diff options
Diffstat (limited to 'os/ex/ST/lsm6dsl.c')
| -rw-r--r-- | os/ex/ST/lsm6dsl.c | 1113 |
1 files changed, 1113 insertions, 0 deletions
diff --git a/os/ex/ST/lsm6dsl.c b/os/ex/ST/lsm6dsl.c new file mode 100644 index 000000000..6a1fc34fc --- /dev/null +++ b/os/ex/ST/lsm6dsl.c @@ -0,0 +1,1113 @@ +/*
+ 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 lsm6dsl.c
+ * @brief LSM6DSL MEMS interface module code.
+ *
+ * @addtogroup LSM6DSL
+ * @ingroup EX_ST
+ * @{
+ */
+
+#include "hal.h"
+#include "lsm6dsl.h"
+
+/*===========================================================================*/
+/* Driver local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local variables and types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local functions. */
+/*===========================================================================*/
+
+#if (LSM6DSL_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
+ * @param[out] rxbuf pointer to an output buffer
+ * @param[in] n number of consecutive register to read
+ * @return the operation status.
+ * @notapi
+ */
+msg_t lsm6dslI2CReadRegister(I2CDriver *i2cp, lsm6dsl_sad_t sad, uint8_t reg,
+ uint8_t* rxbuf, size_t n) {
+
+ return i2cMasterTransmitTimeout(i2cp, sad, ®, 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.
+ * @notapi
+ */
+#define lsm6dslI2CWriteRegister(i2cp, sad, txbuf, n) \
+ i2cMasterTransmitTimeout(i2cp, sad, txbuf, n + 1, NULL, 0, \
+ TIME_INFINITE)
+#endif /* LSM6DSL_USE_I2C */
+
+/**
+ * @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 LSM6DSL_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[]) {
+ LSM6DSLDriver* devp;
+ uint8_t buff [LSM6DSL_ACC_NUMBER_OF_AXES * 2], i;
+ int16_t tmp;
+ msg_t msg;
+
+ osalDbgCheck((ip != NULL) && (axes != NULL));
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LSM6DSLDriver*, (BaseAccelerometer*)ip);
+
+ osalDbgAssert((devp->state == LSM6DSL_READY),
+ "acc_read_raw(), invalid state");
+#if LSM6DSL_USE_I2C
+ osalDbgAssert((devp->config->i2cp->state == I2C_READY),
+ "acc_read_raw(), channel not ready");
+
+#if LSM6DSL_SHARED_I2C
+ i2cAcquireBus(devp->config->i2cp);
+ i2cStart(devp->config->i2cp,
+ devp->config->i2ccfg);
+#endif /* LSM6DSL_SHARED_I2C */
+
+ msg = lsm6dslI2CReadRegister(devp->config->i2cp, devp->config->slaveaddress,
+ LSM6DSL_AD_OUT_X_L_XL, buff,
+ LSM6DSL_ACC_NUMBER_OF_AXES * 2);
+
+#if LSM6DSL_SHARED_I2C
+ i2cReleaseBus(devp->config->i2cp);
+#endif /* LSM6DSL_SHARED_I2C */
+#endif /* LSM6DSL_USE_I2C */
+ if(msg == MSG_OK)
+ for(i = 0; i < LSM6DSL_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[]) {
+ LSM6DSLDriver* devp;
+ uint32_t i;
+ int32_t raw[LSM6DSL_ACC_NUMBER_OF_AXES];
+ msg_t msg;
+
+ osalDbgCheck((ip != NULL) && (axes != NULL));
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LSM6DSLDriver*, (BaseAccelerometer*)ip);
+
+ osalDbgAssert((devp->state == LSM6DSL_READY),
+ "acc_read_cooked(), invalid state");
+
+ msg = acc_read_raw(ip, raw);
+ for(i = 0; i < LSM6DSL_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) {
+ LSM6DSLDriver* devp;
+ uint32_t i;
+ msg_t msg = MSG_OK;
+
+ osalDbgCheck((ip != NULL) && (bp != NULL));
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LSM6DSLDriver*, (BaseAccelerometer*)ip);
+
+ osalDbgAssert((devp->state == LSM6DSL_READY),
+ "acc_set_bias(), invalid state");
+
+ for(i = 0; i < LSM6DSL_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) {
+ LSM6DSLDriver* devp;
+ uint32_t i;
+ msg_t msg = MSG_OK;
+
+ osalDbgCheck(ip != NULL);
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LSM6DSLDriver*, (BaseAccelerometer*)ip);
+
