/*
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 lsm303dlhc.c
* @brief LSM303DLHC MEMS interface module code.
*
* @addtogroup LSM303DLHC
* @ingroup EX_ST
* @{
*/
#include "hal.h"
#include "lsm303dlhc.h"
/*===========================================================================*/
/* Driver local definitions. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver exported variables. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local variables and types. */
/*===========================================================================*/
/**
* @brief Accelerometer and Compass Slave Address.
*/
typedef enum {
LSM303DLHC_SAD_ACC = 0x19, /**< SAD for accelerometer. */
LSM303DLHC_SAD_COMP = 0x1E /**< SAD for compass. */
} lsm303dlhc_sad_t;
/*===========================================================================*/
/* Driver local functions. */
/*===========================================================================*/
/**
* @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[in] rxbuf receiving buffer.
* @param[in] n size of rxbuf.
* @return the operation status.
*/
static msg_t lsm303dlhcI2CReadRegister(I2CDriver *i2cp, lsm303dlhc_sad_t sad,
uint8_t reg, uint8_t *rxbuf, size_t n) {
uint8_t txbuf = reg | LSM303DLHC_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.
*/
static msg_t lsm303dlhcI2CWriteRegister(I2CDriver *i2cp, lsm303dlhc_sad_t sad,
uint8_t *txbuf, size_t n) {
if (n != 1)
*txbuf |= LSM303DLHC_MS;
return i2cMasterTransmitTimeout(i2cp, sad, txbuf, n + 1, NULL, 0,
TIME_INFINITE);
}
/**
* @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 LSM303DLHC_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[]) {
LSM303DLHCDriver* devp;
uint8_t buff [LSM303DLHC_ACC_NUMBER_OF_AXES * 2], i;
int16_t tmp;
msg_t msg;
osalDbgCheck((ip != NULL) && (axes != NULL));
/* Getting parent instance pointer.*/
devp = objGetInstance(LSM303DLHCDriver*, (BaseAccelerometer*)ip);
osalDbgAssert((devp->state == LSM303DLHC_READY),
"acc_read_raw(), invalid state");
osalDbgAssert((devp->config->i2cp->state == I2C_READY),
"acc_read_raw(), channel not ready");
#if LSM303DLHC_SHARED_I2C
i2cAcquireBus(devp->config->i2cp);
i2cStart(devp->config->i2cp,
devp->config->i2ccfg);
#endif /* LSM303DLHC_SHARED_I2C */
msg = lsm303dlhcI2CReadRegister(devp->config->i2cp, LSM303DLHC_SAD_ACC,
LSM303DLHC_AD_ACC_OUT_X_L, buff,
LSM303DLHC_ACC_NUMBER_OF_AXES * 2);
#if LSM303DLHC_SHARED_I2C
i2cReleaseBus(devp->config->i2cp);
#endif /* LSM303DLHC_SHARED_I2C */
if(msg == MSG_OK)
for(i = 0; i < LSM303DLHC_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[]) {
LSM303DLHCDriver* devp;
uint32_t i;
int32_t raw[LSM303DLHC_ACC_NUMBER_OF_AXES];
msg_t msg;
osalDbgCheck((ip != NULL) && (axes != NULL));
/* Getting parent instance pointer.*/
devp = objGetInstance(LSM303DLHCDriver*, (BaseAccelerometer*)ip);
osalDbgAssert((devp->state == LSM303DLHC_READY),
"acc_read_cooked(), invalid state");
msg = acc_read_raw(ip, raw);
for(i = 0; i < LSM303DLHC_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) {
LSM303DLHCDriver* devp;
uint32_t i;
msg_t msg = MSG_OK;
osalDbgCheck((ip != NULL) && (bp != NULL));
/* Getting parent instance pointer.*/
devp = objGetInstance(LSM303DLHCDriver*, (BaseAccelerometer*)ip);
osalDbgAssert((devp->state == LSM303DLHC_READY),
"acc_set_bias(), invalid state");
for(i = 0; i < LSM303DLHC_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) {
LSM303DLHCDriver* devp;
uint32_t i;
msg_t msg = MSG_OK;
osalDbgCheck(ip != NULL);
/* Getting parent instance pointer.*/
devp = objGetInstance(LSM303DLHCDriver*, (BaseAccelerometer*)ip);
osalDbgAssert((devp->state == LSM303DLHC_READY),
