1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
|
/*
ChibiOS - Copyright (C) 2016 Rocco Marco Guglielmi
This file is part of ChibiOS.
ChibiOS is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 3 of the License, or
(at your option) any later version.
ChibiOS is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/**
* @file lis3mdl.c
* @brief LIS3MDL MEMS interface module code.
*
* @addtogroup lis3mdl
* @{
*/
#include "ch.h"
#include "hal.h"
#include "lis3mdl.h"
/*===========================================================================*/
/* Driver local definitions. */
/*===========================================================================*/
#define LIS3MDL_SENS_4GA ((float)6842.0f)
#define LIS3MDL_SENS_8GA ((float)3421.0f)
#define LIS3MDL_SENS_12GA ((float)2281.0f)
#define LIS3MDL_SENS_16GA ((float)1711.0f)
#define LIS3MDL_TEMP_SENS ((float)8.0f)
#define LIS3MDL_DI ((uint8_t)0xFF)
#define LIS3MDL_DI_0 ((uint8_t)0x01)
#define LIS3MDL_DI_1 ((uint8_t)0x02)
#define LIS3MDL_DI_2 ((uint8_t)0x04)
#define LIS3MDL_DI_3 ((uint8_t)0x08)
#define LIS3MDL_DI_4 ((uint8_t)0x10)
#define LIS3MDL_DI_5 ((uint8_t)0x20)
#define LIS3MDL_DI_6 ((uint8_t)0x40)
#define LIS3MDL_DI_7 ((uint8_t)0x80)
#define LIS3MDL_AD ((uint8_t)0x3F)
#define LIS3MDL_AD_0 ((uint8_t)0x01)
#define LIS3MDL_AD_1 ((uint8_t)0x02)
#define LIS3MDL_AD_2 ((uint8_t)0x04)
#define LIS3MDL_AD_3 ((uint8_t)0x08)
#define LIS3MDL_AD_4 ((uint8_t)0x10)
#define LIS3MDL_AD_5 ((uint8_t)0x20)
#define LIS3MDL_AD_6 ((uint8_t)0x40)
#define LIS3MDL_RW ((uint8_t)0x80)
#define LIS3MDL_AD_WHO_AM_I ((uint8_t)0x0F)
#define LIS3MDL_AD_CTRL_REG1 ((uint8_t)0x20)
#define LIS3MDL_AD_CTRL_REG2 ((uint8_t)0x21)
#define LIS3MDL_AD_CTRL_REG3 ((uint8_t)0x22)
#define LIS3MDL_AD_CTRL_REG4 ((uint8_t)0x23)
#define LIS3MDL_AD_CTRL_REG5 ((uint8_t)0x24)
#define LIS3MDL_AD_STATUS_REG ((uint8_t)0x27)
#define LIS3MDL_AD_OUT_X_L ((uint8_t)0x28)
#define LIS3MDL_AD_OUT_X_H ((uint8_t)0x29)
#define LIS3MDL_AD_OUT_Y_L ((uint8_t)0x2A)
#define LIS3MDL_AD_OUT_Y_H ((uint8_t)0x2B)
#define LIS3MDL_AD_OUT_Z_L ((uint8_t)0x2C)
#define LIS3MDL_AD_OUT_Z_H ((uint8_t)0x2D)
#define LIS3MDL_AD_TEMP_OUT_L ((uint8_t)0x2E)
#define LIS3MDL_AD_TEMP_OUT_H ((uint8_t)0x2F)
#define LIS3MDL_AD_INT_CFG ((uint8_t)0x30)
#define LIS3MDL_AD_INT_SOURCE ((uint8_t)0x31)
#define LIS3MDL_AD_INT_THS_L ((uint8_t)0x32)
#define LIS3MDL_AD_INT_THS_H ((uint8_t)0x33)
#define LIS3MDL_CTRL_REG2_FS_MASK ((uint8_t)0x60)
/*===========================================================================*/
/* Driver exported variables. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local variables and types. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local functions. */
/*===========================================================================*/
#if (LIS3MDL_USE_I2C) || defined(__DOXYGEN__)
/**
* @brief Reads registers value using I2C.