+ osalDbgAssert((devp->state == LSM6DSL_READY),
+ "acc_reset_bias(), invalid state");
+
+ for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++)
+ devp->accbias[i] = LSM6DSL_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) {
+ LSM6DSLDriver* devp;
+ uint32_t i;
+ msg_t msg = MSG_OK;
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LSM6DSLDriver*, (BaseAccelerometer*)ip);
+
+ osalDbgCheck((ip != NULL) && (sp != NULL));
+
+ osalDbgAssert((devp->state == LSM6DSL_READY),
+ "acc_set_sensivity(), invalid state");
+
+ for(i = 0; i < LSM6DSL_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) {
+ LSM6DSLDriver* devp;
+ uint32_t i;
+ msg_t msg = MSG_OK;
+
+ osalDbgCheck(ip != NULL);
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LSM6DSLDriver*, (BaseAccelerometer*)ip);
+
+ osalDbgAssert((devp->state == LSM6DSL_READY),
+ "acc_reset_sensivity(), invalid state");
+
+ if(devp->config->accfullscale == LSM6DSL_ACC_FS_2G)
+ for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = LSM6DSL_ACC_SENS_2G;
+ else if(devp->config->accfullscale == LSM6DSL_ACC_FS_4G)
+ for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = LSM6DSL_ACC_SENS_4G;
+ else if(devp->config->accfullscale == LSM6DSL_ACC_FS_8G)
+ for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = LSM6DSL_ACC_SENS_8G;
+ else if(devp->config->accfullscale == LSM6DSL_ACC_FS_16G)
+ for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = LSM6DSL_ACC_SENS_16G;
+ else {
+ osalDbgAssert(FALSE, "reset_sensivity(), accelerometer full scale issue");
+ msg = MSG_RESET;
+ }
+ return msg;
+}
+
+/**
+ * @brief Changes the LSM6DSLDriver 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 LSM6DSLDriver 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(LSM6DSLDriver *devp,
+ lsm6dsl_acc_fs_t fs) {
+ float newfs, scale;
+ uint8_t i, buff[2];
+ msg_t msg;
+
+ osalDbgCheck(devp != NULL);
+
+ osalDbgAssert((devp->state == LSM6DSL_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 == LSM6DSL_ACC_FS_2G) {
+ newfs = LSM6DSL_ACC_2G;
+ }
+ else if(fs == LSM6DSL_ACC_FS_4G) {
+ newfs = LSM6DSL_ACC_4G;
+ }
+ else if(fs == LSM6DSL_ACC_FS_8G) {
+ newfs = LSM6DSL_ACC_8G;
+ }
+ else if(fs == LSM6DSL_ACC_FS_16G) {
+ newfs = LSM6DSL_ACC_16G;
+ }
+ else {
+ msg = MSG_RESET;
+ return msg;
+ }
+
+ if(newfs != devp->accfullscale) {
+ /* Computing scale value.*/
+ scale = newfs / devp->accfullscale;
+ devp->accfullscale = newfs;
+
+#if LSM6DSL_SHARED_I2C
+ i2cAcquireBus(devp->config->i2cp);
+ i2cStart(devp->config->i2cp,
+ devp->config->i2ccfg);
+#endif /* LSM6DSL_SHARED_I2C */
+
+ /* Updating register.*/
+ msg = lsm6dslI2CReadRegister(devp->config->i2cp,
+ devp->config->slaveaddress,
+ LSM6DSL_AD_CTRL_REG6_XL, &buff[1], 1);
+
+#if LSM6DSL_SHARED_I2C
+ i2cReleaseBus(devp->config->i2cp);
+#endif /* LSM6DSL_SHARED_I2C */
+
+ if(msg != MSG_OK)
+ return msg;
+
+ buff[1] &= ~(LSM6DSL_CTRL_REG6_XL_FS_MASK);
+ buff[1] |= fs;
+ buff[0] = LSM6DSL_AD_CTRL_REG6_XL;
+
+#if LSM6DSL_SHARED_I2C
+ i2cAcquireBus(devp->config->i2cp);
+ i2cStart(devp->config->i2cp, devp->config->i2ccfg);
+#endif /* LSM6DSL_SHARED_I2C */
+
+ msg = lsm6dslI2CWriteRegister(devp->config->i2cp,
+ devp->config->slaveaddress, buff, 1);
+
+#if LSM6DSL_SHARED_I2C
+ i2cReleaseBus(devp->config->i2cp);
+#endif /* LSM6DSL_SHARED_I2C */
+
+ if(msg != MSG_OK)
+ return msg;
+
+ /* Scaling sensitivity and bias. Re-calibration is suggested anyway.*/
+ for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++) {
+ devp->accsensitivity[i] *= scale;
+ devp->accbias[i] *= scale;
+ }
+ }
+ return msg;
+}
+
+/**
+ * @brief Return the number of axes of the BaseGyroscope.