"acc_reset_bias(), invalid state");
for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++)
devp->accbias[i] = LSM303DLHC_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) {
LSM303DLHCDriver* devp;
uint32_t i;
msg_t msg = MSG_OK;
/* Getting parent instance pointer.*/
devp = objGetInstance(LSM303DLHCDriver*, (BaseAccelerometer*)ip);
osalDbgCheck((ip != NULL) && (sp != NULL));
osalDbgAssert((devp->state == LSM303DLHC_READY),
"acc_set_sensivity(), invalid state");
for(i = 0; i < LSM303DLHC_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) {
LSM303DLHCDriver* devp;
uint32_t i;
msg_t msg = MSG_OK;
osalDbgCheck(ip != NULL);
/* Getting parent instance pointer.*/
devp = objGetInstance(LSM303DLHCDriver*, (BaseAccelerometer*)ip);
osalDbgAssert((devp->state == LSM303DLHC_READY),
"acc_reset_sensivity(), invalid state");
if(devp->config->accfullscale == LSM303DLHC_ACC_FS_2G)
for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++)
devp->accsensitivity[i] = LSM303DLHC_ACC_SENS_2G;
else if(devp->config->accfullscale == LSM303DLHC_ACC_FS_4G)
for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++)
devp->accsensitivity[i] = LSM303DLHC_ACC_SENS_4G;
else if(devp->config->accfullscale == LSM303DLHC_ACC_FS_8G)
for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++)
devp->accsensitivity[i] = LSM303DLHC_ACC_SENS_8G;
else if(devp->config->accfullscale == LSM303DLHC_ACC_FS_16G)
for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++)
devp->accsensitivity[i] = LSM303DLHC_ACC_SENS_16G;
else {
osalDbgAssert(FALSE, "acc_reset_sensivity(), accelerometer full scale issue");
msg = MSG_RESET;
}
return msg;
}
/**
* @brief Changes the LSM303DLHCDriver 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 LSM303DLHCDriver 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(LSM303DLHCDriver *devp,
lsm303dlhc_acc_fs_t fs) {
float newfs, scale;
uint8_t i, buff[2];
msg_t msg;
osalDbgCheck(devp != NULL);
osalDbgAssert((devp->state == LSM303DLHC_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 == LSM303DLHC_ACC_FS_2G) {
newfs = LSM303DLHC_ACC_2G;
}
else if(fs == LSM303DLHC_ACC_FS_4G) {
newfs = LSM303DLHC_ACC_4G;
}
else if(fs == LSM303DLHC_ACC_FS_8G) {
newfs = LSM303DLHC_ACC_8G;
}
else if(fs == LSM303DLHC_ACC_FS_16G) {
newfs = LSM303DLHC_ACC_16G;
}
else {
msg = MSG_RESET;
return msg;
}
if(newfs != devp->accfullscale) {
/* Computing scale value.*/
scale = newfs / devp->accfullscale;
devp->accfullscale = newfs;
#if LSM303DLHC_SHARED_I2C
i2cAcquireBus(devp->config->i2cp);
i2cStart(devp->config->i2cp,
devp->config->i2ccfg);
#endif /* LSM303DLHC_SHARED_I2C */
/* Updating register.*/
msg = lsm303dlhcI2CReadRegister(devp->config->i2cp,
LSM303DLHC_SAD_ACC,
LSM303DLHC_AD_ACC_CTRL_REG4,
&buff[1], 1);
#if LSM303DLHC_SHARED_I2C
i2cReleaseBus(devp->config->i2cp);
#endif /* LSM303DLHC_SHARED_I2C */
if(msg != MSG_OK)
return msg;
buff[1] &= ~(LSM303DLHC_CTRL_REG4_A_FS_MASK);
buff[1] |= fs;
buff[0] = LSM303DLHC_AD_ACC_CTRL_REG4;
#if LSM303DLHC_SHARED_I2C
i2cAcquireBus(devp->config->i2cp);
i2cStart(devp->config->i2cp, devp->config->i2ccfg);
#endif /* LSM303DLHC_SHARED_I2C */
msg = lsm303dlhcI2CWriteRegister(devp->config->i2cp,
LSM303DLHC_SAD_ACC, buff, 1);
#if LSM303DLHC_SHARED_I2C
i2cReleaseBus(devp->config->i2cp);
#endif /* LSM303DLHC_SHARED_I2C */
if(msg != MSG_OK)
return msg;
/* Scaling sensitivity and bias. Re-calibration is suggested anyway.*/
for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++) {
devp->accsensitivity[i] *= scale;
devp->accbias[i] *= scale;
}
}
return msg;
}
/**
* @brief Return the number of axes of the BaseCompass.