* @pre The I2C interface must be initialized and the driver started.
*
* @param[in] i2cp pointer to the I2C interface
* @param[in] sad slave address without R bit
* @param[in] reg first sub-register address
* @return the read value.
*/
uint8_t lis3mdlI2CReadRegister(I2CDriver *i2cp, lis3mdl_sad_t sad, uint8_t reg,
msg_t* msgp) {
msg_t msg;
#if defined(STM32F103_MCUCONF)
uint8_t rxbuf[2];
msg = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 2,
TIME_INFINITE);
if(msgp != NULL){
*msgp = msg;
}
return rxbuf[0];
#else
uint8_t txbuf, rxbuf;
txbuf = reg;
msg = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, &rxbuf, 1,
TIME_INFINITE);
if(msgp != NULL){
*msgp = msg;
}
return rxbuf;
#endif
}
/**
* @brief Writes a value into a register using I2C.
* @pre The I2C interface must be initialized and the driver started.
*
* @param[in] i2cp pointer to the I2C interface
* @param[in] sad slave address without R bit
* @param[in] sub sub-register address
* @param[in] value the value to be written
* @return the operation status.
*/
msg_t lis3mdlI2CWriteRegister(I2CDriver *i2cp, lis3mdl_sad_t sad, uint8_t reg,
uint8_t value) {
uint8_t rxbuf;
uint8_t txbuf[2];
switch (reg) {
default:
/* Reserved register must not be written, according to the datasheet
* this could permanently damage the device.
*/
chDbgAssert(FALSE, "lis3mdlI2CWriteRegister(), reserved register");
case LIS3MDL_AD_WHO_AM_I:
case LIS3MDL_AD_STATUS_REG:
case LIS3MDL_AD_OUT_X_L:
case LIS3MDL_AD_OUT_X_H:
case LIS3MDL_AD_OUT_Y_L:
case LIS3MDL_AD_OUT_Y_H:
case LIS3MDL_AD_OUT_Z_L:
case LIS3MDL_AD_OUT_Z_H:
case LIS3MDL_AD_TEMP_OUT_L:
case LIS3MDL_AD_TEMP_OUT_H:
case LIS3MDL_AD_INT_SOURCE:
case LIS3MDL_AD_INT_THS_L:
case LIS3MDL_AD_INT_THS_H:
/* Read only registers cannot be written, the command is ignored.*/
return MSG_RESET;
case LIS3MDL_AD_CTRL_REG1:
case LIS3MDL_AD_CTRL_REG2:
case LIS3MDL_AD_CTRL_REG3:
case LIS3MDL_AD_CTRL_REG4:
case LIS3MDL_AD_CTRL_REG5:
case LIS3MDL_AD_INT_CFG:
txbuf[0] = reg;
txbuf[1] = value;
return i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0, TIME_INFINITE);
break;
}
}
#endif /* LIS3MDL_USE_I2C */
/*
* Interface implementation.
