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- /*
- 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 <http://www.gnu.org/licenses/>.
- */
- /**
- * @file lsm6dsl.c
- * @brief LSM6DSL MEMS interface module code.
- *
- * @addtogroup LSM6DSL
- * @ingroup EX_ST
- * @{
- */
- #include "hal.h"
- #include "lsm6dsl.h"
- /*===========================================================================*/
- /* Driver local definitions. */
- /*===========================================================================*/
- /*===========================================================================*/
- /* Driver exported variables. */
- /*===========================================================================*/
- /*===========================================================================*/
- /* Driver local variables and types. */
- /*===========================================================================*/
- /*===========================================================================*/
- /* Driver local functions. */
- /*===========================================================================*/
- #if (LSM6DSL_USE_I2C) || defined(__DOXYGEN__)
- /**
- * @brief Reads registers value using I2C.
- * @pre The I2C interface must be initialized and the driver started.
- * @note IF_ADD_INC bit must be 1 in CTRL_REG8
- *
- * @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 lsm6dslI2CReadRegister(I2CDriver *i2cp, lsm6dsl_sad_t sad, uint8_t reg,
- uint8_t* rxbuf, size_t n) {
- return i2cMasterTransmitTimeout(i2cp, sad, ®, 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
- */
- #define lsm6dslI2CWriteRegister(i2cp, sad, txbuf, n) \
- i2cMasterTransmitTimeout(i2cp, sad, txbuf, n + 1, NULL, 0, \
- TIME_INFINITE)
- #endif /* LSM6DSL_USE_I2C */
- /**
- * @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 LSM6DSL_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[]) {
- LSM6DSLDriver* devp;
- uint8_t buff [LSM6DSL_ACC_NUMBER_OF_AXES * 2], i;
- int16_t tmp;
- msg_t msg;
- osalDbgCheck((ip != NULL) && (axes != NULL));
- /* Getting parent instance pointer.*/
- devp = objGetInstance(LSM6DSLDriver*, (BaseAccelerometer*)ip);
- osalDbgAssert((devp->state == LSM6DSL_READY),
- "acc_read_raw(), invalid state");
- #if LSM6DSL_USE_I2C
- osalDbgAssert((devp->config->i2cp->state == I2C_READY),
- "acc_read_raw(), channel not ready");
- #if LSM6DSL_SHARED_I2C
- i2cAcquireBus(devp->config->i2cp);
- i2cStart(devp->config->i2cp,
- devp->config->i2ccfg);
- #endif /* LSM6DSL_SHARED_I2C */
- msg = lsm6dslI2CReadRegister(devp->config->i2cp, devp->config->slaveaddress,
- LSM6DSL_AD_OUTX_L_XL, buff,
- LSM6DSL_ACC_NUMBER_OF_AXES * 2);
- #if LSM6DSL_SHARED_I2C
- i2cReleaseBus(devp->config->i2cp);
- #endif /* LSM6DSL_SHARED_I2C */
- #endif /* LSM6DSL_USE_I2C */
- if(msg == MSG_OK)
- for(i = 0; i < LSM6DSL_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 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[]) {
- LSM6DSLDriver* devp;
- uint32_t i;
- int32_t raw[LSM6DSL_ACC_NUMBER_OF_AXES];
- msg_t msg;
- osalDbgCheck((ip != NULL) && (axes != NULL));
- /* Getting parent instance pointer.*/
- devp = objGetInstance(LSM6DSLDriver*, (BaseAccelerometer*)ip);
- osalDbgAssert((devp->state == LSM6DSL_READY),
- "acc_read_cooked(), invalid state");
- msg = acc_read_raw(ip, raw);
- for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++) {
- axes[i] = (raw[i] * devp->accsensitivity[i]) - devp->accbias[i];
- }
- return msg;
- }
- /**
- * @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) {
- LSM6DSLDriver* devp;
- uint32_t i;
- msg_t msg = MSG_OK;
- osalDbgCheck((ip != NULL) && (bp != NULL));
- /* Getting parent instance pointer.*/
- devp = objGetInstance(LSM6DSLDriver*, (BaseAccelerometer*)ip);
- osalDbgAssert((devp->state == LSM6DSL_READY),
- "acc_set_bias(), invalid state");
- for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++) {
- devp->accbias[i] = bp[i];
- }
- return msg;
- }
- /**
- * @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) {
- LSM6DSLDriver* devp;
- uint32_t i;
- msg_t msg = MSG_OK;
- osalDbgCheck(ip != NULL);
