From a271d810c1d8b722132ff20e7ee066bca328cde9 Mon Sep 17 00:00:00 2001 From: Rocco Marco Guglielmi Date: Sat, 10 Mar 2018 23:02:03 +0000 Subject: Updated LIS3DSH driver and demos git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@11690 110e8d01-0319-4d1e-a829-52ad28d1bb01 --- os/ex/ST/lis3dsh.c | 528 ++++++++++++++++++++++++++++++++++------------------- os/ex/ST/lis3dsh.h | 411 +++++++++++++++++++++++++++-------------- 2 files changed, 606 insertions(+), 333 deletions(-) (limited to 'os') diff --git a/os/ex/ST/lis3dsh.c b/os/ex/ST/lis3dsh.c index b981db754..4cbfac8c0 100644 --- a/os/ex/ST/lis3dsh.c +++ b/os/ex/ST/lis3dsh.c @@ -1,5 +1,5 @@ /* - ChibiOS - Copyright (C) 2016 Rocco Marco Guglielmi + ChibiOS - Copyright (C) 2016-2018 Rocco Marco Guglielmi This file is part of ChibiOS. @@ -57,7 +57,7 @@ * @param[in] n number of adjacent registers to write * @param[in] b pointer to a buffer. */ -static void lis3dshSPIReadRegister(SPIDriver *spip, uint8_t reg, size_t n, +static void lis3dshSPIReadRegister(SPIDriver *spip, uint8_t reg, size_t n, uint8_t* b) { uint8_t cmd; cmd = reg | LIS3DSH_RW; @@ -88,177 +88,313 @@ static void lis3dshSPIWriteRegister(SPIDriver *spip, uint8_t reg, size_t n, } #endif /* LIS3DSH_USE_SPI */ -/* - * Interface implementation. +/** + * @brief Return the number of axes of the BaseAccelerometer. + * + * @param[in] ip pointer to @p BaseAccelerometer interface. + * + * @return the number of axes. */ -static size_t get_axes_number(void *ip) { - - osalDbgCheck(ip != NULL); - return LIS3DSH_NUMBER_OF_AXES; +static size_t acc_get_axes_number(void *ip) { + (void)ip; + + return LIS3DSH_ACC_NUMBER_OF_AXES; } -static msg_t read_raw(void *ip, int32_t axes[LIS3DSH_NUMBER_OF_AXES]) { - uint8_t buff [LIS3DSH_NUMBER_OF_AXES * 2], i; +/** + * @brief Retrieves raw data from the BaseAccelerometer. + * @note This data is retrieved from MEMS register without any algebraical + * manipulation. + * @note The axes array must be at least the same size of the + * BaseAccelerometer axes number. + * + * @param[in] ip pointer to @p BaseAccelerometer interface. + * @param[out] axes a buffer which would be filled with raw data. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * @retval MSG_RESET if one or more I2C errors occurred, the errors can + * be retrieved using @p i2cGetErrors(). + * @retval MSG_TIMEOUT if a timeout occurred before operation end. + */ +static msg_t acc_read_raw(void *ip, int32_t axes[]) { + LIS3DSHDriver* devp; + uint8_t buff [LIS3DSH_ACC_NUMBER_OF_AXES * 2], i; int16_t tmp; + msg_t msg = MSG_OK; + osalDbgCheck((ip != NULL) && (axes != NULL)); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LIS3DSHDriver*, (BaseAccelerometer*)ip); - osalDbgAssert((((LIS3DSHDriver *)ip)->state == LIS3DSH_READY), - "read_raw(), invalid state"); + osalDbgAssert((devp->state == LIS3DSH_READY), + "acc_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); + osalDbgAssert((devp->config->spip->state == SPI_READY), + "acc_read_raw(), channel not ready"); + + spiAcquireBus(devp->config->spip); + spiStart(devp->config->spip, + devp->config->spicfg); #endif /* LIS3DSH_SHARED_SPI */ - lis3dshSPIReadRegister(((LIS3DSHDriver *)ip)->config->spip, LIS3DSH_AD_OUT_X_L, - LIS3DSH_NUMBER_OF_AXES * 2, buff); + lis3dshSPIReadRegister(devp->config->spip, LIS3DSH_AD_OUT_X_L, + LIS3DSH_ACC_NUMBER_OF_AXES * 2, buff); #if LIS3DSH_SHARED_SPI - spiReleaseBus(((LIS3DSHDriver *)ip)->config->spip); + spiReleaseBus(devp->config->spip); #endif /* LIS3DSH_SHARED_SPI */ #endif /* LIS3DSH_USE_SPI */ - for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) { - tmp = buff[2*i] + (buff[2*i+1] << 8); + + for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++) { + tmp = buff[2 * i] + (buff[2 * i + 1] << 8); axes[i] = (int32_t)tmp; } - return MSG_OK; + return msg; } - -static msg_t read_cooked(void *ip, float axes[]) { +/** + * @brief Retrieves cooked data from the BaseAccelerometer. + * @note This data is manipulated according to the formula + * cooked = (raw * sensitivity) - bias. + * @note Final data is expressed as milli-G. + * @note The axes array must be at least the same size of the + * BaseAccelerometer axes number. + * + * @param[in] ip pointer to @p BaseAccelerometer interface. + * @param[out] axes a buffer which would be filled with cooked data. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * @retval MSG_RESET if one or more I2C errors occurred, the errors can + * be retrieved using @p i2cGetErrors(). + * @retval MSG_TIMEOUT if a timeout occurred before operation end. + */ +static msg_t acc_read_cooked(void *ip, float axes[]) { + LIS3DSHDriver* devp; uint32_t i; - int32_t raw[LIS3DSH_NUMBER_OF_AXES]; + int32_t raw[LIS3DSH_ACC_NUMBER_OF_AXES]; msg_t msg; osalDbgCheck((ip != NULL) && (axes != NULL)); - osalDbgAssert((((LIS3DSHDriver *)ip)->state == LIS3DSH_READY), - "read_cooked(), invalid state"); + /* Getting parent instance pointer.