diff options
Diffstat (limited to 'os/ex')
-rw-r--r-- | os/ex/ST/lis3mdl.c | 484 | ||||
-rw-r--r-- | os/ex/ST/lis3mdl.h | 19 |
2 files changed, 500 insertions, 3 deletions
diff --git a/os/ex/ST/lis3mdl.c b/os/ex/ST/lis3mdl.c new file mode 100644 index 000000000..e8022ae2c --- /dev/null +++ b/os/ex/ST/lis3mdl.c @@ -0,0 +1,484 @@ +/* + 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 lis3mdl.c + * @brief LIS3MDL MEMS interface module code. + * + * @addtogroup lis3mdl + * @{ + */ + +#include "ch.h" +#include "hal.h" + +#include "lis3mdl.h" + +/*===========================================================================*/ +/* Driver local definitions. */ +/*===========================================================================*/ + +#define LIS3MDL_SENS_4GA ((float)6842.0f) +#define LIS3MDL_SENS_8GA ((float)3421.0f) +#define LIS3MDL_SENS_12GA ((float)2281.0f) +#define LIS3MDL_SENS_16GA ((float)1711.0f) + +#define LIS3MDL_TEMP_SENS ((float)8.0f) + +#define LIS3MDL_DI ((uint8_t)0xFF) +#define LIS3MDL_DI_0 ((uint8_t)0x01) +#define LIS3MDL_DI_1 ((uint8_t)0x02) +#define LIS3MDL_DI_2 ((uint8_t)0x04) +#define LIS3MDL_DI_3 ((uint8_t)0x08) +#define LIS3MDL_DI_4 ((uint8_t)0x10) +#define LIS3MDL_DI_5 ((uint8_t)0x20) +#define LIS3MDL_DI_6 ((uint8_t)0x40) +#define LIS3MDL_DI_7 ((uint8_t)0x80) + +#define LIS3MDL_AD ((uint8_t)0x3F) +#define LIS3MDL_AD_0 ((uint8_t)0x01) +#define LIS3MDL_AD_1 ((uint8_t)0x02) +#define LIS3MDL_AD_2 ((uint8_t)0x04) +#define LIS3MDL_AD_3 ((uint8_t)0x08) +#define LIS3MDL_AD_4 ((uint8_t)0x10) +#define LIS3MDL_AD_5 ((uint8_t)0x20) +#define LIS3MDL_AD_6 ((uint8_t)0x40) + +#define LIS3MDL_RW ((uint8_t)0x80) + +#define LIS3MDL_AD_WHO_AM_I ((uint8_t)0x0F) +#define LIS3MDL_AD_CTRL_REG1 ((uint8_t)0x20) +#define LIS3MDL_AD_CTRL_REG2 ((uint8_t)0x21) +#define LIS3MDL_AD_CTRL_REG3 ((uint8_t)0x22) +#define LIS3MDL_AD_CTRL_REG4 ((uint8_t)0x23) +#define LIS3MDL_AD_CTRL_REG5 ((uint8_t)0x24) +#define LIS3MDL_AD_STATUS_REG ((uint8_t)0x27) +#define LIS3MDL_AD_OUT_X_L ((uint8_t)0x28) +#define LIS3MDL_AD_OUT_X_H ((uint8_t)0x29) +#define LIS3MDL_AD_OUT_Y_L ((uint8_t)0x2A) +#define LIS3MDL_AD_OUT_Y_H ((uint8_t)0x2B) +#define LIS3MDL_AD_OUT_Z_L ((uint8_t)0x2C) +#define LIS3MDL_AD_OUT_Z_H ((uint8_t)0x2D) +#define LIS3MDL_AD_TEMP_OUT_L ((uint8_t)0x2E) +#define LIS3MDL_AD_TEMP_OUT_H ((uint8_t)0x2F) +#define LIS3MDL_AD_INT_CFG ((uint8_t)0x30) +#define LIS3MDL_AD_INT_SOURCE ((uint8_t)0x31) +#define LIS3MDL_AD_INT_THS_L ((uint8_t)0x32) +#define LIS3MDL_AD_INT_THS_H ((uint8_t)0x33) + +#define LIS3MDL_CTRL_REG2_FS_MASK ((uint8_t)0x60) + +/*===========================================================================*/ +/* Driver exported variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local variables and types. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local functions. */ +/*===========================================================================*/ + +#if (LIS3MDL_USE_I2C) || defined(__DOXYGEN__) +/** + * @brief Reads registers value using I2C. + * @pre The I2C interface must be initialized and the driver started. + * + * @param[in] i2cp pointer to the I2C interface + * @param[in] sad slave address without R bit + * @param[in] reg first sub-register address + * @return the read value. + */ +uint8_t lis3mdlI2CReadRegister(I2CDriver *i2cp, lis3mdl_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 lis3mdlI2CWriteRegister(I2CDriver *i2cp, lis3mdl_sad_t sad, uint8_t reg, + uint8_t value) { + uint8_t rxbuf; + uint8_t txbuf[2]; + switch (reg) { + default: + /* Reserved register must not be written, according to the datasheet + * this could permanently damage the device. + */ + chDbgAssert(FALSE, "lis3mdlI2CWriteRegister(), reserved register"); + case LIS3MDL_AD_WHO_AM_I: + case LIS3MDL_AD_STATUS_REG: + case LIS3MDL_AD_OUT_X_L: + case LIS3MDL_AD_OUT_X_H: + case LIS3MDL_AD_OUT_Y_L: + case LIS3MDL_AD_OUT_Y_H: + case LIS3MDL_AD_OUT_Z_L: + case LIS3MDL_AD_OUT_Z_H: + case LIS3MDL_AD_TEMP_OUT_L: + case LIS3MDL_AD_TEMP_OUT_H: + case LIS3MDL_AD_INT_SOURCE: + case LIS3MDL_AD_INT_THS_L: + case LIS3MDL_AD_INT_THS_H: + /* Read only registers cannot be written, the command is ignored.*/ + return MSG_RESET; + case LIS3MDL_AD_CTRL_REG1: + case LIS3MDL_AD_CTRL_REG2: + case LIS3MDL_AD_CTRL_REG3: + case LIS3MDL_AD_CTRL_REG4: + case LIS3MDL_AD_CTRL_REG5: + case LIS3MDL_AD_INT_CFG: + txbuf[0] = reg; + txbuf[1] = value; + return i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0, TIME_INFINITE); + break; + } +} +#endif /* LIS3MDL_USE_I2C */ + +/* + * Interface implementation. + */ +static size_t get_axes_number(void *ip) { + + osalDbgCheck(ip != NULL); + return LIS3MDL_NUMBER_OF_AXES; +} + +static msg_t read_raw(void *ip, int32_t axes[LIS3MDL_NUMBER_OF_AXES]) { + + osalDbgCheck((ip != NULL) && (axes != NULL)); + osalDbgAssert((((LIS3MDLDriver *)ip)->state == LIS3MDL_READY), + "read_raw(), invalid state"); + +#if LIS3MDL_USE_I2C + osalDbgAssert((((LIS3MDLDriver *)ip)->config->i2cp->state == I2C_READY), + "read_raw(), channel not ready"); +#if LIS3MDL_SHARED_I2C + i2cAcquireBus(((LIS3MDLDriver *)ip)->config->i2cp); + i2cStart(((LIS3MDLDriver *)ip)->config->i2cp, + ((LIS3MDLDriver *)ip)->config->i2ccfg); +#endif /* LIS3MDL_SHARED_I2C */ + + axes[0] = (int16_t)(lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp, + ((LIS3MDLDriver *)ip)->config->slaveaddress, + LIS3MDL_AD_OUT_X_L, NULL)); + axes[0] += (int16_t)(lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp, + ((LIS3MDLDriver *)ip)->config->slaveaddress, + LIS3MDL_AD_OUT_X_H, NULL) << 8); + axes[0] -= ((LIS3MDLDriver *)ip)->bias[0]; + + axes[1] = (int16_t)(lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp, + ((LIS3MDLDriver *)ip)->config->slaveaddress, + LIS3MDL_AD_OUT_Y_L, NULL)); + axes[1] += (int16_t)(lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp, + ((LIS3MDLDriver *)ip)->config->slaveaddress, + LIS3MDL_AD_OUT_Y_H, NULL) << 8); + axes[1] -= ((LIS3MDLDriver *)ip)->bias[1]; + + axes[2] = (int16_t)(lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp, + ((LIS3MDLDriver *)ip)->config->slaveaddress, + LIS3MDL_AD_OUT_Z_L, NULL)); + axes[2] += (int16_t)(lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp, + ((LIS3MDLDriver *)ip)->config->slaveaddress, + LIS3MDL_AD_OUT_Z_H, NULL) << 8); + axes[2] -= ((LIS3MDLDriver *)ip)->bias[2]; + +#if LIS3MDL_SHARED_I2C + i2cReleaseBus(((LIS3MDLDriver *)ip)->config->i2cp); +#endif /* LIS3MDL_SHARED_I2C */ +#endif /* LIS3MDL_USE_I2C */ + return MSG_OK; +} + +static msg_t read_cooked(void *ip, float axes[]) { + uint32_t i; + int32_t raw[LIS3MDL_NUMBER_OF_AXES]; + msg_t msg; + + osalDbgCheck((ip != NULL) && (axes != NULL)); + + osalDbgAssert((((LIS3MDLDriver *)ip)->state == LIS3MDL_READY), + "read_cooked(), invalid state"); + + msg = read_raw(ip, raw); + for(i = 0; i < LIS3MDL_NUMBER_OF_AXES ; i++){ + axes[i] = raw[i] / ((LIS3MDLDriver *)ip)->sensitivity[i]; + } + return msg; +} + +static msg_t set_bias(void *ip, int32_t *bp) { + uint32_t i; + + osalDbgCheck((ip != NULL) && (bp !=NULL)); + + osalDbgAssert((((LIS3MDLDriver *)ip)->state == LIS3MDL_READY) || + (((LIS3MDLDriver *)ip)->state == LIS3MDL_STOP), + "set_bias(), invalid state"); + + for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++) { + ((LIS3MDLDriver *)ip)->bias[i] = bp[i]; + } + return MSG_OK; +} + +static msg_t reset_bias(void *ip) { + uint32_t i; + + osalDbgCheck(ip != NULL); + + osalDbgAssert((((LIS3MDLDriver *)ip)->state == LIS3MDL_READY) || + (((LIS3MDLDriver *)ip)->state == LIS3MDL_STOP), + "reset_bias(), invalid state"); + + for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++) + ((LIS3MDLDriver *)ip)->bias[i] = 0; + return MSG_OK; +} + +static msg_t set_sensivity(void *ip, float *sp) { + uint32_t i; + + osalDbgCheck((ip != NULL) && (sp !=NULL)); + + osalDbgAssert((((LIS3MDLDriver *)ip)->state == LIS3MDL_READY), + "set_sensivity(), invalid state"); + + for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++) { + ((LIS3MDLDriver *)ip)->sensitivity[i] = sp[i]; + } + return MSG_OK; +} + +static msg_t reset_sensivity(void *ip) { + uint32_t i; + + osalDbgCheck(ip != NULL); + + osalDbgAssert((((LIS3MDLDriver *)ip)->state == LIS3MDL_READY), + "reset_sensivity(), invalid state"); + + if(((LIS3MDLDriver *)ip)->config->fullscale == LIS3MDL_FS_4GA) + for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++) + ((LIS3MDLDriver *)ip)->sensitivity[i] = LIS3MDL_SENS_4GA; + else if(((LIS3MDLDriver *)ip)->config->fullscale == LIS3MDL_FS_8GA) + for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++) + ((LIS3MDLDriver *)ip)->sensitivity[i] = LIS3MDL_SENS_8GA; + else if(((LIS3MDLDriver *)ip)->config->fullscale == LIS3MDL_FS_12GA) + for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++) + ((LIS3MDLDriver *)ip)->sensitivity[i] = LIS3MDL_SENS_12GA; + else if(((LIS3MDLDriver *)ip)->config->fullscale == LIS3MDL_FS_16GA) + for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++) + ((LIS3MDLDriver *)ip)->sensitivity[i] = LIS3MDL_SENS_16GA; + else + osalDbgAssert(FALSE, "reset_sensivity(), compass full scale issue"); + return MSG_OK; +} + +static msg_t get_temperature(void *ip, float* tempp) { + int16_t temp; +#if LIS3MDL_USE_I2C + osalDbgAssert((((LIS3MDLDriver *)ip)->config->i2cp->state == I2C_READY), + "gyro_read_raw(), channel not ready"); +#if LIS3MDL_SHARED_I2C + i2cAcquireBus(((LIS3MDLDriver *)ip)->config->i2cp); + i2cStart(((LIS3MDLDriver *)ip)->config->i2cp, + ((LIS3MDLDriver *)ip)->config->i2ccfg); +#endif /* LIS3MDL_SHARED_I2C */ + temp = (int16_t)(lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp, + ((LIS3MDLDriver *)ip)->config->slaveaddress, + LIS3MDL_AD_TEMP_OUT_L, NULL)); + temp += (int16_t)(lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp, + ((LIS3MDLDriver *)ip)->config->slaveaddress, + LIS3MDL_AD_TEMP_OUT_H, NULL) << 8); +#if LIS3MDL_SHARED_I2C + i2cReleaseBus(((LIS3MDLDriver *)ip)->config->i2cp); +#endif /* LIS3MDL_SHARED_I2C */ +#endif /* LIS3MDL_USE_I2C */ + *tempp = (float)temp / LIS3MDL_TEMP_SENS; + return MSG_OK; +} + +static const struct BaseSensorVMT vmt_basesensor = { + get_axes_number, read_raw, read_cooked +}; + +static const struct BaseCompassVMT vmt_basecompass = { + get_axes_number, read_raw, read_cooked, + set_bias, reset_bias, set_sensivity, reset_sensivity +}; + +static const struct LIS3MDLVMT vmt_lis3mdl = { + get_axes_number, read_raw, read_cooked, + set_bias, reset_bias, set_sensivity, reset_sensivity, + get_temperature +}; + +/*===========================================================================*/ +/* Driver exported functions. */ +/*===========================================================================*/ + +/** + * @brief Initializes an instance. + * + * @param[out] devp pointer to the @p LIS3MDLDriver object + * + * @init + */ +void lis3mdlObjectInit(LIS3MDLDriver *devp) { + uint32_t i; + devp->vmt_basesensor = &vmt_basesensor; + devp->vmt_basecompass = &vmt_basecompass; + devp->vmt_lis3mdl = &vmt_lis3mdl; + devp->config = NULL; + for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++) + devp->bias[i] = 0; + devp->state = LIS3MDL_STOP; +} + +/** + * @brief Configures and activates LIS3MDL Complex Driver peripheral. + * + * @param[in] devp pointer to the @p LIS3MDLDriver object + * @param[in] config pointer to the @p LIS3MDLConfig object + * + * @api + */ +void lis3mdlStart(LIS3MDLDriver *devp, const LIS3MDLConfig *config) { + uint32_t i; + osalDbgCheck((devp != NULL) && (config != NULL)); + + osalDbgAssert((devp->state == LIS3MDL_STOP) || (devp->state == LIS3MDL_READY), + "lis3mdlStart(), invalid state"); + + devp->config = config; + +#if LIS3MDL_USE_I2C +#if LIS3MDL_SHARED_I2C + i2cAcquireBus((devp)->config->i2cp); +#endif /* LIS3MDL_SHARED_I2C */ + i2cStart((devp)->config->i2cp, + (devp)->config->i2ccfg); + lis3mdlI2CWriteRegister(devp->config->i2cp, + devp->config->slaveaddress, + LIS3MDL_AD_CTRL_REG1, + devp->config->temperature | + devp->config->outputdatarate | + devp->config->operationmodexy); + lis3mdlI2CWriteRegister(devp->config->i2cp, + devp->config->slaveaddress, + LIS3MDL_AD_CTRL_REG2, + devp->config->fullscale); + lis3mdlI2CWriteRegister(devp->config->i2cp, + devp->config->slaveaddress, + LIS3MDL_AD_CTRL_REG3, + devp->config->conversionmode); + lis3mdlI2CWriteRegister(devp->config->i2cp, + devp->config->slaveaddress, + LIS3MDL_AD_CTRL_REG4, + devp->config->operationmodez | + devp->config->endianness); + lis3mdlI2CWriteRegister(devp->config->i2cp, + devp->config->slaveaddress, + LIS3MDL_AD_CTRL_REG5, + devp->config->blockdataupdate); +#if LIS3MDL_SHARED_I2C + i2cReleaseBus((devp)->config->i2cp); +#endif /* LIS3MDL_SHARED_I2C */ +#endif /* LIS3MDL_USE_I2C */ + /* Storing sensitivity information according to full scale value */ + if(devp->config->fullscale == LIS3MDL_FS_4GA) + for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++) + devp->sensitivity[i] = LIS3MDL_SENS_4GA; + else if(devp->config->fullscale == LIS3MDL_FS_8GA) + for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++) + devp->sensitivity[i] = LIS3MDL_SENS_8GA; + else if(devp->config->fullscale == LIS3MDL_FS_12GA) + for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++) + devp->sensitivity[i] = LIS3MDL_SENS_12GA; + else if(devp->config->fullscale == LIS3MDL_FS_16GA) + for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++) + devp->sensitivity[i] = LIS3MDL_SENS_16GA; + else + osalDbgAssert(FALSE, "lis3mdlStart(), compass full scale issue"); + devp->state = LIS3MDL_READY; +} + +/** + * @brief Deactivates the LIS3MDL Complex Driver peripheral. + * + * @param[in] devp pointer to the @p LIS3MDLDriver object + * + * @api + */ +void lis3mdlStop(LIS3MDLDriver *devp) { + + osalDbgCheck(devp != NULL); + + osalDbgAssert((devp->state == LIS3MDL_STOP) || (devp->state == LIS3MDL_READY), + "lis3mdlStop(), invalid state"); + +#if (LIS3MDL_USE_I2C) + if (devp->state == LIS3MDL_STOP) { +#if LIS3MDL_SHARED_I2C + i2cAcquireBus((devp)->config->i2cp); + i2cStart((devp)->config->i2cp, + (devp)->config->i2ccfg); +#endif /* LIS3MDL_SHARED_I2C */ + lis3mdlI2CWriteRegister(devp->config->i2cp, + devp->config->slaveaddress, + LIS3MDL_AD_CTRL_REG3, + LIS3MDL_MD_POWER_DOWN); + i2cStop((devp)->config->i2cp); +#if LIS3MDL_SHARED_I2C + i2cReleaseBus((devp)->config->i2cp); +#endif /* LIS3MDL_SHARED_I2C */ + } +#endif /* LIS3MDL_USE_I2C */ + devp->state = LIS3MDL_STOP; +} +/** @} */ diff --git a/os/ex/ST/lis3mdl.h b/os/ex/ST/lis3mdl.h index 21a61e620..e80579984 100644 --- a/os/ex/ST/lis3mdl.h +++ b/os/ex/ST/lis3mdl.h @@ -92,8 +92,8 @@ #error "LIS3MDL_USE_I2C requires HAL_USE_I2C" #endif -#if LIS3MDL_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION -#error "LIS3MDL_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION" +#if LIS3MDL_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION +#error "LIS3MDL_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION" #endif /*===========================================================================*/ @@ -174,6 +174,14 @@ typedef enum { }lis3mdl_omz_t; /** + * @brief LIS3MDL temperature sensor enabling + */ +typedef enum { + LIS3MDL_TEMP_DISABLED = 0x00, /**< Temperature sensor disabled. */ + LIS3MDL_TEMP_ENABLED = 0x80 /**< Temperature sensor enabled. */ +}lis3mdl_temp_t; + +/** * @brief LIS3MDL block data update */ typedef enum { @@ -252,6 +260,10 @@ typedef struct { */ lis3mdl_omz_t operationmodez; /** + * @brief LIS3MDL temperature sensor enabling + */ + lis3mdl_temp_t temperature; + /** * @brief LIS3MDL block data update */ lis3mdl_bdu_t blockdataupdate; @@ -322,7 +334,8 @@ struct LIS3MDLDriver { /** * @brief Get current MEMS temperature. - * @detail This information is very useful especially for high accuracy IMU + * @detail This information is very useful especially for high accuracy IMU. + * @note Temperature sensor must be enabled using a proper configuration. * * @param[in] ip pointer to a @p BaseCompass class. * @param[out] temp the MEMS temperature as single precision floating. |