From dc5651bf5260ca1b2829d1127e29dec1dee13156 Mon Sep 17 00:00:00 2001 From: Rocco Marco Guglielmi Date: Wed, 14 Mar 2018 13:28:50 +0000 Subject: Removed spaces before newline git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@11745 110e8d01-0319-4d1e-a829-52ad28d1bb01 --- os/ex/ST/hts221.c | 144 ++++++++++++++++++++++++------------------------- os/ex/ST/hts221.h | 4 +- os/ex/ST/l3gd20.c | 26 ++++----- os/ex/ST/l3gd20.h | 10 ++-- os/ex/ST/lis302dl.c | 50 ++++++++--------- os/ex/ST/lis302dl.h | 24 ++++----- os/ex/ST/lis3dsh.c | 49 +++++++++-------- os/ex/ST/lis3dsh.h | 30 +++++------ os/ex/ST/lis3mdl.c | 46 ++++++++-------- os/ex/ST/lis3mdl.h | 22 ++++---- os/ex/ST/lps22hb.c | 98 ++++++++++++++++----------------- os/ex/ST/lps22hb.h | 10 ++-- os/ex/ST/lps25h.c | 110 ++++++++++++++++++------------------- os/ex/ST/lps25h.h | 16 +++--- os/ex/ST/lsm303dlhc.c | 60 ++++++++++----------- os/ex/ST/lsm303dlhc.h | 10 ++-- os/ex/ST/lsm303dlhc.mk | 2 +- os/ex/ST/lsm6ds0.c | 102 +++++++++++++++++------------------ os/ex/ST/lsm6ds0.h | 44 +++++++-------- os/ex/ST/lsm6dsl.c | 96 ++++++++++++++++----------------- os/ex/ST/lsm6dsl.h | 32 +++++------ 21 files changed, 492 insertions(+), 493 deletions(-) diff --git a/os/ex/ST/hts221.c b/os/ex/ST/hts221.c index 5ccdd6720..622956693 100644 --- a/os/ex/ST/hts221.c +++ b/os/ex/ST/hts221.c @@ -15,7 +15,7 @@ You should have received a copy of the GNU General Public License along with this program. If not, see . - + */ /** @@ -122,20 +122,20 @@ static msg_t hts221Calibrate(HTS221Driver *devp) { /* Retrieving rH values from Calibration registers */ msg = hts221I2CReadRegister(devp->config->i2cp, HTS221_AD_CALIB_0, calib, 16); - + #if HTS221_SHARED_I2C i2cReleaseBus(devp->config->i2cp); #endif /* HTS221_SHARED_I2C */ - + H0_rH_x2 = calib[0]; H1_rH_x2 = calib[1]; H0_T0_OUT = calib[6]; H0_T0_OUT += calib[7] << 8; H1_T0_OUT = calib[10]; H1_T0_OUT += calib[11] << 8; - + T0_degC_x8 = calib[2]; - + /* Completing T0_degC_x8 value */ msb = (calib[5] & HTS221_SEL(0x03, 0)); if (msb & HTS221_SEL(0x01, 1)) { @@ -155,20 +155,20 @@ static msg_t hts221Calibrate(HTS221Driver *devp) { T0_OUT += calib[13] << 8; T1_OUT = calib[14]; T1_OUT += calib[15] << 8; - + devp->hygrofactorysensitivity = ((float)H1_rH_x2 - (float)H0_rH_x2) / (((float)H1_T0_OUT - (float)H0_T0_OUT) * 2.0f); - + devp->hygrofactorybias = (devp->hygrofactorysensitivity * (float)H0_T0_OUT) - ((float)H0_rH_x2 / 2.0f); devp->thermofactorysensitivity = ((float)T1_degC_x8 - (float)T0_degC_x8) / (((float)T1_OUT - (float)T0_OUT) * 8.0f); - + devp->thermofactorybias = (devp->thermofactorysensitivity * (float)T0_OUT) - ((float)T0_degC_x8 / 8.0f); - + return msg; } @@ -181,7 +181,7 @@ static msg_t hts221Calibrate(HTS221Driver *devp) { */ static size_t hygro_get_axes_number(void *ip) { (void)ip; - + return HTS221_HYGRO_NUMBER_OF_AXES; } @@ -203,30 +203,30 @@ static size_t hygro_get_axes_number(void *ip) { */ static msg_t hygro_read_raw(void *ip, int32_t axes[]) { HTS221Driver* devp; - uint8_t buff[2]; + uint8_t buff[2]; int16_t tmp; msg_t msg; osalDbgCheck((ip != NULL) && (axes != NULL)); - + /* Getting parent instance pointer.*/ devp = objGetInstance(HTS221Driver*, (BaseHygrometer*)ip); - + osalDbgAssert((devp->state == HTS221_READY), - "hygro_read_raw(), invalid state"); + "hygro_read_raw(), invalid state"); osalDbgAssert((devp->config->i2cp->state == I2C_READY), "hygro_read_raw(), channel not ready"); - + #if HTS221_SHARED_I2C i2cAcquireBus(devp->config->i2cp); i2cStart(devp->config->i2cp, devp->config->i2ccfg); #endif /* HTS221_SHARED_I2C */ - msg = hts221I2CReadRegister(devp->config->i2cp, HTS221_AD_HUMIDITY_OUT_L, + msg = hts221I2CReadRegister(devp->config->i2cp, HTS221_AD_HUMIDITY_OUT_L, buff, 2); - + #if HTS221_SHARED_I2C i2cReleaseBus(devp->config->i2cp); #endif /* HTS221_SHARED_I2C */ @@ -261,17 +261,17 @@ static msg_t hygro_read_cooked(void *ip, float axes[]) { msg_t msg; osalDbgCheck((ip != NULL) && (axes != NULL)); - + /* Getting parent instance pointer.*/ devp = objGetInstance(HTS221Driver*, (BaseHygrometer*)ip); - + osalDbgAssert((devp->state == HTS221_READY), "hygro_read_cooked(), invalid state"); msg = hygro_read_raw(ip, &raw); *axes = (raw * devp->hygrosensitivity) - devp->hygrobias; - + return msg; } @@ -293,12 +293,12 @@ static msg_t hygro_read_cooked(void *ip, float axes[]) { static msg_t hygro_set_bias(void *ip, float *bp) { HTS221Driver* devp; msg_t msg = MSG_OK; - + osalDbgCheck((ip != NULL) && (bp != NULL)); /* Getting parent instance pointer.*/ devp = objGetInstance(HTS221Driver*, (BaseHygrometer*)ip); - + osalDbgAssert((devp->state == HTS221_READY), "hygro_set_bias(), invalid state"); @@ -319,15 +319,15 @@ static msg_t hygro_set_bias(void *ip, float *bp) { static msg_t hygro_reset_bias(void *ip) { HTS221Driver* devp; msg_t msg = MSG_OK; - + osalDbgCheck(ip != NULL); /* Getting parent instance pointer.*/ devp = objGetInstance(HTS221Driver*, (BaseHygrometer*)ip); - + osalDbgAssert((devp->state == HTS221_READY), "hygro_reset_bias(), invalid state"); - + devp->hygrobias = devp->hygrofactorybias; return msg; } @@ -347,12 +347,12 @@ static msg_t hygro_reset_bias(void *ip) { static msg_t hygro_set_sensitivity(void *ip, float *sp) { HTS221Driver* devp; msg_t msg = MSG_OK; - + osalDbgCheck((ip != NULL) && (sp != NULL)); /* Getting parent instance pointer.*/ devp = objGetInstance(HTS221Driver*, (BaseHygrometer*)ip); - + osalDbgAssert((devp->state == HTS221_READY), "hygro_set_sensitivity(), invalid state"); @@ -372,12 +372,12 @@ static msg_t hygro_set_sensitivity(void *ip, float *sp) { static msg_t hygro_reset_sensitivity(void *ip) { HTS221Driver* devp; msg_t msg = MSG_OK; - + osalDbgCheck(ip != NULL); /* Getting parent instance pointer.*/ devp = objGetInstance(HTS221Driver*, (BaseHygrometer*)ip); - + osalDbgAssert((devp->state == HTS221_READY), "hygro_reset_sensitivity(), invalid state"); @@ -394,7 +394,7 @@ static msg_t hygro_reset_sensitivity(void *ip) { */ static size_t thermo_get_axes_number(void *ip) { (void)ip; - + return HTS221_THERMO_NUMBER_OF_AXES; } @@ -419,27 +419,27 @@ static msg_t thermo_read_raw(void *ip, int32_t axes[]) { int16_t tmp; uint8_t buff[2]; msg_t msg; - + osalDbgCheck((ip != NULL) && (axes != NULL)); /* Getting parent instance pointer.*/ devp = objGetInstance(HTS221Driver*, (BaseThermometer*)ip); - + osalDbgAssert((devp->state == HTS221_READY), - "thermo_read_raw(), invalid state"); - + "thermo_read_raw(), invalid state"); + osalDbgAssert((devp->config->i2cp->state == I2C_READY), "thermo_read_raw(), channel not ready"); - + #if HTS221_SHARED_I2C i2cAcquireBus(devp->config->i2cp); i2cStart(devp->config->i2cp, devp->config->i2ccfg); #endif /* HTS221_SHARED_I2C */ - msg = hts221I2CReadRegister(devp->config->i2cp, HTS221_AD_TEMP_OUT_L, + msg = hts221I2CReadRegister(devp->config->i2cp, HTS221_AD_TEMP_OUT_L, buff, 2); - + #if HTS221_SHARED_I2C i2cReleaseBus(devp->config->i2cp); #endif /* HTS221_SHARED_I2C */ @@ -477,7 +477,7 @@ static msg_t thermo_read_cooked(void *ip, float* axis) { /* Getting parent instance pointer.*/ devp = objGetInstance(HTS221Driver*, (BaseThermometer*)ip); - + osalDbgAssert((devp->state == HTS221_READY), "thermo_read_cooked(), invalid state"); @@ -503,17 +503,17 @@ static msg_t thermo_read_cooked(void *ip, float* axis) { static msg_t thermo_set_bias(void *ip, float *bp) { HTS221Driver* devp; msg_t msg = MSG_OK; - + osalDbgCheck((ip != NULL) && (bp != NULL)); /* Getting parent instance pointer.*/ devp = objGetInstance(HTS221Driver*, (BaseThermometer*)ip); - + osalDbgAssert((devp->state == HTS221_READY), "thermo_set_bias(), invalid state"); - + devp->thermobias = *bp; - + return msg; } @@ -529,18 +529,18 @@ static msg_t thermo_set_bias(void *ip, float *bp) { */ static msg_t thermo_reset_bias(void *ip) { HTS221Driver* devp; - msg_t msg = MSG_OK; - + msg_t msg = MSG_OK; + osalDbgCheck(ip != NULL); /* Getting parent instance pointer.*/ devp = objGetInstance(HTS221Driver*, (BaseThermometer*)ip); - + osalDbgAssert((devp->state == HTS221_READY), "thermo_reset_bias(), invalid state"); devp->thermobias = devp->thermofactorybias; - + return msg; } @@ -559,17 +559,17 @@ static msg_t thermo_reset_bias(void *ip) { static msg_t thermo_set_sensitivity(void *ip, float *sp) { HTS221Driver* devp; msg_t msg = MSG_OK; - + osalDbgCheck((ip != NULL) && (sp != NULL)); /* Getting parent instance pointer.*/ devp = objGetInstance(HTS221Driver*, (BaseThermometer*)ip); - + osalDbgAssert((devp->state == HTS221_READY), "thermo_set_sensitivity(), invalid state"); - + devp->thermosensitivity = *sp; - + return msg; } @@ -584,18 +584,18 @@ static msg_t thermo_set_sensitivity(void *ip, float *sp) { */ static msg_t thermo_reset_sensitivity(void *ip) { HTS221Driver* devp; - msg_t msg = MSG_OK; - + msg_t msg = MSG_OK; + osalDbgCheck(ip != NULL); /* Getting parent instance pointer.*/ devp = objGetInstance(HTS221Driver*, (BaseThermometer*)ip); - + osalDbgAssert((devp->state == HTS221_READY), "thermo_reset_sensitivity(), invalid state"); devp->thermosensitivity = devp->thermofactorysensitivity; - + return msg; } @@ -633,15 +633,15 @@ void hts221ObjectInit(HTS221Driver *devp) { devp->vmt = &vmt_device; devp->hygro_if.vmt = &vmt_hygrometer; devp->thermo_if.vmt = &vmt_thermometer; - + devp->config = NULL; devp->hygroaxes = HTS221_HYGRO_NUMBER_OF_AXES; devp->thermoaxes = HTS221_THERMO_NUMBER_OF_AXES; - + devp->hygrobias = 0.0f; devp->thermobias = 0.0f; - + devp->state = HTS221_STOP; } @@ -658,8 +658,8 @@ void hts221Start(HTS221Driver *devp, const HTS221Config *config) { osalDbgCheck((devp != NULL) && (config != NULL)); osalDbgAssert((devp->state == HTS221_STOP) || (devp->state == HTS221_READY), - "hts221Start(), invalid state"); - + "hts221Start(), invalid state"); + devp->config = config; #if HTS221_SHARED_I2C @@ -688,7 +688,7 @@ void hts221Start(HTS221Driver *devp, const HTS221Config *config) { /* Taking hygrometer bias from user configurations */ devp->hygrobias = *(devp->config->hygrobias); } - + if(devp->config->thermosensitivity == NULL) { devp->thermosensitivity = devp->thermofactorysensitivity; } @@ -704,7 +704,7 @@ void hts221Start(HTS221Driver *devp, const HTS221Config *config) { /* Taking thermometer bias from user configurations */ devp->thermobias = *(devp->config->thermobias); } - + /* Control register 1 configuration block.