+
+ msg = comp_read_raw(ip, raw);
+ for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES ; i++){
+ axes[i] = raw[i] / ((LSM303DLHCDriver *)ip)->compsensitivity[i];
+ }
+ return msg;
+}
+
+static msg_t sens_read_cooked(void *ip, float axes[]) {
+ float* bp = axes;
+ msg_t msg;
+ if (((LSM303DLHCDriver *)ip)->config->acccfg != NULL) {
+ msg = acc_read_cooked(ip, bp);
+ if(msg != MSG_OK)
+ return msg;
+ bp += LSM303DLHC_ACC_NUMBER_OF_AXES;
+ }
+ if (((LSM303DLHCDriver *)ip)->config->compcfg != NULL) {
+ msg = comp_read_cooked(ip, bp);
+ }
+ return msg;
+}
+
+static msg_t acc_set_bias(void *ip, int32_t *bp) {
+ uint32_t i;
+
+ osalDbgCheck((ip != NULL) && (bp !=NULL));
+
+ osalDbgAssert((((LSM303DLHCDriver *)ip)->state == LSM303DLHC_READY) ||
+ (((LSM303DLHCDriver *)ip)->state == LSM303DLHC_STOP),
+ "acc_set_bias(), invalid state");
+
+ for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++) {
+ ((LSM303DLHCDriver *)ip)->accbias[i] = bp[i];
+ }
+ return MSG_OK;
+}
+
+static msg_t comp_set_bias(void *ip, int32_t *bp) {
+ uint32_t i;
+
+ osalDbgCheck((ip != NULL) && (bp !=NULL));
+
+ osalDbgAssert((((LSM303DLHCDriver *)ip)->state == LSM303DLHC_READY) ||
+ (((LSM303DLHCDriver *)ip)->state == LSM303DLHC_STOP),
+ "comp_set_bias(), invalid state");
+
+ for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
+ ((LSM303DLHCDriver *)ip)->compbias[i] = bp[i];
+ }
+ return MSG_OK;
+}
+
+static msg_t acc_reset_bias(void *ip) {
+ uint32_t i;
+
+ osalDbgCheck(ip != NULL);
+
+ osalDbgAssert((((LSM303DLHCDriver *)ip)->state == LSM303DLHC_READY) ||
+ (((LSM303DLHCDriver *)ip)->state == LSM303DLHC_STOP),
+ "acc_reset_bias(), invalid state");
+
+ for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++)
+ ((LSM303DLHCDriver *)ip)->accbias[i] = 0;
+ return MSG_OK;
+}
+
+static msg_t comp_reset_bias(void *ip) {
+ uint32_t i;
+
+ osalDbgCheck(ip != NULL);
+
+ osalDbgAssert((((LSM303DLHCDriver *)ip)->state == LSM303DLHC_READY) ||
+ (((LSM303DLHCDriver *)ip)->state == LSM303DLHC_STOP),
+ "comp_reset_bias(), invalid state");
+
+ for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++)
+ ((LSM303DLHCDriver *)ip)->compbias[i] = 0;
+ return MSG_OK;
+}
+
+static msg_t acc_set_sensivity(void *ip, float *sp) {
+ uint32_t i;
+
+ osalDbgCheck((ip != NULL) && (sp !=NULL));
+
+ osalDbgAssert((((LSM303DLHCDriver *)ip)->state == LSM303DLHC_READY),
+ "acc_set_sensivity(), invalid state");
+
+ for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++) {
+ ((LSM303DLHCDriver *)ip)->accsensitivity[i] = sp[i];
+ }
+ return MSG_OK;
+}
+
+static msg_t comp_set_sensivity(void *ip, float *sp) {
+ uint32_t i;
+
+ osalDbgCheck((ip != NULL) && (sp !=NULL));
+
+ osalDbgAssert((((LSM303DLHCDriver *)ip)->state == LSM303DLHC_READY),
+ "comp_set_sensivity(), invalid state");
+
+ for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
+ ((LSM303DLHCDriver *)ip)->compsensitivity[i] = sp[i];
+ }
+ return MSG_OK;
+}
+
+static msg_t acc_reset_sensivity(void *ip) {
+ uint32_t i;
+
+ osalDbgCheck(ip != NULL);
+
+ osalDbgAssert((((LSM303DLHCDriver *)ip)->state == LSM303DLHC_READY),
+ "acc_reset_sensivity(), invalid state");
+
+ if(((LSM303DLHCDriver *)ip)->config->acccfg->fullscale == LSM303DLHC_ACC_FS_2G)
+ for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++)
+ ((LSM303DLHCDriver *)ip)->accsensitivity[i] = LSM303DLHC_ACC_SENS_2G;
+ else if(((LSM303DLHCDriver *)ip)->config->acccfg->fullscale == LSM303DLHC_ACC_FS_4G)
+ for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++)
+ ((LSM303DLHCDriver *)ip)->accsensitivity[i] = LSM303DLHC_ACC_SENS_4G;
+ else if(((LSM303DLHCDriver *)ip)->config->acccfg->fullscale == LSM303DLHC_ACC_FS_8G)
+ for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++)
+ ((LSM303DLHCDriver *)ip)->accsensitivity[i] = LSM303DLHC_ACC_SENS_8G;
+ else if(((LSM303DLHCDriver *)ip)->config->acccfg->fullscale == LSM303DLHC_ACC_FS_16G)
+ for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++)
+ ((LSM303DLHCDriver *)ip)->accsensitivity[i] = LSM303DLHC_ACC_SENS_16G;
+ else {
+ osalDbgAssert(FALSE, "reset_sensivity(), accelerometer full scale issue");
+ return MSG_RESET;
+ }
+ return MSG_OK;
+}
+