+ *
+ * @param[in] ip pointer to @p BaseGyroscope interface.
+ *
+ * @return the number of axes.
+ */
+static size_t gyro_get_axes_number(void *ip) {
+ (void)ip;
+
+ return LSM6DSL_GYRO_NUMBER_OF_AXES;
+}
+
+/**
+ * @brief Retrieves raw data from the BaseGyroscope.
+ * @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
+ * BaseGyroscope axes number.
+ *
+ * @param[in] ip pointer to @p BaseGyroscope 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 gyro_read_raw(void *ip, int32_t axes[LSM6DSL_GYRO_NUMBER_OF_AXES]) {
+ LSM6DSLDriver* devp;
+ int16_t tmp;
+ uint8_t i, buff [2 * LSM6DSL_GYRO_NUMBER_OF_AXES];
+ msg_t msg = MSG_OK;
+
+ osalDbgCheck((ip != NULL) && (axes != NULL));
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LSM6DSLDriver*, (BaseGyroscope*)ip);
+
+ osalDbgAssert((devp->state == LSM6DSL_READY),
+ "gyro_read_raw(), invalid state");
+#if LSM6DSL_USE_I2C
+ osalDbgAssert((devp->config->i2cp->state == I2C_READY),
+ "gyro_read_raw(), channel not ready");
+
+#if LSM6DSL_SHARED_I2C
+ i2cAcquireBus(devp->config->i2cp);
+ i2cStart(devp->config->i2cp,
+ devp->config->i2ccfg);
+#endif /* LSM6DSL_SHARED_I2C */
+
+ msg = lsm6dslI2CReadRegister(devp->config->i2cp, devp->config->slaveaddress,
+ LSM6DSL_AD_OUT_X_L_G, buff,
+ LSM6DSL_GYRO_NUMBER_OF_AXES * 2);
+
+#if LSM6DSL_SHARED_I2C
+ i2cReleaseBus(devp->config->i2cp);
+#endif /* LSM6DSL_SHARED_I2C */
+#endif /* LSM6DSL_USE_I2C */
+
+ for(i = 0; i < LSM6DSL_GYRO_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 BaseGyroscope.
+ * @note This data is manipulated according to the formula
+ * cooked = (raw * sensitivity) - bias.
+ * @note Final data is expressed as DPS.
+ * @note The axes array must be at least the same size of the
+ * BaseGyroscope axes number.
+ *
+ * @param[in] ip pointer to @p BaseGyroscope 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 gyro_read_cooked(void *ip, float axes[]) {
+ LSM6DSLDriver* devp;
+ uint32_t i;
+ int32_t raw[LSM6DSL_GYRO_NUMBER_OF_AXES];
+ msg_t msg;
+
+ osalDbgCheck((ip != NULL) && (axes != NULL));
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LSM6DSLDriver*, (BaseGyroscope*)ip);
+
+ osalDbgAssert((devp->state == LSM6DSL_READY),
+ "gyro_read_cooked(), invalid state");
+
+ msg = gyro_read_raw(ip, raw);
+ for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++){
+ axes[i] = (raw[i] * devp->gyrosensitivity[i]) - devp->gyrobias[i];
+ }
+ return msg;
+}
+
+/**
+ * @brief Samples bias values for the BaseGyroscope.
+ * @note The LSM6DSL shall not be moved during the whole procedure.
+ * @note After this function internal bias is automatically updated.
+ * @note The behavior of this function depends on @P LSM6DSL_BIAS_ACQ_TIMES
+ * and @p LSM6DSL_BIAS_SETTLING_US.