*/ { cr[0] = HTS221_AD_CTRL_REG1; @@ -717,9 +717,9 @@ void hts221Start(HTS221Driver *devp, const HTS221Config *config) { i2cAcquireBus(devp->config->i2cp); i2cStart(devp->config->i2cp, devp->config->i2ccfg); #endif /* HTS221_SHARED_I2C */ - + hts221I2CWriteRegister(devp->config->i2cp, cr, 1); - + #if HTS221_SHARED_I2C i2cReleaseBus(devp->config->i2cp); #endif /* HTS221_SHARED_I2C */ @@ -737,19 +737,19 @@ void hts221Start(HTS221Driver *devp, const HTS221Config *config) { i2cAcquireBus(devp->config->i2cp); i2cStart(devp->config->i2cp, devp->config->i2ccfg); #endif /* HTS221_SHARED_I2C */ - + hts221I2CWriteRegister(devp->config->i2cp, cr, 1); - + #if HTS221_SHARED_I2C i2cReleaseBus(devp->config->i2cp); #endif /* HTS221_SHARED_I2C */ - } + } /* This is the MEMS transient recovery time */ osalThreadSleepMilliseconds(5); devp->state = HTS221_READY; -} +} /** * @brief Deactivates the HTS221 Complex Driver peripheral. @@ -765,9 +765,9 @@ void hts221Stop(HTS221Driver *devp) { osalDbgAssert((devp->state == HTS221_STOP) || (devp->state == HTS221_READY), "hts221Stop(), invalid state"); - + if (devp->state == HTS221_READY) { - + #if HTS221_SHARED_I2C i2cAcquireBus(devp->config->i2cp); i2cStart(devp->config->i2cp, devp->config->i2ccfg); @@ -776,12 +776,12 @@ void hts221Stop(HTS221Driver *devp) { cr[0] = HTS221_AD_CTRL_REG1; cr[1] = 0; hts221I2CWriteRegister(devp->config->i2cp, cr, 1); - + i2cStop(devp->config->i2cp); #if HTS221_SHARED_I2C i2cReleaseBus(devp->config->i2cp); -#endif /* HTS221_SHARED_I2C */ - } +#endif /* HTS221_SHARED_I2C */ + } devp->state = HTS221_STOP; } /** @} */ diff --git a/os/ex/ST/hts221.h b/os/ex/ST/hts221.h index d687254b4..e4b7fb465 100644 --- a/os/ex/ST/hts221.h +++ b/os/ex/ST/hts221.h @@ -87,7 +87,7 @@ #define HTS221_THERMO_SENS 0.0015625f #define HTS221_THERMO_BIAS 0.0f /** @} */ - + /** * @name HTS221 communication interfaces related bit masks * @{ @@ -388,7 +388,7 @@ typedef struct { * @note No methods so far, just a common ancestor interface. */ #define _hts221_methods_alone - + /** * @brief @p HTS221 specific methods with inherited ones. */ diff --git a/os/ex/ST/l3gd20.c b/os/ex/ST/l3gd20.c index 8dd7a216c..5afa60b79 100644 --- a/os/ex/ST/l3gd20.c +++ b/os/ex/ST/l3gd20.c @@ -140,8 +140,8 @@ static msg_t gyro_read_raw(void *ip, int32_t axes[L3GD20_GYRO_NUMBER_OF_AXES]) { #if L3GD20_SHARED_SPI spiReleaseBus(devp->config->spip); -#endif /* L3GD20_SHARED_SPI */ -#endif /* L3GD20_USE_SPI */ +#endif /* L3GD20_SHARED_SPI */ +#endif /* L3GD20_USE_SPI */ for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++) { tmp = buff[2 * i] + (buff[2 * i + 1] << 8); @@ -236,7 +236,7 @@ static msg_t gyro_sample_bias(void *ip) { /** * @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 + * @note The bias buffer must be at least the same size of the BaseGyroscope * axes number. * * @param[in] ip pointer to @p BaseGyroscope interface. @@ -313,7 +313,7 @@ static msg_t gyro_set_sensivity(void *ip, float *sp) { /* Getting parent instance pointer.*/ devp = objGetInstance(L3GD20Driver*, (BaseGyroscope*)ip); - + osalDbgAssert((devp->state == L3GD20_READY), "gyro_set_sensivity(), invalid state"); @@ -342,7 +342,7 @@ static msg_t gyro_reset_sensivity(void *ip) { /* Getting parent instance pointer.*/ devp = objGetInstance(L3GD20Driver*, (BaseGyroscope*)ip); - + osalDbgAssert((devp->state == L3GD20_READY), "gyro_reset_sensivity(), invalid state"); @@ -411,7 +411,7 @@ static msg_t gyro_set_full_scale(L3GD20Driver *devp, l3gd20_fs_t fs) { spiAcquireBus(devp->config->spip); spiStart(devp->config->spip, devp->config->spicfg); -#endif /* L3GD20_SHARED_SPI */ +#endif /* L3GD20_SHARED_SPI */ /* Updating register.*/ l3gd20SPIReadRegister(devp->config->spip, @@ -419,23 +419,23 @@ static msg_t gyro_set_full_scale(L3GD20Driver *devp, l3gd20_fs_t fs) { #if L3GD20_SHARED_SPI spiReleaseBus(devp->config->spip); -#endif /* L3GD20_SHARED_SPI */ +#endif /* L3GD20_SHARED_SPI */ #endif /* L3GD20_USE_SPI */ cr &= ~(L3GD20_CTRL_REG4_FS_MASK); cr |= fs; - -#if L3GD20_USE_SPI + +#if L3GD20_USE_SPI #if L3GD20_SHARED_SPI spiAcquireBus(devp->config->spip); spiStart(devp->config->spip, devp->config->spicfg); -#endif /* L3GD20_SHARED_SPI */ +#endif /* L3GD20_SHARED_SPI */ l3gd20SPIWriteRegister(devp->config->spip, L3GD20_AD_CTRL_REG4, 1, &cr); #if L3GD20_SHARED_SPI spiReleaseBus(devp->config->spip); -#endif /* L3GD20_SHARED_SPI */ +#endif /* L3GD20_SHARED_SPI */ #endif /* L3GD20_USE_SPI */ /* Scaling sensitivity and bias. Re-calibration is suggested anyway. */ @@ -539,7 +539,7 @@ void l3gd20Start(L3GD20Driver *devp, const L3GD20Config *config) { } } #endif - } + } #if L3GD20_USE_SPI #if L3GD20_SHARED_SPI @@ -586,7 +586,7 @@ void l3gd20Start(L3GD20Driver *devp, const L3GD20Config *config) { else osalDbgAssert(FALSE, "l3gd20Start(), full scale issue"); - /* Storing bias information.*/ + /* Storing bias information.*/ if(devp->config->gyrobias != NULL) { for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++) { devp->gyrobias[i] = devp->config->gyrobias[i]; diff --git a/os/ex/ST/l3gd20.h b/os/ex/ST/l3gd20.h index 5eab3b3e4..f5d0fb7bd 100644 --- a/os/ex/ST/l3gd20.h +++ b/os/ex/ST/l3gd20.h @@ -62,7 +62,7 @@ /** * @brief L3GD20 gyroscope system characteristics. - * @note Sensitivity is expressed as DPS/LSB whereas DPS stand for Degree + * @note Sensitivity is expressed as DPS/LSB whereas DPS stand for Degree * per second [°/s]. * @note Bias is expressed as DPS. * @@ -199,7 +199,7 @@ * @name L3GD20_INT1_CFG register bits definitions * @{ */ -#define L3GD20_INT1_CFG_MASK 0xFF +#define L3GD20_INT1_CFG_MASK 0xFF #define L3GD20_INT1_CFG_XLIE (1 << 0) #define L3GD20_INT1_CFG_XHIE (1 << 1) #define L3GD20_INT1_CFG_YLIE (1 << 2) @@ -271,7 +271,7 @@ #endif /** - * @brief L3GD20 accelerometer subsystem advanced configurations + * @brief L3GD20 accelerometer subsystem advanced configurations * switch. * @details If set to @p TRUE more configurations are available. * @note The default is @p FALSE. @@ -623,11 +623,11 @@ struct L3GD20Driver { */ #define l3gd20GyroscopeSampleBias(devp) \ gyroscopeSampleBias(&((devp)->gyro_if)) - + /** * @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 + * @note The bias buffer must be at least the same size of the BaseGyroscope * axes number. * * @param[in] devp pointer to @p L3GD20Driver. diff --git a/os/ex/ST/lis302dl.c b/os/ex/ST/lis302dl.c index b466b97e4..a57cc69bd 100644 --- a/os/ex/ST/lis302dl.c +++ b/os/ex/ST/lis302dl.c @@ -95,7 +95,7 @@ static void lis302dlSPIWriteRegister(SPIDriver *spip, uint8_t reg, size_t n, */ static size_t acc_get_axes_number(void *ip) { (void)ip; - + return LIS302DL_ACC_NUMBER_OF_AXES; } @@ -121,7 +121,7 @@ static msg_t acc_read_raw(void *ip, int32_t axes[]) { msg_t msg = MSG_OK; osalDbgCheck((ip != NULL) && (axes != NULL)); - + /* Getting parent instance pointer.*/ devp = objGetInstance(LIS302DLDriver*, (BaseAccelerometer*)ip); @@ -132,7 +132,7 @@ static msg_t acc_read_raw(void *ip, int32_t axes[]) { #if LIS302DL_SHARED_SPI osalDbgAssert((devp->config->spip->state == SPI_READY), "acc_read_raw(), channel not ready"); - + spiAcquireBus(devp->config->spip); spiStart(devp->config->spip, devp->config->spicfg); @@ -146,7 +146,7 @@ static msg_t acc_read_raw(void *ip, int32_t axes[]) { #if LIS302DL_SHARED_SPI spiReleaseBus(devp->config->spip); -#endif /* LIS302DL_SHARED_SPI */ +#endif /* LIS302DL_SHARED_SPI */ #endif /* LIS302DL_USE_SPI */ return msg; } @@ -236,7 +236,7 @@ static msg_t acc_reset_bias(void *ip) { msg_t msg = MSG_OK; osalDbgCheck(ip != NULL); - + /* Getting parent instance pointer.*/ devp = objGetInstance(LIS302DLDriver*, (BaseAccelerometer*)ip); @@ -295,7 +295,7 @@ static msg_t acc_reset_sensivity(void *ip) { msg_t msg = MSG_OK; osalDbgCheck(ip != NULL); - + /* Getting parent instance pointer.*/ devp = objGetInstance(LIS302DLDriver*, (BaseAccelerometer*)ip); @@ -309,7 +309,7 @@ static msg_t acc_reset_sensivity(void *ip) { for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++) devp->accsensitivity[i] = LIS302DL_ACC_SENS_8G; else { - osalDbgAssert(FALSE, + osalDbgAssert(FALSE, "acc_reset_sensivity(), accelerometer full scale issue"); return MSG_RESET; } @@ -318,7 +318,7 @@ static msg_t acc_reset_sensivity(void *ip) { /** * @brief Changes the LIS302DLDriver accelerometer fullscale value. - * @note This function also rescale sensitivities and biases based on + * @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. * @@ -368,7 +368,7 @@ static msg_t acc_set_full_scale(LIS302DLDriver *devp, /* Getting data from register.*/ lis302dlSPIReadRegister(devp->config->spip, LIS302DL_AD_CTRL_REG1, 1, &cr); - + #if LIS302DL_SHARED_SPI spiReleaseBus(devp->config->spip); #endif /* LIS302DL_SHARED_SPI */ @@ -386,7 +386,7 @@ static msg_t acc_set_full_scale(LIS302DLDriver *devp, /* Getting data from register.*/ lis302dlSPIWriteRegister(devp->config->spip, LIS302DL_AD_CTRL_REG1, 1, &cr); - + #if LIS302DL_SHARED_SPI spiReleaseBus(devp->config->spip); #endif /* LIS302DL_SHARED_SPI */ @@ -426,9 +426,9 @@ static const struct BaseAccelerometerVMT vmt_accelerometer = { void lis302dlObjectInit(LIS302DLDriver *devp) { devp->vmt = &vmt_device; devp->acc_if.vmt = &vmt_accelerometer; - + devp->config = NULL; - + devp->accaxes = LIS302DL_ACC_NUMBER_OF_AXES; devp->state = LIS302DL_STOP; @@ -448,18 +448,18 @@ void lis302dlStart(LIS302DLDriver *devp, const LIS302DLConfig *config) { osalDbgCheck((devp != NULL) && (config != NULL)); osalDbgAssert((devp->state == LIS302DL_STOP) || (devp->state == LIS302DL_READY), - "lis302dlStart(), invalid state"); + "lis302dlStart(), invalid state"); devp->config = config; /* Control register 1 configuration block.*/ { - cr[0] = LIS302DL_CTRL_REG1_XEN | LIS302DL_CTRL_REG1_YEN | + cr[0] = LIS302DL_CTRL_REG1_XEN | LIS302DL_CTRL_REG1_YEN | LIS302DL_CTRL_REG1_ZEN | LIS302DL_CTRL_REG1_PD | devp->config->accoutputdatarate | devp->config->accfullscale; } - + /* Control register 2 configuration block.*/ { #if LIS302DL_USE_ADVANCED || defined(__DOXYGEN__) @@ -473,15 +473,15 @@ void lis302dlStart(LIS302DLDriver *devp, const LIS302DLConfig *config) { spiAcquireBus((devp)->config->spip); #endif /* LIS302DL_SHARED_SPI */ spiStart((devp)->config->spip, (devp)->config->spicfg); - - lis302dlSPIWriteRegister(devp->config->spip, LIS302DL_AD_CTRL_REG1, + + lis302dlSPIWriteRegister(devp->config->spip, LIS302DL_AD_CTRL_REG1, 2, cr); - + #if LIS302DL_SHARED_SPI spiReleaseBus((devp)->config->spip); -#endif /* LIS302DL_SHARED_SPI */ +#endif /* LIS302DL_SHARED_SPI */ #endif /* LIS302DL_USE_SPI */ - + /* Storing sensitivity information according to full scale value */ if(devp->config->accfullscale == LIS302DL_ACC_FS_2G) { devp->accfullscale = LIS302DL_ACC_2G; @@ -509,7 +509,7 @@ void lis302dlStart(LIS302DLDriver *devp, const LIS302DLConfig *config) { if(devp->config->accbias != NULL) for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++) devp->accbias[i] = devp->config->accbias[i]; - else + else for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++) devp->accbias[i] = LIS302DL_ACC_BIAS; @@ -517,7 +517,7 @@ void lis302dlStart(LIS302DLDriver *devp, const LIS302DLConfig *config) { osalThreadSleepMilliseconds(10); devp->state = LIS302DL_READY; -} +} /** * @brief Deactivates the LIS302DL Complex Driver peripheral. @@ -530,7 +530,7 @@ void lis302dlStop(LIS302DLDriver *devp) { uint8_t cr1; osalDbgCheck(devp != NULL); - osalDbgAssert((devp->state == LIS302DL_STOP) || + osalDbgAssert((devp->state == LIS302DL_STOP) || (devp->state == LIS302DL_READY), "lis302dlStop(), invalid state"); @@ -547,8 +547,8 @@ void lis302dlStop(LIS302DLDriver *devp) { spiStop((devp)->config->spip); #if LIS302DL_SHARED_SPI spiReleaseBus((devp)->config->spip); -#endif /* LIS302DL_SHARED_SPI */ -#endif /* LIS302DL_USE_SPI */ +#endif /* LIS302DL_SHARED_SPI */ +#endif /* LIS302DL_USE_SPI */ } devp->state = LIS302DL_STOP; } diff --git a/os/ex/ST/lis302dl.h b/os/ex/ST/lis302dl.h index 120929a89..d4351d6cd 100644 --- a/os/ex/ST/lis302dl.h +++ b/os/ex/ST/lis302dl.h @@ -63,17 +63,17 @@ /** * @brief LIS302DL accelerometer subsystem characteristics. - * @note Sensitivity is expressed as milli-G/LSB whereas + * @note Sensitivity is expressed as milli-G/LSB whereas * 1 milli-G = 0.00980665 m/s^2. * @note Bias is expressed as milli-G. * * @{ */ #define LIS302DL_ACC_NUMBER_OF_AXES 3U - + #define LIS302DL_ACC_2G 2.0f #define LIS302DL_ACC_8G 8.0f - + #define LIS302DL_ACC_SENS_2G 18.0f #define LIS302DL_ACC_SENS_8G 72.0f @@ -126,13 +126,13 @@ * @name LIS302DL_CTRL_REG1 register bits definitions * @{ */ -#define LIS302DL_CTRL_REG1_MASK 0xFF +#define LIS302DL_CTRL_REG1_MASK 0xFF #define LIS302DL_CTRL_REG1_XEN (1 << 0) #define LIS302DL_CTRL_REG1_YEN (1 << 1) #define LIS302DL_CTRL_REG1_ZEN (1 << 2) #define LIS302DL_CTRL_REG1_STM (1 << 3) #define LIS302DL_CTRL_REG1_STP (1 << 4) -#define LIS302DL_CTRL_REG1_FS_MASK 0x20 +#define LIS302DL_CTRL_REG1_FS_MASK 0x20 #define LIS302DL_CTRL_REG1_FS (1 << 5) #define LIS302DL_CTRL_REG1_PD (1 << 6) #define LIS302DL_CTRL_REG1_DR (1 << 7) @@ -141,8 +141,8 @@ /** * @name LIS302DL_CTRL_REG2 register bits definitions * @{ - */ -#define LIS302DL_CTRL_REG2_MASK 0xDF + */ +#define LIS302DL_CTRL_REG2_MASK 0xDF #define LIS302DL_CTRL_REG2_HPCF1 (1 << 0) #define LIS302DL_CTRL_REG2_HPCF2 (1 << 1) #define LIS302DL_CTRL_REG2_HPFFWU1 (1 << 2) @@ -155,8 +155,8 @@ /** * @name LIS302DL_CTRL_REG3 register bits definitions * @{ - */ -#define LIS302DL_CTRL_REG3_MASK 0xFF + */ +#define LIS302DL_CTRL_REG3_MASK 0xFF #define LIS302DL_CTRL_REG3_I1CFG0 (1 << 0) #define LIS302DL_CTRL_REG3_I1CFG1 (1 << 1) #define LIS302DL_CTRL_REG3_I1CFG2 (1 << 2) @@ -214,7 +214,7 @@ #endif /** - * @brief LIS302DL accelerometer subsystem advanced configurations + * @brief LIS302DL accelerometer subsystem advanced configurations * switch. * @details If set to @p TRUE more configurations are available. * @note The default is @p FALSE. @@ -359,8 +359,8 @@ typedef struct { #define _lis302dl_methods_alone \ /* Change full scale value of LIS302DL .