- /* Getting parent instance pointer.*/
- devp = objGetInstance(LSM6DSLDriver*, (BaseAccelerometer*)ip);
- osalDbgAssert((devp->state == LSM6DSL_READY),
- "acc_reset_bias(), invalid state");
- for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++)
- devp->accbias[i] = LSM6DSL_ACC_BIAS;
- return msg;
- }
- /**
- * @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) {
- LSM6DSLDriver* devp;
- uint32_t i;
- msg_t msg = MSG_OK;
- /* Getting parent instance pointer.*/
- devp = objGetInstance(LSM6DSLDriver*, (BaseAccelerometer*)ip);
- osalDbgCheck((ip != NULL) && (sp != NULL));
- osalDbgAssert((devp->state == LSM6DSL_READY),
- "acc_set_sensivity(), invalid state");
- for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++) {
- devp->accsensitivity[i] = sp[i];
- }
- return msg;
- }
- /**
- * @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) {
- LSM6DSLDriver* devp;
- uint32_t i;
- msg_t msg = MSG_OK;
- osalDbgCheck(ip != NULL);
- /* Getting parent instance pointer.*/
- devp = objGetInstance(LSM6DSLDriver*, (BaseAccelerometer*)ip);
- osalDbgAssert((devp->state == LSM6DSL_READY),
- "acc_reset_sensivity(), invalid state");
- if(devp->config->accfullscale == LSM6DSL_ACC_FS_2G)
- for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++)
- devp->accsensitivity[i] = LSM6DSL_ACC_SENS_2G;
- else if(devp->config->accfullscale == LSM6DSL_ACC_FS_4G)
- for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++)
- devp->accsensitivity[i] = LSM6DSL_ACC_SENS_4G;
- else if(devp->config->accfullscale == LSM6DSL_ACC_FS_8G)
- for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++)
- devp->accsensitivity[i] = LSM6DSL_ACC_SENS_8G;
- else if(devp->config->accfullscale == LSM6DSL_ACC_FS_16G)
- for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++)
- devp->accsensitivity[i] = LSM6DSL_ACC_SENS_16G;
- else {
- osalDbgAssert(FALSE, "reset_sensivity(), accelerometer full scale issue");
- msg = MSG_RESET;
- }
- return msg;
- }
- /**
- * @brief Changes the LSM6DSLDriver 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 LSM6DSLDriver 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(LSM6DSLDriver *devp, lsm6dsl_acc_fs_t fs) {
- float newfs, scale;
- uint8_t i, buff[2];
- msg_t msg;
- osalDbgCheck(devp != NULL);
- osalDbgAssert((devp->state == LSM6DSL_READY),
- "acc_set_full_scale(), invalid state");
- osalDbgAssert((devp->config->i2cp->state == I2C_READY),
- "acc_set_full_scale(), channel not ready");
- /* Computing new fullscale value.*/
- if(fs == LSM6DSL_ACC_FS_2G) {
- newfs = LSM6DSL_ACC_2G;
- }
- else if(fs == LSM6DSL_ACC_FS_4G) {
- newfs = LSM6DSL_ACC_4G;
- }
- else if(fs == LSM6DSL_ACC_FS_8G) {
- newfs = LSM6DSL_ACC_8G;
- }
- else if(fs == LSM6DSL_ACC_FS_16G) {
- newfs = LSM6DSL_ACC_16G;
- }
- else {
- msg = MSG_RESET;
- return msg;
- }
- if(newfs != devp->accfullscale) {
- /* Computing scale value.*/
- scale = newfs / devp->accfullscale;
- devp->accfullscale = newfs;
- #if LSM6DSL_SHARED_I2C
- i2cAcquireBus(devp->config->i2cp);
- i2cStart(devp->config->i2cp,
- devp->config->i2ccfg);
- #endif /* LSM6DSL_SHARED_I2C */
- /* Updating register.*/
- msg = lsm6dslI2CReadRegister(devp->config->i2cp,
- devp->config->slaveaddress,
- LSM6DSL_AD_CTRL1_XL, &buff[1], 1);
- #if LSM6DSL_SHARED_I2C
- i2cReleaseBus(devp->config->i2cp);
- #endif /* LSM6DSL_SHARED_I2C */
- if(msg != MSG_OK)
- return msg;
- buff[1] &= ~(LSMDSL_CTRL1_XL_FS_MASK);
- buff[1] |= fs;
- buff[0] = LSM6DSL_AD_CTRL1_XL;
- #if LSM6DSL_SHARED_I2C
- i2cAcquireBus(devp->config->i2cp);
- i2cStart(devp->config->i2cp, devp->config->i2ccfg);
- #endif /* LSM6DSL_SHARED_I2C */
- msg = lsm6dslI2CWriteRegister(devp->config->i2cp,
- devp->config->slaveaddress, buff, 1);
- #if LSM6DSL_SHARED_I2C
- i2cReleaseBus(devp->config->i2cp);
- #endif /* LSM6DSL_SHARED_I2C */
- if(msg != MSG_OK)
- return msg;
- /* Scaling sensitivity and bias. Re-calibration is suggested anyway.*/
- for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++) {
- devp->accsensitivity[i] *= scale;
- devp->accbias[i] *= scale;
- }
- }
- return msg;
- }
- /**
- * @brief Return the number of axes of the BaseGyroscope.