+ *
+ * @param[in] ip pointer to @p BaseGyroscope interface.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ */
+static msg_t gyro_sample_bias(void *ip) {
+ LSM6DSLDriver* devp;
+ uint32_t i, j;
+ int32_t raw[LSM6DSL_GYRO_NUMBER_OF_AXES];
+ int32_t buff[LSM6DSL_GYRO_NUMBER_OF_AXES] = {0, 0, 0};
+ msg_t msg;
+
+ osalDbgCheck(ip != NULL);
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LSM6DSLDriver*, (BaseGyroscope*)ip);
+
+ osalDbgAssert((devp->state == LSM6DSL_READY),
+ "gyro_sample_bias(), invalid state");
+#if LSM6DSL_USE_I2C
+ osalDbgAssert((devp->config->i2cp->state == I2C_READY),
+ "gyro_sample_bias(), channel not ready");
+#endif
+
+ for(i = 0; i < LSM6DSL_GYRO_BIAS_ACQ_TIMES; i++){
+ msg = gyro_read_raw(ip, raw);
+ if(msg != MSG_OK)
+ return msg;
+ for(j = 0; j < LSM6DSL_GYRO_NUMBER_OF_AXES; j++){
+ buff[j] += raw[j];
+ }
+ osalThreadSleepMicroseconds(LSM6DSL_GYRO_BIAS_SETTLING_US);
+ }
+
+ for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++){
+ devp->gyrobias[i] = (buff[i] / LSM6DSL_GYRO_BIAS_ACQ_TIMES);
+ devp->gyrobias[i] *= devp->gyrosensitivity[i];
+ }
+ return msg;
+}
+
+/**
+ * @brief Set bias values for the BaseGyroscope.
+ * @note Bias must be expressed as DPS.
+ * @note The bias buffer must be at least the same size of the BaseGyroscope
+ * axes number.
+ *
+ * @param[in] ip pointer to @p BaseGyroscope interface.
+ * @param[in] bp a buffer which contains biases.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ */
+static msg_t gyro_set_bias(void *ip, float *bp) {
+ LSM6DSLDriver* devp;
+ uint32_t i;
+ msg_t msg = MSG_OK;
+
+ osalDbgCheck((ip != NULL) && (bp != NULL));
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LSM6DSLDriver*, (BaseGyroscope*)ip);
+
+ osalDbgAssert((devp->state == LSM6DSL_READY),
+ "gyro_set_bias(), invalid state");
+
+ for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++) {
+ devp->gyrobias[i] = bp[i];
+ }
+ return msg;
+}
+
+/**
+ * @brief Reset bias values for the BaseGyroscope.
+ * @note Default biases value are obtained from device datasheet when
+ * available otherwise they are considered zero.
+ *
+ * @param[in] ip pointer to @p BaseGyroscope interface.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ */
+static msg_t gyro_reset_bias(void *ip) {
+ LSM6DSLDriver* devp;
+ uint32_t i;
+ msg_t msg = MSG_OK;
+
+ osalDbgCheck(ip != NULL);
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LSM6DSLDriver*, (BaseGyroscope*)ip);
+
+ osalDbgAssert((devp->state == LSM6DSL_READY),
+ "gyro_reset_bias(), invalid state");
+
+ for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++)
+ devp->gyrobias[i] = LSM6DSL_GYRO_BIAS;
+ return msg;
+}
+
+/**
+ * @brief Set sensitivity values for the BaseGyroscope.
+ * @note Sensitivity must be expressed as DPS/LSB.
+ * @note The sensitivity buffer must be at least the same size of the
+ * BaseGyroscope axes number.
+ *
+ * @param[in] ip pointer to @p BaseGyroscope interface.
+ * @param[in] sp a buffer which contains sensitivities.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ */
+static msg_t gyro_set_sensivity(void *ip, float *sp) {
+ LSM6DSLDriver* devp;
+ uint32_t i;
+ msg_t msg = MSG_OK;
+
+ osalDbgCheck((ip != NULL) && (sp !=NULL));
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LSM6DSLDriver*, (BaseGyroscope*)ip);
+
+ osalDbgAssert((devp->state == LSM6DSL_READY),
+ "gyro_set_sensivity(), invalid state");
+
+ for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++) {
+ devp->gyrosensitivity[i] = sp[i];
+ }
+ return msg;
+}
+
+/**
+ * @brief Reset sensitivity values for the BaseGyroscope.
+ * @note Default sensitivities value are obtained from device datasheet.
+ *
+ * @param[in] ip pointer to @p BaseGyroscope interface.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET otherwise.