*/ \ msg_t (*set_full_scale)(LIS302DLDriver *devp, lis302dl_acc_fs_t fs); - - + + /** * @brief @p LIS302DL specific methods with inherited ones. */ diff --git a/os/ex/ST/lis3dsh.c b/os/ex/ST/lis3dsh.c index 24eadac0c..b3634a1f7 100644 --- a/os/ex/ST/lis3dsh.c +++ b/os/ex/ST/lis3dsh.c @@ -97,7 +97,7 @@ static void lis3dshSPIWriteRegister(SPIDriver *spip, uint8_t reg, size_t n, */ static size_t acc_get_axes_number(void *ip) { (void)ip; - + return LIS3DSH_ACC_NUMBER_OF_AXES; } @@ -124,7 +124,7 @@ static msg_t acc_read_raw(void *ip, int32_t axes[]) { msg_t msg = MSG_OK; osalDbgCheck((ip != NULL) && (axes != NULL)); - + /* Getting parent instance pointer.*/ devp = objGetInstance(LIS3DSHDriver*, (BaseAccelerometer*)ip); @@ -135,7 +135,7 @@ static msg_t acc_read_raw(void *ip, int32_t axes[]) { #if LIS3DSH_SHARED_SPI osalDbgAssert((devp->config->spip->state == SPI_READY), "acc_read_raw(), channel not ready"); - + spiAcquireBus(devp->config->spip); spiStart(devp->config->spip, devp->config->spicfg); @@ -146,10 +146,9 @@ static msg_t acc_read_raw(void *ip, int32_t axes[]) { #if LIS3DSH_SHARED_SPI spiReleaseBus(devp->config->spip); -#endif /* LIS3DSH_SHARED_SPI */ +#endif /* LIS3DSH_SHARED_SPI */ #endif /* LIS3DSH_USE_SPI */ - for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++) { tmp = buff[2 * i] + (buff[2 * i + 1] << 8); axes[i] = (int32_t)tmp; @@ -242,7 +241,7 @@ static msg_t acc_reset_bias(void *ip) { msg_t msg = MSG_OK; osalDbgCheck(ip != NULL); - + /* Getting parent instance pointer.*/ devp = objGetInstance(LIS3DSHDriver*, (BaseAccelerometer*)ip); @@ -301,7 +300,7 @@ static msg_t acc_reset_sensivity(void *ip) { msg_t msg = MSG_OK; osalDbgCheck(ip != NULL); - + /* Getting parent instance pointer.*/ devp = objGetInstance(LIS3DSHDriver*, (BaseAccelerometer*)ip); @@ -324,7 +323,7 @@ static msg_t acc_reset_sensivity(void *ip) { for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++) devp->accsensitivity[i] = LIS3DSH_ACC_SENS_16G; else { - osalDbgAssert(FALSE, + osalDbgAssert(FALSE, "acc_reset_sensivity(), accelerometer full scale issue"); return MSG_RESET; } @@ -333,7 +332,7 @@ static msg_t acc_reset_sensivity(void *ip) { /** * @brief Changes the LIS3DSHDriver accelerometer fullscale value. - * @note This function also rescale sensitivities and biases based on + * @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. * @@ -392,7 +391,7 @@ static msg_t acc_set_full_scale(LIS3DSHDriver *devp, /* Getting data from register.*/ lis3dshSPIReadRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG5, 1, &cr); - + #if LIS3DSH_SHARED_SPI spiReleaseBus(devp->config->spip); #endif /* LIS3DSH_SHARED_SPI */ @@ -410,7 +409,7 @@ static msg_t acc_set_full_scale(LIS3DSHDriver *devp, /* Getting data from register.*/ lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG5, 1, &cr); - + #if LIS3DSH_SHARED_SPI spiReleaseBus(devp->config->spip); #endif /* LIS3DSH_SHARED_SPI */ @@ -450,9 +449,9 @@ static const struct BaseAccelerometerVMT vmt_accelerometer = { void lis3dshObjectInit(LIS3DSHDriver *devp) { devp->vmt = &vmt_device; devp->acc_if.vmt = &vmt_accelerometer; - + devp->config = NULL; - + devp->accaxes = LIS3DSH_ACC_NUMBER_OF_AXES; devp->state = LIS3DSH_STOP; @@ -473,10 +472,10 @@ void lis3dshStart(LIS3DSHDriver *devp, const LIS3DSHConfig *config) { osalDbgAssert((devp->state == LIS3DSH_STOP) || (devp->state == LIS3DSH_READY), - "lis3dshStart(), invalid state"); + "lis3dshStart(), invalid state"); devp->config = config; - + /* Control register 4 configuration block.*/ { cr = LIS3DSH_CTRL_REG4_XEN | LIS3DSH_CTRL_REG4_YEN | LIS3DSH_CTRL_REG4_ZEN | @@ -493,7 +492,7 @@ void lis3dshStart(LIS3DSHDriver *devp, const LIS3DSHConfig *config) { spiStart(devp->config->spip, devp->config->spicfg); lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG4, 1, &cr); - + #if LIS3DSH_SHARED_SPI spiReleaseBus(devp->config->spip); #endif /* LIS3DSH_SHARED_SPI */ @@ -538,9 +537,9 @@ void lis3dshStart(LIS3DSHDriver *devp, const LIS3DSHConfig *config) { #if LIS3DSH_SHARED_SPI spiReleaseBus(devp->config->spip); -#endif /* LIS3DSH_SHARED_SPI */ +#endif /* LIS3DSH_SHARED_SPI */ #endif /* LIS3DSH_USE_SPI */ - + /* Storing sensitivity information according to user setting */ if(devp->config->accfullscale == LIS3DSH_ACC_FS_2G) { devp->accfullscale = LIS3DSH_ACC_2G; @@ -595,15 +594,15 @@ void lis3dshStart(LIS3DSHDriver *devp, const LIS3DSHConfig *config) { if(devp->config->accbias != NULL) for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++) devp->accbias[i] = devp->config->accbias[i]; - else + else for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++) devp->accbias[i] = LIS3DSH_ACC_BIAS; - + /* This is the Accelerometer transient recovery time */ osalThreadSleepMilliseconds(10); devp->state = LIS3DSH_READY; -} +} /** * @brief Deactivates the LIS3DSH Complex Driver peripheral. @@ -616,7 +615,7 @@ void lis3dshStop(LIS3DSHDriver *devp) { uint8_t cr4; osalDbgCheck(devp != NULL); - osalDbgAssert((devp->state == LIS3DSH_STOP) || + osalDbgAssert((devp->state == LIS3DSH_STOP) || (devp->state == LIS3DSH_READY), "lis3dshStop(), invalid state"); @@ -629,13 +628,13 @@ void lis3dshStop(LIS3DSHDriver *devp) { #endif /* LIS3DSH_SHARED_SPI */ /* Disabling all axes and enabling power down mode.*/ cr4 = 0; - lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG4, + lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG4, 1, &cr4); - + spiStop(devp->config->spip); #if LIS3DSH_SHARED_SPI spiReleaseBus(devp->config->spip); -#endif /* LIS3DSH_SHARED_SPI */ +#endif /* LIS3DSH_SHARED_SPI */ #endif /* LIS3DSH_USE_SPI */ } devp->state = LIS3DSH_STOP; diff --git a/os/ex/ST/lis3dsh.h b/os/ex/ST/lis3dsh.h index 0890de069..6d3eeb1bb 100644 --- a/os/ex/ST/lis3dsh.h +++ b/os/ex/ST/lis3dsh.h @@ -63,20 +63,20 @@ /** * @brief LIS3DSH accelerometer subsystem characteristics. - * @note Sensitivity is expressed as milli-G/LSB whereas + * @note Sensitivity is expressed as milli-G/LSB whereas * 1 milli-G = 0.00980665 m/s^2. * @note Bias is expressed as milli-G. * * @{ */ #define LIS3DSH_ACC_NUMBER_OF_AXES 3U - + #define LIS3DSH_ACC_2G 2.0f #define LIS3DSH_ACC_4G 4.0f #define LIS3DSH_ACC_6G 6.0f #define LIS3DSH_ACC_8G 8.0f #define LIS3DSH_ACC_16G 16.0f - + #define LIS3DSH_ACC_SENS_2G 0.06f #define LIS3DSH_ACC_SENS_4G 0.12f #define LIS3DSH_ACC_SENS_6G 0.18f @@ -206,7 +206,7 @@ * @name LIS3DSH_CTRL_REG1 register bits definitions * @{ */ -#define LIS3DSH_CTRL_REG1_MASK 0xE9 +#define LIS3DSH_CTRL_REG1_MASK 0xE9 #define LIS3DSH_CTRL_REG1_SM1_EN (1 << 0) #define LIS3DSH_CTRL_REG1_SM1_PIN (1 << 3) #define LIS3DSH_CTRL_REG1_HYST0_1 (1 << 5) @@ -218,7 +218,7 @@ * @name LIS3DSH_CTRL_REG2 register bits definitions * @{ */ -#define LIS3DSH_CTRL_REG2_MASK 0xE9 +#define LIS3DSH_CTRL_REG2_MASK 0xE9 #define LIS3DSH_CTRL_REG2_SM2_EN (1 << 0) #define LIS3DSH_CTRL_REG2_SM2_PIN (1 << 3) #define LIS3DSH_CTRL_REG2_HYST0_2 (1 << 5) @@ -230,7 +230,7 @@ * @name LIS3DSH_CTRL_REG3 register bits definitions * @{ */ -#define LIS3DSH_CTRL_REG3_MASK 0xFF +#define LIS3DSH_CTRL_REG3_MASK 0xFF #define LIS3DSH_CTRL_REG3_STRT (1 << 0) #define LIS3DSH_CTRL_REG3_VFILT (1 << 2) #define LIS3DSH_CTRL_REG3_INT1_EN (1 << 3) @@ -244,7 +244,7 @@ * @name LIS3DSH_CTRL_REG4 register bits definitions * @{ */ -#define LIS3DSH_CTRL_REG4_MASK 0xFF +#define LIS3DSH_CTRL_REG4_MASK 0xFF #define LIS3DSH_CTRL_REG4_XEN (1 << 0) #define LIS3DSH_CTRL_REG4_YEN (1 << 1) #define LIS3DSH_CTRL_REG4_ZEN (1 << 2) @@ -258,12 +258,12 @@ /** * @name LIS3DSH_CTRL_REG5 register bits definitions * @{ - */ -#define LIS3DSH_CTRL_REG5_MASK 0xFF + */ +#define LIS3DSH_CTRL_REG5_MASK 0xFF #define LIS3DSH_CTRL_REG5_SIM (1 << 0) #define LIS3DSH_CTRL_REG5_ST1 (1 << 1) #define LIS3DSH_CTRL_REG5_ST2 (1 << 2) -#define LIS3DSH_CTRL_REG5_FS_MASK 0x38 +#define LIS3DSH_CTRL_REG5_FS_MASK 0x38 #define LIS3DSH_CTRL_REG5_FS0 (1 << 3) #define LIS3DSH_CTRL_REG5_FS1 (1 << 4) #define LIS3DSH_CTRL_REG5_FS2 (1 << 5) @@ -275,7 +275,7 @@ * @name LIS3DSH_CTRL_REG6 register bits definitions * @{ */ -#define LIS3DSH_CTRL_REG6_MASK 0xFF +#define LIS3DSH_CTRL_REG6_MASK 0xFF #define LIS3DSH_CTRL_REG6_P2_BOOT (1 << 0) #define LIS3DSH_CTRL_REG6_P1_OVRUN (1 << 1) #define LIS3DSH_CTRL_REG6_P1_WTM (1 << 2) @@ -333,7 +333,7 @@ #endif /** - * @brief LIS3DSH accelerometer subsystem advanced configurations + * @brief LIS3DSH accelerometer subsystem advanced configurations * switch. * @details If set to @p TRUE more configurations are available. * @note The default is @p FALSE. @@ -489,7 +489,7 @@ typedef struct { lis3dsh_acc_bw_t accantialiasing; /** * @brief LIS3DSH block data update. - */ + */ lis3dsh_acc_bdu_t accblockdataupdate; #endif } LIS3DSHConfig; @@ -500,8 +500,8 @@ typedef struct { #define _lis3dsh_methods_alone \ /* Change full scale value of LIS3DSH accelerometer subsystem.*/ \ msg_t (*acc_set_full_scale)(LIS3DSHDriver *devp, lis3dsh_acc_fs_t fs); - - + + /** * @brief @p LIS3DSH specific methods with inherited ones. */ diff --git a/os/ex/ST/lis3mdl.c b/os/ex/ST/lis3mdl.c index 261ad388b..cef564dab 100644 --- a/os/ex/ST/lis3mdl.c +++ b/os/ex/ST/lis3mdl.c @@ -128,7 +128,7 @@ static msg_t comp_read_raw(void *ip, int32_t axes[]) { msg_t msg; osalDbgCheck((ip != NULL) && (axes != NULL)); - + /* Getting parent instance pointer.*/ devp = objGetInstance(LIS3MDLDriver*, (BaseCompass*)ip); @@ -142,8 +142,8 @@ static msg_t comp_read_raw(void *ip, int32_t axes[]) { i2cStart(devp->config->i2cp, devp->config->i2ccfg); #endif /* LIS3MDL_SHARED_I2C */ - msg = lis3mdlI2CReadRegister(devp->config->i2cp, devp->config->slaveaddress, - LIS3MDL_AD_OUT_X_L, buff, + msg = lis3mdlI2CReadRegister(devp->config->i2cp, devp->config->slaveaddress, + LIS3MDL_AD_OUT_X_L, buff, LIS3MDL_COMP_NUMBER_OF_AXES * 2); #if LIS3MDL_SHARED_I2C @@ -183,13 +183,13 @@ static msg_t comp_read_cooked(void *ip, float axes[]) { osalDbgCheck((ip != NULL) && (axes != NULL)); - + /* Getting parent instance pointer.*/ devp = objGetInstance(LIS3MDLDriver*, (BaseCompass*)ip); - + osalDbgAssert((devp->state == LIS3MDL_READY), "comp_read_cooked(), invalid state"); - + msg = comp_read_raw(ip, raw); for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES ; i++) { axes[i] = (raw[i] * devp->compsensitivity[i]) - devp->compbias[i]; @@ -213,9 +213,9 @@ static msg_t comp_set_bias(void *ip, float *bp) { LIS3MDLDriver* devp; uint32_t i; msg_t msg = MSG_OK; - + osalDbgCheck((ip != NULL) && (bp != NULL)); - + /* Getting parent instance pointer.