From fde8d50497ecccbe399ff2f57e5789b487d210b9 Mon Sep 17 00:00:00 2001 From: Rocco Marco Guglielmi Date: Thu, 12 May 2016 16:57:52 +0000 Subject: Added support for LIS3DSH git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9470 35acf78f-673a-0410-8e92-d51de3d6d3f4 --- os/ex/ST/lis3dsh.c | 596 ++++++++++++++++++++++++++++++++++++++++++++++++++++ os/ex/ST/lis3dsh.h | 323 ++++++++++++++++++++++++++++ os/ex/ST/lis3dsh.mk | 6 + 3 files changed, 925 insertions(+) create mode 100644 os/ex/ST/lis3dsh.c create mode 100644 os/ex/ST/lis3dsh.h create mode 100644 os/ex/ST/lis3dsh.mk (limited to 'os/ex/ST') diff --git a/os/ex/ST/lis3dsh.c b/os/ex/ST/lis3dsh.c new file mode 100644 index 000000000..880cf391e --- /dev/null +++ b/os/ex/ST/lis3dsh.c @@ -0,0 +1,596 @@ +/* + ChibiOS - Copyright (C) 2016 Rocco Marco Guglielmi + + This file is part of ChibiOS. + + ChibiOS is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 3 of the License, or + (at your option) any later version. + + ChibiOS is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . + +*/ + +/** + * @file lis3dsh.c + * @brief LIS3DSH MEMS interface module code. + * + * @addtogroup lis3dsh + * @{ + */ + +#include "hal.h" + +#include "lis3dsh.h" + +/*===========================================================================*/ +/* Driver local definitions. */ +/*===========================================================================*/ + +#define LIS3DSH_SENS_2G ((float)0.06f) +#define LIS3DSH_SENS_4G ((float)0.12f) +#define LIS3DSH_SENS_6G ((float)0.18f) +#define LIS3DSH_SENS_8G ((float)0.24f) +#define LIS3DSH_SENS_16G ((float)0.73f) + +#define LIS3DSH_DI ((uint8_t)0xFF) +#define LIS3DSH_DI_0 ((uint8_t)0x01) +#define LIS3DSH_DI_1 ((uint8_t)0x02) +#define LIS3DSH_DI_2 ((uint8_t)0x04) +#define LIS3DSH_DI_3 ((uint8_t)0x08) +#define LIS3DSH_DI_4 ((uint8_t)0x10) +#define LIS3DSH_DI_5 ((uint8_t)0x20) +#define LIS3DSH_DI_6 ((uint8_t)0x40) +#define LIS3DSH_DI_7 ((uint8_t)0x80) + +#define LIS3DSH_AD ((uint8_t)0x3F) +#define LIS3DSH_AD_0 ((uint8_t)0x01) +#define LIS3DSH_AD_1 ((uint8_t)0x02) +#define LIS3DSH_AD_2 ((uint8_t)0x04) +#define LIS3DSH_AD_3 ((uint8_t)0x08) +#define LIS3DSH_AD_4 ((uint8_t)0x10) +#define LIS3DSH_AD_5 ((uint8_t)0x20) + +#define LIS3DSH_MS ((uint8_t)0x40) +#define LIS3DSH_RW ((uint8_t)0x80) + +#define LIS3DSH_AD_INFO1 ((uint8_t)0x0D) +#define LIS3DSH_AD_INFO2 ((uint8_t)0x0E) +#define LIS3DSH_AD_WHO_AM_I ((uint8_t)0x0F) +#define LIS3DSH_AD_CTRL_REG3 ((uint8_t)0x23) +#define LIS3DSH_AD_CTRL_REG4 ((uint8_t)0x20) +#define LIS3DSH_AD_CTRL_REG5 ((uint8_t)0x24) +#define LIS3DSH_AD_CTRL_REG6 ((uint8_t)0x25) +#define LIS3DSH_AD_STATUS ((uint8_t)0x27) +#define LIS3DSH_AD_OUT_T ((uint8_t)0x0C) +#define LIS3DSH_AD_OFF_X ((uint8_t)0x10) +#define LIS3DSH_AD_OFF_Y ((uint8_t)0x11) +#define LIS3DSH_AD_OFF_Z ((uint8_t)0x12) +#define LIS3DSH_AD_CS_X ((uint8_t)0x13) +#define LIS3DSH_AD_CS_Y ((uint8_t)0x14) +#define LIS3DSH_AD_CS_Z ((uint8_t)0x15) +#define LIS3DSH_AD_LC_L ((uint8_t)0x16) +#define LIS3DSH_AD_LC_H ((uint8_t)0x17) +#define LIS3DSH_AD_STAT ((uint8_t)0x18) +#define LIS3DSH_AD_VFC_1 ((uint8_t)0x1B) +#define LIS3DSH_AD_VFC_2 ((uint8_t)0x1C) +#define LIS3DSH_AD_VFC_3 ((uint8_t)0x1D) +#define LIS3DSH_AD_VFC_4 ((uint8_t)0x1E) +#define LIS3DSH_AD_THRS3 ((uint8_t)0x1F) +#define LIS3DSH_AD_OUT_X_L ((uint8_t)0x28) +#define LIS3DSH_AD_OUT_X_H ((uint8_t)0x29) +#define LIS3DSH_AD_OUT_Y_L ((uint8_t)0x2A) +#define LIS3DSH_AD_OUT_Y_H ((uint8_t)0x2B) +#define LIS3DSH_AD_OUT_Z_L ((uint8_t)0x2C) +#define LIS3DSH_AD_OUT_Z_H ((uint8_t)0x2D) +#define