+static msg_t comp_reset_sensivity(void *ip) {
+ uint32_t i;
+
+ osalDbgCheck(ip != NULL);
+
+ osalDbgAssert((((LSM303DLHCDriver *)ip)->state == LSM303DLHC_READY),
+ "comp_reset_sensivity(), invalid state");
+
+ if(((LSM303DLHCDriver *)ip)->config->compcfg->fullscale == LSM303DLHC_COMP_FS_1_3_GA)
+ for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
+ if(i != 2) {
+ ((LSM303DLHCDriver *)ip)->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_1_3GA;
+ }
+ else {
+ ((LSM303DLHCDriver *)ip)->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_1_3GA;
+ }
+ }
+ else if(((LSM303DLHCDriver *)ip)->config->compcfg->fullscale == LSM303DLHC_COMP_FS_1_9_GA)
+ for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
+ if(i != 2) {
+ ((LSM303DLHCDriver *)ip)->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_1_9GA;
+ }
+ else {
+ ((LSM303DLHCDriver *)ip)->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_1_9GA;
+ }
+ }
+ else if(((LSM303DLHCDriver *)ip)->config->compcfg->fullscale == LSM303DLHC_COMP_FS_2_5_GA)
+ for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
+ if(i != 2) {
+ ((LSM303DLHCDriver *)ip)->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_2_5GA;
+ }
+ else {
+ ((LSM303DLHCDriver *)ip)->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_2_5GA;
+ }
+ }
+ else if(((LSM303DLHCDriver *)ip)->config->compcfg->fullscale == LSM303DLHC_COMP_FS_4_0_GA)
+ for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
+ if(i != 2) {
+ ((LSM303DLHCDriver *)ip)->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_4_0GA;
+ }
+ else {
+ ((LSM303DLHCDriver *)ip)->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_4_0GA;
+ }
+ }
+ else if(((LSM303DLHCDriver *)ip)->config->compcfg->fullscale == LSM303DLHC_COMP_FS_4_7_GA)
+ for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
+ if(i != 2) {
+ ((LSM303DLHCDriver *)ip)->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_4_7GA;
+ }
+ else {
+ ((LSM303DLHCDriver *)ip)->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_4_7GA;
+ }
+ }
+ else if(((LSM303DLHCDriver *)ip)->config->compcfg->fullscale == LSM303DLHC_COMP_FS_5_6_GA)
+ for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
+ if(i != 2) {
+ ((LSM303DLHCDriver *)ip)->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_5_6GA;
+ }
+ else {
+ ((LSM303DLHCDriver *)ip)->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_5_6GA;
+ }
+ }
+ else if(((LSM303DLHCDriver *)ip)->config->compcfg->fullscale == LSM303DLHC_COMP_FS_8_1_GA)
+ for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
+ if(i != 2) {
+ ((LSM303DLHCDriver *)ip)->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_8_1GA;
+ }
+ else {
+ ((LSM303DLHCDriver *)ip)->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_8_1GA;
+ }
+ }
+ else {
+ osalDbgAssert(FALSE, "reset_sensivity(), compass full scale issue");
+ return MSG_RESET;
+ }
+ return MSG_OK;
+}
+
+static const struct BaseSensorVMT vmt_basesensor = {
+ sens_get_axes_number, sens_read_raw, sens_read_cooked
+};
+
+static const struct BaseCompassVMT vmt_basecompass = {
+ comp_get_axes_number, comp_read_raw, comp_read_cooked,
+ comp_set_bias, comp_reset_bias, comp_set_sensivity, comp_reset_sensivity
+};
+
+static const struct BaseAccelerometerVMT vmt_baseaccelerometer = {
+ 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 LSM303DLHCACCVMT vmt_lsm303dlhcacc = {
+ 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 LSM303DLHCCOMPVMT vmt_lsm303dlhccomp = {
+ 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 LSM303DLHCDriver object
+ *
+ * @init
+ */
+void lsm303dlhcObjectInit(LSM303DLHCDriver *devp) {
+ uint32_t i;
+ devp->vmt_basesensor = &vmt_basesensor;
+ devp->vmt_baseaccelerometer = &vmt_baseaccelerometer;
+ devp->vmt_basecompass = &vmt_basecompass;
+ devp->vmt_lsm303dlhcacc = &vmt_lsm303dlhcacc;
+ devp->vmt_lsm303dlhccomp = &vmt_lsm303dlhccomp;
+ devp->config = NULL;
+ for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++)
+ devp->accbias[i] = 0;
+ for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++)
+ devp->compbias[i] = 0;
+ devp->state = LSM303DLHC_STOP;
+}
+
+/**
+ * @brief Configures and activates LSM303DLHC Complex Driver peripheral.
