From 39b398c1f0db29688edefc740796f738c919c5ba Mon Sep 17 00:00:00 2001 From: Rocco Marco Guglielmi Date: Tue, 13 Mar 2018 09:30:43 +0000 Subject: Added support for LPS22HB 2 axis Barometer\Thermometer MEMS. git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@11719 110e8d01-0319-4d1e-a829-52ad28d1bb01 --- os/ex/ST/lps22hb.c | 682 ++++++++++++++++++++++++++++++++++++++++++++++++ os/ex/ST/lps22hb.h | 725 ++++++++++++++++++++++++++++++++++++++++++++++++++++ os/ex/ST/lps22hb.mk | 10 + 3 files changed, 1417 insertions(+) create mode 100644 os/ex/ST/lps22hb.c create mode 100644 os/ex/ST/lps22hb.h create mode 100644 os/ex/ST/lps22hb.mk (limited to 'os/ex/ST') diff --git a/os/ex/ST/lps22hb.c b/os/ex/ST/lps22hb.c new file mode 100644 index 000000000..235df8f56 --- /dev/null +++ b/os/ex/ST/lps22hb.c @@ -0,0 +1,682 @@ +/* + ChibiOS - Copyright (C) 2016..2018 Rocco Marco Guglielmi + + This file is part of ChibiOS. + + ChibiOS is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 3 of the License, or + (at your option) any later version. + + ChibiOS is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . + +*/ + +/** + * @file lps22hb.c + * @brief LPS22HB MEMS interface module code. + * + * @addtogroup LPS22HB + * @ingroup EX_ST + * @{ + */ + +#include "hal.h" +#include "lps22hb.h" + +/*===========================================================================*/ +/* Driver local definitions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver exported variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local variables and types. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local functions. */ +/*===========================================================================*/ + +#if (LPS22HB_USE_I2C) || defined(__DOXYGEN__) +/** + * @brief Reads registers value using I2C. + * @pre The I2C interface must be initialized and the driver started. + * + * @param[in] i2cp pointer to the I2C interface + * @param[in] sad slave address without R bit + * @param[in] reg first sub-register address + * @param[out] rxbuf pointer to an output buffer + * @param[in] n number of consecutive register to read + * @return the operation status. + * + * @notapi + */ +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, + TIME_INFINITE); +} + +/** + * @brief Writes a value into a register using I2C. + * @pre The I2C interface must be initialized and the driver started. + * + * @param[in] i2cp pointer to the I2C interface + * @param[in] sad slave address without R bit + * @param[in] txbuf buffer containing sub-address value in first position + * and values to write + * @param[in] n size of txbuf less one (not considering the first + * element) + * @return the operation status. + * + * @notapi + */ +#define lps22hbI2CWriteRegister(i2cp, sad, txbuf, n) \ + i2cMasterTransmitTimeout(i2cp, sad, txbuf, n + 1, NULL, 0, \ + TIME_INFINITE) +#endif /* LPS22HB_USE_I2C */ + +/** + * @brief Return the number of axes of the BaseBarometer. + * + * @param[in] ip pointer to @p BaseBarometer interface. + * + * @return the number of axes. + */ +static size_t baro_get_axes_number(void *ip) { + (void)ip; + + return LPS22HB_BARO_NUMBER_OF_AXES; +} + +/** + * @brief Retrieves raw data from the BaseBarometer. + * @note This data is retrieved from MEMS register without any algebraical + * manipulation. + * @note The axes array must be at least the same size of the + * BaseBarometer axes number. + * + * @param[in] ip pointer to @p BaseBarometer interface. + * @param[out] axes a buffer which would be filled with raw data. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * @retval MSG_RESET if one or more I2C errors occurred, the errors can + * be retrieved using @p i2cGetErrors(). + * @retval MSG_TIMEOUT if a timeout occurred before operation end. + */ +static msg_t 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, + devp->config->i2ccfg); +#endif /* LPS22HB_SHARED_I2C */ + + msg = lps22hbI2CReadRegister(devp->config->i2cp, devp->config->slaveaddress, + LPS22HB_AD_PRESS_OUT_XL, buff, 3); + +#if LPS22HB_SHARED_I2C + i2cReleaseBus(devp->config->i2cp); +#endif /* LPS22HB_SHARED_I2C */ + + if(msg == MSG_OK) { + *axes = buff[0] + (buff[1] << 8) + (buff[2] << 16); + } + return msg; +} + +/** + * @brief Retrieves cooked data from the BaseBarometer. + * @note This data is manipulated according to the formula + * cooked = (raw * sensitivity) - bias. + * @note Final data is expressed as hPa. + * @note The axes array must be at least the same size of the + * BaseBarometer axes number. + * + * @param[in] ip pointer to @p BaseBarometer interface. + * @param[out] axes a buffer which would be filled with cooked data. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * @retval MSG_RESET if one or more I2C errors occurred, the errors can + * be retrieved using @p i2cGetErrors(). + * @retval MSG_TIMEOUT if a timeout occurred before operation end. + */ +static msg_t baro_read_cooked(void *ip, float axes[]) { + LPS22HBDriver* devp; + int32_t raw; + msg_t msg; + + osalDbgCheck((ip != NULL) && (axes != NULL)); + + /* 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; +} + +/** + * @brief Set bias values for the BaseBarometer. + * @note Bias must be expressed as hPa. + * @note The bias buffer must be at least the same size of the + * BaseBarometer axes number. + * + * @param[in] ip pointer to @p BaseBarometer interface. + * @param[in] bp a buffer which contains biases. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * @retval MSG_RESET if one or more I2C errors occurred, the errors can + * be retrieved using @p i2cGetErrors(). + * @retval MSG_TIMEOUT if a timeout occurred before operation end. + */ +static msg_t 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"); + + devp->barobias = *bp; + return msg; +} + +/** + * @brief Reset bias values for the BaseBarometer. + * @note Default biases value are obtained from device datasheet when + * available otherwise they are considered zero. + * + * @param[in] ip pointer to @p BaseBarometer interface. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + */ +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; +} + +/** + * @brief Set sensitivity values for the BaseBarometer. + * @note Sensitivity must be expressed as hPa/LSB. + * @note The sensitivity buffer must be at least the same size of the + * BaseBarometer axes number. + * + * @param[in] ip pointer to @p BaseBarometer interface. + * @param[in] sp a buffer which contains sensitivities. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + */ +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"); + + devp->barosensitivity = *sp; + return msg; +} + +/** + * @brief Reset sensitivity values for the BaseBarometer. + * @note Default sensitivities value are obtained from device datasheet. + * + * @param[in] ip pointer to @p BaseBarometer interface. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + */ +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"); + + devp->barosensitivity = LPS22HB_BARO_SENS; + return msg; +} + +/** + * @brief Return the number of axes of the BaseThermometer. + * + * @param[in] ip pointer to @p BaseThermometer interface. + * + * @return the number of axes. + */ +static size_t thermo_get_axes_number(void *ip) { + (void)ip; + + return LPS22HB_THERMO_NUMBER_OF_AXES; +} + +/** + * @brief Retrieves raw data from the BaseThermometer. + * @note This data is retrieved from MEMS register without any algebraical + * manipulation. + * @note The axes array must be at least the same size of the + * BaseThermometer axes number. + * + * @param[in] ip pointer to @p BaseThermometer interface. + * @param[out] axes a buffer which would be filled with raw data. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * @retval MSG_RESET if one or more I2C errors occurred, the errors can + * be retrieved using @p i2cGetErrors(). + * @retval MSG_TIMEOUT if a timeout occurred before operation end. + */ +static msg_t thermo_read_raw(void *ip, int32_t axes[]) { + LPS22HBDriver* devp; + 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"); + + 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, + devp->config->i2ccfg); +#endif /* LPS22HB_SHARED_I2C */ + + 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 */ + + if (msg == MSG_OK) { + tmp = buff[0] + (buff[1] << 8); + *axes = (int32_t)tmp; + } + return msg; +} + +/** + * @brief Retrieves cooked data from the BaseThermometer. + * @note This data is manipulated according to the formula + * cooked = (raw * sensitivity) - bias. + * @note Final data is expressed as °C. + * @note The axes array must be at least the same size of the + * BaseThermometer axes number. + * + * @param[in] ip pointer to @p BaseThermometer interface. + * @param[out] axes a buffer which would be filled with cooked data. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * @retval MSG_RESET if one or more I2C errors occurred, the errors can + * be retrieved using @p i2cGetErrors(). + * @retval MSG_TIMEOUT if a timeout occurred before operation end. + */ +static msg_t thermo_read_cooked(void *ip, float* axis) { + LPS22HBDriver* devp; + int32_t raw; + msg_t msg; + + osalDbgCheck((ip != NULL) && (axis != NULL)); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LPS22HBDriver*, (BaseThermometer*)ip); + + osalDbgAssert((devp->state == LPS22HB_READY), + "thermo_read_cooked(), invalid state"); + + msg = thermo_read_raw(devp, &raw); + + *axis = (raw * devp->thermosensitivity) - devp->thermobias; + + return msg; +} + +/** + * @brief Set bias values for the BaseThermometer. + * @note Bias must be expressed as °C. + * @note The bias buffer must be at least the same size of the + * BaseThermometer axes number. + * + * @param[in] ip pointer to @p BaseThermometer interface. + * @param[in] bp a buffer which contains biases. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + */ +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; +} + +/** + * @brief Reset bias values for the BaseThermometer. + * @note Default biases value are obtained from device datasheet when + * available otherwise they are considered zero. + * + * @param[in] ip pointer to @p BaseThermometer interface. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + */ +static msg_t thermo_reset_bias(void *ip) { + LPS22HBDriver* devp; + 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; +} + +/** + * @brief Set sensitivity values for the BaseThermometer. + * @note Sensitivity must be expressed as °C/LSB. + * @note The sensitivity buffer must be at least the same size of the + * BaseThermometer axes number. + * + * @param[in] ip pointer to @p BaseThermometer interface. + * @param[in] sp a buffer which contains sensitivities. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + */ +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; +} + +/** + * @brief Reset sensitivity values for the BaseThermometer. + * @note Default sensitivities value are obtained from device datasheet. + * + * @param[in] ip pointer to @p BaseThermometer interface. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + */ +static msg_t thermo_reset_sensitivity(void *ip) { + LPS22HBDriver* devp; + 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; +} + +static const struct LPS22HBVMT vmt_device = { + (size_t)0 +}; + +static const struct BaseBarometerVMT vmt_barometer = { + sizeof(struct LPS22HBVMT*), + baro_get_axes_number, baro_read_raw, baro_read_cooked, + baro_set_bias, baro_reset_bias, baro_set_sensitivity, + baro_reset_sensitivity +}; + +static const struct BaseThermometerVMT vmt_thermometer = { + sizeof(struct LPS22HBVMT*) + sizeof(BaseBarometer), + thermo_get_axes_number, thermo_read_raw, thermo_read_cooked, + thermo_set_bias, thermo_reset_bias, thermo_set_sensitivity, + thermo_reset_sensitivity +}; + +/*===========================================================================*/ +/* Driver exported functions. */ +/*===========================================================================*/ + +/** + * @brief Initializes an instance. + * + * @param[out] devp pointer to the @p LPS22HBDriver object + * + * @init + */ +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; +} + +/** + * @brief Configures and activates LPS22HB Complex Driver peripheral. + * + * @param[in] devp pointer to the @p LPS22HBDriver object + * @param[in] config pointer to the @p LPS22HBConfig object + * + * @api + */ +void lps22hbStart(LPS22HBDriver *devp, const LPS22HBConfig *config) { + uint8_t cr[2]; + osalDbgCheck((devp != NULL) && (config != NULL)); + + osalDbgAssert((devp->state == LPS22HB_STOP) || (devp->state == LPS22HB_READY), + "lps22hbStart(), invalid state"); + + devp->config = config; + + /* Enabling register auto-increment.*/ + /* Control register 1 configuration block.*/ + { + cr[0] = LPS22HB_AD_CTRL_REG2; + cr[1] = LPS22HB_CTRL_REG2_IF_ADD_INC; + } +#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); + + /* Control register 1 configuration block.