*/ devp = objGetInstance(LIS3MDLDriver*, (BaseCompass*)ip); @@ -244,7 +244,7 @@ static msg_t comp_reset_bias(void *ip) { msg_t msg = MSG_OK; osalDbgCheck(ip != NULL); - + /* Getting parent instance pointer.*/ devp = objGetInstance(LIS3MDLDriver*, (BaseCompass*)ip); @@ -272,7 +272,7 @@ static msg_t comp_set_sensivity(void *ip, float *sp) { LIS3MDLDriver* devp; uint32_t i; msg_t msg = MSG_OK; - + /* Getting parent instance pointer.*/ devp = objGetInstance(LIS3MDLDriver*, (BaseCompass*)ip); @@ -303,7 +303,7 @@ static msg_t comp_reset_sensivity(void *ip) { msg_t msg = MSG_OK; osalDbgCheck(ip != NULL); - + /* Getting parent instance pointer.*/ devp = objGetInstance(LIS3MDLDriver*, (BaseCompass*)ip); @@ -347,7 +347,7 @@ static msg_t comp_set_full_scale(LIS3MDLDriver *devp, float newfs, scale; uint8_t i, buff[2]; msg_t msg; - + osalDbgCheck(devp != NULL); osalDbgAssert((devp->state == LIS3MDL_READY), @@ -402,7 +402,7 @@ static msg_t comp_set_full_scale(LIS3MDLDriver *devp, i2cStart(devp->config->i2cp, devp->config->i2ccfg); #endif /* LIS3MDL_SHARED_I2C */ - msg = lis3mdlI2CWriteRegister(devp->config->i2cp, + msg = lis3mdlI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress, buff, 1); @@ -447,9 +447,9 @@ static const struct BaseCompassVMT vmt_compass = { void lis3mdlObjectInit(LIS3MDLDriver *devp) { devp->vmt = &vmt_device; devp->comp_if.vmt = &vmt_compass; - + devp->config = NULL; - + devp->compaxes = LIS3MDL_COMP_NUMBER_OF_AXES; devp->state = LIS3MDL_STOP; @@ -472,7 +472,7 @@ void lis3mdlStart(LIS3MDLDriver *devp, const LIS3MDLConfig *config) { "lis3mdlStart(), invalid state"); devp->config = config; - + /* Control register 1 configuration block.*/ { cr[0] = LIS3MDL_AD_CTRL_REG1; @@ -512,17 +512,17 @@ void lis3mdlStart(LIS3MDLDriver *devp, const LIS3MDLConfig *config) { cr[5] = devp->config->blockdataupdate; #endif } - + #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, cr, 5); - + #if LIS3MDL_SHARED_I2C i2cReleaseBus((devp)->config->i2cp); #endif /* LIS3MDL_SHARED_I2C */ @@ -579,15 +579,15 @@ void lis3mdlStart(LIS3MDLDriver *devp, const LIS3MDLConfig *config) { if(devp->config->compbias != NULL) for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) devp->compbias[i] = devp->config->compbias[i]; - else + else for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) devp->compbias[i] = LIS3MDL_COMP_BIAS; - + /* This is the MEMS transient recovery time */ osalThreadSleepMilliseconds(5); devp->state = LIS3MDL_READY; -} +} /** * @brief Deactivates the LIS3MDL Complex Driver peripheral. @@ -602,7 +602,7 @@ void lis3mdlStop(LIS3MDLDriver *devp) { osalDbgAssert((devp->state == LIS3MDL_STOP) || (devp->state == LIS3MDL_READY), "lis3mdlStop(), invalid state"); - + if (devp->state == LIS3MDL_READY) { #if (LIS3MDL_USE_I2C) #if LIS3MDL_SHARED_I2C diff --git a/os/ex/ST/lis3mdl.h b/os/ex/ST/lis3mdl.h index 38f1d316c..b64e44345 100644 --- a/os/ex/ST/lis3mdl.h +++ b/os/ex/ST/lis3mdl.h @@ -68,12 +68,12 @@ * @{ */ #define LIS3MDL_COMP_NUMBER_OF_AXES 3U - + #define LIS3MDL_COMP_4GA 4.0f #define LIS3MDL_COMP_8GA 8.0f #define LIS3MDL_COMP_12GA 12.0f #define LIS3MDL_COMP_16GA 16.0f - + #define LIS3MDL_COMP_SENS_4GA 0.00014615f #define LIS3MDL_COMP_SENS_8GA 0.00029231f #define LIS3MDL_COMP_SENS_12GA 0.0004384f @@ -92,7 +92,7 @@ #define LIS3MDL_AD(n) (1 << n) #define LIS3MDL_MS (1 << 6) #define LIS3MDL_RW (1 << 7) - + #define LIS3MDL_SUB_MS (1 << 7) /** @} */ @@ -125,7 +125,7 @@ * @name LIS3MDL_CTRL_REG1 register bits definitions * @{ */ -#define LIS3MDL_CTRL_REG1_MASK 0xFF +#define LIS3MDL_CTRL_REG1_MASK 0xFF #define LIS3MDL_CTRL_REG1_ST (1 << 0) #define LIS3MDL_CTRL_REG1_FAST_ODR (1 << 1) #define LIS3MDL_CTRL_REG1_DO0 (1 << 2) @@ -140,10 +140,10 @@ * @name LIS3MDL_CTRL_REG2 register bits definitions * @{ */ -#define LIS3MDL_CTRL_REG2_MASK 0x6C +#define LIS3MDL_CTRL_REG2_MASK 0x6C #define LIS3MDL_CTRL_REG2_SOFT_RST (1 << 2) #define LIS3MDL_CTRL_REG2_REBOOT (1 << 3) -#define LIS3MDL_CTRL_REG2_FS_MASK 0x60 +#define LIS3MDL_CTRL_REG2_FS_MASK 0x60 #define LIS3MDL_CTRL_REG2_FS0 (1 << 5) #define LIS3MDL_CTRL_REG2_FS1 (1 << 6) /** @} */ @@ -152,7 +152,7 @@ * @name LIS3MDL_CTRL_REG3 register bits definitions * @{ */ -#define LIS3MDL_CTRL_REG3_MASK 0x27 +#define LIS3MDL_CTRL_REG3_MASK 0x27 #define LIS3MDL_CTRL_REG3_MD0 (1 << 0) #define LIS3MDL_CTRL_REG3_MD1 (1 << 1) #define LIS3MDL_CTRL_REG3_SIM (1 << 2) @@ -163,7 +163,7 @@ * @name LIS3MDL_CTRL_REG4 register bits definitions * @{ */ -#define LIS3MDL_CTRL_REG4_MASK 0x0E +#define LIS3MDL_CTRL_REG4_MASK 0x0E #define LIS3MDL_CTRL_REG4_BLE (1 << 1) #define LIS3MDL_CTRL_REG4_OMZ0 (1 << 2) #define LIS3MDL_CTRL_REG4_OMZ1 (1 << 3) @@ -173,7 +173,7 @@ * @name LIS3MDL_CTRL_REG5 register bits definitions * @{ */ -#define LIS3MDL_CTRL_REG5_MASK 0xC0 +#define LIS3MDL_CTRL_REG5_MASK 0xC0 #define LIS3MDL_CTRL_REG5_BDU (1 << 6) #define LIS3MDL_CTRL_REG5_FAST_READ (1 << 7) /** @} */ @@ -368,7 +368,7 @@ typedef enum { * @brief LIS3MDL endianness */ typedef enum { - LIS3MDL_END_LITTLE = 0x00, /**< Little endian. */ + LIS3MDL_END_LITTLE = 0x00, /**< Little endian. */ LIS3MDL_END_BIG = 0x02 /**< Big endian. */ }lis3mdl_end_t; @@ -459,7 +459,7 @@ typedef struct { #define _lis3msl_methods_alone \ /* Change full scale value of LIS3MDL compass subsystem.*/ \ msg_t (*comp_set_full_scale)(LIS3MDLDriver *devp, lis3mdl_comp_fs_t fs); - + /** * @brief @p LIS3MDL specific methods with inherited ones. */ diff --git a/os/ex/ST/lps22hb.c b/os/ex/ST/lps22hb.c index 235df8f56..fdc1e6b2e 100644 --- a/os/ex/ST/lps22hb.c +++ b/os/ex/ST/lps22hb.c @@ -60,7 +60,7 @@ * * @notapi */ -static msg_t lps22hbI2CReadRegister(I2CDriver *i2cp, lps22hb_sad_t sad, +static msg_t lps22hbI2CReadRegister(I2CDriver *i2cp, lps22hb_sad_t sad, uint8_t reg, uint8_t* rxbuf, size_t n) { return i2cMasterTransmitTimeout(i2cp, sad, ®, 1, rxbuf, n, @@ -119,18 +119,18 @@ static msg_t baro_read_raw(void *ip, int32_t axes[]) { LPS22HBDriver* devp; uint8_t buff[3]; msg_t msg; - + osalDbgCheck((ip != NULL) && (axes != NULL)); /* Getting parent instance pointer.*/ devp = objGetInstance(LPS22HBDriver*, (BaseBarometer*)ip); - + osalDbgAssert((devp->state == LPS22HB_READY), "baro_read_raw(), invalid state"); osalDbgAssert((devp->config->i2cp->state == I2C_READY), "baro_read_raw(), channel not ready"); - + #if LPS22HB_SHARED_I2C i2cAcquireBus(devp->config->i2cp); i2cStart(devp->config->i2cp, @@ -149,7 +149,7 @@ static msg_t baro_read_raw(void *ip, int32_t axes[]) { } return msg; } - + /** * @brief Retrieves cooked data from the BaseBarometer. * @note This data is manipulated according to the formula @@ -176,14 +176,14 @@ static msg_t baro_read_cooked(void *ip, float axes[]) { /* Getting parent instance pointer.*/ devp = objGetInstance(LPS22HBDriver*, (BaseBarometer*)ip); - + osalDbgAssert((devp->state == LPS22HB_READY), "baro_read_cooked(), invalid state"); msg = baro_read_raw(ip, &raw); *axes = (raw * devp->barosensitivity) - devp->barobias; - + return msg; } @@ -205,12 +205,12 @@ static msg_t baro_read_cooked(void *ip, float axes[]) { static msg_t baro_set_bias(void *ip, float *bp) { LPS22HBDriver* devp; msg_t msg = MSG_OK; - + osalDbgCheck((ip != NULL) && (bp != NULL)); /* Getting parent instance pointer.*/ devp = objGetInstance(LPS22HBDriver*, (BaseBarometer*)ip); - + osalDbgAssert((devp->state == LPS22HB_READY), "baro_set_bias(), invalid state"); @@ -231,15 +231,15 @@ static msg_t baro_set_bias(void *ip, float *bp) { static msg_t baro_reset_bias(void *ip) { LPS22HBDriver* devp; msg_t msg = MSG_OK; - + osalDbgCheck(ip != NULL); /* Getting parent instance pointer.*/ devp = objGetInstance(LPS22HBDriver*, (BaseBarometer*)ip); - + osalDbgAssert((devp->state == LPS22HB_READY), "baro_reset_bias(), invalid state"); - + devp->barobias = LPS22HB_BARO_SENS; return msg; } @@ -259,12 +259,12 @@ static msg_t baro_reset_bias(void *ip) { static msg_t baro_set_sensitivity(void *ip, float *sp) { LPS22HBDriver* devp; msg_t msg = MSG_OK; - + osalDbgCheck((ip != NULL) && (sp != NULL)); /* Getting parent instance pointer.*/ devp = objGetInstance(LPS22HBDriver*, (BaseBarometer*)ip); - + osalDbgAssert((devp->state == LPS22HB_READY), "baro_set_sensitivity(), invalid state"); @@ -284,12 +284,12 @@ static msg_t baro_set_sensitivity(void *ip, float *sp) { static msg_t baro_reset_sensitivity(void *ip) { LPS22HBDriver* devp; msg_t msg = MSG_OK; - + osalDbgCheck(ip != NULL); /* Getting parent instance pointer.*/ devp = objGetInstance(LPS22HBDriver*, (BaseBarometer*)ip); - + osalDbgAssert((devp->state == LPS22HB_READY), "baro_reset_sensitivity(), invalid state"); @@ -306,7 +306,7 @@ static msg_t baro_reset_sensitivity(void *ip) { */ static size_t thermo_get_axes_number(void *ip) { (void)ip; - + return LPS22HB_THERMO_NUMBER_OF_AXES; } @@ -331,18 +331,18 @@ static msg_t thermo_read_raw(void *ip, int32_t axes[]) { int16_t tmp; uint8_t buff[2]; msg_t msg; - + osalDbgCheck((ip != NULL) && (axes != NULL)); /* Getting parent instance pointer.*/ devp = objGetInstance(LPS22HBDriver*, (BaseThermometer*)ip); - + osalDbgAssert((devp->state == LPS22HB_READY), - "thermo_read_raw(), invalid state"); - + "thermo_read_raw(), invalid state"); + osalDbgAssert((devp->config->i2cp->state == I2C_READY), "thermo_read_raw(), channel not ready"); - + #if LPS22HB_SHARED_I2C i2cAcquireBus(devp->config->i2cp); i2cStart(devp->config->i2cp, @@ -351,7 +351,7 @@ static msg_t thermo_read_raw(void *ip, int32_t axes[]) { msg = lps22hbI2CReadRegister(devp->config->i2cp, devp->config->slaveaddress, LPS22HB_AD_TEMP_OUT_L, buff, 2); - + #if LPS22HB_SHARED_I2C i2cReleaseBus(devp->config->i2cp); #endif /* LPS22HB_SHARED_I2C */ @@ -389,7 +389,7 @@ static msg_t thermo_read_cooked(void *ip, float* axis) { /* Getting parent instance pointer.*/ devp = objGetInstance(LPS22HBDriver*, (BaseThermometer*)ip); - + osalDbgAssert((devp->state == LPS22HB_READY), "thermo_read_cooked(), invalid state"); @@ -415,17 +415,17 @@ static msg_t thermo_read_cooked(void *ip, float* axis) { static msg_t thermo_set_bias(void *ip, float *bp) { LPS22HBDriver* devp; msg_t msg = MSG_OK; - + osalDbgCheck((ip != NULL) && (bp != NULL)); /* Getting parent instance pointer.*/ devp = objGetInstance(LPS22HBDriver*, (BaseThermometer*)ip); - + osalDbgAssert((devp->state == LPS22HB_READY), "thermo_set_bias(), invalid state"); - + devp->thermobias = *bp; - + return msg; } @@ -441,18 +441,18 @@ static msg_t thermo_set_bias(void *ip, float *bp) { */ static msg_t thermo_reset_bias(void *ip) { LPS22HBDriver* devp; - msg_t msg = MSG_OK; - + msg_t msg = MSG_OK; + osalDbgCheck(ip != NULL); /* Getting parent instance pointer.*/ devp = objGetInstance(LPS22HBDriver*, (BaseThermometer*)ip); - + osalDbgAssert((devp->state == LPS22HB_READY), "thermo_reset_bias(), invalid state"); devp->thermobias = LPS22HB_THERMO_BIAS; - + return msg; } @@ -471,17 +471,17 @@ static msg_t thermo_reset_bias(void *ip) { static msg_t thermo_set_sensitivity(void *ip, float *sp) { LPS22HBDriver* devp; msg_t msg = MSG_OK; - + osalDbgCheck((ip != NULL) && (sp != NULL)); /* Getting parent instance pointer.*/ devp = objGetInstance(LPS22HBDriver*, (BaseThermometer*)ip); - + osalDbgAssert((devp->state == LPS22HB_READY), "thermo_set_sensitivity(), invalid state"); - + devp->thermosensitivity = *sp; - + return msg; } @@ -496,18 +496,18 @@ static msg_t thermo_set_sensitivity(void *ip, float *sp) { */ static msg_t thermo_reset_sensitivity(void *ip) { LPS22HBDriver* devp; - msg_t msg = MSG_OK; - + msg_t msg = MSG_OK; + osalDbgCheck(ip != NULL); /* Getting parent instance pointer.