+ *
+ * @param[in] devp pointer to the @p LSM303DLHCDriver object
+ * @param[in] config pointer to the @p LSM303DLHCConfig object
+ *
+ * @api
+ */
+void lsm303dlhcStart(LSM303DLHCDriver *devp, const LSM303DLHCConfig *config) {
+ uint32_t i;
+ osalDbgCheck((devp != NULL) && (config != NULL));
+
+ osalDbgAssert((devp->state == LSM303DLHC_STOP) || (devp->state == LSM303DLHC_READY),
+ "lsm303dlhcStart(), invalid state");
+
+ devp->config = config;
+
+#if LSM303DLHC_USE_I2C
+#if LSM303DLHC_SHARED_I2C
+ i2cAcquireBus((devp)->config->i2cp);
+#endif /* LSM303DLHC_SHARED_I2C */
+ i2cStart((devp)->config->i2cp,
+ (devp)->config->i2ccfg);
+ if((devp)->config->acccfg != NULL) {
+ lsm303dlhcI2CWriteRegister(devp->config->i2cp,
+ LSM303DLHC_SAD_ACC,
+ LSM303DLHC_AD_ACC_CTRL_REG1,
+ devp->config->acccfg->axesenabling |
+ devp->config->acccfg->outdatarate |
+ devp->config->acccfg->lowpower);
+ lsm303dlhcI2CWriteRegister(devp->config->i2cp,
+ LSM303DLHC_SAD_ACC,
+ LSM303DLHC_AD_ACC_CTRL_REG4,
+ devp->config->acccfg->endianess |
+ devp->config->acccfg->fullscale |
+ devp->config->acccfg->blockdataupdate |
+ devp->config->acccfg->highresmode);
+ }
+ if((devp)->config->compcfg != NULL) {
+ lsm303dlhcI2CWriteRegister(devp->config->i2cp,
+ LSM303DLHC_SAD_COMP,
+ LSM303DLHC_AD_COMP_CRA_REG,
+ devp->config->compcfg->outputdatarate);
+ lsm303dlhcI2CWriteRegister(devp->config->i2cp,
+ LSM303DLHC_SAD_COMP,
+ LSM303DLHC_AD_COMP_CRB_REG,
+ devp->config->compcfg->fullscale);
+ lsm303dlhcI2CWriteRegister(devp->config->i2cp,
+ LSM303DLHC_SAD_COMP,
+ LSM303DLHC_AD_COMP_MR_REG,
+ devp->config->compcfg->mode);
+ }
+#if LSM303DLHC_SHARED_I2C
+ i2cReleaseBus((devp)->config->i2cp);
+#endif /* LSM303DLHC_SHARED_I2C */
+#endif /* LSM303DLHC_USE_I2C */
+ /* Storing sensitivity information according to full scale value */
+ if((devp)->config->acccfg != NULL) {
+ if(devp->config->acccfg->fullscale == LSM303DLHC_ACC_FS_2G)
+ for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = LSM303DLHC_ACC_SENS_2G;
+ else if(devp->config->acccfg->fullscale == LSM303DLHC_ACC_FS_4G)
+ for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = LSM303DLHC_ACC_SENS_4G;
+ else if(devp->config->acccfg->fullscale == LSM303DLHC_ACC_FS_8G)
+ for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = LSM303DLHC_ACC_SENS_8G;
+ else if(devp->config->acccfg->fullscale == LSM303DLHC_ACC_FS_16G)
+ for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = LSM303DLHC_ACC_SENS_16G;
+ else
+ osalDbgAssert(FALSE, "lsm303dlhcStart(), accelerometer full scale issue");
+ }
+ if((devp)->config->compcfg != NULL) {
+ if(devp->config->compcfg->fullscale == LSM303DLHC_COMP_FS_1_3_GA)
+ for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
+ if(i != 2) {
+ devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_1_3GA;
+ }
+ else {
+ devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_1_3GA;
+ }
+ }
+ else if(devp->config->compcfg->fullscale == LSM303DLHC_COMP_FS_1_9_GA)
+ for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
+ if(i != 2) {
+ devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_1_9GA;