*/ + { + cr[0] = LPS22HB_AD_CTRL_REG1; + cr[1] = devp->config->outputdatarate; +#if LPS22HB_USE_ADVANCED || defined(__DOXYGEN__) + cr[1] |= devp->config->blockdataupdate; + 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 */ + + if(devp->config->barosensitivity == NULL) { + devp->barosensitivity = LPS22HB_BARO_SENS; + } + else{ + /* Taking barometer sensitivity from user configurations */ + devp->barosensitivity = *(devp->config->barosensitivity); + } + + if(devp->config->barobias == NULL) { + devp->barobias = LPS22HB_BARO_BIAS; + } + else{ + /* Taking barometer bias from user configurations */ + devp->barobias = *(devp->config->barobias); + } + + if(devp->config->thermosensitivity == NULL) { + devp->thermosensitivity = LPS22HB_THERMO_SENS; + } + else{ + /* Taking thermometer sensitivity from user configurations */ + devp->thermosensitivity = *(devp->config->thermosensitivity); + } + + if(devp->config->thermobias == NULL) { + devp->thermobias = LPS22HB_THERMO_BIAS; + } + else{ + /* Taking thermometer bias from user configurations */ + devp->thermobias = *(devp->config->thermobias); + } + + /* This is the Barometer transient recovery time */ + osalThreadSleepMilliseconds(5); + + devp->state = LPS22HB_READY; +} + +/** + * @brief Deactivates the LPS22HB Complex Driver peripheral. + * + * @param[in] devp pointer to the @p LPS22HBDriver object + * + * @api + */ +void lps22hbStop(LPS22HBDriver *devp) { + uint8_t cr[2]; + + osalDbgCheck(devp != NULL); + + osalDbgAssert((devp->state == LPS22HB_STOP) || (devp->state == LPS22HB_READY), + "lps22hbStop(), invalid state"); + + if (devp->state == LPS22HB_READY) { +#if LPS22HB_SHARED_I2C + i2cAcquireBus((devp)->config->i2cp); + i2cStart((devp)->config->i2cp, + (devp)->config->i2ccfg); +#endif /* LPS22HB_SHARED_I2C */ + + cr[0] = LPS22HB_AD_CTRL_REG1; + cr[1] = 0; + lps22hbI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress, + cr, 1); + + i2cStop((devp)->config->i2cp); +#if LPS22HB_SHARED_I2C + i2cReleaseBus((devp)->config->i2cp); +#endif /* LPS22HB_SHARED_I2C */ + } + devp->state = LPS22HB_STOP; +} +/** @} */ diff --git a/os/ex/ST/lps22hb.h b/os/ex/ST/lps22hb.h new file mode 100644 index 000000000..1f8455750 --- /dev/null +++ b/os/ex/ST/lps22hb.h @@ -0,0 +1,725 @@ +/* + ChibiOS - Copyright (C) 2016..2018 Rocco Marco Guglielmi + + This file is part of ChibiOS. + + ChibiOS is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 3 of the License, or + (at your option) any later version. + + ChibiOS is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . + +*/ + +/** + * @file lps22hb.h + * @brief LPS22HB MEMS interface module header. + * + * @addtogroup LPS22HB + * @ingroup EX_ST + * @{ + */ +#ifndef _LPS22HB_H_ +#define _LPS22HB_H_ + +#include "hal_barometer.h" +#include "hal_thermometer.h" + +/*===========================================================================*/ +/* Driver constants. */ +/*===========================================================================*/ + +/** + * @name Version identification + * @{ + */ +/** + * @brief LPS22HB driver version string. + */ +#define EX_LPS22HB_VERSION "1.0.0" + +/** + * @brief LPS22HB driver version major number. + */ +#define EX_LPS22HB_MAJOR 1 + +/** + * @brief LPS22HB driver version minor number. + */ +#define EX_LPS22HB_MINOR 0 + +/** + * @brief LPS22HB driver version patch number. + */ +#define EX_LPS22HB_PATCH 0 +/** @} */ + +/** + * @brief LPS22HB barometer subsystem characteristics. + * @note Sensitivity is expressed as hPa/LSB whereas hPa stand for + * hectopascal. + * @note Bias is expressed as hPa. + * + * @{ + */ +#define LPS22HB_BARO_NUMBER_OF_AXES 1U + +#define LPS22HB_BARO_SENS 0.00024414f +#define LPS22HB_BARO_BIAS 0.0f +/** @} */ + +/** + * @brief LPS22HB thermometer subsystem characteristics. + * @note Sensitivity is expressed as °C/LSB. + * @note Bias is expressed as °C. + * + * @{ + */ +#define LPS22HB_THERMO_NUMBER_OF_AXES 1U + +#define LPS22HB_THERMO_SENS 0.01f +#define LPS22HB_THERMO_BIAS 0.0f +/** @} */ + +/** + * @name LPS22HB communication interfaces related bit masks + * @{ + */ +#define LPS22HB_DI_MASK 0xFF +#define LPS22HB_DI(n) (1 << n) +#define LPS22HB_AD_MASK 0x3F +#define LPS22HB_AD(n) (1 << n) +#define LPS22HB_MS (1 << 6) +#define LPS22HB_RW (1 << 7) + +#define LPS22HB_SUB_MS (1 << 7) +/** @} */ + +/** + * @name LPS22HB register addresses + * @{ + */ +#define LPS22HB_AD_INT_CFG 0x0B +#define LPS22HB_AD_THS_P_L 0x0C +#define LPS22HB_AD_THS_P_H 0x0D +#define LPS22HB_AD_WHO_AM_I 0x0F +#define LPS22HB_AD_CTRL_REG1 0x10 +#define