*/ devp = objGetInstance(LPS22HBDriver*, (BaseThermometer*)ip); - + osalDbgAssert((devp->state == LPS22HB_READY), "thermo_reset_sensitivity(), invalid state"); devp->thermosensitivity = LPS22HB_THERMO_SENS; - + return msg; } @@ -545,12 +545,12 @@ void lps22hbObjectInit(LPS22HBDriver *devp) { devp->vmt = &vmt_device; devp->baro_if.vmt = &vmt_barometer; devp->thermo_if.vmt = &vmt_thermometer; - + devp->config = NULL; devp->baroaxes = LPS22HB_BARO_NUMBER_OF_AXES; devp->thermoaxes = LPS22HB_THERMO_NUMBER_OF_AXES; - + devp->state = LPS22HB_STOP; } @@ -570,7 +570,7 @@ void lps22hbStart(LPS22HBDriver *devp, const LPS22HBConfig *config) { "lps22hbStart(), invalid state"); devp->config = config; - + /* Enabling register auto-increment.*/ /* Control register 1 configuration block.*/ { @@ -584,7 +584,7 @@ void lps22hbStart(LPS22HBDriver *devp, const LPS22HBConfig *config) { i2cStart(devp->config->i2cp, devp->config->i2ccfg); lps22hbI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress, cr, 1); - + /* Control register 1 configuration block.*/ { cr[0] = LPS22HB_AD_CTRL_REG1; @@ -594,15 +594,15 @@ void lps22hbStart(LPS22HBDriver *devp, const LPS22HBConfig *config) { cr[1] |= devp->config->lowpass_filter; #endif } - + #if LPS22HB_SHARED_I2C i2cAcquireBus((devp)->config->i2cp); #endif /* LPS22HB_SHARED_I2C */ i2cStart((devp)->config->i2cp, (devp)->config->i2ccfg); - + lps22hbI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress, cr, 1); - + #if LPS22HB_SHARED_I2C i2cReleaseBus((devp)->config->i2cp); #endif /* LPS22HB_SHARED_I2C */ @@ -643,7 +643,7 @@ void lps22hbStart(LPS22HBDriver *devp, const LPS22HBConfig *config) { osalThreadSleepMilliseconds(5); devp->state = LPS22HB_READY; -} +} /** * @brief Deactivates the LPS22HB Complex Driver peripheral. @@ -671,7 +671,7 @@ void lps22hbStop(LPS22HBDriver *devp) { cr[1] = 0; lps22hbI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress, cr, 1); - + i2cStop((devp)->config->i2cp); #if LPS22HB_SHARED_I2C i2cReleaseBus((devp)->config->i2cp); diff --git a/os/ex/ST/lps22hb.h b/os/ex/ST/lps22hb.h index 1f8455750..bbeae4c0f 100644 --- a/os/ex/ST/lps22hb.h +++ b/os/ex/ST/lps22hb.h @@ -15,7 +15,7 @@ You should have received a copy of the GNU General Public License along with this program. If not, see . - + */ /** @@ -63,7 +63,7 @@ /** * @brief LPS22HB barometer subsystem characteristics. - * @note Sensitivity is expressed as hPa/LSB whereas hPa stand for + * @note Sensitivity is expressed as hPa/LSB whereas hPa stand for * hectopascal. * @note Bias is expressed as hPa. * @@ -247,7 +247,7 @@ #endif /** - * @brief LPS22HB accelerometer subsystem advanced configurations + * @brief LPS22HB accelerometer subsystem advanced configurations * switch. * @details If set to @p TRUE more configurations are available. * @note The default is @p FALSE. @@ -307,7 +307,7 @@ typedef struct LPS22HBDriver LPS22HBDriver; typedef enum { LPS22HB_SAD_GND = 0x5C, /**< Slave Address when SA0 is to GND */ LPS22HB_SAD_VCC = 0x5D /**< Slave Address when SA0 is to VCC */ -}lps22hb_sad_t; +}lps22hb_sad_t; /** * @brief LPS22HB output data rate and bandwidth. @@ -468,7 +468,7 @@ struct LPS22HBDriver { /*===========================================================================*/ /* Driver macros. */ /*===========================================================================*/ - + /** * @brief Return the number of axes of the BaseBarometer. * diff --git a/os/ex/ST/lps25h.c b/os/ex/ST/lps25h.c index 516718153..f038e78f7 100644 --- a/os/ex/ST/lps25h.c +++ b/os/ex/ST/lps25h.c @@ -60,12 +60,12 @@ * * @notapi */ -static msg_t lps25hI2CReadRegister(I2CDriver *i2cp, lps25h_sad_t sad, +static msg_t lps25hI2CReadRegister(I2CDriver *i2cp, lps25h_sad_t sad, uint8_t reg, uint8_t* rxbuf, size_t n) { - uint8_t txbuf = reg; + uint8_t txbuf = reg; if(n > 1) txbuf |= LPS25H_SUB_MS; - + return i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, n, TIME_INFINITE); } @@ -84,7 +84,7 @@ static msg_t lps25hI2CReadRegister(I2CDriver *i2cp, lps25h_sad_t sad, * * @notapi */ -static msg_t lps25hI2CWriteRegister(I2CDriver *i2cp, lps25h_sad_t sad, +static msg_t lps25hI2CWriteRegister(I2CDriver *i2cp, lps25h_sad_t sad, uint8_t* txbuf, size_t n) { if (n > 1) (*txbuf) |= LPS25H_SUB_MS; @@ -126,18 +126,18 @@ static msg_t baro_read_raw(void *ip, int32_t axes[]) { LPS25HDriver* devp; uint8_t buff[3]; msg_t msg; - + osalDbgCheck((ip != NULL) && (axes != NULL)); /* Getting parent instance pointer.*/ devp = objGetInstance(LPS25HDriver*, (BaseBarometer*)ip); - + osalDbgAssert((devp->state == LPS25H_READY), "baro_read_raw(), invalid state"); osalDbgAssert((devp->config->i2cp->state == I2C_READY), "baro_read_raw(), channel not ready"); - + #if LPS25H_SHARED_I2C i2cAcquireBus(devp->config->i2cp); i2cStart(devp->config->i2cp, @@ -156,7 +156,7 @@ static msg_t baro_read_raw(void *ip, int32_t axes[]) { } return msg; } - + /** * @brief Retrieves cooked data from the BaseBarometer. * @note This data is manipulated according to the formula @@ -183,14 +183,14 @@ static msg_t baro_read_cooked(void *ip, float axes[]) { /* Getting parent instance pointer.*/ devp = objGetInstance(LPS25HDriver*, (BaseBarometer*)ip); - + osalDbgAssert((devp->state == LPS25H_READY), "baro_read_cooked(), invalid state"); msg = baro_read_raw(ip, &raw); *axes = (raw * devp->barosensitivity) - devp->barobias; - + return msg; } @@ -212,12 +212,12 @@ static msg_t baro_read_cooked(void *ip, float axes[]) { static msg_t baro_set_bias(void *ip, float *bp) { LPS25HDriver* devp; msg_t msg = MSG_OK; - + osalDbgCheck((ip != NULL) && (bp != NULL)); /* Getting parent instance pointer.*/ devp = objGetInstance(LPS25HDriver*, (BaseBarometer*)ip); - + osalDbgAssert((devp->state == LPS25H_READY), "baro_set_bias(), invalid state"); @@ -238,15 +238,15 @@ static msg_t baro_set_bias(void *ip, float *bp) { static msg_t baro_reset_bias(void *ip) { LPS25HDriver* devp; msg_t msg = MSG_OK; - + osalDbgCheck(ip != NULL); /* Getting parent instance pointer.*/ devp = objGetInstance(LPS25HDriver*, (BaseBarometer*)ip); - + osalDbgAssert((devp->state == LPS25H_READY), "baro_reset_bias(), invalid state"); - + devp->barobias = LPS25H_BARO_SENS; return msg; } @@ -266,12 +266,12 @@ static msg_t baro_reset_bias(void *ip) { static msg_t baro_set_sensitivity(void *ip, float *sp) { LPS25HDriver* devp; msg_t msg = MSG_OK; - + osalDbgCheck((ip != NULL) && (sp != NULL)); /* Getting parent instance pointer.*/ devp = objGetInstance(LPS25HDriver*, (BaseBarometer*)ip); - + osalDbgAssert((devp->state == LPS25H_READY), "baro_set_sensitivity(), invalid state"); @@ -291,12 +291,12 @@ static msg_t baro_set_sensitivity(void *ip, float *sp) { static msg_t baro_reset_sensitivity(void *ip) { LPS25HDriver* devp; msg_t msg = MSG_OK; - + osalDbgCheck(ip != NULL); /* Getting parent instance pointer.*/ devp = objGetInstance(LPS25HDriver*, (BaseBarometer*)ip); - + osalDbgAssert((devp->state == LPS25H_READY), "baro_reset_sensitivity(), invalid state"); @@ -313,7 +313,7 @@ static msg_t baro_reset_sensitivity(void *ip) { */ static size_t thermo_get_axes_number(void *ip) { (void)ip; - + return LPS25H_THERMO_NUMBER_OF_AXES; } @@ -338,18 +338,18 @@ static msg_t thermo_read_raw(void *ip, int32_t axes[]) { int16_t tmp; uint8_t buff[2]; msg_t msg; - + osalDbgCheck((ip != NULL) && (axes != NULL)); /* Getting parent instance pointer.*/ devp = objGetInstance(LPS25HDriver*, (BaseThermometer*)ip); - + osalDbgAssert((devp->state == LPS25H_READY), - "thermo_read_raw(), invalid state"); - + "thermo_read_raw(), invalid state"); + osalDbgAssert((devp->config->i2cp->state == I2C_READY), "thermo_read_raw(), channel not ready"); - + #if LPS25H_SHARED_I2C i2cAcquireBus(devp->config->i2cp); i2cStart(devp->config->i2cp, @@ -358,7 +358,7 @@ static msg_t thermo_read_raw(void *ip, int32_t axes[]) { msg = lps25hI2CReadRegister(devp->config->i2cp, devp->config->slaveaddress, LPS25H_AD_TEMP_OUT_L, buff, 2); - + #if LPS25H_SHARED_I2C i2cReleaseBus(devp->config->i2cp); #endif /* LPS25H_SHARED_I2C */ @@ -396,7 +396,7 @@ static msg_t thermo_read_cooked(void *ip, float* axis) { /* Getting parent instance pointer.*/ devp = objGetInstance(LPS25HDriver*, (BaseThermometer*)ip); - + osalDbgAssert((devp->state == LPS25H_READY), "thermo_read_cooked(), invalid state"); @@ -422,17 +422,17 @@ static msg_t thermo_read_cooked(void *ip, float* axis) { static msg_t thermo_set_bias(void *ip, float *bp) { LPS25HDriver* devp; msg_t msg = MSG_OK; - + osalDbgCheck((ip != NULL) && (bp != NULL)); /* Getting parent instance pointer.*/ devp = objGetInstance(LPS25HDriver*, (BaseThermometer*)ip); - + osalDbgAssert((devp->state == LPS25H_READY), "thermo_set_bias(), invalid state"); - + devp->thermobias = *bp; - + return msg; } @@ -448,18 +448,18 @@ static msg_t thermo_set_bias(void *ip, float *bp) { */ static msg_t thermo_reset_bias(void *ip) { LPS25HDriver* devp; - msg_t msg = MSG_OK; - + msg_t msg = MSG_OK; + osalDbgCheck(ip != NULL); /* Getting parent instance pointer.*/ devp = objGetInstance(LPS25HDriver*, (BaseThermometer*)ip); - + osalDbgAssert((devp->state == LPS25H_READY), "thermo_reset_bias(), invalid state"); devp->thermobias = LPS25H_THERMO_BIAS; - + return msg; } @@ -478,17 +478,17 @@ static msg_t thermo_reset_bias(void *ip) { static msg_t thermo_set_sensitivity(void *ip, float *sp) { LPS25HDriver* devp; msg_t msg = MSG_OK; - + osalDbgCheck((ip != NULL) && (sp != NULL)); /* Getting parent instance pointer.*/ devp = objGetInstance(LPS25HDriver*, (BaseThermometer*)ip); - + osalDbgAssert((devp->state == LPS25H_READY), "thermo_set_sensitivity(), invalid state"); - + devp->thermosensitivity = *sp; - + return msg; } @@ -503,18 +503,18 @@ static msg_t thermo_set_sensitivity(void *ip, float *sp) { */ static msg_t thermo_reset_sensitivity(void *ip) { LPS25HDriver* devp; - msg_t msg = MSG_OK; - + msg_t msg = MSG_OK; + osalDbgCheck(ip != NULL); /* Getting parent instance pointer.*/ devp = objGetInstance(LPS25HDriver*, (BaseThermometer*)ip); - + osalDbgAssert((devp->state == LPS25H_READY), "thermo_reset_sensitivity(), invalid state"); devp->thermosensitivity = LPS25H_THERMO_SENS; - + return msg; } @@ -552,12 +552,12 @@ void lps25hObjectInit(LPS25HDriver *devp) { devp->vmt = &vmt_device; devp->baro_if.vmt = &vmt_barometer; devp->thermo_if.vmt = &vmt_thermometer; - + devp->config = NULL; devp->baroaxes = LPS25H_BARO_NUMBER_OF_AXES; devp->thermoaxes = LPS25H_THERMO_NUMBER_OF_AXES; - + devp->state = LPS25H_STOP; } @@ -577,7 +577,7 @@ void lps25hStart(LPS25HDriver *devp, const LPS25HConfig *config) { "lps25hStart(), invalid state"); devp->config = config; - + /* Control register 1 configuration block.