*/ + devp = objGetInstance(LIS3DSHDriver*, (BaseAccelerometer*)ip); + + osalDbgAssert((devp->state == LIS3DSH_READY), + "acc_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]); - axes[i] -= ((LIS3DSHDriver *)ip)->bias[i]; + msg = acc_read_raw(ip, raw); + for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++) { + axes[i] = (raw[i] * devp->accsensitivity[i]) - devp->accbias[i]; } return msg; } -static msg_t set_bias(void *ip, float *bp) { +/** + * @brief Set bias values for the BaseAccelerometer. + * @note Bias must be expressed as milli-G. + * @note The bias buffer must be at least the same size of the + * BaseAccelerometer axes number. + * + * @param[in] ip pointer to @p BaseAccelerometer interface. + * @param[in] bp a buffer which contains biases. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + */ +static msg_t acc_set_bias(void *ip, float *bp) { + LIS3DSHDriver* devp; uint32_t i; - - osalDbgCheck((ip != NULL) && (bp !=NULL)); + msg_t msg = MSG_OK; - 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]; + osalDbgCheck((ip != NULL) && (bp != NULL)); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LIS3DSHDriver*, (BaseAccelerometer*)ip); + + osalDbgAssert((devp->state == LIS3DSH_READY), + "acc_set_bias(), invalid state"); + + for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++) { + devp->accbias[i] = bp[i]; } - return MSG_OK; + return msg; } -static msg_t reset_bias(void *ip) { +/** + * @brief Reset bias values for the BaseAccelerometer. + * @note Default biases value are obtained from device datasheet when + * available otherwise they are considered zero. + * + * @param[in] ip pointer to @p BaseAccelerometer interface. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + */ +static msg_t acc_reset_bias(void *ip) { + LIS3DSHDriver* devp; uint32_t i; + msg_t msg = MSG_OK; osalDbgCheck(ip != NULL); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LIS3DSHDriver*, (BaseAccelerometer*)ip); - osalDbgAssert((((LIS3DSHDriver *)ip)->state == LIS3DSH_READY) || - (((LIS3DSHDriver *)ip)->state == LIS3DSH_STOP), - "reset_bias(), invalid state"); + osalDbgAssert((devp->state == LIS3DSH_READY), + "acc_reset_bias(), invalid state"); - for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) - ((LIS3DSHDriver *)ip)->bias[i] = 0; - return MSG_OK; + for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++) + devp->accbias[i] = LIS3DSH_ACC_BIAS; + return msg; } -static msg_t set_sensivity(void *ip, float *sp) { +/** + * @brief Set sensitivity values for the BaseAccelerometer. + * @note Sensitivity must be expressed as milli-G/LSB. + * @note The sensitivity buffer must be at least the same size of the + * BaseAccelerometer axes number. + * + * @param[in] ip pointer to @p BaseAccelerometer interface. + * @param[in] sp a buffer which contains sensitivities. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + */ +static msg_t acc_set_sensivity(void *ip, float *sp) { + LIS3DSHDriver* devp; uint32_t i; - - osalDbgCheck((ip != NULL) && (sp !=NULL)); + msg_t msg = MSG_OK; - 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]; + /* Getting parent instance pointer.*/ + devp = objGetInstance(LIS3DSHDriver*, (BaseAccelerometer*)ip); + + osalDbgCheck((ip != NULL) && (sp != NULL)); + + osalDbgAssert((devp->state == LIS3DSH_READY), + "acc_set_sensivity(), invalid state"); + + for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++) { + devp->accsensitivity[i] = sp[i]; } - return MSG_OK; + return msg; } -static msg_t reset_sensivity(void *ip) { +/** + * @brief Reset sensitivity values for the BaseAccelerometer. + * @note Default sensitivities value are obtained from device datasheet. + * + * @param[in] ip pointer to @p BaseAccelerometer interface. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * @retval MSG_RESET otherwise. + */ +static msg_t acc_reset_sensivity(void *ip) { + LIS3DSHDriver* devp; uint32_t i; + msg_t msg = MSG_OK; 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; + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LIS3DSHDriver*, (BaseAccelerometer*)ip); + + osalDbgAssert((devp->state == LIS3DSH_READY), + "acc_reset_sensivity(), invalid state"); + + if(devp->config->accfullscale == LIS3DSH_ACC_FS_2G) + for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++) + devp->accsensitivity[i] = LIS3DSH_ACC_SENS_2G; + else if(devp->config->accfullscale == LIS3DSH_ACC_FS_4G) + for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++) + devp->accsensitivity[i] = LIS3DSH_ACC_SENS_4G; + else if(devp->config->accfullscale == LIS3DSH_ACC_FS_6G) + for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++) + devp->accsensitivity[i] = LIS3DSH_ACC_SENS_6G; + else if(devp->config->accfullscale == LIS3DSH_ACC_FS_8G) + for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++) + devp->accsensitivity[i] = LIS3DSH_ACC_SENS_8G; + else if(devp->config->accfullscale == LIS3DSH_ACC_FS_16G) + for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++) + devp->accsensitivity[i] = LIS3DSH_ACC_SENS_16G; else { - osalDbgAssert(FALSE, "reset_sensivity(), accelerometer full scale issue"); + osalDbgAssert(FALSE, + "acc_reset_sensivity(), accelerometer full scale issue"); return MSG_RESET; } - return MSG_OK; + return msg; } -static msg_t set_full_scale(void *ip, lis3dsh_fs_t fs) { +/** + * @brief Changes the LIS3DSHDriver accelerometer fullscale value. + * @note This function also rescale sensitivities and biases based on + * previous and next fullscale value. + * @note A recalibration is highly suggested after calling this function. + * + * @param[in] ip pointer to @p LIS3DSHDriver interface. + * @param[in] fs new fullscale value. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * @retval MSG_RESET otherwise. + */ +static msg_t acc_set_full_scale(LIS3DSHDriver *devp, + lis3dsh_acc_fs_t fs) { float newfs, scale; uint8_t i, cr; + msg_t msg; + + osalDbgCheck(devp != NULL); + + osalDbgAssert((devp->state == LIS3DSH_READY), + "acc_set_full_scale(), invalid state"); + osalDbgAssert((devp->config->spip->state == SPI_READY), + "acc_set_full_scale(), channel not ready"); - if(fs == LIS3DSH_FS_2G) { - newfs = LIS3DSH_2G; + /* Computing new fullscale value.*/ + if(fs == LIS3DSH_ACC_FS_2G) { + newfs = LIS3DSH_ACC_2G; } - else if(fs == LIS3DSH_FS_4G) { - newfs = LIS3DSH_4G; + else if(fs == LIS3DSH_ACC_FS_4G) { + newfs = LIS3DSH_ACC_4G; } - else if(fs == LIS3DSH_FS_6G) { - newfs = LIS3DSH_6G; + else if(fs == LIS3DSH_ACC_FS_6G) { + newfs = LIS3DSH_ACC_6G; } - else if(fs == LIS3DSH_FS_8G) { - newfs = LIS3DSH_8G; + else if(fs == LIS3DSH_ACC_FS_8G) { + newfs = LIS3DSH_ACC_8G; } - else if(fs == LIS3DSH_FS_16G) { - newfs = LIS3DSH_16G; + else if(fs == LIS3DSH_ACC_FS_16G) { + newfs = LIS3DSH_ACC_16G; } else { - return MSG_RESET; + msg = MSG_RESET; + return msg; } - if(newfs != ((LIS3DSHDriver *)ip)->fullscale) { - scale = newfs / ((LIS3DSHDriver *)ip)->fullscale; - ((LIS3DSHDriver *)ip)->fullscale = newfs; + if(newfs != devp->accfullscale) { + /* Computing scale value.*/ + scale = newfs / devp->accfullscale; + devp->accfullscale = newfs; #if LIS3DSH_USE_SPI #if LIS3DSH_SHARED_SPI - spiAcquireBus(((LIS3DSHDriver *)ip)->config->spip); - spiStart(((LIS3DSHDriver *)ip)->config->spip, - ((LIS3DSHDriver *)ip)->config->spicfg); + spiAcquireBus(devp->config->spip); + spiStart(devp->config->spip, + devp->config->spicfg); #endif /* LIS3DSH_SHARED_SPI */ - lis3dshSPIReadRegister(((LIS3DSHDriver *)ip)->config->spip, - LIS3DSH_AD_CTRL_REG5, 1, &cr); + + /* Getting data from register.*/ + lis3dshSPIReadRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG5, 1, &cr); + #if LIS3DSH_SHARED_SPI - spiReleaseBus(((LIS3DSHDriver *)ip)->config->spip); + spiReleaseBus(devp->config->spip); #endif /* LIS3DSH_SHARED_SPI */ #endif /* LIS3DSH_USE_SPI */ @@ -267,34 +403,37 @@ static msg_t set_full_scale(void *ip, lis3dsh_fs_t fs) { #if LIS3DSH_USE_SPI #if LIS3DSH_SHARED_SPI - spiAcquireBus(((LIS3DSHDriver *)ip)->config->spip); - spiStart(((LIS3DSHDriver *)ip)->config->spip, - ((LIS3DSHDriver *)ip)->config->spicfg); + spiAcquireBus(devp->config->spip); + spiStart(devp->config->spip, + devp->config->spicfg); #endif /* LIS3DSH_SHARED_SPI */ - lis3dshSPIWriteRegister(((LIS3DSHDriver *)ip)->config->spip, - LIS3DSH_AD_CTRL_REG5, 1, &cr); + + /* Getting data from register.*/ + lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG5, 1, &cr); + #if LIS3DSH_SHARED_SPI - spiReleaseBus(((LIS3DSHDriver *)ip)->config->spip); + spiReleaseBus(devp->config->spip); #endif /* LIS3DSH_SHARED_SPI */ #endif /* LIS3DSH_USE_SPI */ /* Scaling sensitivity and bias. Re-calibration is suggested anyway. */ - for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) { - ((LIS3DSHDriver *)ip)->sensitivity[i] *= scale; - ((LIS3DSHDriver *)ip)->bias[i] *= scale; + for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++) { + devp->accsensitivity[i] *= scale; + devp->accbias[i] *= scale; } } - return MSG_OK; + return msg; } -static const struct BaseSensorVMT vmt_sensor = { - get_axes_number, read_raw, read_cooked +static const struct LIS3DSHVMT vmt_device = { + (size_t)0, + acc_set_full_scale }; -static const struct LIS3DSHVMT vmt_accelerometer = { - get_axes_number, read_raw, read_cooked, - set_bias, reset_bias, set_sensivity, reset_sensivity, - set_full_scale +static const struct BaseAccelerometerVMT vmt_accelerometer = { + sizeof(struct LIS3DSHVMT*), + acc_get_axes_number, acc_read_raw, acc_read_cooked, + acc_set_bias, acc_reset_bias, acc_set_sensivity, acc_reset_sensivity }; /*===========================================================================*/ @@ -309,13 +448,14 @@ static const struct LIS3DSHVMT vmt_accelerometer = { * @init */ void lis3dshObjectInit(LIS3DSHDriver *devp) { - uint32_t i; - devp->vmt_sensor = &vmt_sensor; - devp->vmt_accelerometer = &vmt_accelerometer; + devp->vmt = &vmt_device; + devp->acc_if.vmt = &vmt_accelerometer; + devp->config = NULL; - for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) - devp->bias[i] = 0.0f; - devp->state = LIS3DSH_STOP; + + devp->accaxes = LIS3DSH_ACC_NUMBER_OF_AXES; + + devp->state = LIS3DSH_STOP; } /** @@ -328,55 +468,55 @@ void lis3dshObjectInit(LIS3DSHDriver *devp) { */ void lis3dshStart(LIS3DSHDriver *devp, const LIS3DSHConfig *config) { uint32_t i; - osalDbgCheck((devp != NULL) && (config != NULL)); uint8_t cr; - osalDbgAssert((devp->state == LIS3DSH_STOP) || (devp->state == LIS3DSH_READY), - "lis3dshStart(), invalid state"); + osalDbgCheck((devp != NULL) && (config != NULL)); + + osalDbgAssert((devp->state == LIS3DSH_STOP) || + (devp->state == LIS3DSH_READY), + "lis3dshStart(), invalid state"); devp->config = config; /* Control register 4 configuration block.