*
* @param[in] ip pointer to @p BaseCompass interface
*
* @return the number of axes.
*/
static size_t comp_get_axes_number(void *ip) {
osalDbgCheck(ip != NULL);
return LSM303DLHC_COMP_NUMBER_OF_AXES;
}
/**
* @brief Retrieves raw data from the BaseCompass.
* @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
* BaseCompass axes number.
*
* @param[in] ip pointer to @p BaseCompass 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 comp_read_raw(void *ip, int32_t axes[]) {
LSM303DLHCDriver* devp;
uint8_t buff [LSM303DLHC_COMP_NUMBER_OF_AXES * 2], i;
int16_t tmp;
msg_t msg;
osalDbgCheck((ip != NULL) && (axes != NULL));
/* Getting parent instance pointer.*/
devp = objGetInstance(LSM303DLHCDriver*, (BaseCompass*)ip);
osalDbgAssert((devp->state == LSM303DLHC_READY),
"comp_read_raw(), invalid state");
osalDbgAssert((devp->config->i2cp->state == I2C_READY),
"comp_read_raw(), channel not ready");
#if LSM303DLHC_SHARED_I2C
i2cAcquireBus(devp->config->i2cp);
i2cStart(devp->config->i2cp,
devp->config->i2ccfg);
#endif /* LSM303DLHC_SHARED_I2C */
msg = lsm303dlhcI2CReadRegister(devp->config->i2cp, LSM303DLHC_SAD_COMP,
LSM303DLHC_AD_COMP_OUT_X_L, buff,
LSM303DLHC_COMP_NUMBER_OF_AXES * 2);
#if LSM303DLHC_SHARED_I2C
i2cReleaseBus(devp->config->i2cp);
#endif /* LSM303DLHC_SHARED_I2C */
if(msg == MSG_OK)
for(i = 0; i < LSM303DLHC_COMP_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 BaseCompass.
* @note This data is manipulated according to the formula
* cooked = (raw * sensitivity) - bias.
* @note Final data is expressed as G.
* @note The axes array must be at least the same size of the
* BaseCompass axes number.
*
* @param[in] ip pointer to @p BaseCompass 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 comp_read_cooked(void *ip, float axes[]) {
LSM303DLHCDriver* devp;
uint32_t i;
int32_t raw[LSM303DLHC_COMP_NUMBER_OF_AXES];
msg_t msg;
osalDbgCheck((ip != NULL) && (axes != NULL));
/* Getting parent instance pointer.*/
devp = objGetInstance(LSM303DLHCDriver*, (BaseCompass*)ip);
osalDbgAssert((devp->state == LSM303DLHC_READY),
"comp_read_cooked(), invalid state");
msg = comp_read_raw(ip, raw);
for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES ; i++) {
axes[i] = (raw[i] * devp->compsensitivity[i]) - devp->compbias[i];
}
return msg;
}
/**
* @brief Set bias values for the BaseCompass.