+ */
+static msg_t gyro_reset_sensivity(void *ip) {
+ LSM6DSLDriver* devp;
+ uint32_t i;
+ msg_t msg = MSG_OK;
+
+ osalDbgCheck(ip != NULL);
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LSM6DSLDriver*, (BaseGyroscope*)ip);
+
+ osalDbgAssert((devp->state == LSM6DSL_READY),
+ "gyro_reset_sensivity(), invalid state");
+
+ if(devp->config->gyrofullscale == LSM6DSL_GYRO_FS_245DPS)
+ for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++)
+ devp->gyrosensitivity[i] = LSM6DSL_GYRO_SENS_245DPS;
+ else if(devp->config->gyrofullscale == LSM6DSL_GYRO_FS_500DPS)
+ for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++)
+ devp->gyrosensitivity[i] = LSM6DSL_GYRO_SENS_500DPS;
+ else if(devp->config->gyrofullscale == LSM6DSL_GYRO_FS_2000DPS)
+ for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++)
+ devp->gyrosensitivity[i] = LSM6DSL_GYRO_SENS_2000DPS;
+ else {
+ osalDbgAssert(FALSE, "gyro_reset_sensivity(), full scale issue");
+ return MSG_RESET;
+ }
+ return msg;
+}
+
+/**
+ * @brief Changes the LSM6DSLDriver gyroscope 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 BaseGyroscope 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 gyro_set_full_scale(LSM6DSLDriver *devp, lsm6dsl_gyro_fs_t fs) {
+ float newfs, scale;
+ uint8_t i, buff[2];
+ msg_t msg = MSG_OK;
+
+ osalDbgCheck(devp != NULL);
+
+ osalDbgAssert((devp->state == LSM6DSL_READY),
+ "gyro_set_full_scale(), invalid state");
+#if LSM6DSL_USE_I2C
+ osalDbgAssert((devp->config->i2cp->state == I2C_READY),
+ "gyro_set_full_scale(), channel not ready");
+#endif
+
+ if(fs == LSM6DSL_GYRO_FS_245DPS) {
+ newfs = LSM6DSL_GYRO_245DPS;
+ }
+ else if(fs == LSM6DSL_GYRO_FS_500DPS) {
+ newfs = LSM6DSL_GYRO_500DPS;
+ }
+ else if(fs == LSM6DSL_GYRO_FS_2000DPS) {
+ newfs = LSM6DSL_GYRO_2000DPS;
+ }
+ else {
+ return MSG_RESET;
+ }
+
+ if(newfs != devp->gyrofullscale) {
+ scale = newfs / devp->gyrofullscale;
+ devp->gyrofullscale = newfs;
+
+#if LSM6DSL_USE_I2C
+#if LSM6DSL_SHARED_I2C
+ i2cAcquireBus(devp->config->i2cp);
+ i2cStart(devp->config->i2cp,
+ devp->config->i2ccfg);
+#endif /* LSM6DSL_SHARED_I2C */
+
+ /* Updating register.*/
+ msg = lsm6dslI2CReadRegister(devp->config->i2cp,
+ devp->config->slaveaddress,
+ LSM6DSL_AD_CTRL_REG1_G, &buff[1], 1);
+
+#if LSM6DSL_SHARED_I2C
+ i2cReleaseBus(devp->config->i2cp);
+#endif /* LSM6DSL_SHARED_I2C */
+#endif /* LSM6DSL_USE_I2C */
+
+ buff[1] &= ~(LSM6DSL_CTRL_REG1_G_FS_MASK);
+ buff[1] |= fs;
+ buff[0] = LSM6DSL_AD_CTRL_REG1_G;
+
+#if LSM6DSL_USE_I2C
+#if LSM6DSL_SHARED_I2C
+ i2cAcquireBus(devp->config->i2cp);
+ i2cStart(devp->config->i2cp,
+ devp->config->i2ccfg);
+#endif /* LSM6DSL_SHARED_I2C */
+
+ lsm6dslI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
+ buff, 1);
+
+#if LSM6DSL_SHARED_I2C
+ i2cReleaseBus(devp->config->i2cp);
+#endif /* LSM6DSL_SHARED_I2C */
+#endif /* LSM6DSL_USE_I2C */
+
+ /* Scaling sensitivity and bias. Re-calibration is suggested anyway. */
+ for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++) {
+ devp->gyrosensitivity[i] *= scale;
+ devp->gyrobias[i] *= scale;
+ }
+ }
+ return msg;
+}
+
+static const struct LSM6DSLVMT vmt_device = {
+ (size_t)0,
+ acc_set_full_scale, gyro_set_full_scale
+};
+
+static const struct BaseAccelerometerVMT vmt_accelerometer = {
+ sizeof(struct LSM6DSLVMT*),
+ 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 BaseGyroscopeVMT vmt_gyroscope = {
+ sizeof(struct LSM6DSLVMT*) + sizeof(BaseAccelerometer),
+ gyro_get_axes_number, gyro_read_raw, gyro_read_cooked,
+ gyro_sample_bias, gyro_set_bias, gyro_reset_bias,
+ gyro_set_sensivity, gyro_reset_sensivity
+};
+
+/*===========================================================================*/
+/* Driver exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Initializes an instance.