*/ { cr = LIS3DSH_CTRL_REG4_XEN | LIS3DSH_CTRL_REG4_YEN | LIS3DSH_CTRL_REG4_ZEN | - devp->config->outputdatarate; + devp->config->accoutputdatarate; #if LIS3DSH_USE_ADVANCED || defined(__DOXYGEN__) - cr |= devp->config->blockdataupdate; + cr |= devp->config->accblockdataupdate; #endif } #if LIS3DSH_USE_SPI #if LIS3DSH_SHARED_SPI - spiAcquireBus((devp)->config->spip); + spiAcquireBus(devp->config->spip); #endif /* LIS3DSH_SHARED_SPI */ - spiStart((devp)->config->spip, (devp)->config->spicfg); + spiStart(devp->config->spip, devp->config->spicfg); - lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG4, - 1, &cr); + lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG4, 1, &cr); #if LIS3DSH_SHARED_SPI - spiReleaseBus((devp)->config->spip); + spiReleaseBus(devp->config->spip); #endif /* LIS3DSH_SHARED_SPI */ #endif /* LIS3DSH_USE_SPI */ /* Control register 5 configuration block.*/ { - cr = devp->config->fullscale; + cr = devp->config->accfullscale; #if LIS3DSH_USE_ADVANCED || defined(__DOXYGEN__) - cr |= devp->config->antialiasing; + cr |= devp->config->accantialiasing; #endif } #if LIS3DSH_USE_SPI #if LIS3DSH_SHARED_SPI - spiAcquireBus((devp)->config->spip); - spiStart((devp)->config->spip, (devp)->config->spicfg); + spiAcquireBus(devp->config->spip); + spiStart(devp->config->spip, devp->config->spicfg); #endif /* LIS3DSH_SHARED_SPI */ - lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG5, - 1, &cr); + lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG5, 1, &cr); #if LIS3DSH_SHARED_SPI - spiReleaseBus((devp)->config->spip); + spiReleaseBus(devp->config->spip); #endif /* LIS3DSH_SHARED_SPI */ #endif /* LIS3DSH_USE_SPI */ @@ -384,79 +524,81 @@ void lis3dshStart(LIS3DSHDriver *devp, const LIS3DSHConfig *config) { { cr = LIS3DSH_CTRL_REG6_ADD_INC; #if LIS3DSH_USE_ADVANCED || defined(__DOXYGEN__) - cr |= devp->config->blockdataupdate; + cr |= devp->config->accblockdataupdate; #endif } #if LIS3DSH_USE_SPI #if LIS3DSH_SHARED_SPI - spiAcquireBus((devp)->config->spip); - spiStart((devp)->config->spip, (devp)->config->spicfg); + spiAcquireBus(devp->config->spip); + spiStart(devp->config->spip, devp->config->spicfg); #endif /* LIS3DSH_SHARED_SPI */ - lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG6, - 1, &cr); + lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG6, 1, &cr); #if LIS3DSH_SHARED_SPI - spiReleaseBus((devp)->config->spip); + spiReleaseBus(devp->config->spip); #endif /* LIS3DSH_SHARED_SPI */ #endif /* LIS3DSH_USE_SPI */ /* Storing sensitivity information according to user setting */ - if(devp->config->fullscale == LIS3DSH_FS_2G) { - devp->fullscale = LIS3DSH_2G; - if(devp->config->sensitivity == NULL) - for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) - devp->sensitivity[i] = LIS3DSH_SENS_2G; + if(devp->config->accfullscale == LIS3DSH_ACC_FS_2G) { + devp->accfullscale = LIS3DSH_ACC_2G; + if(devp->config->accsensitivity == NULL) + for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++) + devp->accsensitivity[i] = LIS3DSH_ACC_SENS_2G; else - for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) - devp->sensitivity[i] = devp->config->sensitivity[i]; + for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++) + devp->accsensitivity[i] = devp->config->accsensitivity[i]; } - else if(devp->config->fullscale == LIS3DSH_FS_4G) { - devp->fullscale = LIS3DSH_4G; - if(devp->config->sensitivity == NULL) - for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) - devp->sensitivity[i] = LIS3DSH_SENS_4G; + else if(devp->config->accfullscale == LIS3DSH_ACC_FS_4G) { + devp->accfullscale = LIS3DSH_ACC_4G; + if(devp->config->accsensitivity == NULL) + for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++) + devp->accsensitivity[i] = LIS3DSH_ACC_SENS_4G; else - for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) - devp->sensitivity[i] = devp->config->sensitivity[i]; + for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++) + devp->accsensitivity[i] = devp->config->accsensitivity[i]; } - else if(devp->config->fullscale == LIS3DSH_FS_6G) { - devp->fullscale = LIS3DSH_6G; - if(devp->config->sensitivity == NULL) - for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) - devp->sensitivity[i] = LIS3DSH_SENS_6G; + else if(devp->config->accfullscale == LIS3DSH_ACC_FS_6G) { + devp->accfullscale = LIS3DSH_ACC_6G; + if(devp->config->accsensitivity == NULL) + for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++) + devp->accsensitivity[i] = LIS3DSH_ACC_SENS_6G; else - for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) - devp->sensitivity[i] = devp->config->sensitivity[i]; + for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++) + devp->accsensitivity[i] = devp->config->accsensitivity[i]; } - else if(devp->config->fullscale == LIS3DSH_FS_8G) { - devp->fullscale = LIS3DSH_8G; - if(devp->config->sensitivity == NULL) - for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) - devp->sensitivity[i] = LIS3DSH_SENS_8G; + else if(devp->config->accfullscale == LIS3DSH_ACC_FS_8G) { + devp->accfullscale = LIS3DSH_ACC_8G; + if(devp->config->accsensitivity == NULL) + for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++) + devp->accsensitivity[i] = LIS3DSH_ACC_SENS_8G; else - for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) - devp->sensitivity[i] = devp->config->sensitivity[i]; + for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++) + devp->accsensitivity[i] = devp->config->accsensitivity[i]; } - else if(devp->config->fullscale == LIS3DSH_FS_16G) { - devp->fullscale = LIS3DSH_16G; - if(devp->config->sensitivity == NULL) - for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) - devp->sensitivity[i] = LIS3DSH_SENS_16G; + else if(devp->config->accfullscale == LIS3DSH_ACC_FS_16G) { + devp->accfullscale = LIS3DSH_ACC_16G; + if(devp->config->accsensitivity == NULL) + for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++) + devp->accsensitivity[i] = LIS3DSH_ACC_SENS_16G; else - for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) - devp->sensitivity[i] = devp->config->sensitivity[i]; + for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++) + devp->accsensitivity[i] = devp->config->accsensitivity[i]; } else { osalDbgAssert(FALSE, "lis3dshStart(), accelerometer full scale issue"); } /* Storing bias information according to user setting */ - if(devp->config->bias != NULL) - for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) - devp->bias[i] = devp->config->bias[i]; - + if(devp->config->accbias != NULL) + for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++) + devp->accbias[i] = devp->config->accbias[i]; + 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); @@ -474,23 +616,25 @@ void lis3dshStop(LIS3DSHDriver *devp) { uint8_t cr4; osalDbgCheck(devp != NULL); - osalDbgAssert((devp->state == LIS3DSH_STOP) || (devp->state == LIS3DSH_READY), + osalDbgAssert((devp->state == LIS3DSH_STOP) || + (devp->state == LIS3DSH_READY), "lis3dshStop(), invalid state"); if (devp->state == LIS3DSH_READY) { #if (LIS3DSH_USE_SPI) #if LIS3DSH_SHARED_SPI - spiAcquireBus((devp)->config->spip); - spiStart((devp)->config->spip, - (devp)->config->spicfg); + spiAcquireBus(devp->config->spip); + spiStart(devp->config->spip, + devp->config->spicfg); #endif /* LIS3DSH_SHARED_SPI */ /* Disabling all axes and enabling power down mode.*/ cr4 = 0; lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG4, 1, &cr4); - spiStop((devp)->config->spip); + + spiStop(devp->config->spip); #if LIS3DSH_SHARED_SPI - spiReleaseBus((devp)->config->spip); + spiReleaseBus(devp->config->spip); #endif /* LIS3DSH_SHARED_SPI */ #endif /* LIS3DSH_USE_SPI */ } diff --git a/os/ex/ST/lis3dsh.h b/os/ex/ST/lis3dsh.h index 12b6dd6bf..48ff544cd 100644 --- a/os/ex/ST/lis3dsh.h +++ b/os/ex/ST/lis3dsh.h @@ -1,5 +1,5 @@ /* - ChibiOS - Copyright (C) 2016 Rocco Marco Guglielmi + ChibiOS - Copyright (C) 2016-2018 Rocco Marco Guglielmi This file is part of ChibiOS. @@ -43,7 +43,7 @@ /** * @brief LIS3DSH driver version string. */ -#define EX_LIS3DSH_VERSION "1.0.3" +#define EX_LIS3DSH_VERSION "1.0.4" /** * @brief LIS3DSH driver version major number. @@ -58,27 +58,32 @@ /** * @brief LIS3DSH driver version patch number. */ -#define EX_LIS3DSH_PATCH 3 +#define EX_LIS3DSH_PATCH 4 /** @} */ /** - * @brief LIS3DSH characteristics. + * @brief LIS3DSH accelerometer subsystem characteristics. + * @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_NUMBER_OF_AXES 3U +#define LIS3DSH_ACC_NUMBER_OF_AXES 3U -#define LIS3DSH_2G 2.0f -#define LIS3DSH_4G 4.0f -#define LIS3DSH_6G 6.0f -#define LIS3DSH_8G 8.0f -#define LIS3DSH_16G 16.0f +#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_SENS_2G 0.06f -#define LIS3DSH_SENS_4G 0.12f -#define LIS3DSH_SENS_6G 0.18f -#define LIS3DSH_SENS_8G 0.24f -#define LIS3DSH_SENS_16G 0.73f +#define LIS3DSH_ACC_SENS_2G 0.06f +#define LIS3DSH_ACC_SENS_4G 0.12f +#define LIS3DSH_ACC_SENS_6G 0.18f +#define LIS3DSH_ACC_SENS_8G 0.24f +#define LIS3DSH_ACC_SENS_16G 0.73f + +#define LIS3DSH_ACC_BIAS 0.0f /** @} */ /** @@ -201,84 +206,84 @@ * @name LIS3DSH_CTRL_REG1 register bits definitions * @{ */ -#define LIS3DSH_CTRL_REG1_MASK 0xE9 /**< LIS3DSH_CTRL_REG1 mask */ -#define LIS3DSH_CTRL_REG1_SM1_EN (1 << 0) /**< SM1 enabled */ -#define