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/*
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 lps25h.c
* @brief LPS25H MEMS interface module code.
*
* @addtogroup LPS25H
* @ingroup EX_ST
* @{
*/
#include "hal.h"
#include "lps25h.h"
/*===========================================================================*/
/* Driver local definitions. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver exported variables. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local variables and types. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local functions. */
/*===========================================================================*/
#if (LPS25H_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
*/
msg_t lps25hI2CReadRegister(I2CDriver *i2cp, lps25h_sad_t sad, uint8_t reg,
uint8_t* rxbuf, size_t n) {
uint8_t txbuf = reg;
if(n > 1)
txbuf |= LPS25H_SUB_MS;
return i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 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
* @return the operation status.
*/
msg_t lps25hI2CWriteRegister(I2CDriver *i2cp, lps25h_sad_t sad, uint8_t* txbuf, size_t n) {
if (n > 1)
(*txbuf) |= LPS25H_SUB_MS;
return i2cMasterTransmitTimeout(i2cp, sad, txbuf, n + 1, NULL, 0,
TIME_INFINITE);
}
#endif /* LPS25H_USE_I2C */
/*
* Interface implementation.
*/
static size_t get_axes_number(void *ip) {
osalDbgCheck(ip != NULL);
return LPS25H_NUMBER_OF_AXES;
}
static msg_t read_raw(void *ip, int32_t* axis) {
uint8_t buff[3];
msg_t msg = MSG_OK;
*axis = 0;
osalDbgCheck((ip != NULL) && (axis != NULL));
osalDbgAssert((((LPS25HDriver *)ip)->state == LPS25H_READY),
"read_raw(), invalid state");
#if LPS25H_USE_I2C
osalDbgAssert((((LPS25HDriver *)ip)->config->i2cp->state == I2C_READY),
"read_raw(), channel not ready");
#if LPS25H_SHARED_I2C
i2cAcquireBus(((LPS25HDriver *)ip)->config->i2cp);
i2cStart(((LPS25HDriver *)ip)->config->i2cp,
((LPS25HDriver *)ip)->config->i2ccfg);
#endif /* LPS25H_SHARED_I2C */
msg = lps25hI2CReadRegister(((LPS25HDriver *)ip)->config->i2cp,
((LPS25HDriver *)ip)->config->slaveaddress,
LPS25H_AD_PRESS_OUT_XL, buff, 3);
#if LPS25H_SHARED_I2C
i2cReleaseBus(((LPS25HDriver *)ip)->config->i2cp);
#endif /* LPS25H_SHARED_I2C */
#endif /* LPS25H_USE_I2C */
if(msg == MSG_OK) {
*axis = buff[0] + (buff[1] << 8) + (buff[2] << 16);
}
return msg;
}
static msg_t read_cooked(void *ip, float* axis) {
int32_t raw;
msg_t msg;
osalDbgCheck((ip != NULL) && (axis != NULL));
osalDbgAssert((((LPS25HDriver *)ip)->state == LPS25H_READY),
"read_cooked(), invalid state");
msg = read_raw(ip, &raw);
*axis = raw * ((LPS25HDriver *)ip)->sensitivity;
*axis -= ((LPS25HDriver *)ip)->bias;
return msg;
}
static msg_t set_bias(void *ip, float *bp) {
osalDbgCheck((ip != NULL) && (bp != NULL));
osalDbgAssert((((LPS25HDriver *)ip)->state == LPS25H_READY) ||
(((LPS25HDriver *)ip)->state == LPS25H_STOP),
"set_bias(), invalid state");
((LPS25HDriver *)ip)->bias = *bp;
return MSG_OK;
}
static msg_t reset_bias(void *ip) {
osalDbgCheck(ip != NULL);
osalDbgAssert((((LPS25HDriver *)ip)->state == LPS25H_READY) ||
(((LPS25HDriver *)ip)->state == LPS25H_STOP),
"reset_bias(), invalid state");
((LPS25HDriver *)ip)->bias = 0.0f;
return MSG_OK;
}
static msg_t set_sensivity(void *ip, float *sp) {
osalDbgCheck((ip != NULL) && (sp !=NULL));
osalDbgAssert((((LPS25HDriver *)ip)->state == LPS25H_READY),
"set_sensivity(), invalid state");
((LPS25HDriver *)ip)->sensitivity = *sp;
return MSG_OK;
}
static msg_t reset_sensivity(void *ip) {
osalDbgCheck(ip != NULL);
osalDbgAssert((((LPS25HDriver *)ip)->state == LPS25H_READY),
"reset_sensivity(), invalid state");
((LPS25HDriver *)ip)->sensitivity = LPS25H_SENS;
return MSG_OK;
}
static const struct BaseSensorVMT vmt_basesensor = {
get_axes_number, read_raw, read_cooked
};
static const struct BaseBarometerVMT vmt_basebarometer = {
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 LPS25HDriver object
*
* @init
*/
void lps25hObjectInit(LPS25HDriver *devp) {
devp->vmt_basesensor = &vmt_basesensor;
devp->vmt_basebarometer = &vmt_basebarometer;
devp->config = NULL;
devp->bias = 0;
devp->state = LPS25H_STOP;
}
/**
* @brief Configures and activates LPS25H Complex Driver peripheral.
