/* ChibiOS - Copyright (C) 2016..2018 Rocco Marco Guglielmi This file is part of ChibiOS. ChibiOS is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 3 of the License, or (at your option) any later version. ChibiOS is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see . */ /** * @file lis3dsh.c * @brief LIS3DSH MEMS interface module code. * * @addtogroup LIS3DSH * @ingroup EX_ST * @{ */ #include "hal.h" #include "lis3dsh.h" /*===========================================================================*/ /* Driver local definitions. */ /*===========================================================================*/ /*===========================================================================*/ /* 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. * @note Multiple write/read requires proper settings in CTRL_REG6. * * @param[in] spip pointer to the SPI interface * @param[in] reg starting register address * @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, uint8_t* b) { uint8_t cmd; cmd = reg | LIS3DSH_RW; spiSelect(spip); spiSend(spip, 1, &cmd); spiReceive(spip, n, b); spiUnselect(spip); } /** * @brief Writes a value into a generic register using SPI. * @pre The SPI interface must be initialized and the driver started. * @note Multiple write/read requires proper settings in CTRL_REG6. * * @param[in] spip pointer to the SPI interface * @param[in] reg starting register address * @param[in] n number of adjacent registers to write * @param[in] b pointer to a buffer of values. */ static void lis3dshSPIWriteRegister(SPIDriver *spip, uint8_t reg, size_t n, uint8_t* b) { uint8_t cmd; cmd = reg; spiSelect(spip); spiSend(spip, 1, &cmd); spiSend(spip, n, b); spiUnselect(spip); } #endif /* LIS3DSH_USE_SPI */ /** * @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 acc_get_axes_number(void *ip) { (void)ip; return LIS3DSH_ACC_NUMBER_OF_AXES; } /** * @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((devp->state == LIS3DSH_READY), "acc_read_raw(), invalid state"); #if LIS3DSH_USE_SPI #if LIS3DSH_SHARED_SPI 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(devp->config->spip, LIS3DSH_AD_OUT_X_L, LIS3DSH_ACC_NUMBER_OF_AXES * 2, buff); #if LIS3DSH_SHARED_SPI spiReleaseBus(devp->config->spip); #endif /* LIS3DSH_SHARED_SPI */ #endif /* LIS3DSH_USE_SPI */ 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; } /** * @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
/*
    ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.

    This file is part of ChibiOS/RT.

    ChibiOS/RT 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/RT 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    chmempools.h
 * @brief   Memory Pools macros and structures.
 *
 * @addtogroup pools
 * @{
 */

#ifndef _CHMEMPOOLS_H_
#define _CHMEMPOOLS_H_

#if CH_USE_MEMPOOLS || defined(__DOXYGEN__)

/**
 * @brief   Memory pool free object header.
 */
struct pool_header {
  struct pool_header    *ph_next;       /**< @brief Pointer to the next pool
                                                    header in the list.     */
};

/**
 * @brief   Memory pool descriptor.
 */
typedef struct {
  struct pool_header    *mp_next;       /**< @brief Pointer to the header.  */
  size_t                mp_object_size; /**< @brief Memory pool objects
                                                    size.                   */
  memgetfunc_t          mp_provider;    /**< @brief Memory blocks provider for
                                                    this pool.              */
} MemoryPool;

/**
 * @brief   Data part of a static memory pool initializer.
 * @details This macro should be used when statically initializing a
 *          memory pool that is part of a bigger structure.
 *
 * @param[in] name      the name of the memory pool variable
 * @param[in] size      size of the memory pool contained objects
 * @param[in] provider  memory provider function for the memory pool
 */
#define _MEMORYPOOL_DATA(name, size, provider)                              \
  {NULL, MEM_ALIGN_SIZE(size), provider}

/**
 * @brief Static memory pool initializer in hungry mode.
 * @details Statically initialized memory pools require no explicit
 *          initialization using @p chPoolInit().
 *
 * @param[in] name the name of the memory pool variable
 * @param[in] size size of the memory pool contained objects
 * @param[in] provider memory provider function for the memory pool or @p NULL
 *                     if the pool is not allowed to grow automatically
 */
#define MEMORYPOOL_DECL(name, size, provider)                               \
  MemoryPool name = _MEMORYPOOL_DATA(name, size, provider)

#ifdef __cplusplus
extern "C" {
#endif
  void chPoolInit(MemoryPool *mp, size_t size, memgetfunc_t provider);
  void *chPoolAllocI(MemoryPool *mp);
  void *chPoolAlloc(MemoryPool *mp);
  void chPoolFreeI(MemoryPool *mp, void *objp);
  void chPoolFree(MemoryPool *mp, void *objp);
#ifdef __cplusplus
}
#endif

#endif /* CH_USE_MEMPOOLS */

#endif /* _CHMEMPOOLS_H_ */

/** @} */
R_OF_AXES; i++) devp->accsensitivity[i] = LIS3DSH_ACC_SENS_6G; else for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++) devp->accsensitivity[i] = devp->config->accsensitivity[i]; } 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_ACC_NUMBER_OF_AXES; i++) devp->accsensitivity[i] = devp->config->accsensitivity[i]; } 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_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->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); 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) { uint8_t cr4; osalDbgCheck(devp != NULL); 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); #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); #if LIS3DSH_SHARED_SPI spiReleaseBus(devp->config->spip); #endif /* LIS3DSH_SHARED_SPI */ #endif /* LIS3DSH_USE_SPI */ } devp->state = LIS3DSH_STOP; } /** @} */