- *
- * @param[in] ip pointer to @p BaseGyroscope interface.
- *
- * @return the number of axes.
- */
- static size_t gyro_get_axes_number(void *ip) {
- (void)ip;
- return LSM6DSL_GYRO_NUMBER_OF_AXES;
- }
- /**
- * @brief Retrieves raw data from the BaseGyroscope.
- * @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
- * BaseGyroscope axes number.
- *
- * @param[in] ip pointer to @p BaseGyroscope 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 gyro_read_raw(void *ip, int32_t axes[LSM6DSL_GYRO_NUMBER_OF_AXES]) {
- LSM6DSLDriver* devp;
- int16_t tmp;
- uint8_t i, buff [2 * LSM6DSL_GYRO_NUMBER_OF_AXES];
- msg_t msg = MSG_OK;
- osalDbgCheck((ip != NULL) && (axes != NULL));
- /* Getting parent instance pointer.*/
- devp = objGetInstance(LSM6DSLDriver*, (BaseGyroscope*)ip);
- osalDbgAssert((devp->state == LSM6DSL_READY),
- "gyro_read_raw(), invalid state");
- #if LSM6DSL_USE_I2C
- osalDbgAssert((devp->config->i2cp->state == I2C_READY),
- "gyro_read_raw(), channel not ready");
- #if LSM6DSL_SHARED_I2C
- i2cAcquireBus(devp->config->i2cp);
- i2cStart(devp->config->i2cp,
- devp->config->i2ccfg);
- #endif /* LSM6DSL_SHARED_I2C */
- msg = lsm6dslI2CReadRegister(devp->config->i2cp, devp->config->slaveaddress,
- LSM6DSL_AD_OUTX_L_G, buff,
- LSM6DSL_GYRO_NUMBER_OF_AXES * 2);
- #if LSM6DSL_SHARED_I2C
- i2cReleaseBus(devp->config->i2cp);
- #endif /* LSM6DSL_SHARED_I2C */
- #endif /* LSM6DSL_USE_I2C */
- for(i = 0; i < LSM6DSL_GYRO_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 BaseGyroscope.
- * @note This data is manipulated according to the formula
- * cooked = (raw * sensitivity) - bias.
- * @note Final data is expressed as DPS.
- * @note The axes array must be at least the same size of the
- * BaseGyroscope axes number.
- *
- * @param[in] ip pointer to @p BaseGyroscope 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 gyro_read_cooked(void *ip, float axes[]) {
- LSM6DSLDriver* devp;
- uint32_t i;
- int32_t raw[LSM6DSL_GYRO_NUMBER_OF_AXES];
- msg_t msg;
- osalDbgCheck((ip != NULL) && (axes != NULL));
- /* Getting parent instance pointer.*/
- devp = objGetInstance(LSM6DSLDriver*, (BaseGyroscope*)ip);
- osalDbgAssert((devp->state == LSM6DSL_READY),
- "gyro_read_cooked(), invalid state");
- msg = gyro_read_raw(ip, raw);
- for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++){
- axes[i] = (raw[i] * devp->gyrosensitivity[i]) - devp->gyrobias[i];
- }
- return msg;
- }
- /**
- * @brief Samples bias values for the BaseGyroscope.
- * @note The LSM6DSL shall not be moved during the whole procedure.
- * @note After this function internal bias is automatically updated.
- * @note The behavior of this function depends on @p LSM6DSL_BIAS_ACQ_TIMES
- * and @p LSM6DSL_BIAS_SETTLING_US.