+ *
+ * @param[out] devp pointer to the @p LSM6DSLDriver object
+ *
+ * @init
+ */
+void lsm6dslObjectInit(LSM6DSLDriver *devp) {
+ devp->vmt = &vmt_device;
+ devp->acc_if.vmt = &vmt_accelerometer;
+ devp->gyro_if.vmt = &vmt_gyroscope;
+
+ devp->config = NULL;
+
+ devp->accaxes = LSM6DSL_ACC_NUMBER_OF_AXES;
+ devp->gyroaxes = LSM6DSL_GYRO_NUMBER_OF_AXES;
+
+ devp->state = LSM6DSL_STOP;
+}
+
+/**
+ * @brief Configures and activates LSM6DSL Complex Driver peripheral.
+ *
+ * @param[in] devp pointer to the @p LSM6DSLDriver object
+ * @param[in] config pointer to the @p LSM6DSLConfig object
+ *
+ * @api
+ */
+void lsm6dslStart(LSM6DSLDriver *devp, const LSM6DSLConfig *config) {
+ uint32_t i;
+ uint8_t cr[5];
+ osalDbgCheck((devp != NULL) && (config != NULL));
+
+ osalDbgAssert((devp->state == LSM6DSL_STOP) ||
+ (devp->state == LSM6DSL_READY),
+ "lsm6dslStart(), invalid state");
+
+ devp->config = config;
+
+ /* Configuring common registers.*/
+
+ /* Control register 8 configuration block.*/
+ {
+ cr[0] = LSM6DSL_AD_CTRL_REG8;
+ cr[1] = LSM6DSL_CTRL_REG8_IF_ADD_INC;
+#if LSM6DSL_USE_ADVANCED || defined(__DOXYGEN__)
+ cr[1] |= devp->config->endianness | devp->config->blockdataupdate;
+#endif
+ }
+#if LSM6DSL_USE_I2C
+#if LSM6DSL_SHARED_I2C
+ i2cAcquireBus(devp->config->i2cp);
+#endif /* LSM6DSL_SHARED_I2C */
+
+ i2cStart(devp->config->i2cp, devp->config->i2ccfg);
+ lsm6dslI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
+ cr, 1);
+
+#if LSM6DSL_SHARED_I2C
+ i2cReleaseBus(devp->config->i2cp);
+#endif /* LSM6DSL_SHARED_I2C */
+#endif /* LSM6DSL_USE_I2C */
+
+ /* Configuring Accelerometer subsystem.*/
+ /* Multiple write starting address.*/
+ cr[0] = LSM6DSL_AD_CTRL_REG5_XL;
+ /* Control register 5 configuration block.*/
+ {
+ cr[1] = LSM6DSL_CTRL_REG5_XL_XEN_XL | LSM6DSL_CTRL_REG5_XL_YEN_XL |
+ LSM6DSL_CTRL_REG5_XL_ZEN_XL;
+#if LSM6DSL_ACC_USE_ADVANCED || defined(__DOXYGEN__)
+ cr[1] |= devp->config->accdecmode;
+#endif
+ }
+
+ /* Control register 6 configuration block.*/
+ {
+ cr[2] = devp->config->accoutdatarate |
+ devp->config->accfullscale;
+ }
+
+#if LSM6DSL_USE_I2C
+#if LSM6DSL_SHARED_I2C
+ i2cAcquireBus(devp->config->i2cp);
+ i2cStart(devp->config->i2cp, devp->config->i2ccfg);
+#endif /* LSM6DSL_SHARED_I2C */
+
+ lsm6dslI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
+ cr, 2);
+
+#if LSM6DSL_SHARED_I2C
+ i2cReleaseBus(devp->config->i2cp);
+#endif /* LSM6DSL_SHARED_I2C */
+#endif /* LSM6DSL_USE_I2C */
+
+ /* Storing sensitivity according to user settings */
+ if(devp->config->accfullscale == LSM6DSL_ACC_FS_2G) {
+ for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++) {
+ if(devp->config->accsensitivity == NULL)
+ devp->accsensitivity[i] = LSM6DSL_ACC_SENS_2G;
+ else
+ devp->accsensitivity[i] = devp->config->accsensitivity[i];
+ }
+ devp->accfullscale = LSM6DSL_ACC_2G;
+ }
+ else if(devp->config->accfullscale == LSM6DSL_ACC_FS_4G) {