* @note Bias must be expressed as G.
* @note The bias buffer must be at least the same size of the
* BaseCompass axes number.
*
* @param[in] ip pointer to @p BaseCompass interface.
* @param[in] bp a buffer which contains biases.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*/
static msg_t comp_set_bias(void *ip, float *bp) {
LSM303DLHCDriver* devp;
uint32_t i;
msg_t msg = MSG_OK;
osalDbgCheck((ip != NULL) && (bp != NULL));
/* Getting parent instance pointer.*/
devp = objGetInstance(LSM303DLHCDriver*, (BaseCompass*)ip);
osalDbgAssert((devp->state == LSM303DLHC_READY),
"comp_set_bias(), invalid state");
for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
devp->compbias[i] = bp[i];
}
return msg;
}
/**
* @brief Reset bias values for the BaseCompass.
* @note Default biases value are obtained from device datasheet when
* available otherwise they are considered zero.
*
* @param[in] ip pointer to @p BaseCompass interface.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*/
static msg_t comp_reset_bias(void *ip) {
LSM303DLHCDriver* devp;
uint32_t i;
msg_t msg = MSG_OK;
osalDbgCheck(ip != NULL);
/* Getting parent instance pointer.*/
devp = objGetInstance(LSM303DLHCDriver*, (BaseCompass*)ip);
osalDbgAssert((devp->state == LSM303DLHC_READY),
"comp_reset_bias(), invalid state");
for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++)
devp->compbias[i] = LSM303DLHC_COMP_BIAS;
return msg;
}
/**
* @brief Set sensitivity values for the BaseCompass.
* @note Sensitivity must be expressed as G/LSB.
* @note The sensitivity buffer must be at least the same size of the
* BaseCompass axes number.
*
* @param[in] ip pointer to @p BaseCompass interface.
* @param[in] sp a buffer which contains sensitivities.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*/
static msg_t comp_set_sensivity(void *ip, float *sp) {
LSM303DLHCDriver* devp;
uint32_t i;
msg_t msg = MSG_OK;
/* Getting parent instance pointer.*/
devp = objGetInstance(LSM303DLHCDriver*, (BaseCompass*)ip);
osalDbgCheck((ip != NULL) && (sp != NULL));
osalDbgAssert((devp->state == LSM303DLHC_READY),
"comp_set_sensivity(), invalid state");
for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
devp->compsensitivity[i] = sp[i];
}
return msg;
}
/**
* @brief Reset sensitivity values for the BaseCompass.
* @note Default sensitivities value are obtained from device datasheet.
*
* @param[in] ip pointer to @p BaseCompass interface.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
* @retval MSG_RESET otherwise.
*/
static msg_t comp_reset_sensivity(void *ip) {
LSM303DLHCDriver* devp;
uint32_t i;
msg_t msg = MSG_OK;
osalDbgCheck(ip != NULL);
/* Getting parent instance pointer.*/
devp = objGetInstance(LSM303DLHCDriver*, (BaseCompass*)ip);
osalDbgAssert((devp->state == LSM303DLHC_READY),
"comp_reset_sensivity(), invalid state");
if(devp->config->compfullscale == LSM303DLHC_COMP_FS_1P3GA)
for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
if(i != 2) {
devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_1P3GA;
}
else {
devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_1P3GA;
}
}
else if(devp->config->compfullscale == LSM303DLHC_COMP_FS_1P9GA)
for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
if(i != 2) {
devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_1P9GA;
}
else {
devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_1P9GA;
}
}
else if(devp->config->compfullscale == LSM303DLHC_COMP_FS_2P5GA)
for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
if(i != 2) {
devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_2P5GA;
}
else {
devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_2P5GA;
}
}
else if(devp->config->compfullscale == LSM303DLHC_COMP_FS_4P0GA)
for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
if(i != 2) {
devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_4P0GA;
}
else {
devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_4P0GA;
}
}