- *
- * @param[in] ip pointer to @p BaseGyroscope interface.
- *
- * @return The operation status.
- * @retval MSG_OK if the function succeeded.
- */
- static msg_t gyro_sample_bias(void *ip) {
- LSM6DSLDriver* devp;
- uint32_t i, j;
- int32_t raw[LSM6DSL_GYRO_NUMBER_OF_AXES];
- int32_t buff[LSM6DSL_GYRO_NUMBER_OF_AXES] = {0, 0, 0};
- msg_t msg;
-
- osalDbgCheck(ip != NULL);
- /* Getting parent instance pointer.*/
- devp = objGetInstance(LSM6DSLDriver*, (BaseGyroscope*)ip);
- osalDbgAssert((devp->state == LSM6DSL_READY),
- "gyro_sample_bias(), invalid state");
- #if LSM6DSL_USE_I2C
- osalDbgAssert((devp->config->i2cp->state == I2C_READY),
- "gyro_sample_bias(), channel not ready");
- #endif
- for(i = 0; i < LSM6DSL_GYRO_BIAS_ACQ_TIMES; i++){
- msg = gyro_read_raw(ip, raw);
- if(msg != MSG_OK)
- return msg;
- for(j = 0; j < LSM6DSL_GYRO_NUMBER_OF_AXES; j++){
- buff[j] += raw[j];
- }
- osalThreadSleepMicroseconds(LSM6DSL_GYRO_BIAS_SETTLING_US);
- }
- for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++){
- devp->gyrobias[i] = (buff[i] / LSM6DSL_GYRO_BIAS_ACQ_TIMES);
- devp->gyrobias[i] *= devp->gyrosensitivity[i];
- }
- return msg;
- }
- /**
- * @brief Set bias values for the BaseGyroscope.
- * @note Bias must be expressed as DPS.
- * @note The bias buffer must be at least the same size of the BaseGyroscope
- * axes number.
- *
- * @param[in] ip pointer to @p BaseGyroscope interface.
- * @param[in] bp a buffer which contains biases.
- *
- * @return The operation status.
- * @retval MSG_OK if the function succeeded.
- */
- static msg_t gyro_set_bias(void *ip, float *bp) {
- LSM6DSLDriver* devp;
- uint32_t i;
- msg_t msg = MSG_OK;
- osalDbgCheck((ip != NULL) && (bp != NULL));
- /* Getting parent instance pointer.*/
- devp = objGetInstance(LSM6DSLDriver*, (BaseGyroscope*)ip);
- osalDbgAssert((devp->state == LSM6DSL_READY),
- "gyro_set_bias(), invalid state");
- for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++) {
- devp->gyrobias[i] = bp[i];
- }
- return msg;
- }
- /**
- * @brief Reset bias values for the BaseGyroscope.
- * @note Default biases value are obtained from device datasheet when
- * available otherwise they are considered zero.
- *
- * @param[in] ip pointer to @p BaseGyroscope interface.
- *
- * @return The operation status.
- * @retval MSG_OK if the function succeeded.
- */
- static msg_t gyro_reset_bias(void *ip) {
- LSM6DSLDriver* devp;
- uint32_t i;
- msg_t msg = MSG_OK;
- osalDbgCheck(ip != NULL);
- /* Getting parent instance pointer.*/
- devp = objGetInstance(LSM6DSLDriver*, (BaseGyroscope*)ip);
- osalDbgAssert((devp->state == LSM6DSL_READY),
- "gyro_reset_bias(), invalid state");
- for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++)
- devp->gyrobias[i] = LSM6DSL_GYRO_BIAS;
- return msg;
- }
- /**
- * @brief Set sensitivity values for the BaseGyroscope.
- * @note Sensitivity must be expressed as DPS/LSB.
- * @note The sensitivity buffer must be at least the same size of the
- * BaseGyroscope axes number.
- *
- * @param[in] ip pointer to @p BaseGyroscope interface.
- * @param[in] sp a buffer which contains sensitivities.
- *
- * @return The operation status.
- * @retval MSG_OK if the function succeeded.
- */
- static msg_t gyro_set_sensivity(void *ip, float *sp) {
- LSM6DSLDriver* devp;
- uint32_t i;
- msg_t msg = MSG_OK;
- osalDbgCheck((ip != NULL) && (sp !=NULL));
- /* Getting parent instance pointer.*/
- devp = objGetInstance(LSM6DSLDriver*, (BaseGyroscope*)ip);
- osalDbgAssert((devp->state == LSM6DSL_READY),
- "gyro_set_sensivity(), invalid state");
- for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++) {
- devp->gyrosensitivity[i] = sp[i];
- }
- return msg;
- }
- /**
- * @brief Reset sensitivity values for the BaseGyroscope.