*/
static size_t get_axes_number(void *ip) {
osalDbgCheck(ip != NULL);
return LIS3MDL_NUMBER_OF_AXES;
}
static msg_t read_raw(void *ip, int32_t axes[LIS3MDL_NUMBER_OF_AXES]) {
osalDbgCheck((ip != NULL) && (axes != NULL));
osalDbgAssert((((LIS3MDLDriver *)ip)->state == LIS3MDL_READY),
"read_raw(), invalid state");
#if LIS3MDL_USE_I2C
osalDbgAssert((((LIS3MDLDriver *)ip)->config->i2cp->state == I2C_READY),
"read_raw(), channel not ready");
#if LIS3MDL_SHARED_I2C
i2cAcquireBus(((LIS3MDLDriver *)ip)->config->i2cp);
i2cStart(((LIS3MDLDriver *)ip)->config->i2cp,
((LIS3MDLDriver *)ip)->config->i2ccfg);
#endif /* LIS3MDL_SHARED_I2C */
axes[0] = (int16_t)(lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
((LIS3MDLDriver *)ip)->config->slaveaddress,
LIS3MDL_AD_OUT_X_L, NULL));
axes[0] += (int16_t)(lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
((LIS3MDLDriver *)ip)->config->slaveaddress,
LIS3MDL_AD_OUT_X_H, NULL) << 8);
axes[0] -= ((LIS3MDLDriver *)ip)->bias[0];
axes[1] = (int16_t)(lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
((LIS3MDLDriver *)ip)->config->slaveaddress,
LIS3MDL_AD_OUT_Y_L, NULL));
axes[1] += (int16_t)(lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
((LIS3MDLDriver *)ip)->config->slaveaddress,
LIS3MDL_AD_OUT_Y_H, NULL) << 8);
axes[1] -= ((LIS3MDLDriver *)ip)->bias[1];
axes[2] = (int16_t)(lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
((LIS3MDLDriver *)ip)->config->slaveaddress,
LIS3MDL_AD_OUT_Z_L, NULL));
axes[2] += (int16_t)(lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
((LIS3MDLDriver *)ip)->config->slaveaddress,
LIS3MDL_AD_OUT_Z_H, NULL) << 8);
axes[2] -= ((LIS3MDLDriver *)ip)->bias[2];
#if LIS3MDL_SHARED_I2C
i2cReleaseBus(((LIS3MDLDriver *)ip)->config->i2cp);
#endif /* LIS3MDL_SHARED_I2C */
#endif /* LIS3MDL_USE_I2C */
return MSG_OK;
}
static msg_t read_cooked(void *ip, float axes[]) {
uint32_t i;
int32_t raw[LIS3MDL_NUMBER_OF_AXES];
msg_t msg;
osalDbgCheck((ip != NULL) && (axes != NULL));
osalDbgAssert((((LIS3MDLDriver *)ip)->state == LIS3MDL_READY),
"read_cooked(), invalid state");
msg = read_raw(ip, raw);
for(i = 0; i < LIS3MDL_NUMBER_OF_AXES ; i++){
axes[i] = raw[i] / ((LIS3MDLDriver *)ip)->sensitivity[i];
}
return msg;
}
static msg_t set_bias(void *ip, int32_t *bp) {
uint32_t i;
osalDbgCheck((ip != NULL) && (bp !=NULL));
osalDbgAssert((((LIS3MDLDriver *)ip)->state == LIS3MDL_READY) ||
(((LIS3MDLDriver *)ip)->state == LIS3MDL_STOP),
"set_bias(), invalid state");
for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++) {
((LIS3MDLDriver *)ip)->bias[i] = bp[i];
}
return MSG_OK;
}
static msg_t reset_bias(void *ip) {
uint32_t i;
osalDbgCheck(ip != NULL);
osalDbgAssert((((LIS3MDLDriver *)ip)->state == LIS3MDL_READY) ||
(((LIS3MDLDriver *)ip)->state == LIS3MDL_STOP),
"reset_bias(), invalid state");
for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
((LIS3MDLDriver *)ip)->bias[i] = 0;
return MSG_OK;
}
static msg_t set_sensivity(void *ip, float *sp) {
uint32_t i;
osalDbgCheck((ip != NULL) && (sp !=NULL));
osalDbgAssert((((LIS3MDLDriver *)ip)->state == LIS3MDL_READY),
"set_sensivity(), invalid state");