LIS3DSH_CTRL_REG1_SM1_PIN (1 << 3) /**< SM1 pin */ -#define LIS3DSH_CTRL_REG1_HYST0_1 (1 << 5) /**< Hysteresis 1 bit 0 */ -#define LIS3DSH_CTRL_REG1_HYST1_1 (1 << 6) /**< Hysteresis 1 bit 1 */ -#define LIS3DSH_CTRL_REG1_HYST2_1 (1 << 7) /**< Hysteresis 1 bit 2 */ +#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) +#define LIS3DSH_CTRL_REG1_HYST1_1 (1 << 6) +#define LIS3DSH_CTRL_REG1_HYST2_1 (1 << 7) /** @} */ /** * @name LIS3DSH_CTRL_REG2 register bits definitions * @{ */ -#define LIS3DSH_CTRL_REG2_MASK 0xE9 /**< LIS3DSH_CTRL_REG2 mask */ -#define LIS3DSH_CTRL_REG2_SM2_EN (1 << 0) /**< SM2 enabled */ -#define LIS3DSH_CTRL_REG2_SM2_PIN (1 << 3) /**< SM2 pin */ -#define LIS3DSH_CTRL_REG2_HYST0_2 (1 << 5) /**< Hysteresis 2 bit 0 */ -#define LIS3DSH_CTRL_REG2_HYST1_2 (1 << 6) /**< Hysteresis 2 bit 1 */ -#define LIS3DSH_CTRL_REG2_HYST2_2 (1 << 7) /**< Hysteresis 2 bit 2 */ +#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) +#define LIS3DSH_CTRL_REG2_HYST1_2 (1 << 6) +#define LIS3DSH_CTRL_REG2_HYST2_2 (1 << 7) /** @} */ /** * @name LIS3DSH_CTRL_REG3 register bits definitions * @{ */ -#define LIS3DSH_CTRL_REG3_MASK 0xFF /**< LIS3DSH_CTRL_REG3 mask */ -#define LIS3DSH_CTRL_REG3_STRT (1 << 0) /**< Soft reset bit */ -#define LIS3DSH_CTRL_REG3_VFILT (1 << 2) /**< Vector filter */ -#define LIS3DSH_CTRL_REG3_INT1_EN (1 << 3) /**< Interrupt 1 enable */ -#define LIS3DSH_CTRL_REG3_INT2_EN (1 << 4) /**< Interrupt 2 enable */ -#define LIS3DSH_CTRL_REG3_IEL (1 << 5) /**< Interrupt latching */ -#define LIS3DSH_CTRL_REG3_IEA (1 << 6) /**< Interurpt polarity */ -#define LIS3DSH_CTRL_REG3_DR_EN (1 << 7) /**< Data ready signal */ +#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) +#define LIS3DSH_CTRL_REG3_INT2_EN (1 << 4) +#define LIS3DSH_CTRL_REG3_IEL (1 << 5) +#define LIS3DSH_CTRL_REG3_IEA (1 << 6) +#define LIS3DSH_CTRL_REG3_DR_EN (1 << 7) /** @} */ /** * @name LIS3DSH_CTRL_REG4 register bits definitions * @{ */ -#define LIS3DSH_CTRL_REG4_MASK 0xFF /**< LIS3DSH_CTRL_REG4 mask */ -#define LIS3DSH_CTRL_REG4_XEN (1 << 0) /**< X axis enable */ -#define LIS3DSH_CTRL_REG4_YEN (1 << 1) /**< Y axis enable */ -#define LIS3DSH_CTRL_REG4_ZEN (1 << 2) /**< Z axis enable */ -#define LIS3DSH_CTRL_REG4_BDU (1 << 3) /**< Block data update */ -#define LIS3DSH_CTRL_REG4_ODR_0 (1 << 4) /**< Output data rate bit 0 */ -#define LIS3DSH_CTRL_REG4_ODR_1 (1 << 5) /**< Output data rate bit 1 */ -#define LIS3DSH_CTRL_REG4_ODR_2 (1 << 6) /**< Output data rate bit 2 */ -#define LIS3DSH_CTRL_REG4_ODR_3 (1 << 7) /**< Output data rate bit 3 */ +#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) +#define LIS3DSH_CTRL_REG4_BDU (1 << 3) +#define LIS3DSH_CTRL_REG4_ODR_0 (1 << 4) +#define LIS3DSH_CTRL_REG4_ODR_1 (1 << 5) +#define LIS3DSH_CTRL_REG4_ODR_2 (1 << 6) +#define LIS3DSH_CTRL_REG4_ODR_3 (1 << 7) /** @} */ /** * @name LIS3DSH_CTRL_REG5 register bits definitions * @{ */ -#define LIS3DSH_CTRL_REG5_MASK 0xFF /**< LIS3DSH_CTRL_REG5 mask */ -#define LIS3DSH_CTRL_REG5_SIM (1 << 0) /**< SPI interface mode */ -#define LIS3DSH_CTRL_REG5_ST1 (1 << 1) /**< Self test bit 1 */ -#define LIS3DSH_CTRL_REG5_ST2 (1 << 2) /**< Self test bit 2 */ -#define LIS3DSH_CTRL_REG5_FS_MASK 0x38 /**< Full scale field mask */ -#define LIS3DSH_CTRL_REG5_FS0 (1 << 3) /**< Full scale bit 0 */ -#define LIS3DSH_CTRL_REG5_FS1 (1 << 4) /**< Full scale bit 1 */ -#define LIS3DSH_CTRL_REG5_FS2 (1 << 5) /**< Full scale bit 2 */ -#define LIS3DSH_CTRL_REG5_BW1 (1 << 6) /**< Bandwidth bit 1 */ -#define LIS3DSH_CTRL_REG5_BW2 (1 << 7) /**< Bandwidth bit 2 */ +#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_FS0 (1 << 3) +#define LIS3DSH_CTRL_REG5_FS1 (1 << 4) +#define LIS3DSH_CTRL_REG5_FS2 (1 << 5) +#define LIS3DSH_CTRL_REG5_BW1 (1 << 6) +#define LIS3DSH_CTRL_REG5_BW2 (1 << 7) /** @} */ /** * @name LIS3DSH_CTRL_REG6 register bits definitions * @{ */ -#define LIS3DSH_CTRL_REG6_MASK 0xFF /**< LIS3DSH_CTRL_REG6 mask */ -#define LIS3DSH_CTRL_REG6_P2_BOOT (1 << 0) /**< Boot on Interrupt 2 */ -#define LIS3DSH_CTRL_REG6_P1_OVRUN (1 << 1) /**< FIFO overrun on Int 1 */ -#define LIS3DSH_CTRL_REG6_P1_WTM (1 << 2) /**< FIFO watermark on Int 1 */ -#define LIS3DSH_CTRL_REG6_P1_EMPTY (1 << 3) /**< FIFO empty on Int 1 */ -#define LIS3DSH_CTRL_REG6_ADD_INC (1 << 4) /**< Register address incr. */ -#define LIS3DSH_CTRL_REG6_WTM_EN (1 << 5) /**< Enable FIFO watermark */ -#define LIS3DSH_CTRL_REG6_FIFO_EN (1 << 6) /**< Enable FIFO */ -#define LIS3DSH_CTRL_REG6_BOOT (1 << 7) /**< Force reboot */ +#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) +#define LIS3DSH_CTRL_REG6_P1_EMPTY (1 << 3) +#define LIS3DSH_CTRL_REG6_ADD_INC (1 << 4) +#define LIS3DSH_CTRL_REG6_WTM_EN (1 << 5) +#define LIS3DSH_CTRL_REG6_FIFO_EN (1 << 6) +#define LIS3DSH_CTRL_REG6_BOOT (1 << 7) /** @} */ /*===========================================================================*/ @@ -308,12 +313,12 @@ #endif /** - * @brief LIS3DSH advanced configurations switch. + * @brief LIS3DSH