- * @note Default sensitivities value are obtained from device datasheet.
- *
- * @param[in] ip pointer to @p BaseGyroscope interface.
- *
- * @return The operation status.
- * @retval MSG_OK if the function succeeded.
- * @retval MSG_RESET otherwise.
- */
- static msg_t gyro_reset_sensivity(void *ip) {
- LSM6DSLDriver* devp;
- uint32_t i;
- msg_t msg = MSG_OK;
- osalDbgCheck(ip != NULL);
- /* Getting parent instance pointer.*/
- devp = objGetInstance(LSM6DSLDriver*, (BaseGyroscope*)ip);
- osalDbgAssert((devp->state == LSM6DSL_READY),
- "gyro_reset_sensivity(), invalid state");
- if(devp->config->gyrofullscale == LSM6DSL_GYRO_FS_125DPS)
- for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++)
- devp->gyrosensitivity[i] = LSM6DSL_GYRO_SENS_125DPS;
- else if(devp->config->gyrofullscale == LSM6DSL_GYRO_FS_250DPS)
- for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++)
- devp->gyrosensitivity[i] = LSM6DSL_GYRO_SENS_250DPS;
- else if(devp->config->gyrofullscale == LSM6DSL_GYRO_FS_500DPS)
- for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++)
- devp->gyrosensitivity[i] = LSM6DSL_GYRO_SENS_500DPS;
- else if(devp->config->gyrofullscale == LSM6DSL_GYRO_FS_1000DPS)
- for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++)
- devp->gyrosensitivity[i] = LSM6DSL_GYRO_SENS_1000DPS;
- else if(devp->config->gyrofullscale == LSM6DSL_GYRO_FS_2000DPS)
- for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++)
- devp->gyrosensitivity[i] = LSM6DSL_GYRO_SENS_2000DPS;
- else {
- osalDbgAssert(FALSE, "gyro_reset_sensivity(), full scale issue");
- return MSG_RESET;
- }
- return msg;
- }
- /**
- * @brief Changes the LSM6DSLDriver gyroscope 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 BaseGyroscope 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 gyro_set_full_scale(LSM6DSLDriver *devp, lsm6dsl_gyro_fs_t fs) {
- float newfs, scale;
- uint8_t i, buff[2];
- msg_t msg = MSG_OK;
- osalDbgCheck(devp != NULL);
- osalDbgAssert((devp->state == LSM6DSL_READY),
- "gyro_set_full_scale(), invalid state");
- #if LSM6DSL_USE_I2C
- osalDbgAssert((devp->config->i2cp->state == I2C_READY),
- "gyro_set_full_scale(), channel not ready");
- #endif
- if(fs == LSM6DSL_GYRO_FS_125DPS) {
- newfs = LSM6DSL_GYRO_125DPS;
- }
- else if(fs == LSM6DSL_GYRO_FS_250DPS) {
- newfs = LSM6DSL_GYRO_250DPS;
- }
- else if(fs == LSM6DSL_GYRO_FS_500DPS) {
- newfs = LSM6DSL_GYRO_500DPS;
- }
- else if(fs == LSM6DSL_GYRO_FS_1000DPS) {
- newfs = LSM6DSL_GYRO_1000DPS;
- }
- else if(fs == LSM6DSL_GYRO_FS_2000DPS) {
- newfs = LSM6DSL_GYRO_2000DPS;
- }
- else {
- return MSG_RESET;
- }
- if(newfs != devp->gyrofullscale) {
- scale = newfs / devp->gyrofullscale;
- devp->gyrofullscale = newfs;
- #if LSM6DSL_USE_I2C
- #if LSM6DSL_SHARED_I2C
- i2cAcquireBus(devp->config->i2cp);
- i2cStart(devp->config->i2cp,
- devp->config->i2ccfg);
- #endif /* LSM6DSL_SHARED_I2C */
- /* Updating register.*/
- msg = lsm6dslI2CReadRegister(devp->config->i2cp,
- devp->config->slaveaddress,
- LSM6DSL_AD_CTRL2_G, &buff[1], 1);
- #if LSM6DSL_SHARED_I2C
- i2cReleaseBus(devp->config->i2cp);
- #endif /* LSM6DSL_SHARED_I2C */
- #endif /* LSM6DSL_USE_I2C */
- buff[1] &= ~(LSMDSL_CTRL2_G_FS_MASK);
- buff[1] |= fs;
- buff[0] = LSM6DSL_AD_CTRL2_G;
- #if LSM6DSL_USE_I2C
- #if LSM6DSL_SHARED_I2C