LPS22HB_AD_CTRL_REG2 0x11 +#define LPS22HB_AD_CTRL_REG3 0x12 +#define LPS22HB_AD_FIFO_CTRL 0x14 +#define LPS22HB_AD_REF_P_XL 0x15 +#define LPS22HB_AD_REF_P_L 0x16 +#define LPS22HB_AD_REF_P_H 0x17 +#define LPS22HB_AD_RPDS_L 0x18 +#define LPS22HB_AD_RPDS_H 0x19 +#define LPS22HB_AD_RES_CONF 0x1A +#define LPS22HB_AD_INT_SRC 0x25 +#define LPS22HB_AD_FIFO_SRC 0x26 +#define LPS22HB_AD_STATUS_REG 0x27 +#define LPS22HB_AD_PRESS_OUT_XL 0x28 +#define LPS22HB_AD_PRESS_OUT_L 0x29 +#define LPS22HB_AD_PRESS_OUT_H 0x2A +#define LPS22HB_AD_TEMP_OUT_L 0x2B +#define LPS22HB_AD_TEMP_OUT_H 0x2C +#define LPS22HB_AD_LPFP_RES 0x33 +/** @} */ + +/** + * @name LPS22HB_INT_CFG register bits definitions + * @{ + */ +#define LPS22HB_INT_CFG_MASK 0xFF +#define LPS22HB_INT_CFG_PHE (1 << 0) +#define LPS22HB_INT_CFG_PLE (1 << 1) +#define LPS22HB_INT_CFG_LIR (1 << 2) +#define LPS22HB_INT_CFG_DIFF_EN (1 << 3) +#define LPS22HB_INT_CFG_RESET_AZ (1 << 4) +#define LPS22HB_INT_CFG_AUTOZERO (1 << 5) +#define LPS22HB_INT_CFG_RESET_ARP (1 << 6) +#define LPS22HB_INT_CFG_AUTORIFP (1 << 7) +/** @} */ + +/** + * @name LPS22HB_CTRL_REG1 register bits definitions + * @{ + */ +#define LPS22HB_CTRL_REG1_MASK 0x7F +#define LPS22HB_CTRL_REG1_SIM (1 << 0) +#define LPS22HB_CTRL_REG1_BDU (1 << 1) +#define LPS22HB_CTRL_REG1_LPFP_CFG (1 << 2) +#define LPS22HB_CTRL_REG1_LPFP_EN (1 << 3) +#define LPS22HB_CTRL_REG1_ODR0 (1 << 4) +#define LPS22HB_CTRL_REG1_ODR1 (1 << 5) +#define LPS22HB_CTRL_REG1_ODR2 (1 << 6) +/** @} */ + +/** + * @name LPS22HB_CTRL_REG2 register bits definitions + * @{ + */ +#define LPS22HB_CTRL_REG2_MASK 0xFD +#define LPS22HB_CTRL_REG2_ONE_SHOT (1 << 0) +#define LPS22HB_CTRL_REG2_SWRESET (1 << 2) +#define LPS22HB_CTRL_REG2_I2C_DIS (1 << 3) +#define LPS22HB_CTRL_REG2_IF_ADD_INC (1 << 4) +#define LPS22HB_CTRL_REG2_STOP_ON_FTH (1 << 5) +#define LPS22HB_CTRL_REG2_FIFO_EN (1 << 6) +#define LPS22HB_CTRL_REG2_BOOT (1 << 7) +/** @} */ + +/** + * @name LPS22HB_CTRL_REG3 register bits definitions + * @{ + */ +#define LPS22HB_CTRL_REG3_MASK 0xFF +#define LPS22HB_CTRL_REG3_INT_S1 (1 << 0) +#define LPS22HB_CTRL_REG3_INT_S2 (1 << 1) +#define LPS22HB_CTRL_REG3_DRDY (1 << 2) +#define LPS22HB_CTRL_REG3_F_OVR (1 << 3) +#define LPS22HB_CTRL_REG3_F_FTH (1 << 4) +#define LPS22HB_CTRL_REG3_F_FSS5 (1 << 5) +#define LPS22HB_CTRL_REG3_PP_OD (1 << 6) +#define LPS22HB_CTRL_REG3_INT_H_L (1 << 7) +/** @} */ + +/** + * @name LPS22HB_INT_SRC register bits definitions + * @{ + */ +#define LPS22HB_INT_SRC_MASK 0x87 +#define LPS22HB_INT_SRC_PH (1 << 0) +#define LPS22HB_INT_SRC_PL (1 << 1) +#define LPS22HB_INT_SRC_IA (1 << 2) +#define LPS22HB_INT_SRC_BOOT_STATUS (1 << 8) +/** @} */ + +/*===========================================================================*/ +/* Driver pre-compile time settings. */ +/*===========================================================================*/ + +/** + * @name Configuration options + * @{ + */ +/** + * @brief LPS22HB SPI interface switch. + * @details If set to @p TRUE the support for SPI is included. + * @note The default is @p FALSE. + */ +#if !defined(LPS22HB_USE_SPI) || defined(__DOXYGEN__) +#define LPS22HB_USE_SPI FALSE +#endif + +/** + * @brief LPS22HB shared SPI switch. + * @details If set to @p TRUE the device acquires SPI bus ownership + * on each transaction. + * @note The default is @p FALSE. Requires SPI_USE_MUTUAL_EXCLUSION. + */ +#if !defined(LPS22HB_SHARED_SPI) || defined(__DOXYGEN__) +#define LPS22HB_SHARED_SPI FALSE +#endif + +/** + * @brief LPS22HB I2C interface switch. + * @details If set to @p TRUE the support for I2C is included. + * @note The default is @p TRUE. + */ +#if !defined(LPS22HB_USE_I2C) || defined(__DOXYGEN__) +#define LPS22HB_USE_I2C TRUE +#endif + +/** + * @brief LPS22HB shared I2C switch. + * @details If set to @p TRUE the device acquires I2C bus ownership + * on each transaction. + * @note The default is @p FALSE. Requires I2C_USE_MUTUAL_EXCLUSION. + */ +#if !defined(LPS22HB_SHARED_I2C) || defined(__DOXYGEN__) +#define LPS22HB_SHARED_I2C FALSE +#endif + +/** + * @brief LPS22HB accelerometer subsystem advanced configurations + * switch. + * @details If set to @p TRUE more configurations are available. + * @note The default is @p FALSE. + */ +#if !defined(LPS22HB_USE_ADVANCED) || defined(__DOXYGEN__) +#define LPS22HB_USE_ADVANCED FALSE +#endif +/** @} */ + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +#if !