*/ { cr[0] = LPS25H_AD_CTRL_REG1; @@ -586,15 +586,15 @@ void lps25hStart(LPS25HDriver *devp, const LPS25HConfig *config) { cr[1] |= devp->config->blockdataupdate; #endif } - + #if LPS25H_SHARED_I2C i2cAcquireBus((devp)->config->i2cp); #endif /* LPS25H_SHARED_I2C */ i2cStart((devp)->config->i2cp, (devp)->config->i2ccfg); - + lps25hI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress, cr, 1); - + #if LPS25H_SHARED_I2C i2cReleaseBus((devp)->config->i2cp); #endif /* LPS25H_SHARED_I2C */ @@ -606,20 +606,20 @@ void lps25hStart(LPS25HDriver *devp, const LPS25HConfig *config) { #if LPS25H_USE_ADVANCED || defined(__DOXYGEN__) cr[1] = devp->config->baroresolution | devp->config->thermoresolution; #endif - + } #if LPS25H_SHARED_I2C i2cAcquireBus((devp)->config->i2cp); i2cStart((devp)->config->i2cp, (devp)->config->i2ccfg); #endif /* LPS25H_SHARED_I2C */ - + lps25hI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress, cr, 1); - + #if LPS25H_SHARED_I2C i2cReleaseBus((devp)->config->i2cp); -#endif /* LPS25H_SHARED_I2C */ +#endif /* LPS25H_SHARED_I2C */ if(devp->config->barosensitivity == NULL) { devp->barosensitivity = LPS25H_BARO_SENS; @@ -657,7 +657,7 @@ void lps25hStart(LPS25HDriver *devp, const LPS25HConfig *config) { osalThreadSleepMilliseconds(5); devp->state = LPS25H_READY; -} +} /** * @brief Deactivates the LPS25H Complex Driver peripheral. @@ -685,7 +685,7 @@ void lps25hStop(LPS25HDriver *devp) { cr[1] = 0; lps25hI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress, cr, 1); - + i2cStop((devp)->config->i2cp); #if LPS25H_SHARED_I2C i2cReleaseBus((devp)->config->i2cp); diff --git a/os/ex/ST/lps25h.h b/os/ex/ST/lps25h.h index 235e8a261..805b732da 100644 --- a/os/ex/ST/lps25h.h +++ b/os/ex/ST/lps25h.h @@ -15,7 +15,7 @@ You should have received a copy of the GNU General Public License along with this program. If not, see . - + */ /** @@ -63,14 +63,14 @@ /** * @brief LPS25H barometer subsystem characteristics. - * @note Sensitivity is expressed as hPa/LSB whereas hPa stand for + * @note Sensitivity is expressed as hPa/LSB whereas hPa stand for * hectopascal. * @note Bias is expressed as hPa. * * @{ */ #define LPS25H_BARO_NUMBER_OF_AXES 1U - + #define LPS25H_BARO_SENS 0.00024414f #define LPS25H_BARO_BIAS 0.0f /** @} */ @@ -83,7 +83,7 @@ * @{ */ #define LPS25H_THERMO_NUMBER_OF_AXES 1U - + #define LPS25H_THERMO_SENS 0.00208333f #define LPS25H_THERMO_BIAS -42.5f /** @} */ @@ -98,7 +98,7 @@ #define LPS25H_AD(n) (1 << n) #define LPS25H_MS (1 << 6) #define LPS25H_RW (1 << 7) - + #define LPS25H_SUB_MS (1 << 7) /** @} */ @@ -249,7 +249,7 @@ #endif /** - * @brief LPS25H accelerometer subsystem advanced configurations + * @brief LPS25H accelerometer subsystem advanced configurations * switch. * @details If set to @p TRUE more configurations are available. * @note The default is @p FALSE. @@ -309,7 +309,7 @@ typedef struct LPS25HDriver LPS25HDriver; typedef enum { LPS25H_SAD_GND = 0x5C, /**< Slave Address when SA0 is to GND */ LPS25H_SAD_VCC = 0x5D /**< Slave Address when SA0 is to VCC */ -}lps25h_sad_t; +}lps25h_sad_t; /** * @brief LPS25H output data rate and bandwidth. @@ -484,7 +484,7 @@ struct LPS25HDriver { /*===========================================================================*/ /* Driver macros. */ /*===========================================================================*/ - + /** * @brief Return the number of axes of the BaseBarometer. * diff --git a/os/ex/ST/lsm303dlhc.c b/os/ex/ST/lsm303dlhc.c index e29b169fa..a50a78aa9 100644 --- a/os/ex/ST/lsm303dlhc.c +++ b/os/ex/ST/lsm303dlhc.c @@ -103,7 +103,7 @@ static msg_t lsm303dlhcI2CWriteRegister(I2CDriver *i2cp, lsm303dlhc_sad_t sad, */ static size_t acc_get_axes_number(void *ip) { (void)ip; - + return LSM303DLHC_ACC_NUMBER_OF_AXES; } @@ -130,7 +130,7 @@ static msg_t acc_read_raw(void *ip, int32_t axes[]) { msg_t msg; osalDbgCheck((ip != NULL) && (axes != NULL)); - + /* Getting parent instance pointer.*/ devp = objGetInstance(LSM303DLHCDriver*, (BaseAccelerometer*)ip); @@ -145,8 +145,8 @@ static msg_t acc_read_raw(void *ip, int32_t axes[]) { devp->config->i2ccfg); #endif /* LSM303DLHC_SHARED_I2C */ - msg = lsm303dlhcI2CReadRegister(devp->config->i2cp, LSM303DLHC_SAD_ACC, - LSM303DLHC_AD_ACC_OUT_X_L, buff, + msg = lsm303dlhcI2CReadRegister(devp->config->i2cp, LSM303DLHC_SAD_ACC, + LSM303DLHC_AD_ACC_OUT_X_L, buff, LSM303DLHC_ACC_NUMBER_OF_AXES * 2); #if LSM303DLHC_SHARED_I2C @@ -246,7 +246,7 @@ static msg_t acc_reset_bias(void *ip) { msg_t msg = MSG_OK; osalDbgCheck(ip != NULL); - + /* Getting parent instance pointer.*/ devp = objGetInstance(LSM303DLHCDriver*, (BaseAccelerometer*)ip); @@ -305,7 +305,7 @@ static msg_t acc_reset_sensivity(void *ip) { msg_t msg = MSG_OK; osalDbgCheck(ip != NULL); - + /* Getting parent instance pointer.*/ devp = objGetInstance(LSM303DLHCDriver*, (BaseAccelerometer*)ip); @@ -333,7 +333,7 @@ static msg_t acc_reset_sensivity(void *ip) { /** * @brief Changes the LSM303DLHCDriver accelerometer fullscale value. - * @note This function also rescale sensitivities and biases based on + * @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. * @@ -463,7 +463,7 @@ static msg_t comp_read_raw(void *ip, int32_t axes[]) { msg_t msg; osalDbgCheck((ip != NULL) && (axes != NULL)); - + /* Getting parent instance pointer.*/ devp = objGetInstance(LSM303DLHCDriver*, (BaseCompass*)ip); @@ -477,8 +477,8 @@ static msg_t comp_read_raw(void *ip, int32_t axes[]) { i2cStart(devp->config->i2cp, devp->config->i2ccfg); #endif /* LSM303DLHC_SHARED_I2C */ - msg = lsm303dlhcI2CReadRegister(devp->config->i2cp, LSM303DLHC_SAD_COMP, - LSM303DLHC_AD_COMP_OUT_X_L, buff, + msg = lsm303dlhcI2CReadRegister(devp->config->i2cp, LSM303DLHC_SAD_COMP, + LSM303DLHC_AD_COMP_OUT_X_L, buff, LSM303DLHC_COMP_NUMBER_OF_AXES * 2); #if LSM303DLHC_SHARED_I2C @@ -518,13 +518,13 @@ static msg_t comp_read_cooked(void *ip, float axes[]) { osalDbgCheck((ip != NULL) && (axes != NULL)); - + /* Getting parent instance pointer.*/ devp = objGetInstance(LSM303DLHCDriver*, (BaseCompass*)ip); - + osalDbgAssert((devp->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] * devp->compsensitivity[i]) - devp->compbias[i]; @@ -548,9 +548,9 @@ static msg_t comp_set_bias(void *ip, float *bp) { LSM303DLHCDriver* devp; uint32_t i; msg_t msg = MSG_OK; - + osalDbgCheck((ip != NULL) && (bp != NULL)); - + /* Getting parent instance pointer.*/ devp = objGetInstance(LSM303DLHCDriver*, (BaseCompass*)ip); @@ -579,7 +579,7 @@ static msg_t comp_reset_bias(void *ip) { msg_t msg = MSG_OK; osalDbgCheck(ip != NULL); - + /* Getting parent instance pointer.*/ devp = objGetInstance(LSM303DLHCDriver*, (BaseCompass*)ip); @@ -607,7 +607,7 @@ static msg_t comp_set_sensivity(void *ip, float *sp) { LSM303DLHCDriver* devp; uint32_t i; msg_t msg = MSG_OK; - + /* Getting parent instance pointer.*/ devp = objGetInstance(LSM303DLHCDriver*, (BaseCompass*)ip); @@ -638,7 +638,7 @@ static msg_t comp_reset_sensivity(void *ip) { msg_t msg = MSG_OK; osalDbgCheck(ip != NULL); - + /* Getting parent instance pointer.*/ devp = objGetInstance(LSM303DLHCDriver*, (BaseCompass*)ip); @@ -733,7 +733,7 @@ static msg_t comp_set_full_scale(LSM303DLHCDriver *devp, float newfs, scale; uint8_t i, buff[2]; msg_t msg; - + osalDbgCheck(devp != NULL); osalDbgAssert((devp->state == LSM303DLHC_READY), @@ -797,7 +797,7 @@ static msg_t comp_set_full_scale(LSM303DLHCDriver *devp, i2cStart(devp->config->i2cp, devp->config->i2ccfg); #endif /* LSM303DLHC_SHARED_I2C */ - msg = lsm303dlhcI2CWriteRegister(devp->config->i2cp, LSM303DLHC_SAD_COMP, + msg = lsm303dlhcI2CWriteRegister(devp->config->i2cp, LSM303DLHC_SAD_COMP, buff, 1); #if LSM303DLHC_SHARED_I2C @@ -848,9 +848,9 @@ void lsm303dlhcObjectInit(LSM303DLHCDriver *devp) { devp->vmt = &vmt_device; devp->acc_if.vmt = &vmt_accelerometer; devp->comp_if.vmt = &vmt_compass; - + devp->config = NULL; - + devp->accaxes = LSM303DLHC_ACC_NUMBER_OF_AXES; devp->compaxes = LSM303DLHC_COMP_NUMBER_OF_AXES; @@ -909,14 +909,14 @@ void lsm303dlhcStart(LSM303DLHCDriver *devp, const LSM303DLHCConfig *config) { devp->config->acchighresmode; #endif } - + #if LSM303DLHC_SHARED_I2C i2cAcquireBus((devp)->config->i2cp); #endif /* LSM303DLHC_SHARED_I2C */ i2cStart((devp)->config->i2cp, (devp)->config->i2ccfg); - + lsm303dlhcI2CWriteRegister(devp->config->i2cp, LSM303DLHC_SAD_ACC, cr, 4); - + #if LSM303DLHC_SHARED_I2C i2cReleaseBus((devp)->config->i2cp); #endif /* LSM303DLHC_SHARED_I2C */ @@ -965,7 +965,7 @@ void lsm303dlhcStart(LSM303DLHCDriver *devp, const LSM303DLHCConfig *config) { if(devp->config->accbias != NULL) for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++) devp->accbias[i] = devp->config->accbias[i]; - else + else for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++) devp->accbias[i] = LSM303DLHC_ACC_BIAS; @@ -995,7 +995,7 @@ void lsm303dlhcStart(LSM303DLHCDriver *devp, const LSM303DLHCConfig *config) { i2cAcquireBus((devp)->config->i2cp); i2cStart((devp)->config->i2cp, (devp)->config->i2ccfg); #endif /* LSM303DLHC_SHARED_I2C */ - + lsm303dlhcI2CWriteRegister(devp->config->i2cp, LSM303DLHC_SAD_COMP, cr, 3); @@ -1122,10 +1122,10 @@ void lsm303dlhcStart(LSM303DLHCDriver *devp, const LSM303DLHCConfig *config) { if(devp->config->compbias != NULL) for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) devp->compbias[i] = devp->config->compbias[i]; - else + else for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) devp->compbias[i] = LSM303DLHC_COMP_BIAS; - + /* This is the MEMS transient recovery time */ osalThreadSleepMilliseconds(5); @@ -1143,7 +1143,7 @@ void lsm303dlhcStop(LSM303DLHCDriver *devp) { uint8_t cr[2]; osalDbgCheck(devp != NULL); - osalDbgAssert((devp->state == LSM303DLHC_STOP) || + osalDbgAssert((devp->state == LSM303DLHC_STOP) || (devp->state == LSM303DLHC_READY), "lsm303dlhcStop(), invalid state"); diff --git a/os/ex/ST/lsm303dlhc.h b/os/ex/ST/lsm303dlhc.h index e0e1e184b..801582297 100644 --- a/os/ex/ST/lsm303dlhc.h +++ b/os/ex/ST/lsm303dlhc.h @@ -63,7 +63,7 @@ /** * @brief LSM303DLHC accelerometer subsystem characteristics. - * @note Sensitivity is expressed as milli-G/LSB whereas + * @note Sensitivity is expressed as milli-G/LSB whereas * 1 milli-G = 0.00980665 m/s^2. * @note Bias is expressed as milli-G. * @@ -343,7 +343,7 @@ #endif /** - * @brief LSM303DLHC accelerometer subsystem advanced configurations + * @brief LSM303DLHC accelerometer subsystem advanced configurations * switch. * @details If set to @p TRUE more configurations are available. * @note The default is @p FALSE. @@ -353,7 +353,7 @@ #endif /** - * @brief LSM303DLHC compass subsystem advanced configurations + * @brief LSM303DLHC compass subsystem advanced configurations * switch. * @details If set to @p TRUE more configurations are available. * @note The default is @p FALSE. @@ -654,7 +654,7 @@ struct LSM303DLHCVMT { float compbias[LSM303DLHC_COMP_NUMBER_OF_AXES]; \ /* Compass subsystem current full scale value.*/ \ float compfullscale; - + /** * @brief LSM303DLHC 6-axis accelerometer/compass class. */ @@ -946,7 +946,7 @@ struct LSM303DLHCDriver { */ #define lsm303dlhcCompassSetFullScale(devp, fs) \ (devp)->vmt->comp_set_full_scale(devp, fs) - + /*===========================================================================*/ /* External declarations. */ /*===========================================================================*/ diff --git a/os/ex/ST/lsm303dlhc.mk b/os/ex/ST/lsm303dlhc.mk index 5201414ca..82f898281 100644 --- a/os/ex/ST/lsm303dlhc.mk +++ b/os/ex/ST/lsm303dlhc.mk @@ -4,7 +4,7 @@ LSM303DLHCSRC := $(CHIBIOS)/os/ex/ST/lsm303dlhc.c # Required include directories LSM303DLHCINC := $(CHIBIOS)/os/hal/lib/peripherals/sensors \ $(CHIBIOS)/os/ex/ST - + # Shared variables ALLCSRC += $(LSM303DLHCSRC) ALLINC += $(LSM303DLHCINC) \ No newline at end of file diff --git a/os/ex/ST/lsm6ds0.c b/os/ex/ST/lsm6ds0.c index fc3a3a98e..a12d3c6df 100644 --- a/os/ex/ST/lsm6ds0.c +++ b/os/ex/ST/lsm6ds0.c @@ -15,7 +15,7 @@ You should have received a copy of the GNU General Public License along with this program. If not, see . - + */ /** @@ -94,7 +94,7 @@ msg_t lsm6ds0I2CReadRegister(I2CDriver *i2cp, lsm6ds0_sad_t sad, uint8_t reg, */ static size_t acc_get_axes_number(void *ip) { (void)ip; - + return LSM6DS0_ACC_NUMBER_OF_AXES; } @@ -121,7 +121,7 @@ static msg_t acc_read_raw(void *ip, int32_t axes[]) { msg_t msg; osalDbgCheck((ip != NULL) && (axes != NULL)); - + /* Getting parent instance pointer.*/ devp = objGetInstance(LSM6DS0Driver*, (BaseAccelerometer*)ip); @@ -137,8 +137,8 @@ static msg_t acc_read_raw(void *ip, int32_t axes[]) { devp->config->i2ccfg); #endif /* LSM6DS0_SHARED_I2C */ - msg = lsm6ds0I2CReadRegister(devp->config->i2cp, devp->config->slaveaddress, - LSM6DS0_AD_OUT_X_L_XL, buff, + msg = lsm6ds0I2CReadRegister(devp->config->i2cp, devp->config->slaveaddress, + LSM6DS0_AD_OUT_X_L_XL, buff, LSM6DS0_ACC_NUMBER_OF_AXES * 2); #if LSM6DS0_SHARED_I2C @@ -238,7 +238,7 @@ static msg_t acc_reset_bias(void *ip) { msg_t msg = MSG_OK; osalDbgCheck(ip != NULL); - + /* Getting parent instance pointer.