- i2cAcquireBus(devp->config->i2cp);
- i2cStart(devp->config->i2cp,
- devp->config->i2ccfg);
- #endif /* LSM6DSL_SHARED_I2C */
- lsm6dslI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
- buff, 1);
- #if LSM6DSL_SHARED_I2C
- i2cReleaseBus(devp->config->i2cp);
- #endif /* LSM6DSL_SHARED_I2C */
- #endif /* LSM6DSL_USE_I2C */
- /* Scaling sensitivity and bias. Re-calibration is suggested anyway. */
- for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++) {
- devp->gyrosensitivity[i] *= scale;
- devp->gyrobias[i] *= scale;
- }
- }
- return msg;
- }
- static const struct LSM6DSLVMT vmt_device = {
- (size_t)0,
- acc_set_full_scale, gyro_set_full_scale
- };
- static const struct BaseAccelerometerVMT vmt_accelerometer = {
- sizeof(struct LSM6DSLVMT*),
- acc_get_axes_number, acc_read_raw, acc_read_cooked,
- acc_set_bias, acc_reset_bias, acc_set_sensivity, acc_reset_sensivity
- };
- static const struct BaseGyroscopeVMT vmt_gyroscope = {
- sizeof(struct LSM6DSLVMT*) + sizeof(BaseAccelerometer),
- gyro_get_axes_number, gyro_read_raw, gyro_read_cooked,
- gyro_sample_bias, gyro_set_bias, gyro_reset_bias,
- gyro_set_sensivity, gyro_reset_sensivity
- };
- /*===========================================================================*/
- /* Driver exported functions. */
- /*===========================================================================*/
- /**
- * @brief Initializes an instance.
- *
- * @param[out] devp pointer to the @p LSM6DSLDriver object
- *
- * @init
- */
- void lsm6dslObjectInit(LSM6DSLDriver *devp) {
- devp->vmt = &vmt_device;
- devp->acc_if.vmt = &vmt_accelerometer;
- devp->gyro_if.vmt = &vmt_gyroscope;
- devp->config = NULL;
- devp->accaxes = LSM6DSL_ACC_NUMBER_OF_AXES;
- devp->gyroaxes = LSM6DSL_GYRO_NUMBER_OF_AXES;
- devp->state = LSM6DSL_STOP;
- }
- /**
- * @brief Configures and activates LSM6DSL Complex Driver peripheral.
- *
- * @param[in] devp pointer to the @p LSM6DSLDriver object
- * @param[in] config pointer to the @p LSM6DSLConfig object
- *
- * @api
- */
- void lsm6dslStart(LSM6DSLDriver *devp, const LSM6DSLConfig *config) {
- uint32_t i;
- uint8_t cr[11];
- osalDbgCheck((devp != NULL) && (config != NULL));
- osalDbgAssert((devp->state == LSM6DSL_STOP) ||
- (devp->state == LSM6DSL_READY),
- "lsm6dslStart(), invalid state");
- devp->config = config;
- /* Enforcing multiple write configuration.*/
- {
- cr[0] = LSM6DSL_AD_CTRL3_C;
- cr[1] = LSMDSL_CTRL3_C_IF_INC;
- }
- #if LSM6DSL_USE_I2C
- #if LSM6DSL_SHARED_I2C
- i2cAcquireBus(devp->config->i2cp);
- #endif /* LSM6DSL_SHARED_I2C */
- i2cStart(devp->config->i2cp, devp->config->i2ccfg);
- lsm6dslI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
- cr, 1);
- #if LSM6DSL_SHARED_I2C
- i2cReleaseBus(devp->config->i2cp);
- #endif /* LSM6DSL_SHARED_I2C */
- #endif /* LSM6DSL_USE_I2C */
- /* Configuring all the control registers.*/
- /* Multiple write starting address.*/
- cr[0] = LSM6DSL_AD_CTRL1_XL;
- /* Control register 1 configuration block.*/
- {
- cr[1] = devp->config->accoutdatarate |
- devp->config->accfullscale;
- }
- /* Control register 2 configuration block.*/
- {
- cr[2] = devp->config->gyrooutdatarate |
- devp->config->gyrofullscale;
- }
- /* Control register 3 configuration block.*/
- {
- cr[3] = LSMDSL_CTRL3_C_IF_INC;
- #if LSM6DSL_USE_ADVANCED || defined(__DOXYGEN__)