+ for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++) {
+ if(devp->config->accsensitivity == NULL)
+ devp->accsensitivity[i] = LSM6DSL_ACC_SENS_4G;
+ else
+ devp->accsensitivity[i] = devp->config->accsensitivity[i];
+ }
+ devp->accfullscale = LSM6DSL_ACC_4G;
+ }
+ else if(devp->config->accfullscale == LSM6DSL_ACC_FS_8G) {
+ for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++) {
+ if(devp->config->accsensitivity == NULL)
+ devp->accsensitivity[i] = LSM6DSL_ACC_SENS_8G;
+ else
+ devp->accsensitivity[i] = devp->config->accsensitivity[i];
+ }
+ devp->accfullscale = LSM6DSL_ACC_8G;
+ }
+ else if(devp->config->accfullscale == LSM6DSL_ACC_FS_16G) {
+ for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++) {
+ if(devp->config->accsensitivity == NULL)
+ devp->accsensitivity[i] = LSM6DSL_ACC_SENS_16G;
+ else
+ devp->accsensitivity[i] = devp->config->accsensitivity[i];
+ }
+ devp->accfullscale = LSM6DSL_ACC_16G;
+ }
+ else
+ osalDbgAssert(FALSE, "lsm6dslStart(), accelerometer full scale issue");
+
+ /* Storing bias information */
+ if(devp->config->accbias != NULL)
+ for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++)
+ devp->accbias[i] = devp->config->accbias[i];
+ else
+ for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++)
+ devp->accbias[i] = LSM6DSL_ACC_BIAS;
+
+ /* Configuring Gyroscope subsystem.*/
+ /* Multiple write starting address.*/
+ cr[0] = LSM6DSL_AD_CTRL_REG1_G;
+
+ /* Control register 1 configuration block.*/
+ {
+ cr[1] = devp->config->gyrofullscale |
+ devp->config->gyrooutdatarate;
+#if LSM6DSL_GYRO_USE_ADVANCED || defined(__DOXYGEN__)
+ cr[1] |= devp->config->gyrodecmode;
+#endif
+ }
+
+ /* Control register 2 configuration block.*/
+ {
+ cr[2] = 0;
+#if LSM6DSL_GYRO_USE_ADVANCED || defined(__DOXYGEN__)
+ cr[2] |= devp->config->gyrooutsel;
+#endif
+ }
+
+ /* Control register 3 configuration block.*/
+ {
+ cr[3] = 0;
+#if LSM6DSL_GYRO_USE_ADVANCED || defined(__DOXYGEN__)
+ cr[3] |= devp->config->gyrohpfenable |
+ devp->config->gyrolowmodecfg |
+ devp->config->gyrohpcfg;
+#endif
+ }
+
+ /* Control register 4 configuration block.*/
+ {
+ cr[4] = LSM6DSL_CTRL_REG4_XEN_G | LSM6DSL_CTRL_REG4_YEN_G |
+ LSM6DSL_CTRL_REG4_ZEN_G;
+ }
+#if LSM6DSL_USE_I2C
+#if LSM6DSL_SHARED_I2C
+ i2cAcquireBus(devp->config->i2cp);
+ i2cStart(devp->config->i2cp, devp->config->i2ccfg);
+#endif /* LSM6DSL_SHARED_I2C */
+
+ lsm6dslI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
+ cr, 4);
+
+#if LSM6DSL_SHARED_I2C
+ i2cReleaseBus(devp->config->i2cp);
+#endif /* LSM6DSL_SHARED_I2C */
+#endif /* LSM6DSL_USE_I2C */
+
+ cr[0] = LSM6DSL_AD_CTRL_REG9;
+ /* Control register 9 configuration block.*/
+ {
+ cr[1] = 0;
+ }
+#if LSM6DSL_USE_I2C
+#if LSM6DSL_SHARED_I2C
+ i2cAcquireBus(devp->config->i2cp);
+ i2cStart(devp->config->i2cp, devp->config->i2ccfg);
+#endif /* LSM6DSL_SHARED_I2C */
+