else if(devp->config->compfullscale == LSM303DLHC_COMP_FS_4P7GA)
for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
if(i != 2) {
devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_4P7GA;
}
else {
devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_4P7GA;
}
}
else if(devp->config->compfullscale == LSM303DLHC_COMP_FS_5P6GA)
for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
if(i != 2) {
devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_5P6GA;
}
else {
devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_5P6GA;
}
}
else if(devp->config->compfullscale == LSM303DLHC_COMP_FS_8P1GA)
for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
if(i != 2) {
devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_8P1GA;
}
else {
devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_8P1GA;
}
}
else {
osalDbgAssert(FALSE, "comp_reset_sensivity(), compass full scale issue");
msg = MSG_RESET;
}
return msg;
}
/**
* @brief Changes the LSM303DLHCDriver compass 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 LSM303DLHCDriver 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 comp_set_full_scale(LSM303DLHCDriver *devp,
lsm303dlhc_comp_fs_t fs) {
float newfs, scale;
uint8_t i, buff[2];
msg_t msg;
osalDbgCheck(devp != NULL);
osalDbgAssert((devp->state == LSM303DLHC_READY),
"comp_set_full_scale(), invalid state");
osalDbgAssert((devp->config->i2cp->state == I2C_READY),
"comp_set_full_scale(), channel not ready");
/* Computing new fullscale value.*/
if(fs == LSM303DLHC_COMP_FS_1P3GA) {
newfs = LSM303DLHC_COMP_1P3GA;
}
else if(fs == LSM303DLHC_COMP_FS_1P9GA) {
newfs = LSM303DLHC_COMP_1P9GA;
}
else if(fs == LSM303DLHC_COMP_FS_2P5GA) {
newfs = LSM303DLHC_COMP_2P5GA;
}
else if(fs == LSM303DLHC_COMP_FS_4P0GA) {
newfs = LSM303DLHC_COMP_4P0GA;
}
else if(fs == LSM303DLHC_COMP_FS_4P7GA) {
newfs = LSM303DLHC_COMP_4P7GA;
}
else if(fs == LSM303DLHC_COMP_FS_5P6GA) {
newfs = LSM303DLHC_COMP_5P6GA;
}
else if(fs == LSM303DLHC_COMP_FS_8P1GA) {
newfs = LSM303DLHC_COMP_8P1GA;
}
else {
msg = MSG_RESET;
return msg;
}
if(newfs != devp->compfullscale) {
/* Computing scale value.*/
scale = newfs / devp->compfullscale;
devp->compfullscale = newfs;
#if LSM303DLHC_SHARED_I2C
i2cAcquireBus(devp->config->i2cp);
i2cStart(devp->config->i2cp, devp->config->i2ccfg);
#endif /* LSM303DLHC_SHARED_I2C */
/* Updating register.*/
msg = lsm303dlhcI2CReadRegister(devp->config->i2cp, LSM303DLHC_SAD_COMP,
LSM303DLHC_AD_COMP_CRB_REG, &buff[1], 1);
#if LSM303DLHC_SHARED_I2C
i2cReleaseBus(devp->config->i2cp);
#endif /* LSM303DLHC_SHARED_I2C */
if(msg != MSG_OK)
return msg;
buff[1] &= ~(LSM303DLHC_CRB_REG_M_GN_MASK);
buff[1] |= fs;
buff[0] = LSM303DLHC_AD_COMP_CRB_REG;
#if LSM303DLHC_SHARED_I2C
i2cAcquireBus(devp->config->i2cp);
i2cStart(devp->config->i2cp, devp->config->i2ccfg);
#endif /* LSM303DLHC_SHARED_I2C */
msg = lsm303dlhcI2CWriteRegister(devp->config->i2cp, LSM303DLHC_SAD_COMP,
buff, 1);
#if LSM303DLHC_SHARED_I2C
i2cReleaseBus(devp->config->i2cp);
#endif /* LSM303DLHC_SHARED_I2C */
if(msg != MSG_OK)
return msg;
/* Scaling sensitivity and bias. Re-calibration is suggested anyway.*/
for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
devp->compsensitivity[i] *= scale;
devp->compbias[i] *= scale;
}
}
return msg;
}
static const struct LSM303DLHCVMT vmt_device = {
(size_t)0,
acc_set_full_scale, comp_set_full_scale
};
static const struct BaseAccelerometerVMT vmt_accelerometer = {
sizeof(struct LSM303DLHCVMT*),
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 BaseCompassVMT vmt_compass = {
sizeof(struct LSM303DLHCVMT*) + sizeof(BaseAccelerometer),
comp_get_axes_number, comp_read_raw, comp_read_cooked,
comp_set_bias, comp_reset_bias, comp_set_sensivity, comp_reset_sensivity
};
/*===========================================================================*/
/* Driver exported functions. */
/*===========================================================================*/
/**
* @brief Initializes an instance.