accelerometer subsystem advanced configurations switch. * @details If set to @p TRUE more configurations are available. * @note The default is @p FALSE. */ -#if !defined(LIS3DSH_USE_ADVANCED) || defined(__DOXYGEN__) -#define LIS3DSH_USE_ADVANCED FALSE +#if !defined(LIS3DSH_ACC_USE_ADVANCED) || defined(__DOXYGEN__) +#define LIS3DSH_ACC_USE_ADVANCED FALSE #endif /** @@ -347,6 +352,10 @@ #error "LIS3DSH_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION" #endif +#if LIS3DSH_USE_I2C +#error "LIS3DSH's I2C support is not supported." +#endif + /*===========================================================================*/ /* Driver data structures and types. */ /*===========================================================================*/ @@ -355,50 +364,55 @@ * @name LIS3DSH data structures and types * @{ */ +/** + * @brief Structure representing a LIS3DSH driver. + */ +typedef struct LIS3DSHDriver LIS3DSHDriver; + /** * @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; + LIS3DSH_ACC_FS_2G = 0x00, /**< Full scale ±2g. */ + LIS3DSH_ACC_FS_4G = 0x08, /**< Full scale ±4g. */ + LIS3DSH_ACC_FS_6G = 0x10, /**< Full scale ±6g. */ + LIS3DSH_ACC_FS_8G = 0x18, /**< Full scale ±8g. */ + LIS3DSH_ACC_FS_16G = 0x20 /**< Full scale ±16g. */ +}lis3dsh_acc_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; + LIS3DSH_ACC_ODR_PD = 0x00, /**< ODR 100 Hz. */ + LIS3DSH_ACC_ODR_3_125HZ = 0x10, /**< ODR 3.125 Hz. */ + LIS3DSH_ACC_ODR_6_25HZ = 0x20, /**< ODR 6.25 Hz. */ + LIS3DSH_ACC_ODR_12_5HZ = 0x30, /**< ODR 12.5 Hz. */ + LIS3DSH_ACC_ODR_25HZ = 0x40, /**< ODR 25 Hz. */ + LIS3DSH_ACC_ODR_50HZ = 0x50, /**< ODR 50 Hz. */ + LIS3DSH_ACC_ODR_100HZ = 0x60, /**< ODR 100 Hz. */ + LIS3DSH_ACC_ODR_400HZ = 0x70, /**< ODR 400 Hz. */ + LIS3DSH_ACC_ODR_800HZ = 0x80, /**< ODR 800 Hz. */ + LIS3DSH_ACC_ODR_1600HZ = 0x90 /**< ODR 1600 Hz. */ +}lis3dsh_acc_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; + LIS3DSH_ACC_BW_800HZ = 0x00, /**< AA filter BW 800Hz. */ + LIS3DSH_ACC_BW_200HZ = 0x40, /**< AA filter BW 200Hz. */ + LIS3DSH_ACC_BW_400HZ = 0x80, /**< AA filter BW 400Hz. */ + LIS3DSH_ACC_BW_50HZ = 0xC0 /**< AA filter BW 50Hz. */ +}lis3dsh_acc_bw_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; + LIS3DSH_ACC_BDU_CONTINUOUS = 0x00,/**< Block data continuously updated. */ + LIS3DSH_ACC_BDU_BLOCKED = 0x80 /**< Block data updated after reading. */ +} lis3dsh_acc_bdu_t; /** * @brief Driver state machine possible states. @@ -435,94 +449,86 @@ typedef struct { const I2CConfig *i2ccfg; #endif /* LIS3DSH_USE_I2C */ /** - * @brief LIS3DSH initial sensitivity. + * @brief LIS3DSH accelerometer subsystem initial sensitivity. */ - float *sensitivity; + float *accsensitivity; /** - * @brief LIS3DSH initial bias. + * @brief LIS3DSH accelerometer subsystem initial bias. */ - float *bias; + float *accbias; /** - * @brief LIS3DSH full scale value. + * @brief LIS3DSH accelerometer subsystem initial full scale. */ - lis3dsh_fs_t fullscale; + lis3dsh_acc_fs_t accfullscale; /** * @brief LIS3DSH output data rate selection. */ - lis3dsh_odr_t outputdatarate; -#if LIS3DSH_USE_ADVANCED || defined(__DOXYGEN__) + lis3dsh_acc_odr_t accoutputdatarate; +#if LIS3DSH_ACC_USE_ADVANCED || defined(__DOXYGEN__) /** * @brief LIS3DSH anti-aliasing bandwidth. */ - lis3dsh_bw_t antialiasing; + lis3dsh_acc_bw_t accantialiasing; /** * @brief LIS3DSH block data update. */ - lis3dsh_bdu_t blockdataupdate; + lis3dsh_acc_bdu_t accblockdataupdate; #endif } LIS3DSHConfig; /** - * @brief @p LIS3DSH accelerometer subsystem specific methods. + * @brief @p LIS3DSH specific methods. */ -#define _lis3dsh_accelerometer_methods_alone \ - /* Change full scale value of LIS3DSH accelerometer subsystem .*/ \ - msg_t (*set_full_scale)(void *instance, lis3dsh_fs_t fs); +#define _lis3dsh_methods_alone \ + /* Change full scale value of LIS3DSH accelerometer subsystem.*/ \ + msg_t (*acc_set_full_scale)(LIS3DSHDriver *instance, lis3dsh_acc_fs_t fs); /** - * @brief @p LIS3DSH accelerometer subsystems specific methods with inherited + * @brief @p LIS3DSH specific methods with inherited * ones. */ -#define _lis3dsh_accelerometer_methods \ - _base_accelerometer_methods \ - _lis3dsh_accelerometer_methods_alone +#define _lis3dsh_methods \ + _base_object_methods \ + _lis3dsh_methods_alone /** - * @extends BaseAccelerometerVMT + * @extends BaseObjectVMT * - * @brief @p LIS3DSH accelerometer virtual methods table. + * @brief @p LIS3DSH virtual methods table. */ -struct LIS3DSHAccelerometerVMT { - _lis3dsh_accelerometer_methods +struct LIS3DSHVMT { + _lis3dsh_methods }; /** * @brief @p LIS3DSHDriver specific data. */ #define _lis3dsh_data \ + _base_sensor_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]; \ - /* Current full scale value.*/ \ - float fullscale; + const LIS3DSHConfig *config; \ + /* Accelerometer subsystem axes number.*/ \ + size_t accaxes; \ + /* Accelerometer subsystem current sensitivity.