- cr[3] |= devp->config->endianness | devp->config->blockdataupdate;
- #endif
- }
- /* Control register 4 configuration block.*/
- {
- cr[4] = 0;
- #if LSM6DSL_USE_ADVANCED || defined(__DOXYGEN__)
- if(devp->config->gyrolowpassfilter != LSM6DSL_GYRO_LPF_DISABLED) {
- cr[4] |= LSMDSL_CTRL4_C_LPF1_SEL_G;
- }
- else {
- /* Nothing to do. */
- }
- #endif
- }
- /* Control register 5 configuration block.*/
- {
- cr[5] = 0;
- }
- /* Control register 6 configuration block.*/
- {
- cr[6] = 0;
- #if LSM6DSL_USE_ADVANCED || defined(__DOXYGEN__)
- cr[6] |= devp->config->acclpmode;
- #endif
- #if LSM6DSL_USE_ADVANCED || defined(__DOXYGEN__)
- if(devp->config->gyrolowpassfilter != LSM6DSL_GYRO_LPF_DISABLED) {
- cr[6] |= devp->config->gyrolowpassfilter;
- }
- else {
- /* Nothing to do. */
- }
- #endif
- }
- /* Control register 7 configuration block.*/
- {
- cr[7] = 0;
- #if LSM6DSL_USE_ADVANCED || defined(__DOXYGEN__)
- cr[7] |= devp->config->gyrolpmode;
- #endif
- }
- /* Control register 8 configuration block.*/
- {
- cr[8] = 0;
- }
- /* Control register 9 configuration block.*/
- {
- cr[9] = 0;
- }
- /* Control register 10 configuration block.*/
- {
- cr[10] = 0;
- }
- #if LSM6DSL_USE_I2C
- #if LSM6DSL_SHARED_I2C
- i2cAcquireBus(devp->config->i2cp);
- i2cStart(devp->config->i2cp, devp->config->i2ccfg);
- #endif /* LSM6DSL_SHARED_I2C */
- lsm6dslI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
- cr, 10);
- #if LSM6DSL_SHARED_I2C
- i2cReleaseBus(devp->config->i2cp);
- #endif /* LSM6DSL_SHARED_I2C */
- #endif /* LSM6DSL_USE_I2C */
- /* Storing sensitivity according to user settings */
- if(devp->config->accfullscale == LSM6DSL_ACC_FS_2G) {
- for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++) {
- if(devp->config->accsensitivity == NULL)
- devp->accsensitivity[i] = LSM6DSL_ACC_SENS_2G;
- else
- devp->accsensitivity[i] = devp->config->accsensitivity[i];
- }
- devp->accfullscale = LSM6DSL_ACC_2G;
- }
- else if(devp->config->accfullscale == LSM6DSL_ACC_FS_4G) {
- for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++) {
- if(devp->config->accsensitivity == NULL)
- devp->accsensitivity[i] = LSM6DSL_ACC_SENS_4G;
- else
- devp->accsensitivity[i] = devp->config->accsensitivity[i];
- }
- devp->accfullscale = LSM6DSL_ACC_4G;
- }
- else if(devp->config->accfullscale == LSM6DSL_ACC_FS_8G) {
- for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++) {
- if(devp->config->accsensitivity == NULL)
- devp->accsensitivity[i] = LSM6DSL_ACC_SENS_8G;
- else
- devp->accsensitivity[i] = devp->config->accsensitivity[i];
- }
- devp->accfullscale = LSM6DSL_ACC_8G;
- }
- else if(devp->config->accfullscale == LSM6DSL_ACC_FS_16G) {
- for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++) {
- if(devp->config->accsensitivity == NULL)
- devp->accsensitivity[i] = LSM6DSL_ACC_SENS_16G;
- else
- devp->accsensitivity[i] = devp->config->accsensitivity[i];
- }
- devp->accfullscale = LSM6DSL_ACC_16G;
- }
- else
- osalDbgAssert(FALSE, "lsm6dslStart(), accelerometer full scale issue");
- /* Storing bias information */
- if(devp->config->accbias != NULL)
- for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++)
- devp->accbias[i] = devp->config->accbias[i];
- else
- for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++)
- devp->accbias[i] = LSM6DSL_ACC_BIAS;