LIS3DSH_AD_FIFO_CTRL ((uint8_t)0x2E) +#define LIS3DSH_AD_FIFO_SRC ((uint8_t)0x2F) +#define LIS3DSH_AD_CTRL_REG1 ((uint8_t)0x21) +#define LIS3DSH_AD_ST1_0 ((uint8_t)0x40) +#define LIS3DSH_AD_ST1_1 ((uint8_t)0x41) +#define LIS3DSH_AD_ST1_2 ((uint8_t)0x42) +#define LIS3DSH_AD_ST1_3 ((uint8_t)0x43) +#define LIS3DSH_AD_ST1_4 ((uint8_t)0x44) +#define LIS3DSH_AD_ST1_5 ((uint8_t)0x45) +#define LIS3DSH_AD_ST1_6 ((uint8_t)0x46) +#define LIS3DSH_AD_ST1_7 ((uint8_t)0x47) +#define LIS3DSH_AD_ST1_8 ((uint8_t)0x48) +#define LIS3DSH_AD_ST1_9 ((uint8_t)0x49) +#define LIS3DSH_AD_ST1_A ((uint8_t)0x4A) +#define LIS3DSH_AD_ST1_B ((uint8_t)0x4B) +#define LIS3DSH_AD_ST1_C ((uint8_t)0x4C) +#define LIS3DSH_AD_ST1_D ((uint8_t)0x4D) +#define LIS3DSH_AD_ST1_E ((uint8_t)0x4E) +#define LIS3DSH_AD_ST1_F ((uint8_t)0x4F) +#define LIS3DSH_AD_TIM4_1 ((uint8_t)0x50) +#define LIS3DSH_AD_TIM3_1 ((uint8_t)0x51) +#define LIS3DSH_AD_TIM2_1_L ((uint8_t)0x52) +#define LIS3DSH_AD_TIM2_1_H ((uint8_t)0x53) +#define LIS3DSH_AD_TIM1_1_L ((uint8_t)0x54) +#define LIS3DSH_AD_TIM1_1_H ((uint8_t)0x55) +#define LIS3DSH_AD_THRS2_1 ((uint8_t)0x56) +#define LIS3DSH_AD_THRS1_1 ((uint8_t)0x57) +#define LIS3DSH_AD_MASK1_B ((uint8_t)0x59) +#define LIS3DSH_AD_MASK1_A ((uint8_t)0x5A) +#define LIS3DSH_AD_SETT1 ((uint8_t)0x5B) +#define LIS3DSH_AD_PR1 ((uint8_t)0x5C) +#define LIS3DSH_AD_TC1_L ((uint8_t)0x5D) +#define LIS3DSH_AD_TC1_H ((uint8_t)0x5E) +#define LIS3DSH_AD_OUTS1 ((uint8_t)0x5F) +#define LIS3DSH_AD_PEAK1 ((uint8_t)0x19) +#define LIS3DSH_AD_CTRL_REG2 ((uint8_t)0x22) +#define LIS3DSH_AD_ST2_0 ((uint8_t)0x60) +#define LIS3DSH_AD_ST2_1 ((uint8_t)0x61) +#define LIS3DSH_AD_ST2_2 ((uint8_t)0x62) +#define LIS3DSH_AD_ST2_3 ((uint8_t)0x63) +#define LIS3DSH_AD_ST2_4 ((uint8_t)0x64) +#define LIS3DSH_AD_ST2_5 ((uint8_t)0x65) +#define LIS3DSH_AD_ST2_6 ((uint8_t)0x66) +#define LIS3DSH_AD_ST2_7 ((uint8_t)0x67) +#define LIS3DSH_AD_ST2_8 ((uint8_t)0x68) +#define LIS3DSH_AD_ST2_9 ((uint8_t)0x69) +#define LIS3DSH_AD_ST2_A ((uint8_t)0x6A) +#define LIS3DSH_AD_ST2_B ((uint8_t)0x6B) +#define LIS3DSH_AD_ST2_C ((uint8_t)0x6C) +#define LIS3DSH_AD_ST2_D ((uint8_t)0x6D) +#define LIS3DSH_AD_ST2_E ((uint8_t)0x6E) +#define LIS3DSH_AD_ST2_F ((uint8_t)0x6F) +#define LIS3DSH_AD_TIM4_2 ((uint8_t)0x70) +#define LIS3DSH_AD_TIM3_2 ((uint8_t)0x71) +#define LIS3DSH_AD_TIM2_2_L ((uint8_t)0x72) +#define LIS3DSH_AD_TIM2_2_H ((uint8_t)0x73) +#define LIS3DSH_AD_TIM1_2_L ((uint8_t)0x74) +#define LIS3DSH_AD_TIM1_2_H ((uint8_t)0x75) +#define LIS3DSH_AD_THRS2_2 ((uint8_t)0x76) +#define LIS3DSH_AD_THRS1_2 ((uint8_t)0x77) +#define LIS3DSH_AD_MASK2_B ((uint8_t)0x79) +#define LIS3DSH_AD_MASK2_A ((uint8_t)0x7A) +#define LIS3DSH_AD_SETT2 ((uint8_t)0x7B) +#define LIS3DSH_AD_PR2 ((uint8_t)0x7C) +#define LIS3DSH_AD_TC2_L ((uint8_t)0x7D) +#define LIS3DSH_AD_TC2_H ((uint8_t)0x7E) +#define LIS3DSH_AD_OUTS2 ((uint8_t)0x7F) +#define LIS3DSH_AD_PEAK2 ((uint8_t)0x1A) +#define LIS3DSH_AD_DES2 ((uint8_t)0x78) + +#define LIS3DSH_CTRL_REG5_FS_MASK ((uint8_t)0x38) +#define TO_G ((float)0.001f) +#define TO_SI ((float)0.00981f) +/*===========================================================================*/ +/* Driver exported variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local variables and types. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local functions. */ +/*===========================================================================*/ + +#if (LIS3DSH_USE_SPI) || defined(__DOXYGEN__) +/** + * @brief Reads a generic register value using SPI. + * @pre The SPI interface must be initialized and the driver started. + * + * @param[in] spip pointer to the SPI interface + * @param[in] reg register number + * @return register value. + */ +static uint8_t lis3dshSPIReadRegister(SPIDriver *spip, uint8_t reg) { + uint8_t txbuf[2] = {LIS3DSH_RW | reg, 0xFF}; + uint8_t rxbuf[2] = {0x00, 0x00}; + spiSelect(spip); + spiExchange(spip, 2, txbuf, rxbuf); + spiUnselect(spip); + return rxbuf[1]; +} + +/** + * @brief Writes a value into a generic register using SPI. + * @pre The SPI interface must be initialized and the driver started. + * + * @param[in] spip pointer to the SPI interface + * @param[in] reg register number + * @param[in] value register value. + */ +static void lis3dshSPIWriteRegister(SPIDriver *spip, uint8_t reg, + uint8_t value) { + + switch (reg) { + default: + /* Reserved register must not be written, according to the datasheet + * this could permanently damage the device. + */ + osalDbgAssert(FALSE, "lis3dshSPIWriteRegister(), reserved register"); + case LIS3DSH_AD_INFO1: + case LIS3DSH_AD_INFO2: + case LIS3DSH_AD_WHO_AM_I: + case LIS3DSH_AD_STATUS: + case LIS3DSH_AD_OUT_T: + case LIS3DSH_AD_STAT: + case LIS3DSH_AD_OUT_X_L: + case LIS3DSH_AD_OUT_X_H: + case LIS3DSH_AD_OUT_Y_L: + case LIS3DSH_AD_OUT_Y_H: + case LIS3DSH_AD_OUT_Z_L: + case LIS3DSH_AD_OUT_Z_H: + case LIS3DSH_AD_FIFO_SRC: + case LIS3DSH_AD_FIFO_CTRL: + case LIS3DSH_AD_PR1: + case LIS3DSH_AD_TC1_L: + case LIS3DSH_AD_TC1_H: + case LIS3DSH_AD_OUTS1: + case LIS3DSH_AD_PEAK1: + case LIS3DSH_AD_PR2: + case LIS3DSH_AD_TC2_L: + case LIS3DSH_AD_TC2_H: + case LIS3DSH_AD_OUTS2: + case LIS3DSH_AD_PEAK2: + /* Read only registers cannot be written, the command is ignored.*/ + return; + case LIS3DSH_AD_CTRL_REG3: + case LIS3DSH_AD_CTRL_REG4: + case LIS3DSH_AD_CTRL_REG5: + case LIS3DSH_AD_CTRL_REG6: + case LIS3DSH_AD_OFF_X: + case LIS3DSH_AD_OFF_Y: + case LIS3DSH_AD_OFF_Z: + case LIS3DSH_AD_CS_X: + case LIS3DSH_AD_CS_Y: + case LIS3DSH_AD_CS_Z: + case LIS3DSH_AD_LC_L: + case LIS3DSH_AD_LC_H: + case LIS3DSH_AD_VFC_1: + case LIS3DSH_AD_VFC_2: + case LIS3DSH_AD_VFC_3: + case LIS3DSH_AD_VFC_4: + case LIS3DSH_AD_THRS3: + case LIS3DSH_AD_CTRL_REG1: + case LIS3DSH_AD_ST1_0: + case LIS3DSH_AD_ST1_1: + case LIS3DSH_AD_ST1_2: + case LIS3DSH_AD_ST1_3: + case LIS3DSH_AD_ST1_4: + case LIS3DSH_AD_ST1_5: + case LIS3DSH_AD_ST1_6: + case LIS3DSH_AD_ST1_7: + case LIS3DSH_AD_ST1_8: + case LIS3DSH_AD_ST1_9: + case LIS3DSH_AD_ST1_A: + case LIS3DSH_AD_ST1_B: + case LIS3DSH_AD_ST1_C: + case LIS3DSH_AD_ST1_D: + case LIS3DSH_AD_ST1_E: + case LIS3DSH_AD_ST1_F: + case LIS3DSH_AD_TIM4_1: + case LIS3DSH_AD_TIM3_1: + case LIS3DSH_AD_TIM2_1_L: + case LIS3DSH_AD_TIM2_1_H: + case LIS3DSH_AD_TIM1_1_L: + case LIS3DSH_AD_TIM1_1_H: + case LIS3DSH_AD_THRS2_1: + case LIS3DSH_AD_THRS1_1: + case LIS3DSH_AD_MASK1_B: + case LIS3DSH_AD_MASK1_A: + case LIS3DSH_AD_SETT1: + case LIS3DSH_AD_CTRL_REG2: + case LIS3DSH_AD_ST2_0: + case LIS3DSH_AD_ST2_1: + case LIS3DSH_AD_ST2_2: + case LIS3DSH_AD_ST2_3: + case LIS3DSH_AD_ST2_4: + case LIS3DSH_AD_ST2_5: + case LIS3DSH_AD_ST2_6: + case LIS3DSH_AD_ST2_7: + case LIS3DSH_AD_ST2_8: + case LIS3DSH_AD_ST2_9: + case LIS3DSH_AD_ST2_A: + case LIS3DSH_AD_ST2_B: + case LIS3DSH_AD_ST2_C: + case LIS3DSH_AD_ST2_D: + case LIS3DSH_AD_ST2_E: + case LIS3DSH_AD_ST2_F: + case LIS3DSH_AD_TIM4_2: + case LIS3DSH_AD_TIM3_2: + case LIS3DSH_AD_TIM2_2_L: + case LIS3DSH_AD_TIM2_2_H: + case LIS3DSH_AD_TIM1_2_L: + case LIS3DSH_AD_TIM1_2_H: + case LIS3DSH_AD_THRS2_2: + case LIS3DSH_AD_THRS1_2: + case LIS3DSH_AD_MASK2_B: + case LIS3DSH_AD_MASK2_A: + case LIS3DSH_AD_SETT2: + case LIS3DSH_AD_DES2: + spiSelect(spip); + uint8_t txbuf[2] = {reg, value}; + spiSend(spip, 2, txbuf); + spiUnselect(spip); + } +} +#endif /* LIS3DSH_USE_SPI */ + +/* + * Interface implementation. + */ +static size_t get_axes_number(void *ip) { + + osalDbgCheck(ip != NULL); + return LIS3DSH_NUMBER_OF_AXES; +} + +static msg_t read_raw(void *ip, int32_t axes[LIS3DSH_NUMBER_OF_AXES]) { + int16_t tmp; + osalDbgCheck((ip != NULL) && (axes != NULL)); + + osalDbgAssert((((LIS3DSHDriver *)ip)->state == LIS3DSH_READY), + "read_raw(), invalid state"); + +#if LIS3DSH_USE_SPI + osalDbgAssert((((LIS3DSHDriver *)ip)->config->spip->state == SPI_READY), + "read_raw(), channel not ready"); +#if LIS3DSH_SHARED_SPI + spiAcquireBus(((LIS3DSHDriver *)ip)->config->spip); + spiStart(((LIS3DSHDriver *)ip)->config->spip, + ((LIS3DSHDriver *)ip)->config->spicfg); +#endif /* LIS3DSH_SHARED_SPI */ + if(((LIS3DSHDriver *)ip)->config->axesenabling & LIS3DSH_AE_X){ + tmp = lis3dshSPIReadRegister(((LIS3DSHDriver *)ip)->config->spip, + LIS3DSH_AD_OUT_X_L); + tmp += lis3dshSPIReadRegister(((LIS3DSHDriver *)ip)->config->spip, + LIS3DSH_AD_OUT_X_H) << 8; + axes[0] = (int32_t)tmp + ((LIS3DSHDriver *)ip)->bias[0]; + } + if(((LIS3DSHDriver *)ip)->config->axesenabling & LIS3DSH_AE_Y){ + tmp = lis3dshSPIReadRegister(((LIS3DSHDriver *)ip)->config->spip, + LIS3DSH_AD_OUT_Y_L); + tmp += lis3dshSPIReadRegister(((LIS3DSHDriver *)ip)->config->spip, + LIS3DSH_AD_OUT_Y_H) << 8; + axes[1] = (int32_t)tmp + ((LIS3DSHDriver *)ip)->bias[1]; + } + if(((LIS3DSHDriver *)ip)->config->axesenabling & LIS3DSH_AE_Z){ + tmp = lis3dshSPIReadRegister(((LIS3DSHDriver *)ip)->config->spip, + LIS3DSH_AD_OUT_Z_L); + tmp += lis3dshSPIReadRegister(((LIS3DSHDriver *)ip)->config->spip, + LIS3DSH_AD_OUT_Z_H) << 8; + axes[2] = (int32_t)tmp + ((LIS3DSHDriver *)ip)->bias[2]; + } +#if LIS3DSH_SHARED_SPI + spiReleaseBus(((LIS3DSHDriver *)ip)->config->spip); +#endif /* LIS3DSH_SHARED_SPI */ +#endif /* LIS3DSH_USE_SPI */ + return MSG_OK; +} + +static msg_t read_cooked(void *ip, float axes[]) { + uint32_t i; + int32_t raw[LIS3DSH_NUMBER_OF_AXES]; + msg_t msg; + + osalDbgCheck((ip != NULL) && (axes != NULL)); + + osalDbgAssert((((LIS3DSHDriver *)ip)->state == LIS3DSH_READY), + "read_cooked(), invalid state"); + + msg = read_raw(ip, raw); + for(i = 0; i < LIS3DSH_NUMBER_OF_AXES ; i++){ + axes[i] = raw[i] * ((LIS3DSHDriver *)ip)->sensitivity[i]; + if(((LIS3DSHDriver *)ip)->config->unit == LIS3DSH_ACC_UNIT_G){ + axes[i] *= TO_G; + } + else if(((LIS3DSHDriver *)ip)->config->unit == LIS3DSH_ACC_UNIT_SI){ + axes[i] *= TO_SI; + } + } + return msg; +} + +static msg_t set_bias(void *ip, int32_t *bp) { + uint32_t i; + + osalDbgCheck((ip != NULL) && (bp !=NULL)); + + osalDbgAssert((((LIS3DSHDriver *)ip)->state == LIS3DSH_READY) || + (((LIS3DSHDriver *)ip)->state == LIS3DSH_STOP), + "set_bias(), invalid state"); + + for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) { + ((LIS3DSHDriver *)ip)->bias[i] = bp[i]; + } + return MSG_OK; +} + +static msg_t reset_bias(void *ip) { + uint32_t i; + + osalDbgCheck(ip != NULL); + + osalDbgAssert((((LIS3DSHDriver *)ip)->state == LIS3DSH_READY) || + (((LIS3DSHDriver *)ip)->state == LIS3DSH_STOP), + "reset_bias(), invalid state"); + + for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) + ((LIS3DSHDriver *)ip)->bias[i] = 0; + return MSG_OK; +} + +static msg_t set_sensivity(void *ip, float *sp) { + uint32_t i; + + osalDbgCheck((ip != NULL) && (sp !