+ }
+ else {
+ devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_1_9GA;
+ }
+ }
+ else if(devp->config->compcfg->fullscale == LSM303DLHC_COMP_FS_2_5_GA)
+ for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
+ if(i != 2) {
+ devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_2_5GA;
+ }
+ else {
+ devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_2_5GA;
+ }
+ }
+ else if(devp->config->compcfg->fullscale == LSM303DLHC_COMP_FS_4_0_GA)
+ for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
+ if(i != 2) {
+ devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_4_0GA;
+ }
+ else {
+ devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_4_0GA;
+ }
+ }
+ else if(devp->config->compcfg->fullscale == LSM303DLHC_COMP_FS_4_7_GA)
+ for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
+ if(i != 2) {
+ devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_4_7GA;
+ }
+ else {
+ devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_4_7GA;
+ }
+ }
+ else if(devp->config->compcfg->fullscale == LSM303DLHC_COMP_FS_5_6_GA)
+ for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
+ if(i != 2) {
+ devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_5_6GA;
+ }
+ else {
+ devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_5_6GA;
+ }
+ }
+ else if(devp->config->compcfg->fullscale == LSM303DLHC_COMP_FS_8_1_GA)
+ for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
+ if(i != 2) {
+ devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_8_1GA;
+ }
+ else {
+ devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_8_1GA;
+ }
+ }
+ else
+ osalDbgAssert(FALSE, "lsm303dlhcStart(), compass full scale issue");
+ }
+ /* This is the Compass transient recovery time */
+ osalThreadSleepMilliseconds(5);
+
+ devp->state = LSM303DLHC_READY;
+}
+
+/**
+ * @brief Deactivates the LSM303DLHC Complex Driver peripheral.
+ *
+ * @param[in] devp pointer to the @p LSM303DLHCDriver object
+ *
+ * @api
+ */
+void lsm303dlhcStop(LSM303DLHCDriver *devp) {
+
+ osalDbgCheck(devp != NULL);
+
+ osalDbgAssert((devp->state == LSM303DLHC_STOP) || (devp->state == LSM303DLHC_READY),
+ "lsm303dlhcStop(), invalid state");
+
+#if (LSM303DLHC_USE_I2C)
+ if (devp->state == LSM303DLHC_STOP) {
+#if LSM303DLHC_SHARED_I2C
+ i2cAcquireBus((devp)->config->i2cp);
+ i2cStart((devp)->config->i2cp,
+ (devp)->config->i2ccfg);
+#endif /* LSM303DLHC_SHARED_I2C */
+ if((devp)->config->acccfg != NULL) {
+ lsm303dlhcI2CWriteRegister(devp->config->i2cp,
+ LSM303DLHC_SAD_ACC,
+ LSM303DLHC_AD_ACC_CTRL_REG1,
+ LSM303DLHC_ACC_AE_DISABLED |
+ LSM303DLHC_ACC_ODR_PD);
+ }
+ if((devp)->config->compcfg != NULL) {
+ lsm303dlhcI2CWriteRegister(devp->config->i2cp,
+ LSM303DLHC_SAD_COMP,
+ LSM303DLHC_AD_COMP_MR_REG,
+ LSM303DLHC_COMP_MD_SLEEP);
+ }
+ i2cStop((devp)->config->i2cp);
+#if LSM303DLHC_SHARED_I2C
+ i2cReleaseBus((devp)->config->i2cp);
+#endif /* LSM303DLHC_SHARED_I2C */
+ }
+#endif /* LSM303DLHC_USE_I2C */
+ devp->state = LSM303DLHC_STOP;
+}
+/** @} */
generated by cgit v1.2.3 (git 2.25.1) at 2024-07-02 20:29:47 +0000