- if(devp->config->gyrofullscale == LSM6DSL_GYRO_FS_125DPS) {
- for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++) {
- if(devp->config->gyrosensitivity == NULL)
- devp->gyrosensitivity[i] = LSM6DSL_GYRO_SENS_125DPS;
- else
- devp->gyrosensitivity[i] = devp->config->gyrosensitivity[i];
- }
- devp->gyrofullscale = LSM6DSL_GYRO_125DPS;
- }
- else if(devp->config->gyrofullscale == LSM6DSL_GYRO_FS_250DPS) {
- for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++) {
- if(devp->config->gyrosensitivity == NULL)
- devp->gyrosensitivity[i] = LSM6DSL_GYRO_SENS_250DPS;
- else
- devp->gyrosensitivity[i] = devp->config->gyrosensitivity[i];
- }
- devp->gyrofullscale = LSM6DSL_GYRO_250DPS;
- }
- else if(devp->config->gyrofullscale == LSM6DSL_GYRO_FS_500DPS) {
- for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++) {
- if(devp->config->gyrosensitivity == NULL)
- devp->gyrosensitivity[i] = LSM6DSL_GYRO_SENS_500DPS;
- else
- devp->gyrosensitivity[i] = devp->config->gyrosensitivity[i];
- }
- devp->gyrofullscale = LSM6DSL_GYRO_500DPS;
- }
- else if(devp->config->gyrofullscale == LSM6DSL_GYRO_FS_1000DPS) {
- for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++) {
- if(devp->config->gyrosensitivity == NULL)
- devp->gyrosensitivity[i] = LSM6DSL_GYRO_SENS_1000DPS;
- else
- devp->gyrosensitivity[i] = devp->config->gyrosensitivity[i];
- }
- devp->gyrofullscale = LSM6DSL_GYRO_1000DPS;
- }
- else if(devp->config->gyrofullscale == LSM6DSL_GYRO_FS_2000DPS) {
- for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++) {
- if(devp->config->gyrosensitivity == NULL)
- devp->gyrosensitivity[i] = LSM6DSL_GYRO_SENS_2000DPS;
- else
- devp->gyrosensitivity[i] = devp->config->gyrosensitivity[i];
- }
- devp->gyrofullscale = LSM6DSL_GYRO_2000DPS;
- }
- else
- osalDbgAssert(FALSE, "lsm6dslStart(), gyroscope full scale issue");
- /* Storing bias information */
- if(devp->config->gyrobias != NULL)
- for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++)
- devp->gyrobias[i] = devp->config->gyrobias[i];
- else
- for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++)
- devp->gyrobias[i] = LSM6DSL_GYRO_BIAS;
- /* This is the MEMS transient recovery time */
- osalThreadSleepMilliseconds(5);
- devp->state = LSM6DSL_READY;
- }
- /**
- * @brief Deactivates the LSM6DSL Complex Driver peripheral.
- *
- * @param[in] devp pointer to the @p LSM6DSLDriver object
- *
- * @api
- */
- void lsm6dslStop(LSM6DSLDriver *devp) {
- uint8_t cr[2];
- osalDbgCheck(devp != NULL);
- osalDbgAssert((devp->state == LSM6DSL_STOP) || (devp->state == LSM6DSL_READY),
- "lsm6dslStop(), invalid state");
- if (devp->state == LSM6DSL_READY) {
- #if LSM6DSL_USE_I2C
- #if LSM6DSL_SHARED_I2C
- i2cAcquireBus(devp->config->i2cp);
- i2cStart(devp->config->i2cp, devp->config->i2ccfg);
- #endif /* LSM6DSL_SHARED_I2C */
- cr[0] = LSM6DSL_AD_CTRL1_XL;
- /* Disabling accelerometer.*/
- cr[1] = LSM6DSL_ACC_ODR_PD;
- /* Disabling gyroscope.*/
- cr[2] = LSM6DSL_GYRO_ODR_PD;
- lsm6dslI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
- cr, 2);
- i2cStop(devp->config->i2cp);
- #if LSM6DSL_SHARED_I2C
- i2cReleaseBus(devp->config->i2cp);
- #endif /* LSM6DSL_SHARED_I2C */
- #endif /* LSM6DSL_USE_I2C */
- }
- devp->state = LSM6DSL_STOP;
- }
- /** @} */
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