for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++) {
((LIS3MDLDriver *)ip)->sensitivity[i] = sp[i];
}
return MSG_OK;
}
static msg_t reset_sensivity(void *ip) {
uint32_t i;
osalDbgCheck(ip != NULL);
osalDbgAssert((((LIS3MDLDriver *)ip)->state == LIS3MDL_READY),
"reset_sensivity(), invalid state");
if(((LIS3MDLDriver *)ip)->config->fullscale == LIS3MDL_FS_4GA)
for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
((LIS3MDLDriver *)ip)->sensitivity[i] = LIS3MDL_SENS_4GA;
else if(((LIS3MDLDriver *)ip)->config->fullscale == LIS3MDL_FS_8GA)
for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
((LIS3MDLDriver *)ip)->sensitivity[i] = LIS3MDL_SENS_8GA;
else if(((LIS3MDLDriver *)ip)->config->fullscale == LIS3MDL_FS_12GA)
for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
((LIS3MDLDriver *)ip)->sensitivity[i] = LIS3MDL_SENS_12GA;
else if(((LIS3MDLDriver *)ip)->config->fullscale == LIS3MDL_FS_16GA)
for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
((LIS3MDLDriver *)ip)->sensitivity[i] = LIS3MDL_SENS_16GA;
else
osalDbgAssert(FALSE, "reset_sensivity(), compass full scale issue");
return MSG_OK;
}
static msg_t get_temperature(void *ip, float* tempp) {
int16_t temp;
#if LIS3MDL_USE_I2C
osalDbgAssert((((LIS3MDLDriver *)ip)->config->i2cp->state == I2C_READY),
"gyro_read_raw(), channel not ready");
#if LIS3MDL_SHARED_I2C
i2cAcquireBus(((LIS3MDLDriver *)ip)->config->i2cp);
i2cStart(((LIS3MDLDriver *)ip)->config->i2cp,
((LIS3MDLDriver *)ip)->config->i2ccfg);
#endif /* LIS3MDL_SHARED_I2C */
temp = (int16_t)(lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
((LIS3MDLDriver *)ip)->config->slaveaddress,
LIS3MDL_AD_TEMP_OUT_L, NULL));
temp += (int16_t)(lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
((LIS3MDLDriver *)ip)->config->slaveaddress,
LIS3MDL_AD_TEMP_OUT_H, NULL) << 8);
#if LIS3MDL_SHARED_I2C
i2cReleaseBus(((LIS3MDLDriver *)ip)->config->i2cp);
#endif /* LIS3MDL_SHARED_I2C */
#endif /* LIS3MDL_USE_I2C */
*tempp = (float)temp / LIS3MDL_TEMP_SENS;
return MSG_OK;
}
static const struct BaseSensorVMT vmt_basesensor = {
get_axes_number, read_raw, read_cooked
};
static const struct BaseCompassVMT vmt_basecompass = {
get_axes_number, read_raw, read_cooked,
set_bias, reset_bias, set_sensivity, reset_sensivity
};
static const struct LIS3MDLVMT vmt_lis3mdl = {
get_axes_number, read_raw, read_cooked,
set_bias, reset_bias, set_sensivity, reset_sensivity,
get_temperature
};
/*===========================================================================*/
/* Driver exported functions. */
/*===========================================================================*/
/**
* @brief Initializes an instance.
*
* @param[out] devp pointer to the @p LIS3MDLDriver object
*
* @init
*/
void lis3mdlObjectInit(LIS3MDLDriver *devp) {
uint32_t i;
devp->vmt_basesensor = &vmt_basesensor;
devp->vmt_basecompass = &vmt_basecompass;
devp->vmt_lis3mdl = &vmt_lis3mdl;
devp->config = NULL;
for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
devp->bias[i] = 0;
devp->state = LIS3MDL_STOP;
}
/**
* @brief Configures and activates LIS3MDL Complex Driver peripheral.