=NULL)); + + osalDbgAssert((((LIS3DSHDriver *)ip)->state == LIS3DSH_READY), + "set_sensivity(), invalid state"); + + for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) { + ((LIS3DSHDriver *)ip)->sensitivity[i] = sp[i]; + } + return MSG_OK; +} + +static msg_t reset_sensivity(void *ip) { + uint32_t i; + + osalDbgCheck(ip != NULL); + + osalDbgAssert((((LIS3DSHDriver *)ip)->state == LIS3DSH_READY), + "reset_sensivity(), invalid state"); + + if(((LIS3DSHDriver *)ip)->config->fullscale == LIS3DSH_FS_2G) + for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) + ((LIS3DSHDriver *)ip)->sensitivity[i] = LIS3DSH_SENS_2G; + else if(((LIS3DSHDriver *)ip)->config->fullscale == LIS3DSH_FS_4G) + for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) + ((LIS3DSHDriver *)ip)->sensitivity[i] = LIS3DSH_SENS_4G; + else if(((LIS3DSHDriver *)ip)->config->fullscale == LIS3DSH_FS_6G) + for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) + ((LIS3DSHDriver *)ip)->sensitivity[i] = LIS3DSH_SENS_6G; + else if(((LIS3DSHDriver *)ip)->config->fullscale == LIS3DSH_FS_8G) + for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) + ((LIS3DSHDriver *)ip)->sensitivity[i] = LIS3DSH_SENS_8G; + else if(((LIS3DSHDriver *)ip)->config->fullscale == LIS3DSH_FS_16G) + for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) + ((LIS3DSHDriver *)ip)->sensitivity[i] = LIS3DSH_SENS_16G; + else { + osalDbgAssert(FALSE, "reset_sensivity(), accelerometer full scale issue"); + return MSG_RESET; + } + return MSG_OK; +} + +static const struct BaseSensorVMT vmt_basesensor = { + get_axes_number, read_raw, read_cooked +}; + +static const struct BaseAccelerometerVMT vmt_baseaccelerometer = { + get_axes_number, read_raw, read_cooked, + set_bias, reset_bias, set_sensivity, reset_sensivity +}; + +static const struct LIS3DSHVMT vmt_lis3dsh = { + get_axes_number, read_raw, read_cooked, + set_bias, reset_bias, set_sensivity, reset_sensivity +}; + +/*===========================================================================*/ +/* Driver exported functions. */ +/*===========================================================================*/ + +/** + * @brief Initializes an instance. + * + * @param[out] devp pointer to the @p LIS3DSHDriver object + * + * @init + */ +void lis3dshObjectInit(LIS3DSHDriver *devp) { + uint32_t i; + devp->vmt_basesensor = &vmt_basesensor; + devp->vmt_baseaccelerometer = &vmt_baseaccelerometer; + devp->vmt_lis3dsh = &vmt_lis3dsh; + devp->config = NULL; + for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) + devp->bias[i] = 0; + devp->state = LIS3DSH_STOP; +} + +/** + * @brief Configures and activates LIS3DSH Complex Driver peripheral. + * + * @param[in] devp pointer to the @p LIS3DSHDriver object + * @param[in] config pointer to the @p LIS3DSHConfig object + * + * @api + */ +void lis3dshStart(LIS3DSHDriver *devp, const LIS3DSHConfig *config) { + uint32_t i; + osalDbgCheck((devp != NULL) && (config != NULL)); + + osalDbgAssert((devp->state == LIS3DSH_STOP) || (devp->state == LIS3DSH_READY), + "lis3dshStart(), invalid state"); + + devp->config = config; + +#if LIS3DSH_USE_SPI +#if LIS3DSH_SHARED_SPI + spiAcquireBus((devp)->config->spip); +#endif /* LIS3DSH_SHARED_SPI */ + spiStart((devp)->config->spip, + (devp)->config->spicfg); + lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG4, + devp->config->axesenabling | + devp->config->blockdataupdate | + devp->config->outputdatarate); + lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG5, + devp->config->fullscale | + devp->config->antialiasing ); +#if LIS3DSH_SHARED_SPI + spiReleaseBus((devp)->config->spip); +#endif /* LIS3DSH_SHARED_SPI */ +#endif /* LIS3DSH_USE_SPI */ + + /* Storing sensitivity information according to full scale value */ + if(devp->config->fullscale == LIS3DSH_FS_2G) + for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) + devp->sensitivity[i] = LIS3DSH_SENS_2G; + else if(devp->config->fullscale == LIS3DSH_FS_4G) + for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) + devp->sensitivity[i] = LIS3DSH_SENS_4G; + else if(devp->config->fullscale == LIS3DSH_FS_6G) + for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) + devp->sensitivity[i] = LIS3DSH_SENS_6G; + else if(devp->config->fullscale == LIS3DSH_FS_8G) + for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) + devp->sensitivity[i] = LIS3DSH_SENS_8G; + else if(devp->config->fullscale == LIS3DSH_FS_16G) + for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) + devp->sensitivity[i] = LIS3DSH_SENS_16G; + else { + osalDbgAssert(FALSE, "lis3dshStart(), accelerometer full scale issue"); + } + /* This is the Accelerometer transient recovery time */ + osalThreadSleepMilliseconds(10); + + devp->state = LIS3DSH_READY; +} + +/** + * @brief Deactivates the LIS3DSH Complex Driver peripheral. + * + * @param[in] devp pointer to the @p LIS3DSHDriver object + * + * @api + */ +void lis3dshStop(LIS3DSHDriver *devp) { + + osalDbgCheck(devp != NULL); + + osalDbgAssert((devp->state == LIS3DSH_STOP) || (devp->state == LIS3DSH_READY), + "lis3dshStop(), invalid state"); + +#if (LIS3DSH_USE_SPI) + if (devp->state == LIS3DSH_STOP) { +#if LIS3DSH_SHARED_SPI + spiAcquireBus((devp)->config->spip); + spiStart((devp)->config->spip, + (devp)->config->spicfg); +#endif /* LIS3DSH_SHARED_SPI */ + lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG4, + LIS3DSH_ODR_PD | LIS3DSH_AE_DISABLED); + spiStop((devp)->config->spip); +#if LIS3DSH_SHARED_SPI + spiReleaseBus((devp)->config->spip); +#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 new file mode 100644 index 000000000..7d1002f87 --- /dev/null +++ b/os/ex/ST/lis3dsh.h @@ -0,0 +1,323 @@ +/* + ChibiOS - Copyright (C) 2016 Rocco Marco Guglielmi + + This file is part of ChibiOS. + + ChibiOS is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 3 of the License, or + (at your option) any later version. + + ChibiOS is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . + +*/ + +/** + * @file lis3dsh.h + * @brief LIS3DSH MEMS interface module header. + * + * @{ + */ + +#ifndef _LIS3DSH_H_ +#define _LIS3DSH_H_ + +#include "hal_accelerometer.h" + +/*===========================================================================*/ +/* Driver constants. */ +/*===========================================================================*/ + +/** + * @brief LIS3DSH number of axes. + */ +#define LIS3DSH_NUMBER_OF_AXES ((size_t) 3U) + +/*===========================================================================*/ +/* Driver pre-compile time settings. */ +/*===========================================================================*/ + +/** + * @name Configuration options. + * @{ + */ +/** + * @brief LIS3DSH SPI interface switch. + * @details If set to @p TRUE the support for SPI is included. + * @note The default is @p TRUE. + */ +#if !defined(LIS3DSH_USE_SPI) || defined(__DOXYGEN__) +#define LIS3DSH_USE_SPI TRUE +#endif + +/** + * @brief LIS3DSH I2C interface switch. + * @details If set to @p TRUE the support for I2C is included. + * @note The default is @p FALSE. + */ +#if !defined(LIS3DSH_USE_I2C) || defined(__DOXYGEN__) +#define LIS3DSH_USE_I2C FALSE +#endif + +/** + * @brief LIS3DSH 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(LIS3DSH_SHARED_SPI) || defined(__DOXYGEN__) +#define LIS3DSH_SHARED_SPI FALSE +#endif +/** @} */ + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +#if !