*/ \ + float accsensitivity[LIS3DSH_ACC_NUMBER_OF_AXES]; \ + /* Accelerometer subsystem current bias .*/ \ + float accbias[LIS3DSH_ACC_NUMBER_OF_AXES]; \ + /* Accelerometer subsystem current full scale value.*/ \ + float accfullscale; /** - * @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_sensor; - _base_sensor_data - /** @brief LIS3DSH Accelerometer Virtual Methods Table. */ - const struct LIS3DSHAccelerometerVMT *vmt_accelerometer; - _base_accelerometer_data + /** @brief Virtual Methods Table.*/ + const struct LIS3DSHVMT *vmt; + /** @brief Base accelerometer interface.*/ + BaseAccelerometer acc_if; _lis3dsh_data }; - -/** - * @brief Structure representing a LIS3DSH driver. - */ -typedef struct LIS3DSHDriver LIS3DSHDriver; /** @} */ /*===========================================================================*/ @@ -530,18 +536,141 @@ typedef struct LIS3DSHDriver LIS3DSHDriver; /*===========================================================================*/ /** - * @brief Change accelerometer fullscale value. + * @brief Return the number of axes of the BaseAccelerometer. + * + * @param[in] devp pointer to @p LIS3DSHDriver. + * + * @return the number of axes. + * + * @api + */ +#define lis3dshAccelerometerGetAxesNumber(devp) \ + accelerometerGetAxesNumber(&((devp)->acc_if)) + +/** + * @brief Retrieves raw data from the BaseAccelerometer. + * @note This data is retrieved from MEMS register without any algebraical + * manipulation. + * @note The axes array must be at least the same size of the + * BaseAccelerometer axes number. + * + * @param[in] devp pointer to @p LIS3DSHDriver. + * @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 lis3dshAccelerometerReadRaw(devp, axes) \ + accelerometerReadRaw(&((devp)->acc_if), axes) + +/** + * @brief Retrieves cooked data from the BaseAccelerometer. + * @note This data is manipulated according to the formula + * cooked = (raw * sensitivity) - bias. + * @note Final data is expressed as milli-G. + * @note The axes array must be at least the same size of the + * BaseAccelerometer axes number. + * + * @param[in] devp pointer to @p LIS3DSHDriver. + * @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 lis3dshAccelerometerReadCooked(devp, axes) \ + accelerometerReadCooked(&((devp)->acc_if), axes) + +/** + * @brief Set bias values for the BaseAccelerometer. + * @note Bias must be expressed as milli-G. + * @note The bias buffer must be at least the same size of the + * BaseAccelerometer axes number. + * + * @param[in] devp pointer to @p LIS3DSHDriver. + * @param[in] bp a buffer which contains biases. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * + * @api + */ +#define lis3dshAccelerometerSetBias(devp, bp) \ + accelerometerSetBias(&((devp)->acc_if), bp) + +/** + * @brief Reset bias values for the BaseAccelerometer. + * @note Default biases value are obtained from device datasheet when + * available otherwise they are considered zero. + * + * @param[in] devp pointer to @p LIS3DSHDriver. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * + * @api + */ +#define lis3dshAccelerometerResetBias(devp) \ + accelerometerResetBias(&((devp)->acc_if)) + +/** + * @brief Set sensitivity values for the BaseAccelerometer. + * @note Sensitivity must be expressed as milli-G/LSB. + * @note The sensitivity buffer must be at least the same size of the + * BaseAccelerometer axes number. * - * @param[in] ip pointer to a @p LIS3DSHDriver class. - * @param[in] fs the new full scale value. + * @param[in] devp pointer to @p LIS3DSHDriver. + * @param[in] sp a buffer which contains sensitivities. * * @return The operation status. * @retval MSG_OK if the function succeeded. - * @retval MSG_RESET if one or more errors occurred. + * + * @api + */ +#define lis3dshAccelerometerSetSensitivity(devp, sp) \ + accelerometerSetSensitivity(&((devp)->acc_if), sp) + +/** + * @brief Reset sensitivity values for the BaseAccelerometer. + * @note Default sensitivities value are obtained from device datasheet. + * + * @param[in] devp pointer to @p LIS3DSHDriver. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * @retval MSG_RESET otherwise. + * + * @api + */ +#define lis3dshAccelerometerResetSensitivity(devp) \ + accelerometerResetSensitivity(&((devp)->acc_if)) + +/** + * @brief Changes the LIS3DSHDriver accelerometer fullscale value. + * @note This function also rescale sensitivities and biases based on + * previous and next fullscale value. + * @note A recalibration is highly suggested after calling this function. + * + * @param[in] devp pointer to @p LIS3DSHDriver. + * @param[in] fs new fullscale value. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * @retval MSG_RESET otherwise. + * * @api */ -#define accelerometerSetFullScale(ip, fs) \ - (ip)->vmt_accelerometer->set_full_scale(ip, fs) +#define lis3dshAccelerometerSetFullScale(devp, fs) \ + (devp)->vmt->acc_set_full_scale(devp, fs) /*===========================================================================*/ /* External declarations. */ -- cgit v1.2.3