*
* @param[out] devp pointer to the @p LSM303DLHCDriver object
*
* @init
*/
void lsm303dlhcObjectInit(LSM303DLHCDriver *devp) {
devp->vmt = &vmt_device;
devp->acc_if.vmt = &vmt_accelerometer;
devp->comp_if.vmt = &vmt_compass;
devp->config = NULL;
devp->accaxes = LSM303DLHC_ACC_NUMBER_OF_AXES;
devp->compaxes = LSM303DLHC_COMP_NUMBER_OF_AXES;
devp->state = LSM303DLHC_STOP;
}
/**
* @brief Configures and activates LSM303DLHC Complex Driver peripheral.
*
* @param[in] devp pointer to the @p LSM303DLHCDriver object
* @param[in] config pointer to the @p LSM303DLHCConfig object
*
* @api
*/
void lsm303dlhcStart(LSM303DLHCDriver *devp, const LSM303DLHCConfig *config) {
uint32_t i;
uint8_t cr[6];
osalDbgCheck((devp != NULL) && (config != NULL));
osalDbgAssert((devp->state == LSM303DLHC_STOP) ||
(devp->state == LSM303DLHC_READY),
"lsm303dlhcStart(), invalid state");
devp->config = config;
/* Configuring Accelerometer subsystem.*/
/* Multiple write starting address.*/
cr[0] = LSM303DLHC_AD_ACC_CTRL_REG1;
/* Control register 1 configuration block.*/
{
cr[1] = LSM303DLHC_CTRL_REG1_A_XEN | LSM303DLHC_CTRL_REG1_A_YEN |
LSM303DLHC_CTRL_REG1_A_ZEN | devp->config->accoutdatarate;
#if LSM303DLHC_USE_ADVANCED || defined(__DOXYGEN__)
cr[1] |= devp->config->acclowpower;
#endif
}
/* Control register 2 configuration block.*/
{
cr[2] = 0;
}
/* Control register 3 configuration block.*/
{
cr[3] = 0;
}
/* Control register 4 configuration block.*/
{
cr[4] = devp->config->accfullscale;
#if LSM303DLHC_USE_ADVANCED || defined(__DOXYGEN__)
cr[4] |= devp->config->accendianess |
devp->config->accblockdataupdate |
devp->config->acchighresmode;
#endif
}
#if LSM303DLHC_SHARED_I2C
i2cAcquireBus((devp)->config->i2cp);
#endif /* LSM303DLHC_SHARED_I2C */
i2cStart((devp)->config->i2cp, (devp)->config->i2ccfg);
lsm303dlhcI2CWriteRegister(devp->config->i2cp, LSM303DLHC_SAD_ACC, cr, 4);
#if LSM303DLHC_SHARED_I2C
i2cReleaseBus((devp)->config->i2cp);
#endif /* LSM303DLHC_SHARED_I2C */
/* Storing sensitivity according to user settings */
if(devp->config->accfullscale == LSM303DLHC_ACC_FS_2G) {
devp->accfullscale = LSM303DLHC_ACC_2G;
for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++) {
if(devp->config->accsensitivity == NULL)
devp->accsensitivity[i] = LSM303DLHC_ACC_SENS_2G;
else
devp->accsensitivity[i] = devp->config->accsensitivity[i];
}
}
else if(devp->config->accfullscale == LSM303DLHC_ACC_FS_4G) {
devp->accfullscale = LSM303DLHC_ACC_4G;
for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++) {
if(devp->config->accsensitivity == NULL)
devp->accsensitivity[i] = LSM303DLHC_ACC_SENS_4G;
else
devp->accsensitivity[i] = devp->config->accsensitivity[i];
}
}
else if(devp->config->accfullscale == LSM303DLHC_ACC_FS_8G) {
devp->accfullscale = LSM303DLHC_ACC_8G;
for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++) {
if(devp->config->accsensitivity == NULL)
devp->accsensitivity[i] = LSM303DLHC_ACC_SENS_8G;
else
devp->accsensitivity[i] = devp->config->accsensitivity[i];
}
}
else if(devp->config->accfullscale == LSM303DLHC_ACC_FS_16G) {