(LIS3DSH_USE_SPI ^ LIS3DSH_USE_I2C) +#error "LIS3DSH_USE_SPI and LIS3DSH_USE_I2C cannot be both true or both false" +#endif + +#if LIS3DSH_USE_SPI && !HAL_USE_SPI +#error "LIS3DSH_USE_SPI requires HAL_USE_SPI" +#endif + +#if LIS3DSH_USE_I2C && !HAL_USE_I2C +#error "LIS3DSH_USE_I2C requires HAL_USE_I2C" +#endif + +#if LIS3DSH_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION +#error "LIS3DSH_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION" +#endif + +/*===========================================================================*/ +/* Driver data structures and types. */ +/*===========================================================================*/ + +/** + * @name LIS3DSH data structures and types + * @{ + */ +/** + * @brief LIS3DSH full scale. + */ +typedef enum { + LIS3DSH_FS_2G = 0x00, /**< Full scale ±2g. */ + LIS3DSH_FS_4G = 0x08, /**< Full scale ±4g. */ + LIS3DSH_FS_6G = 0x10, /**< Full scale ±6g. */ + LIS3DSH_FS_8G = 0x18, /**< Full scale ±8g. */ + LIS3DSH_FS_16G = 0x20 /**< Full scale ±16g. */ +}lis3dsh_fs_t; + +/** + * @brief LIS3DSH output data rate. + */ +typedef enum { + LIS3DSH_ODR_PD = 0x00, /**< ODR 100 Hz. */ + LIS3DSH_ODR_3_125HZ = 0x10, /**< ODR 3.125 Hz. */ + LIS3DSH_ODR_6_25HZ = 0x20, /**< ODR 6.25 Hz. */ + LIS3DSH_ODR_12_5HZ = 0x30, /**< ODR 12.5 Hz. */ + LIS3DSH_ODR_25HZ = 0x40, /**< ODR 25 Hz. */ + LIS3DSH_ODR_50HZ = 0x50, /**< ODR 50 Hz. */ + LIS3DSH_ODR_100HZ = 0x60, /**< ODR 100 Hz. */ + LIS3DSH_ODR_400HZ = 0x70, /**< ODR 400 Hz. */ + LIS3DSH_ODR_800HZ = 0x80, /**< ODR 800 Hz. */ + LIS3DSH_ODR_1600HZ = 0x90 /**< ODR 1600 Hz. */ +}lis3dsh_odr_t; + +/** + * @brief LIS3DSH anti-aliasing bandwidth. + */ +typedef enum { + LIS3DSH_BW_800HZ = 0x00, /**< AA filter BW 800Hz. */ + LIS3DSH_BW_200HZ = 0x40, /**< AA filter BW 200Hz. */ + LIS3DSH_BW_400HZ = 0x80, /**< AA filter BW 400Hz. */ + LIS3DSH_BW_50HZ = 0xC0 /**< AA filter BW 50Hz. */ +}lis3dsh_bw_t; + +/** + * @brief LIS3DSH axes enabling. + */ +typedef enum { + LIS3DSH_AE_DISABLED = 0x00, /**< All axes disabled. */ + LIS3DSH_AE_X = 0x01, /**< Only X-axis enabled. */ + LIS3DSH_AE_Y = 0x02, /**< Only Y-axis enabled. */ + LIS3DSH_AE_XY = 0x03, /**< X and Y axes enabled. */ + LIS3DSH_AE_Z = 0x04, /**< Only Z-axis enabled. */ + LIS3DSH_AE_XZ = 0x05, /**< X and Z axes enabled. */ + LIS3DSH_AE_YZ = 0x06, /**< Y and Z axes enabled. */ + LIS3DSH_AE_XYZ = 0x07 /**< All axes enabled. */ +}lis3dsh_ae_t; + +/** + * @brief LIS3DSH block data update. + */ +typedef enum { + LIS3DSH_BDU_CONTINUOUS = 0x00, /**< Block data continuously updated. */ + LIS3DSH_BDU_BLOCKED = 0x80 /**< Block data updated after reading. */ +} lis3dsh_bdu_t; + +/** + * @brief LIS3DSH accelerometer subsystem unit. + */ +typedef enum { + LIS3DSH_ACC_UNIT_G = 0x00, /**< Cooked data in g. */ + LIS3DSH_ACC_UNIT_MG = 0x01, /**< Cooked data in mg. */ + LIS3DSH_ACC_UNIT_SI = 0x02, /**< Cooked data in m/s^2. */ +} lis3dsh_acc_unit_t; + +/** + * @brief Driver state machine possible states. + */ +typedef enum { + LIS3DSH_UNINIT = 0, /**< Not initialized. */ + LIS3DSH_STOP = 1, /**< Stopped. */ + LIS3DSH_READY = 2, /**< Ready. */ +} lis3dsh_state_t; + +/** + * @brief LIS3DSH configuration structure. + */ +typedef struct { + +#if (LIS3DSH_USE_SPI) || defined(__DOXYGEN__) + /** + * @brief SPI driver associated to this LIS3DSH. + */ + SPIDriver *spip; + /** + * @brief SPI configuration associated to this LIS3DSH. + */ + const SPIConfig *spicfg; +#endif /* LIS3DSH_USE_SPI */ +#if (LIS3DSH_USE_I2C) || defined(__DOXYGEN__) + /** + * @brief I2C driver associated to this LIS3DSH. + */ + I2CDriver *i2cp; + /** + * @brief I2C configuration associated to this LIS3DSH. + */ + const I2CConfig *i2ccfg; +#endif /* LIS3DSH_USE_I2C */ + /** + * @brief LIS3DSH full scale value. + */ + lis3dsh_fs_t fullscale; + /** + * @brief LIS3DSH output data rate selection. + */ + lis3dsh_odr_t outputdatarate; + /** + * @brief LIS3DSH anti-aliasing bandwidth. + */ + lis3dsh_bw_t antialiasing; + /** + * @brief LIS3DSH axes enabling. + */ + lis3dsh_ae_t axesenabling; + /** + * @brief LIS3DSH block data update. + */ + lis3dsh_bdu_t blockdataupdate; + /** + * @brief LIS3DSH unit for cooked data. + */ + lis3dsh_acc_unit_t unit; +} LIS3DSHConfig; + +/** + * @brief Structure representing a LIS3DSH driver. + */ +typedef struct LIS3DSHDriver LIS3DSHDriver; + +/** + * @brief @p LIS3DSH specific methods. + */ +#define _lis3dsh_methods \ + _base_accelerometer_methods + +/** + * @extends BaseAccelerometerVMT + * + * @brief @p LIS3DSH virtual methods table. + */ +struct LIS3DSHVMT { + _lis3dsh_methods +}; + +/** + * @brief @p LIS3DSHDriver specific data. + */ +#define _lis3dsh_data \ + _base_accelerometer_data \ + /* Driver state.*/ \ + lis3dsh_state_t state; \ + /* Current configuration data.*/ \ + const LIS3DSHConfig *config; \ + /* Current sensitivity.*/ \ + float sensitivity[LIS3DSH_NUMBER_OF_AXES]; \ + /* Bias data.*/ \ + int32_t bias[LIS3DSH_NUMBER_OF_AXES]; + +/** + * @extends BaseAccelerometer + * + * @brief LIS3DSH 3-axis accelerometer class. + * @details This class extends @p BaseAccelerometer by adding physical + * driver implementation. + */ +struct LIS3DSHDriver { + /** @brief BaseSensor Virtual Methods Table. */ + const struct BaseSensorVMT *vmt_basesensor; + /** @brief BaseAccelerometer Virtual Methods Table. */ + const struct BaseAccelerometerVMT *vmt_baseaccelerometer; + /** @brief LIS3DSH Virtual Methods Table. */ + const struct LIS3DSHVMT *vmt_lis3dsh; + _lis3dsh_data +}; +/** @} */ + +/*===========================================================================*/ +/* Driver macros. */ +/*===========================================================================*/ + +/** + * @brief Get current MEMS temperature. + * @detail This information is very useful especially for high accuracy IMU + * + * @param[in] ip pointer to a @p BaseAccelerometer class. + * @param[out] temp the MEMS temperature as single precision floating. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * @retval MSG_RESET if one or more errors occurred. + * @api + */ +#define accelerometerGetTemp(ip, tpp) \ + (ip)->vmt_lis3dsh->get_temperature(ip, tpp) + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +#ifdef __cplusplus +extern "C" { +#endif + void lis3dshObjectInit(LIS3DSHDriver *devp); + void lis3dshStart(LIS3DSHDriver *devp, const LIS3DSHConfig *config); + void lis3dshStop(LIS3DSHDriver *devp); +#ifdef __cplusplus +} +#endif + +#endif /* _LIS3DSH_H_ */ + +/** @} */ + diff --git a/os/ex/ST/lis3dsh.mk b/os/ex/ST/lis3dsh.mk new file mode 100644 index 000000000..76448d397 --- /dev/null +++ b/os/ex/ST/lis3dsh.mk @@ -0,0 +1,6 @@ +# List of all the LIS3DSH device files. +LIS3DSHSRC := $(CHIBIOS)/os/ex/ST/lis3dsh.c + +# Required include directories +LIS3DSHINC := $(CHIBIOS)/os/hal/lib/peripherals/sensors \ + $(CHIBIOS)/os/ex/ST \ No newline at end of file -- cgit v1.2.3