(LPS22HB_USE_SPI ^ LPS22HB_USE_I2C) +#error "LPS22HB_USE_SPI and LPS22HB_USE_I2C cannot be both true or both false" +#endif + +#if LPS22HB_USE_SPI && !HAL_USE_SPI +#error "LPS22HB_USE_SPI requires HAL_USE_SPI" +#endif + +#if LPS22HB_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION +#error "LPS22HB_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION" +#endif + +#if LPS22HB_USE_I2C && !HAL_USE_I2C +#error "LPS22HB_USE_I2C requires HAL_USE_I2C" +#endif + +#if LPS22HB_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION +#error "LPS22HB_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION" +#endif + +/** + * @todo Add support for LPS22HB over SPI. + */ +#if LPS22HB_USE_SPI +#error "LPS22HB over SPI still not supported" +#endif + +/*===========================================================================*/ +/* Driver data structures and types. */ +/*===========================================================================*/ + +/** + * @name LPS22HB data structures and types. + * @{ + */ +/** + * @brief Structure representing a LPS22HB driver. + */ +typedef struct LPS22HBDriver LPS22HBDriver; + +/** + * @brief LPS22HB slave address + */ +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; + +/** + * @brief LPS22HB output data rate and bandwidth. + */ +typedef enum { + LPS22HB_ODR_PD = 0x00, /**< Power down. */ + LPS22HB_ODR_1HZ = 0x10, /**< Output data rate 1 Hz. */ + LPS22HB_ODR_10HZ = 0x20, /**< Output data rate 10 Hz. */ + LPS22HB_ODR_25HZ = 0x30, /**< Output data rate 25 Hz. */ + LPS22HB_ODR_50HZ = 0x40, /**< Output data rate 50 Hz. */ + LPS22HB_ODR_75HZ = 0x50 /**< Output data rate 75 Hz. */ +}lps22hb_odr_t; + +/** + * @brief LPS22HB pressure resolution. + */ +typedef enum { + LPS22HB_LP_DISABLED = 0x00, /**< LP Filter disabled. */ + LPS22HB_LP_ODR_9 = 0x08, /**< LP Filter enabled. Cut-off ORD/9. */ + LPS22HB_LP_ODR_20 = 0x0C /**< LP Filter enabled. Cut-off ORD/20. */ +}lps22hb_lp_t; + +/** + * @brief LPS22HB block data update. + */ +typedef enum { + LPS22HB_BDU_CONTINUOUS = 0x00, /**< Block data continuously updated. */ + LPS22HB_BDU_BLOCKED = 0x40 /**< Block data updated after reading. */ +}lps22hb_bdu_t; + +/** + * @brief Driver state machine possible states. + */ +typedef enum { + LPS22HB_UNINIT = 0, /**< Not initialized. */ + LPS22HB_STOP = 1, /**< Stopped. */ + LPS22HB_READY = 2, /**< Ready. */ +} lps22hb_state_t; + +/** + * @brief LPS22HB configuration structure. + */ +typedef struct { + +#if LPS22HB_USE_SPI || defined(__DOXYGEN__) + /** + * @brief SPI driver associated to this LPS22HB. + */ + SPIDriver *spip; + /** + * @brief SPI configuration associated to this LPS22HB. + */ + const SPIConfig *spicfg; +#endif /* LPS22HB_USE_SPI */ +#if LPS22HB_USE_I2C || defined(__DOXYGEN__) + /** + * @brief I2C driver associated to this LPS22HB. + */ + I2CDriver *i2cp; + /** + * @brief I2C configuration associated to this LPS22HB. + */ + const I2CConfig *i2ccfg; + /** + * @brief LPS22HB slave address + */ + lps22hb_sad_t slaveaddress; +#endif /* LPS22HB_USE_I2C */ + /** + * @brief LPS22HB barometer subsystem initial sensitivity. + */ + float *barosensitivity; + /** + * @brief LPS22HB barometer subsystem initial bias. + */ + float *barobias; + /** + * @brief LPS22HB thermometer subsystem initial sensitivity. + */ + float *thermosensitivity; + /** + * @brief LPS22HB thermometer subsystem initial bias. + */ + float *thermobias; + /** + * @brief LPS22HB output data rate selection. + */ + lps22hb_odr_t outputdatarate; +#if LPS22HB_USE_ADVANCED || defined(__DOXYGEN__) + /** + * @brief LPS22HB block data update. + */ + lps22hb_bdu_t blockdataupdate; + /** + * @brief LPS22HB barometer subsystem resolution. + */ + lps22hb_lp_t lowpass_filter; +#endif +} LPS22HBConfig; + +/** + * @brief @p LPS22HB specific methods. + * @note No methods so far, just a common ancestor interface. + */ +#define _lps22hb_methods_alone + +/** + * @brief @p LPS22HB specific methods with inherited ones. + */ +#define _lps22hb_methods \ + _base_object_methods \ + _lps22hb_methods_alone + +/** + * @extends BaseObjectVMT + * + * @brief @p LPS22HB virtual methods table. + */ +struct LPS22HBVMT { + _lps22hb_methods +}; + +/** + * @brief @p LPS22HBDriver specific data. + */ +#define _lps22hb_data \ + /* Driver state.*/ \ + lps22hb_state_t state; \ + /* Current configuration data.