*/ devp = objGetInstance(LSM6DS0Driver*, (BaseAccelerometer*)ip); @@ -297,7 +297,7 @@ static msg_t acc_reset_sensivity(void *ip) { msg_t msg = MSG_OK; osalDbgCheck(ip != NULL); - + /* Getting parent instance pointer.*/ devp = objGetInstance(LSM6DS0Driver*, (BaseAccelerometer*)ip); @@ -325,7 +325,7 @@ static msg_t acc_reset_sensivity(void *ip) { /** * @brief Changes the LSM6DS0Driver accelerometer fullscale value. - * @note This function also rescale sensitivities and biases based on + * @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. * @@ -427,7 +427,7 @@ static msg_t acc_set_full_scale(LSM6DS0Driver *devp, */ static size_t gyro_get_axes_number(void *ip) { (void)ip; - + return LSM6DS0_GYRO_NUMBER_OF_AXES; } @@ -452,32 +452,32 @@ static msg_t gyro_read_raw(void *ip, int32_t axes[LSM6DS0_GYRO_NUMBER_OF_AXES]) int16_t tmp; uint8_t i, buff [2 * LSM6DS0_GYRO_NUMBER_OF_AXES]; msg_t msg = MSG_OK; - + osalDbgCheck((ip != NULL) && (axes != NULL)); /* Getting parent instance pointer.*/ devp = objGetInstance(LSM6DS0Driver*, (BaseGyroscope*)ip); - + osalDbgAssert((devp->state == LSM6DS0_READY), "gyro_read_raw(), invalid state"); #if LSM6DS0_USE_I2C osalDbgAssert((devp->config->i2cp->state == I2C_READY), "gyro_read_raw(), channel not ready"); - + #if LSM6DS0_SHARED_I2C i2cAcquireBus(devp->config->i2cp); i2cStart(devp->config->i2cp, devp->config->i2ccfg); #endif /* LSM6DS0_SHARED_I2C */ - msg = lsm6ds0I2CReadRegister(devp->config->i2cp, devp->config->slaveaddress, - LSM6DS0_AD_OUT_X_L_G, buff, + msg = lsm6ds0I2CReadRegister(devp->config->i2cp, devp->config->slaveaddress, + LSM6DS0_AD_OUT_X_L_G, buff, LSM6DS0_GYRO_NUMBER_OF_AXES * 2); #if LSM6DS0_SHARED_I2C i2cReleaseBus(devp->config->i2cp); -#endif /* LSM6DS0_SHARED_I2C */ -#endif /* LSM6DS0_USE_I2C */ +#endif /* LSM6DS0_SHARED_I2C */ +#endif /* LSM6DS0_USE_I2C */ for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) { tmp = buff[2 * i] + (buff[2 * i + 1] << 8); @@ -485,7 +485,7 @@ static msg_t gyro_read_raw(void *ip, int32_t axes[LSM6DS0_GYRO_NUMBER_OF_AXES]) } return msg; } - + /** * @brief Retrieves cooked data from the BaseGyroscope. * @note This data is manipulated according to the formula @@ -513,7 +513,7 @@ static msg_t gyro_read_cooked(void *ip, float axes[]) { /* Getting parent instance pointer.*/ devp = objGetInstance(LSM6DS0Driver*, (BaseGyroscope*)ip); - + osalDbgAssert((devp->state == LSM6DS0_READY), "gyro_read_cooked(), invalid state"); @@ -547,7 +547,7 @@ static msg_t gyro_sample_bias(void *ip) { /* Getting parent instance pointer.*/ devp = objGetInstance(LSM6DS0Driver*, (BaseGyroscope*)ip); - + osalDbgAssert((devp->state == LSM6DS0_READY), "gyro_sample_bias(), invalid state"); #if LSM6DS0_USE_I2C @@ -575,7 +575,7 @@ static msg_t gyro_sample_bias(void *ip) { /** * @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 + * @note The bias buffer must be at least the same size of the BaseGyroscope * axes number. * * @param[in] ip pointer to @p BaseGyroscope interface. @@ -588,15 +588,15 @@ static msg_t gyro_set_bias(void *ip, float *bp) { LSM6DS0Driver* devp; uint32_t i; msg_t msg = MSG_OK; - + osalDbgCheck((ip != NULL) && (bp != NULL)); - + /* Getting parent instance pointer.*/ devp = objGetInstance(LSM6DS0Driver*, (BaseGyroscope*)ip); - + osalDbgAssert((devp->state == LSM6DS0_READY), "gyro_set_bias(), invalid state"); - + for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) { devp->gyrobias[i] = bp[i]; } @@ -619,10 +619,10 @@ static msg_t gyro_reset_bias(void *ip) { msg_t msg = MSG_OK; osalDbgCheck(ip != NULL); - + /* Getting parent instance pointer.*/ devp = objGetInstance(LSM6DS0Driver*, (BaseGyroscope*)ip); - + osalDbgAssert((devp->state == LSM6DS0_READY), "gyro_reset_bias(), invalid state"); @@ -647,15 +647,15 @@ static msg_t gyro_set_sensivity(void *ip, float *sp) { LSM6DS0Driver* devp; uint32_t i; msg_t msg = MSG_OK; - + osalDbgCheck((ip != NULL) && (sp !=NULL)); /* Getting parent instance pointer.*/ devp = objGetInstance(LSM6DS0Driver*, (BaseGyroscope*)ip); - + osalDbgAssert((devp->state == LSM6DS0_READY), "gyro_set_sensivity(), invalid state"); - + for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) { devp->gyrosensitivity[i] = sp[i]; } @@ -676,12 +676,12 @@ static msg_t gyro_reset_sensivity(void *ip) { LSM6DS0Driver* devp; uint32_t i; msg_t msg = MSG_OK; - + osalDbgCheck(ip != NULL); /* Getting parent instance pointer.*/ devp = objGetInstance(LSM6DS0Driver*, (BaseGyroscope*)ip); - + osalDbgAssert((devp->state == LSM6DS0_READY), "gyro_reset_sensivity(), invalid state"); @@ -750,7 +750,7 @@ static msg_t gyro_set_full_scale(LSM6DS0Driver *devp, lsm6ds0_gyro_fs_t fs) { i2cAcquireBus(devp->config->i2cp); i2cStart(devp->config->i2cp, devp->config->i2ccfg); -#endif /* LSM6DS0_SHARED_I2C */ +#endif /* LSM6DS0_SHARED_I2C */ /* Updating register.*/ msg = lsm6ds0I2CReadRegister(devp->config->i2cp, @@ -759,26 +759,26 @@ static msg_t gyro_set_full_scale(LSM6DS0Driver *devp, lsm6ds0_gyro_fs_t fs) { #if LSM6DS0_SHARED_I2C i2cReleaseBus(devp->config->i2cp); -#endif /* LSM6DS0_SHARED_I2C */ +#endif /* LSM6DS0_SHARED_I2C */ #endif /* LSM6DS0_USE_I2C */ buff[1] &= ~(LSM6DS0_CTRL_REG1_G_FS_MASK); buff[1] |= fs; buff[0] = LSM6DS0_AD_CTRL_REG1_G; - -#if LSM6DS0_USE_I2C + +#if LSM6DS0_USE_I2C #if LSM6DS0_SHARED_I2C i2cAcquireBus(devp->config->i2cp); i2cStart(devp->config->i2cp, devp->config->i2ccfg); -#endif /* LSM6DS0_SHARED_I2C */ +#endif /* LSM6DS0_SHARED_I2C */ lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress, buff, 1); - + #if LSM6DS0_SHARED_I2C i2cReleaseBus(devp->config->i2cp); -#endif /* LSM6DS0_SHARED_I2C */ +#endif /* LSM6DS0_SHARED_I2C */ #endif /* LSM6DS0_USE_I2C */ /* Scaling sensitivity and bias. Re-calibration is suggested anyway. */ @@ -823,9 +823,9 @@ void lsm6ds0ObjectInit(LSM6DS0Driver *devp) { devp->vmt = &vmt_device; devp->acc_if.vmt = &vmt_accelerometer; devp->gyro_if.vmt = &vmt_gyroscope; - + devp->config = NULL; - + devp->accaxes = LSM6DS0_ACC_NUMBER_OF_AXES; devp->gyroaxes = LSM6DS0_GYRO_NUMBER_OF_AXES; @@ -845,14 +845,14 @@ void lsm6ds0Start(LSM6DS0Driver *devp, const LSM6DS0Config *config) { uint8_t cr[5]; osalDbgCheck((devp != NULL) && (config != NULL)); - osalDbgAssert((devp->state == LSM6DS0_STOP) || + osalDbgAssert((devp->state == LSM6DS0_STOP) || (devp->state == LSM6DS0_READY), - "lsm6ds0Start(), invalid state"); + "lsm6ds0Start(), invalid state"); devp->config = config; /* Configuring common registers.*/ - + /* Control register 8 configuration block.*/ { cr[0] = LSM6DS0_AD_CTRL_REG8; @@ -892,7 +892,7 @@ void lsm6ds0Start(LSM6DS0Driver *devp, const LSM6DS0Config *config) { cr[2] = devp->config->accoutdatarate | devp->config->accfullscale; } - + #if LSM6DS0_USE_I2C #if LSM6DS0_SHARED_I2C i2cAcquireBus(devp->config->i2cp); @@ -951,10 +951,10 @@ void lsm6ds0Start(LSM6DS0Driver *devp, const LSM6DS0Config *config) { if(devp->config->accbias != NULL) for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) devp->accbias[i] = devp->config->accbias[i]; - else + else for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) devp->accbias[i] = LSM6DS0_ACC_BIAS; - + /* Configuring Gyroscope subsystem.*/ /* Multiple write starting address.*/ cr[0] = LSM6DS0_AD_CTRL_REG1_G; @@ -1055,15 +1055,15 @@ void lsm6ds0Start(LSM6DS0Driver *devp, const LSM6DS0Config *config) { if(devp->config->gyrobias != NULL) for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) devp->gyrobias[i] = devp->config->gyrobias[i]; - else + else for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) devp->gyrobias[i] = LSM6DS0_GYRO_BIAS; - + /* This is the MEMS transient recovery time */ osalThreadSleepMilliseconds(5); devp->state = LSM6DS0_READY; -} +} /** * @brief Deactivates the LSM6DS0 Complex Driver peripheral. @@ -1086,7 +1086,7 @@ void lsm6ds0Stop(LSM6DS0Driver *devp) { i2cAcquireBus(devp->config->i2cp); i2cStart(devp->config->i2cp, devp->config->i2ccfg); #endif /* LSM6DS0_SHARED_I2C */ - + /* Disabling accelerometer.*/ cr[0] = LSM6DS0_AD_CTRL_REG6_XL; cr[1] = 0; @@ -1104,7 +1104,7 @@ void lsm6ds0Stop(LSM6DS0Driver *devp) { i2cReleaseBus(devp->config->i2cp); #endif /* LSM6DS0_SHARED_I2C */ #endif /* LSM6DS0_USE_I2C */ - } + } devp->state = LSM6DS0_STOP; } /** @} */ diff --git a/os/ex/ST/lsm6ds0.h b/os/ex/ST/lsm6ds0.h index f72e99541..8f16302de 100644 --- a/os/ex/ST/lsm6ds0.h +++ b/os/ex/ST/lsm6ds0.h @@ -15,7 +15,7 @@ You should have received a copy of the GNU General Public License along with this program. If not, see . - + */ /** @@ -63,7 +63,7 @@ /** * @brief LSM6DS0 accelerometer subsystem characteristics. - * @note Sensitivity is expressed as milli-G/LSB whereas + * @note Sensitivity is expressed as milli-G/LSB whereas * 1 milli-G = 0.00980665 m/s^2. * @note Bias is expressed as milli-G. * @@ -86,7 +86,7 @@ /** * @brief L3GD20 gyroscope system characteristics. - * @note Sensitivity is expressed as DPS/LSB whereas DPS stand for Degree + * @note Sensitivity is expressed as DPS/LSB whereas DPS stand for Degree * per second [°/s]. * @note Bias is expressed as DPS. * @@ -355,7 +355,7 @@ #endif /** - * @brief LSM6DS0 accelerometer subsystem advanced configurations + * @brief LSM6DS0 accelerometer subsystem advanced configurations * switch. * @details If set to @p TRUE more configurations are available. * @note The default is @p FALSE. @@ -365,7 +365,7 @@ #endif /** - * @brief LSM6DS0 gyroscope subsystem advanced configurations + * @brief LSM6DS0 gyroscope subsystem advanced configurations * switch. * @details If set to @p TRUE more configurations are available. * @note The default is @p FALSE. @@ -540,15 +540,15 @@ typedef enum { */ typedef enum { LSM6DS0_GYRO_HPCF_0 = 0x00, /**< Refer to table 48 of RM */ - LSM6DS0_GYRO_HPCF_1 = 0x01, - LSM6DS0_GYRO_HPCF_2 = 0x02, - LSM6DS0_GYRO_HPCF_3 = 0x03, - LSM6DS0_GYRO_HPCF_4 = 0x04, - LSM6DS0_GYRO_HPCF_5 = 0x05, - LSM6DS0_GYRO_HPCF_6 = 0x06, - LSM6DS0_GYRO_HPCF_7 = 0x07, - LSM6DS0_GYRO_HPCF_8 = 0x08, - LSM6DS0_GYRO_HPCF_9 = 0x09 + LSM6DS0_GYRO_HPCF_1 = 0x01, + LSM6DS0_GYRO_HPCF_2 = 0x02, + LSM6DS0_GYRO_HPCF_3 = 0x03, + LSM6DS0_GYRO_HPCF_4 = 0x04, + LSM6DS0_GYRO_HPCF_5 = 0x05, + LSM6DS0_GYRO_HPCF_6 = 0x06, + LSM6DS0_GYRO_HPCF_7 = 0x07, + LSM6DS0_GYRO_HPCF_8 = 0x08, + LSM6DS0_GYRO_HPCF_9 = 0x09 } lsm6ds0_gyro_hpcf_t; /** @@ -681,8 +681,8 @@ typedef struct { /* Change full scale value of LSM6DS0 accelerometer subsystem .*/ \ msg_t (*acc_set_full_scale)(LSM6DS0Driver *devp, lsm6ds0_acc_fs_t fs); \ /* Change full scale value of LSM6DS0 gyroscope subsystem .*/ \ - msg_t (*gyro_set_full_scale)(LSM6DS0Driver *devp, lsm6ds0_gyro_fs_t fs); - + msg_t (*gyro_set_full_scale)(LSM6DS0Driver *devp, lsm6ds0_gyro_fs_t fs); + /** * @brief @p LSM6DS0 specific methods with inherited ones. */ @@ -724,7 +724,7 @@ struct LSM6DS0VMT { float gyrobias[LSM6DS0_GYRO_NUMBER_OF_AXES]; \ /* Gyroscope subsystem current full scale value.