*
* @param[in] devp pointer to the @p LPS25HDriver object
* @param[in] config pointer to the @p LPS25HConfig object
*
* @api
*/
void lps25hStart(LPS25HDriver *devp, const LPS25HConfig *config) {
uint8_t cr[2];
osalDbgCheck((devp != NULL) && (config != NULL));
osalDbgAssert((devp->state == LPS25H_STOP) || (devp->state == LPS25H_READY),
"lps25hStart(), invalid state");
devp->config = config;
#if LPS25H_USE_I2C
/* Control register 1 configuration block.*/
{
cr[0] = LPS25H_AD_CTRL_REG1;
cr[1] = devp->config->outputdatarate | LPS25H_CTRL_REG1_PD;
#if LPS25H_USE_ADVANCED || defined(__DOXYGEN__)
cr[1] |= devp->config->blockdataupdate;
#endif
}
#if LPS25H_SHARED_I2C
i2cAcquireBus((devp)->config->i2cp);
#endif /* LPS25H_SHARED_I2C */
i2cStart((devp)->config->i2cp,
(devp)->config->i2ccfg);
lps25hI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress, cr, 1);
#if LPS25H_SHARED_I2C
i2cReleaseBus((devp)->config->i2cp);
#endif /* LPS25H_SHARED_I2C */
/* Resolution configuration block.*/
{
cr[0] = LPS25H_AD_RES_CONF;
cr[1] = 0x05;
#if LPS25H_USE_ADVANCED || defined(__DOXYGEN__)
cr[1] = devp->config->respressure | devp->config->restemperature;
#endif
}
#if LPS25H_SHARED_I2C
i2cAcquireBus((devp)->config->i2cp);
i2cStart((devp)->config->i2cp,
(devp)->config->i2ccfg);
#endif /* LPS25H_SHARED_I2C */
lps25hI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
cr, 1);
#if LPS25H_SHARED_I2C
i2cReleaseBus((devp)->config->i2cp);
#endif /* LPS25H_SHARED_I2C */
#endif /* LPS25H_USE_I2C */
if(devp->config->sensitivity == NULL) {
devp->sensitivity = LPS25H_SENS;
}
else{
/* Taking Sensitivity from user configurations */
devp->sensitivity = *devp->config->sensitivity;
}
if(devp->config->bias == NULL) {
devp->bias = 0.0f;
}
else{
/* Taking Bias from user configurations */
devp->bias = *devp->config->bias;
}
/* This is the Barometer transient recovery time */
osalThreadSleepMilliseconds(5);
devp->state = LPS25H_READY;
}
/**
* @brief Deactivates the LPS25H Complex Driver peripheral.
*
* @param[in] devp pointer to the @p LPS25HDriver object
*
* @api
*/
void lps25hStop(LPS25HDriver *devp) {
uint8_t cr[2];
osalDbgCheck(devp != NULL);
osalDbgAssert((devp->state == LPS25H_STOP) || (devp->state == LPS25H_READY),
"lps25hStop(), invalid state");
if (devp->state == LPS25H_READY) {
#if (LPS25H_USE_I2C)
#if LPS25H_SHARED_I2C
i2cAcquireBus((devp)->config->i2cp);
i2cStart((devp)->config->i2cp,
(devp)->config->i2ccfg);
#endif /* LPS25H_SHARED_I2C */
cr[0] = LPS25H_AD_CTRL_REG1;
cr[1] = 0;
lps25hI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
cr, 1);
i2cStop((devp)->config->i2cp);
#if LPS25H_SHARED_I2C
i2cReleaseBus((devp)->config->i2cp);
#endif /* LPS25H_SHARED_I2C */
#endif /* LPS25H_USE_I2C */
}
devp->state = LPS25H_STOP;
}
/** @} */
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