*/ \ + const LPS22HBConfig *config; \ + /* Barometer subsystem axes number.*/ \ + size_t baroaxes; \ + /* Barometer subsystem current sensitivity.*/ \ + float barosensitivity; \ + /* Barometer subsystem current bias .*/ \ + float barobias; \ + /* Thermometer subsystem axes number.*/ \ + size_t thermoaxes; \ + /* Thermometer subsystem current sensitivity.*/ \ + float thermosensitivity; \ + /* Thermometer subsystem current bias.*/ \ + float thermobias; + +/** + * @brief LPS22HB 2-axis barometer/thermometer class. + */ +struct LPS22HBDriver { + /** @brief Virtual Methods Table.*/ + const struct LPS22HBVMT *vmt; + /** @brief Base barometer interface.*/ + BaseBarometer baro_if; + /** @brief Base thermometer interface.*/ + BaseThermometer thermo_if; + _lps22hb_data +}; +/** @} */ + +/*===========================================================================*/ +/* Driver macros. */ +/*===========================================================================*/ + +/** + * @brief Return the number of axes of the BaseBarometer. + * + * @param[in] devp pointer to @p LPS22HBDriver. + * + * @return the number of axes. + * + * @api + */ +#define lps22hbBarometerGetAxesNumber(devp) \ + barometerGetAxesNumber(&((devp)->baro_if)) + +/** + * @brief Retrieves raw data from the BaseBarometer. + * @note This data is retrieved from MEMS register without any algebraical + * manipulation. + * @note The axes array must be at least the same size of the + * BaseBarometer axes number. + * + * @param[in] devp pointer to @p LPS22HBDriver. + * @param[out] axes a buffer which would be filled with raw data. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * @retval MSG_RESET if one or more I2C errors occurred, the errors can + * be retrieved using @p i2cGetErrors(). + * @retval MSG_TIMEOUT if a timeout occurred before operation end. + * + * @api + */ +#define lps22hbBarometerReadRaw(devp, axes) \ + barometerReadRaw(&((devp)->baro_if), axes) + +/** + * @brief Retrieves cooked data from the BaseBarometer. + * @note This data is manipulated according to the formula + * cooked = (raw * sensitivity) - bias. + * @note Final data is expressed as hPa. + * @note The axes array must be at least the same size of the + * BaseBarometer axes number. + * + * @param[in] devp pointer to @p LPS22HBDriver. + * @param[out] axes a buffer which would be filled with cooked data. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * @retval MSG_RESET if one or more I2C errors occurred, the errors can + * be retrieved using @p i2cGetErrors(). + * @retval MSG_TIMEOUT if a timeout occurred before operation end. + * + * @api + */ +#define lps22hbBarometerReadCooked(devp, axes) \ + barometerReadCooked(&((devp)->baro_if), axes) + +/** + * @brief Set bias values for the BaseBarometer. + * @note Bias must be expressed as hPa. + * @note The bias buffer must be at least the same size of the + * BaseBarometer axes number. + * + * @param[in] devp pointer to @p LPS22HBDriver. + * @param[in] bp a buffer which contains biases. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * + * @api + */ +#define lps22hbBarometerSetBias(devp, bp) \ + barometerSetBias(&((devp)->baro_if), bp) + +/** + * @brief Reset bias values for the BaseBarometer. + * @note Default biases value are obtained from device datasheet when + * available otherwise they are considered zero. + * + * @param[in] devp pointer to @p LPS22HBDriver. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * + * @api + */ +#define lps22hbBarometerResetBias(devp) \ + barometerResetBias(&((devp)->baro_if)) + +/** + * @brief Set sensitivity values for the BaseBarometer. + * @note Sensitivity must be expressed as hPa/LSB. + * @note The sensitivity buffer must be at least the same size of the + * BaseBarometer axes number. + * + * @param[in] devp pointer to @p LPS22HBDriver. + * @param[in] sp a buffer which contains sensitivities. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * + * @api + */ +#define lps22hbBarometerSetSensitivity(devp, sp) \ + barometerSetSensitivity(&((devp)->baro_if), sp) + +/** + * @brief Reset sensitivity values for the BaseBarometer. + * @note Default sensitivities value are obtained from device datasheet. + * + * @param[in] devp pointer to @p LPS22HBDriver. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * + * @api + */ +#define lps22hbBarometerResetSensitivity(devp) \ + barometerResetSensitivity(&((devp)->baro_if)) + +/** + * @brief Return the number of axes of the BaseThermometer. + * + * @param[in] devp pointer to @p LPS22HBDriver. + * + * @return the number of axes. + * + * @api + */ +#define lps22hbThermometerGetAxesNumber(devp) \ + thermometerGetAxesNumber(&((devp)->thermo_if)) + +/** + * @brief Retrieves raw data from the BaseThermometer. + * @note This data is retrieved from MEMS register without any algebraical + * manipulation. + * @note The axes array must be at least the same size of the + * BaseThermometer axes number. + * + * @param[in] devp pointer to @p LPS22HBDriver. + * @param[out] axes a buffer which would be filled with raw data. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * @retval MSG_RESET if one or more I2C errors occurred, the errors can + * be retrieved using @p i2cGetErrors(). + * @retval MSG_TIMEOUT if a timeout occurred before operation end. + * + * @api + */ +#define lps22hbThermometerReadRaw(devp, axes) \ + thermometerReadRaw(&((devp)->thermo_if), axes) + +/** + * @brief Retrieves cooked data from the BaseThermometer. + * @note This data is manipulated according to the formula + * cooked = (raw * sensitivity) - bias. + * @note Final data is expressed as °C. + * @note The axes array must be at least the same size of the + * BaseThermometer axes number. + * + * @param[in] devp pointer to @p LPS22HBDriver. + * @param[out] axes a buffer which would be filled with cooked data. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * @retval MSG_RESET if one or more I2C errors occurred, the errors can + * be retrieved using @p i2cGetErrors(). + * @retval MSG_TIMEOUT if a timeout occurred before operation end. + * + * @api + */ +#define lps22hbThermometerReadCooked(devp, axes) \ + thermometerReadCooked(&((devp)->thermo_if), axes) + +/** + * @brief Set bias values for the BaseThermometer. + * @note Bias must be expressed as °C. + * @note The bias buffer must be at least the same size of the + * BaseThermometer axes number. + * + * @param[in] devp pointer to @p LPS22HBDriver. + * @param[in] bp a buffer which contains biases. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * + * @api + */ +#define lps22hbThermometerSetBias(devp, bp) \ + thermometerSetBias(&((devp)->thermo_if), bp) + +/** + * @brief Reset bias values for the BaseThermometer. + * @note Default biases value are obtained from device datasheet when + * available otherwise they are considered zero. + * + * @param[in] devp pointer to @p LPS22HBDriver. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * + * @api + */ +#define lps22hbThermometerResetBias(devp) \ + thermometerResetBias(&((devp)->thermo_if)) + +/** + * @brief Set sensitivity values for the BaseThermometer. + * @note Sensitivity must be expressed as °C/LSB. + * @note The sensitivity buffer must be at least the same size of the + * BaseThermometer axes number. + * + * @param[in] devp pointer to @p LPS22HBDriver. + * @param[in] sp a buffer which contains sensitivities. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * + * @api + */ +#define lps22hbThermometerSetSensitivity(devp, sp) \ + thermometerSetSensitivity(&((devp)->thermo_if), sp) + +/** + * @brief Reset sensitivity values for the BaseThermometer. + * @note Default sensitivities value are obtained from device datasheet. + * + * @param[in] devp pointer to @p LPS22HBDriver. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * + * @api + */ +#define lps22hbThermometerResetSensitivity(devp) \ + thermometerResetSensitivity(&((devp)->thermo_if)) + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +#ifdef __cplusplus +extern "C" { +#endif + void lps22hbObjectInit(LPS22HBDriver *devp); + void lps22hbStart(LPS22HBDriver *devp, const LPS22HBConfig *config); + void lps22hbStop(LPS22HBDriver *devp); +#ifdef __cplusplus +} +#endif + +#endif /* _LPS22HB_H_ */ + +/** @} */ + diff --git a/os/ex/ST/lps22hb.mk b/os/ex/ST/lps22hb.mk new file mode 100644 index 000000000..195950006 --- /dev/null +++ b/os/ex/ST/lps22hb.mk @@ -0,0 +1,10 @@ +# List of all the LPS22HB device files. +LPS22HBSRC := $(CHIBIOS)/os/ex/ST/lps22hb.c + +# Required include directories +LPS22HBINC := $(CHIBIOS)/os/hal/lib/peripherals/sensors \ + $(CHIBIOS)/os/ex/ST + +# Shared variables +ALLCSRC += $(LPS22HBSRC) +ALLINC += $(LPS22HBINC) \ No newline at end of file -- cgit v1.2.3