*
* @param[in] devp pointer to the @p LIS3MDLDriver object
* @param[in] config pointer to the @p LIS3MDLConfig object
*
* @api
*/
void lis3mdlStart(LIS3MDLDriver *devp, const LIS3MDLConfig *config) {
uint32_t i;
osalDbgCheck((devp != NULL) && (config != NULL));
osalDbgAssert((devp->state == LIS3MDL_STOP) || (devp->state == LIS3MDL_READY),
"lis3mdlStart(), invalid state");
devp->config = config;
#if LIS3MDL_USE_I2C
#if LIS3MDL_SHARED_I2C
i2cAcquireBus((devp)->config->i2cp);
#endif /* LIS3MDL_SHARED_I2C */
i2cStart((devp)->config->i2cp,
(devp)->config->i2ccfg);
lis3mdlI2CWriteRegister(devp->config->i2cp,
devp->config->slaveaddress,
LIS3MDL_AD_CTRL_REG1,
devp->config->temperature |
devp->config->outputdatarate |
devp->config->operationmodexy);
lis3mdlI2CWriteRegister(devp->config->i2cp,
devp->config->slaveaddress,
LIS3MDL_AD_CTRL_REG2,
devp->config->fullscale);
lis3mdlI2CWriteRegister(devp->config->i2cp,
devp->config->slaveaddress,
LIS3MDL_AD_CTRL_REG3,
devp->config->conversionmode);
lis3mdlI2CWriteRegister(devp->config->i2cp,
devp->config->slaveaddress,
LIS3MDL_AD_CTRL_REG4,
devp->config->operationmodez |
devp->config->endianness);
lis3mdlI2CWriteRegister(devp->config->i2cp,
devp->config->slaveaddress,
LIS3MDL_AD_CTRL_REG5,
devp->config->blockdataupdate);
#if LIS3MDL_SHARED_I2C
i2cReleaseBus((devp)->config->i2cp);
#endif /* LIS3MDL_SHARED_I2C */
#endif /* LIS3MDL_USE_I2C */
/* Storing sensitivity information according to full scale value */
if(devp->config->fullscale == LIS3MDL_FS_4GA)
for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = LIS3MDL_SENS_4GA;
else if(devp->config->fullscale == LIS3MDL_FS_8GA)
for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = LIS3MDL_SENS_8GA;
else if(devp->config->fullscale == LIS3MDL_FS_12GA)
for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = LIS3MDL_SENS_12GA;
else if(devp->config->fullscale == LIS3MDL_FS_16GA)
for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = LIS3MDL_SENS_16GA;
else
osalDbgAssert(FALSE, "lis3mdlStart(), compass full scale issue");
devp->state = LIS3MDL_READY;
}
/**
* @brief Deactivates the LIS3MDL Complex Driver peripheral.
*
* @param[in] devp pointer to the @p LIS3MDLDriver object
*
* @api
*/
void lis3mdlStop(LIS3MDLDriver *devp) {
osalDbgCheck(devp != NULL);
osalDbgAssert((devp->state == LIS3MDL_STOP) || (devp->state == LIS3MDL_READY),
"lis3mdlStop(), invalid state");
#if (LIS3MDL_USE_I2C)
if (devp->state == LIS3MDL_STOP) {
#if LIS3MDL_SHARED_I2C
i2cAcquireBus((devp)->config->i2cp);
i2cStart((devp)->config->i2cp,
(devp)->config->i2ccfg);
#endif /* LIS3MDL_SHARED_I2C */
lis3mdlI2CWriteRegister(devp->config->i2cp,
devp->config->slaveaddress,
LIS3MDL_AD_CTRL_REG3,
LIS3MDL_MD_POWER_DOWN);
i2cStop((devp)->config->i2cp);
#if LIS3MDL_SHARED_I2C
i2cReleaseBus((devp)->config->i2cp);
#endif /* LIS3MDL_SHARED_I2C */
}
#endif /* LIS3MDL_USE_I2C */
devp->state = LIS3MDL_STOP;
}
/** @} */
|