*/ \ float gyrofullscale; - + /** * @brief LSM6DS0 6-axis accelerometer/gyroscope class. */ @@ -879,7 +879,7 @@ struct LSM6DS0Driver { */ #define lsm6ds0AccelerometerSetFullScale(devp, fs) \ (devp)->vmt->acc_set_full_scale(devp, fs) - + /** * @brief Return the number of axes of the BaseGyroscope. * @@ -891,7 +891,7 @@ struct LSM6DS0Driver { */ #define lsm6ds0GyroscopeGetAxesNumber(devp) \ gyroscopeGetAxesNumber(&((devp)->gyro_if)) - + /** * @brief Retrieves raw data from the BaseGyroscope. * @note This data is retrieved from MEMS register without any algebraical @@ -954,11 +954,11 @@ struct LSM6DS0Driver { */ #define lsm6ds0GyroscopeSampleBias(devp) \ gyroscopeSampleBias(&((devp)->gyro_if)) - + /** * @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 + * @note The bias buffer must be at least the same size of the BaseGyroscope * axes number. * * @param[in] devp pointer to @p LSM6DS0Driver. @@ -1036,7 +1036,7 @@ struct LSM6DS0Driver { */ #define lsm6ds0GyroscopeSetFullScale(devp, fs) \ (devp)->vmt->acc_set_full_scale(devp, fs) - + /*===========================================================================*/ /* External declarations. */ /*===========================================================================*/ diff --git a/os/ex/ST/lsm6dsl.c b/os/ex/ST/lsm6dsl.c index 24b78c87f..c38a4c52d 100644 --- a/os/ex/ST/lsm6dsl.c +++ b/os/ex/ST/lsm6dsl.c @@ -15,7 +15,7 @@ You should have received a copy of the GNU General Public License along with this program. If not, see . - + */ /** @@ -94,7 +94,7 @@ msg_t lsm6dslI2CReadRegister(I2CDriver *i2cp, lsm6dsl_sad_t sad, uint8_t reg, */ static size_t acc_get_axes_number(void *ip) { (void)ip; - + return LSM6DSL_ACC_NUMBER_OF_AXES; } @@ -121,7 +121,7 @@ static msg_t acc_read_raw(void *ip, int32_t axes[]) { msg_t msg; osalDbgCheck((ip != NULL) && (axes != NULL)); - + /* Getting parent instance pointer.*/ devp = objGetInstance(LSM6DSLDriver*, (BaseAccelerometer*)ip); @@ -137,8 +137,8 @@ static msg_t acc_read_raw(void *ip, int32_t axes[]) { devp->config->i2ccfg); #endif /* LSM6DSL_SHARED_I2C */ - msg = lsm6dslI2CReadRegister(devp->config->i2cp, devp->config->slaveaddress, - LSM6DSL_AD_OUTX_L_XL, buff, + msg = lsm6dslI2CReadRegister(devp->config->i2cp, devp->config->slaveaddress, + LSM6DSL_AD_OUTX_L_XL, buff, LSM6DSL_ACC_NUMBER_OF_AXES * 2); #if LSM6DSL_SHARED_I2C @@ -238,7 +238,7 @@ static msg_t acc_reset_bias(void *ip) { msg_t msg = MSG_OK; osalDbgCheck(ip != NULL); - + /* Getting parent instance pointer.*/ devp = objGetInstance(LSM6DSLDriver*, (BaseAccelerometer*)ip); @@ -297,7 +297,7 @@ static msg_t acc_reset_sensivity(void *ip) { msg_t msg = MSG_OK; osalDbgCheck(ip != NULL); - + /* Getting parent instance pointer.*/ devp = objGetInstance(LSM6DSLDriver*, (BaseAccelerometer*)ip); @@ -325,7 +325,7 @@ static msg_t acc_reset_sensivity(void *ip) { /** * @brief Changes the LSM6DSLDriver accelerometer fullscale value. - * @note This function also rescale sensitivities and biases based on + * @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. * @@ -427,7 +427,7 @@ static msg_t acc_set_full_scale(LSM6DSLDriver *devp, */ static size_t gyro_get_axes_number(void *ip) { (void)ip; - + return LSM6DSL_GYRO_NUMBER_OF_AXES; } @@ -452,32 +452,32 @@ static msg_t gyro_read_raw(void *ip, int32_t axes[LSM6DSL_GYRO_NUMBER_OF_AXES]) 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, + msg = lsm6dslI2CReadRegister(devp->config->i2cp, devp->config->slaveaddress, LSM6DSL_AD_OUTX_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 */ +#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); @@ -485,7 +485,7 @@ static msg_t gyro_read_raw(void *ip, int32_t axes[LSM6DSL_GYRO_NUMBER_OF_AXES]) } return msg; } - + /** * @brief Retrieves cooked data from the BaseGyroscope. * @note This data is manipulated according to the formula @@ -513,7 +513,7 @@ static msg_t gyro_read_cooked(void *ip, float axes[]) { /* Getting parent instance pointer.*/ devp = objGetInstance(LSM6DSLDriver*, (BaseGyroscope*)ip); - + osalDbgAssert((devp->state == LSM6DSL_READY), "gyro_read_cooked(), invalid state"); @@ -547,7 +547,7 @@ static msg_t gyro_sample_bias(void *ip) { /* Getting parent instance pointer.*/ devp = objGetInstance(LSM6DSLDriver*, (BaseGyroscope*)ip); - + osalDbgAssert((devp->state == LSM6DSL_READY), "gyro_sample_bias(), invalid state"); #if LSM6DSL_USE_I2C @@ -575,7 +575,7 @@ static msg_t gyro_sample_bias(void *ip) { /** * @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 + * @note The bias buffer must be at least the same size of the BaseGyroscope * axes number. * * @param[in] ip pointer to @p BaseGyroscope interface. @@ -588,15 +588,15 @@ 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]; } @@ -619,10 +619,10 @@ static msg_t gyro_reset_bias(void *ip) { 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"); @@ -647,15 +647,15 @@ 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]; } @@ -676,12 +676,12 @@ 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_125DPS) @@ -761,7 +761,7 @@ static msg_t gyro_set_full_scale(LSM6DSLDriver *devp, lsm6dsl_gyro_fs_t fs) { i2cAcquireBus(devp->config->i2cp); i2cStart(devp->config->i2cp, devp->config->i2ccfg); -#endif /* LSM6DSL_SHARED_I2C */ +#endif /* LSM6DSL_SHARED_I2C */ /* Updating register.*/ msg = lsm6dslI2CReadRegister(devp->config->i2cp, @@ -770,26 +770,26 @@ static msg_t gyro_set_full_scale(LSM6DSLDriver *devp, lsm6dsl_gyro_fs_t fs) { #if LSM6DSL_SHARED_I2C i2cReleaseBus(devp->config->i2cp); -#endif /* LSM6DSL_SHARED_I2C */ +#endif /* LSM6DSL_SHARED_I2C */ #endif /* LSM6DSL_USE_I2C */ buff[1] &= ~(LSMDSL_CTRL2_G_FS_MASK); buff[1] |= fs; buff[0] = LSM6DSL_AD_CTRL2_G; - -#if LSM6DSL_USE_I2C + +#if LSM6DSL_USE_I2C #if LSM6DSL_SHARED_I2C i2cAcquireBus(devp->config->i2cp); i2cStart(devp->config->i2cp, devp->config->i2ccfg); -#endif /* LSM6DSL_SHARED_I2C */ +#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_SHARED_I2C */ #endif /* LSM6DSL_USE_I2C */ /* Scaling sensitivity and bias. Re-calibration is suggested anyway. */ @@ -834,9 +834,9 @@ 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; @@ -856,9 +856,9 @@ void lsm6dslStart(LSM6DSLDriver *devp, const LSM6DSLConfig *config) { uint8_t cr[11]; osalDbgCheck((devp != NULL) && (config != NULL)); - osalDbgAssert((devp->state == LSM6DSL_STOP) || + osalDbgAssert((devp->state == LSM6DSL_STOP) || (devp->state == LSM6DSL_READY), - "lsm6dslStart(), invalid state"); + "lsm6dslStart(), invalid state"); devp->config = config; @@ -953,7 +953,7 @@ void lsm6dslStart(LSM6DSLDriver *devp, const LSM6DSLConfig *config) { { cr[10] = 0; } - + #if LSM6DSL_USE_I2C #if LSM6DSL_SHARED_I2C i2cAcquireBus(devp->config->i2cp); @@ -1012,7 +1012,7 @@ void lsm6dslStart(LSM6DSLDriver *devp, const LSM6DSLConfig *config) { if(devp->config->accbias != NULL) for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++) devp->accbias[i] = devp->config->accbias[i]; - else + else for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++) devp->accbias[i] = LSM6DSL_ACC_BIAS; @@ -1068,15 +1068,15 @@ void lsm6dslStart(LSM6DSLDriver *devp, const LSM6DSLConfig *config) { if(devp->config->gyrobias != NULL) for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++) devp->gyrobias[i] = devp->config->gyrobias[i]; - else + 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. @@ -1099,7 +1099,7 @@ void lsm6dslStop(LSM6DSLDriver *devp) { i2cAcquireBus(devp->config->i2cp); i2cStart(devp->config->i2cp, devp->config->i2ccfg); #endif /* LSM6DSL_SHARED_I2C */ - + cr[0] = LSM6DSL_AD_CTRL1_XL; /* Disabling accelerometer.*/ @@ -1114,7 +1114,7 @@ void lsm6dslStop(LSM6DSLDriver *devp) { i2cReleaseBus(devp->config->i2cp); #endif /* LSM6DSL_SHARED_I2C */ #endif /* LSM6DSL_USE_I2C */ - } + } devp->state = LSM6DSL_STOP; } /** @} */ diff --git a/os/ex/ST/lsm6dsl.h b/os/ex/ST/lsm6dsl.h index 7c3215a5b..7dbb96338 100644 --- a/os/ex/ST/lsm6dsl.h +++ b/os/ex/ST/lsm6dsl.h @@ -15,7 +15,7 @@ You should have received a copy of the GNU General Public License along with this program. If not, see . - + */ /** @@ -63,7 +63,7 @@ /** * @brief LSM6DSL accelerometer subsystem characteristics. - * @note Sensitivity is expressed as milli-G/LSB whereas + * @note Sensitivity is expressed as milli-G/LSB whereas * 1 milli-G = 0.00980665 m/s^2. * @note Bias is expressed as milli-G. * @@ -86,7 +86,7 @@ /** * @brief L3GD20 gyroscope system characteristics. - * @note Sensitivity is expressed as DPS/LSB whereas DPS stand for Degree + * @note Sensitivity is expressed as DPS/LSB whereas DPS stand for Degree * per second [°/s]. * @note Bias is expressed as DPS. * @@ -408,7 +408,7 @@ #endif /** - * @brief LSM6DSL accelerometer subsystem advanced configurations + * @brief LSM6DSL accelerometer subsystem advanced configurations * switch. * @details If set to @p TRUE more configurations are available. * @note The default is @p FALSE. @@ -418,7 +418,7 @@ #endif /** - * @brief LSM6DSL gyroscope subsystem advanced configurations + * @brief LSM6DSL gyroscope subsystem advanced configurations * switch. * @details If set to @p TRUE more configurations are available. * @note The default is @p FALSE. @@ -522,7 +522,7 @@ typedef enum { LSM6DSL_ACC_ODR_833Hz = 0x70, /**< ODR 833 Hz */ LSM6DSL_ACC_ODR_1P66Hz = 0x80, /**< ODR 1.66 kHz */ LSM6DSL_ACC_ODR_3P33Hz = 0x90, /**< ODR 3.33 kHz */ - LSM6DSL_ACC_ODR_6P66Hz = 0xA0 /**< ODR 6.66 kHz */ + LSM6DSL_ACC_ODR_6P66Hz = 0xA0 /**< ODR 6.66 kHz */ } lsm6dsl_acc_odr_t; /** @@ -558,7 +558,7 @@ typedef enum { LSM6DSL_GYRO_ODR_833Hz = 0x70, /**< ODR 833 Hz */ LSM6DSL_GYRO_ODR_1P66Hz = 0x80, /**< ODR 1.66 kHz */ LSM6DSL_GYRO_ODR_3P33Hz = 0x90, /**< ODR 3.33 kHz */ - LSM6DSL_GYRO_ODR_6P66Hz = 0xA0 /**< ODR 6.66 kHz */ + LSM6DSL_GYRO_ODR_6P66Hz = 0xA0 /**< ODR 6.66 kHz */ } lsm6dsl_gyro_odr_t; /** @@ -575,7 +575,7 @@ typedef enum { typedef enum { LSM6DSL_GYRO_LPF_DISABLED = -1, /**< Low pass filter disabled. */ LSM6DSL_GYRO_LPF_FTYPE0 = 0x00, /**< Refer to table 68 of Datasheet. */ - LSM6DSL_GYRO_LPF_FTYPE1 = 0x01, /**< Refer to table 68 of Datasheet. */ + LSM6DSL_GYRO_LPF_FTYPE1 = 0x01, /**< Refer to table 68 of Datasheet. */ LSM6DSL_GYRO_LPF_FTYPE2 = 0x10, /**< Refer to table 68 of Datasheet. */ LSM6DSL_GYRO_LPF_FTYPE3 = 0x11 /**< Refer to table 68 of Datasheet. */ } lsm6dsl_gyro_lpf_t; @@ -702,8 +702,8 @@ typedef struct { /* Change full scale value of LSM6DSL accelerometer subsystem .*/ \ msg_t (*acc_set_full_scale)(LSM6DSLDriver *devp, lsm6dsl_acc_fs_t fs); \ /* Change full scale value of LSM6DSL gyroscope subsystem .*/ \ - msg_t (*gyro_set_full_scale)(LSM6DSLDriver *devp, lsm6dsl_gyro_fs_t fs); - + msg_t (*gyro_set_full_scale)(LSM6DSLDriver *devp, lsm6dsl_gyro_fs_t fs); + /** * @brief @p LSM6DSL specific methods with inherited ones. */ @@ -745,7 +745,7 @@ struct LSM6DSLVMT { float gyrobias[LSM6DSL_GYRO_NUMBER_OF_AXES]; \ /* Gyroscope subsystem current full scale value.*/ \ float gyrofullscale; - + /** * @brief LSM6DSL 6-axis accelerometer/gyroscope class. */ @@ -900,7 +900,7 @@ struct LSM6DSLDriver { */ #define lsm6dslAccelerometerSetFullScale(devp, fs) \ (devp)->vmt->acc_set_full_scale(devp, fs) - + /** * @brief Return the number of axes of the BaseGyroscope. * @@ -912,7 +912,7 @@ struct LSM6DSLDriver { */ #define lsm6dslGyroscopeGetAxesNumber(devp) \ gyroscopeGetAxesNumber(&((devp)->gyro_if)) - + /** * @brief Retrieves raw data from the BaseGyroscope. * @note This data is retrieved from MEMS register without any algebraical @@ -975,11 +975,11 @@ struct LSM6DSLDriver { */ #define lsm6dslGyroscopeSampleBias(devp) \ gyroscopeSampleBias(&((devp)->gyro_if)) - + /** * @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 + * @note The bias buffer must be at least the same size of the BaseGyroscope * axes number. * * @param[in] devp pointer to @p LSM6DSLDriver. @@ -1057,7 +1057,7 @@ struct LSM6DSLDriver { */ #define lsm6dslGyroscopeSetFullScale(devp, fs) \ (devp)->vmt->acc_set_full_scale(devp, fs) - + /*===========================================================================*/ /* External declarations. */ /*===========================================================================*/ -- cgit v1.2.3