+ lsm6dslI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
+ cr, 1);
+
+#if LSM6DSL_SHARED_I2C
+ i2cReleaseBus(devp->config->i2cp);
+#endif /* LSM6DSL_SHARED_I2C */
+#endif /* LSM6DSL_USE_I2C */
+
+ if(devp->config->gyrofullscale == LSM6DSL_GYRO_FS_245DPS) {
+ for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++) {
+ if(devp->config->gyrosensitivity == NULL)
+ devp->gyrosensitivity[i] = LSM6DSL_GYRO_SENS_245DPS;
+ else
+ devp->gyrosensitivity[i] = devp->config->gyrosensitivity[i];
+ }
+ devp->gyrofullscale = LSM6DSL_GYRO_245DPS;
+ }
+ else if(devp->config->gyrofullscale == LSM6DSL_GYRO_FS_500DPS) {
+ for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++) {
+ if(devp->config->gyrosensitivity == NULL)
+ devp->gyrosensitivity[i] = LSM6DSL_GYRO_SENS_500DPS;
+ else
+ devp->gyrosensitivity[i] = devp->config->gyrosensitivity[i];
+ }
+ devp->gyrofullscale = LSM6DSL_GYRO_500DPS;
+ }
+ else if(devp->config->gyrofullscale == LSM6DSL_GYRO_FS_2000DPS) {
+ for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++) {
+ if(devp->config->gyrosensitivity == NULL)
+ devp->gyrosensitivity[i] = LSM6DSL_GYRO_SENS_2000DPS;
+ else
+ devp->gyrosensitivity[i] = devp->config->gyrosensitivity[i];
+ }
+ devp->gyrofullscale = LSM6DSL_GYRO_2000DPS;
+ }
+ else
+ osalDbgAssert(FALSE, "lsm6dslStart(), gyroscope full scale issue");
+
+ /* Storing bias information */
+ if(devp->config->gyrobias != NULL)
+ for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++)
+ devp->gyrobias[i] = devp->config->gyrobias[i];
+ else
+ for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++)
+ devp->gyrobias[i] = LSM6DSL_GYRO_BIAS;
+
+ /* This is the MEMS transient recovery time */
+ osalThreadSleepMilliseconds(5);
+
+ devp->state = LSM6DSL_READY;
+}
+
+/**
+ * @brief Deactivates the LSM6DSL Complex Driver peripheral.
+ *
+ * @param[in] devp pointer to the @p LSM6DSLDriver object
+ *
+ * @api
+ */
+void lsm6dslStop(LSM6DSLDriver *devp) {
+ uint8_t cr[2];
+
+ osalDbgCheck(devp != NULL);
+
+ osalDbgAssert((devp->state == LSM6DSL_STOP) || (devp->state == LSM6DSL_READY),
+ "lsm6dslStop(), invalid state");
+
+ if (devp->state == LSM6DSL_READY) {
+#if LSM6DSL_USE_I2C
+#if LSM6DSL_SHARED_I2C
+ i2cAcquireBus(devp->config->i2cp);
+ i2cStart(devp->config->i2cp, devp->config->i2ccfg);
+#endif /* LSM6DSL_SHARED_I2C */
+
+ /* Disabling accelerometer.*/
+ cr[0] = LSM6DSL_AD_CTRL_REG6_XL;
+ cr[1] = 0;
+ lsm6dslI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
+ cr, 1);
+
+ /* Disabling gyroscope.*/
+ cr[0] = LSM6DSL_AD_CTRL_REG9;
+ cr[1] = LSM6DSL_CTRL_REG9_SLEEP_G;
+ lsm6dslI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
+ cr, 1);
+
+ i2cStop(devp->config->i2cp);
+#if LSM6DSL_SHARED_I2C
+ i2cReleaseBus(devp->config->i2cp);
+#endif /* LSM6DSL_SHARED_I2C */
+#endif /* LSM6DSL_USE_I2C */
+ }
+ devp->state = LSM6DSL_STOP;
+}
+/** @} */
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