devp->accfullscale = LSM303DLHC_ACC_16G;
for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++) {
if(devp->config->accsensitivity == NULL)
devp->accsensitivity[i] = LSM303DLHC_ACC_SENS_16G;
else
devp->accsensitivity[i] = devp->config->accsensitivity[i];
}
}
else
osalDbgAssert(FALSE, "lsm303dlhcStart(), accelerometer full scale issue");
/* Storing bias information */
if(devp->config->accbias != NULL)
for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++)
devp->accbias[i] = devp->config->accbias[i];
else
for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++)
devp->accbias[i] = LSM303DLHC_ACC_BIAS;
/* Configuring Compass subsystem */
/* Multiple write starting address.*/
cr[0] = LSM303DLHC_AD_COMP_CRA_REG;
/* Control register A configuration block.*/
{
cr[1] = devp->config->compoutputdatarate;
}
/* Control register B configuration block.*/
{
cr[2] = devp->config->compfullscale;
}
/* Mode register configuration block.*/
{
cr[3] = 0;
#if LSM303DLHC_USE_ADVANCED || defined(__DOXYGEN__)
cr[3] |= devp->config->compmode;
#endif
}
#if LSM303DLHC_SHARED_I2C
i2cAcquireBus((devp)->config->i2cp);
i2cStart((devp)->config->i2cp, (devp)->config->i2ccfg);
#endif /* LSM303DLHC_SHARED_I2C */
lsm303dlhcI2CWriteRegister(devp->config->i2cp, LSM303DLHC_SAD_COMP,
cr, 3);
#if LSM303DLHC_SHARED_I2C
i2cReleaseBus((devp)->config->i2cp);
#endif /* LSM303DLHC_SHARED_I2C */
if(devp->config->compfullscale == LSM303DLHC_COMP_FS_1P3GA) {
devp->compfullscale = LSM303DLHC_COMP_1P3GA;
for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
if(devp->config->compsensitivity == NULL) {
if(i != 2) {
devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_1P3GA;
}
else {
devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_1P3GA;
}
}
else {
devp->compsensitivity[i] = devp->config->compsensitivity[i];
}
}
}
else if(devp->config->compfullscale == LSM303DLHC_COMP_FS_1P9GA) {
devp->compfullscale = LSM303DLHC_COMP_1P9GA;
for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
if(devp->config->compsensitivity == NULL) {
if(i != 2) {
devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_1P9GA;
}
else {
devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_1P9GA;
}
}
else {
devp->compsensitivity[i] = devp->config->compsensitivity[i];
}
}
}
else if(devp->config->compfullscale == LSM303DLHC_COMP_FS_2P5GA) {
devp->compfullscale = LSM303DLHC_COMP_2P5GA;
for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
if(devp->config->compsensitivity == NULL) {
if(i != 2) {
devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_2P5GA;
}
else {
devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_2P5GA;
}
}
else {
devp->compsensitivity[i] = devp->config->compsensitivity[i];
}
}
}
else if(devp->config->compfullscale == LSM303DLHC_COMP_FS_4P0GA) {
devp->compfullscale = LSM303DLHC_COMP_4P0GA;
for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
if(devp->config->compsensitivity == NULL) {
if(i != 2) {
devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_4P0GA;
}
else {
devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_4P0GA;
}
}
else {
devp->compsensitivity[i] = devp->config->compsensitivity[i];
}
}
}
else if(devp->config->compfullscale == LSM303DLHC_COMP_FS_4P7GA) {
devp->compfullscale = LSM303DLHC_COMP_4P7GA;
for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
if(devp->config->compsensitivity == NULL) {
if(i != 2) {
devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_4P7GA;
}
else {
devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_4P7GA;
}
}
else {
devp->compsensitivity[i] = devp->config->compsensitivity[i];
}
}
}
else if(devp->config->compfullscale == LSM303DLHC_COMP_FS_5P6GA) {
devp->compfullscale = LSM303DLHC_COMP_5P6GA;
for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
if(devp->config->compsensitivity == NULL) {
if(i != 2) {
devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_5P6GA;
}
else {
devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_5P6GA;
}
}
else {
devp->compsensitivity[i] = devp->config->compsensitivity[i];
}
}
}
else if(devp->config->compfullscale == LSM303DLHC_COMP_FS_8P1GA) {
devp->compfullscale = LSM303DLHC_COMP_8P1GA;
for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
if(devp->config->compsensitivity == NULL) {
if(i != 2) {
devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_XY_8P1GA;
}
else {
devp->compsensitivity[i] = LSM303DLHC_COMP_SENS_Z_8P1GA;
}
}
else {
devp->compsensitivity[i] = devp->config->compsensitivity[i];
}
}
}
else
osalDbgAssert(FALSE, "lsm303dlhcStart(), compass full scale issue");
/* Storing bias information */
if(devp->config->compbias != NULL)
for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++)
devp->compbias[i] = devp->config->compbias[i];
else
for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++)
devp->compbias[i] = LSM303DLHC_COMP_BIAS;
/* This is the MEMS transient recovery time */
osalThreadSleepMilliseconds(5);
devp->state = LSM303DLHC_READY;
}
/**
* @brief Deactivates the LSM303DLHC Complex Driver peripheral.
*
* @param[in] devp pointer to the @p LSM303DLHCDriver object
*
* @api
*/
void lsm303dlhcStop(LSM303DLHCDriver *devp) {
uint8_t cr[2];
osalDbgCheck(devp != NULL);
osalDbgAssert((devp->state == LSM303DLHC_STOP) ||
(devp->state == LSM303DLHC_READY),
"lsm303dlhcStop(), invalid state");
if (devp->state == LSM303DLHC_READY) {
#if LSM303DLHC_SHARED_I2C
i2cAcquireBus((devp)->config->i2cp);
i2cStart((devp)->config->i2cp, (devp)->config->i2ccfg);
#endif /* LSM303DLHC_SHARED_I2C */
/* Disabling accelerometer. */
cr[0] = LSM303DLHC_AD_ACC_CTRL_REG1;
cr[1] = LSM303DLHC_ACC_AE_DISABLED | LSM303DLHC_ACC_ODR_PD;
lsm303dlhcI2CWriteRegister(devp->config->i2cp, LSM303DLHC_SAD_ACC,
cr, 1);
/* Disabling compass. */
cr[0] = LSM303DLHC_AD_COMP_MR_REG;
cr[1] = LSM303DLHC_COMP_MD_SLEEP;
lsm303dlhcI2CWriteRegister(devp->config->i2cp, LSM303DLHC_SAD_COMP,
cr, 1);
i2cStop((devp)->config->i2cp);
#if LSM303DLHC_SHARED_I2C
i2cReleaseBus((devp)->config->i2cp);
#endif /* LSM303DLHC_SHARED_I2C */
}
devp->state = LSM303DLHC_STOP;
}
/** @} */