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-rw-r--r--os/ex/ST/l3gd20.c45
-rw-r--r--os/ex/ST/l3gd20.h2
-rw-r--r--os/hal/lib/peripherals/sensors/hal_gyroscope.h23
-rw-r--r--testhal/STM32/STM32F3xx/SPI-L3GD20/.project38
-rw-r--r--testhal/STM32/STM32F3xx/SPI-L3GD20/main.c4
-rw-r--r--testhal/STM32/STM32L4xx/SPI-L3GD20/main.c4
6 files changed, 80 insertions, 36 deletions
diff --git a/os/ex/ST/l3gd20.c b/os/ex/ST/l3gd20.c
index 4c6965875..63b902058 100644
--- a/os/ex/ST/l3gd20.c
+++ b/os/ex/ST/l3gd20.c
@@ -244,26 +244,12 @@ static msg_t read_cooked(void *ip, float axes[]) {
msg = read_raw(ip, raw);
for(i = 0; i < L3GD20_NUMBER_OF_AXES ; i++){
- axes[i] = raw[i] * ((L3GD20Driver *)ip)->sensitivity;
+ axes[i] = raw[i] * ((L3GD20Driver *)ip)->sensitivity[i];
}
return msg;
}
-static msg_t reset_calibration(void *ip) {
- uint32_t i;
-
- osalDbgCheck(ip != NULL);
-
- osalDbgAssert((((L3GD20Driver *)ip)->state == L3GD20_READY) ||
- (((L3GD20Driver *)ip)->state == L3GD20_STOP),
- "reset_calibration(), invalid state");
-
- for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
- ((L3GD20Driver *)ip)->bias[i] = 0;
- return MSG_OK;
-}
-
-static msg_t calibrate(void *ip) {
+static msg_t sample_bias(void *ip) {
uint32_t i, j;
int32_t raw[L3GD20_NUMBER_OF_AXES];
int32_t buff[L3GD20_NUMBER_OF_AXES] = {0, 0, 0};
@@ -287,13 +273,27 @@ static msg_t calibrate(void *ip) {
return MSG_OK;
}
+static msg_t reset_bias(void *ip) {
+ uint32_t i;
+
+ osalDbgCheck(ip != NULL);
+
+ osalDbgAssert((((L3GD20Driver *)ip)->state == L3GD20_READY) ||
+ (((L3GD20Driver *)ip)->state == L3GD20_STOP),
+ "reset_calibration(), invalid state");
+
+ for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
+ ((L3GD20Driver *)ip)->bias[i] = 0;
+ return MSG_OK;
+}
+
static const struct BaseSensorVMT vmt_basesensor = {
get_axes_number, read_raw, read_cooked
};
static const struct BaseGyroscopeVMT vmt_basegyroscope = {
get_axes_number, read_raw, read_cooked,
- reset_calibration, calibrate
+ sample_bias, reset_bias
};
@@ -329,7 +329,7 @@ void l3gd20ObjectInit(L3GD20Driver *devp) {
* @api
*/
void l3gd20Start(L3GD20Driver *devp, const L3GD20Config *config) {
-
+ uint8_t i;
osalDbgCheck((devp != NULL) && (config != NULL));
osalDbgAssert((devp->state == L3GD20_STOP) || (devp->state == L3GD20_READY),
@@ -358,11 +358,14 @@ void l3gd20Start(L3GD20Driver *devp, const L3GD20Config *config) {
/* Storing sensitivity information according to full scale value */
if(devp->config->fullscale == L3GD20_FS_250DPS)
- devp->sensitivity = L3GD20_SENS_250DPS;
+ for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
+ devp->sensitivity[i] = L3GD20_SENS_250DPS;
else if(devp->config->fullscale == L3GD20_FS_500DPS)
- devp->sensitivity = L3GD20_SENS_500DPS;
+ for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
+ devp->sensitivity[i] = L3GD20_SENS_500DPS;
else if(devp->config->fullscale == L3GD20_FS_2000DPS)
- devp->sensitivity = L3GD20_SENS_2000DPS;
+ for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
+ devp->sensitivity[i] = L3GD20_SENS_2000DPS;
else
osalDbgAssert(FALSE, "l3gd20Start(), full scale issue");
/* This is the Gyroscope transient recovery time */
diff --git a/os/ex/ST/l3gd20.h b/os/ex/ST/l3gd20.h
index 410e6e28a..e13dafba5 100644
--- a/os/ex/ST/l3gd20.h
+++ b/os/ex/ST/l3gd20.h
@@ -266,7 +266,7 @@ struct L3GD20VMT {
/* Current configuration data.*/ \
const L3GD20Config *config; \
/* Current sensitivity.*/ \
- float sensitivity; \
+ float sensitivity[L3GD20_NUMBER_OF_AXES]; \
/* Bias data.*/ \
int32_t bias[L3GD20_NUMBER_OF_AXES];
diff --git a/os/hal/lib/peripherals/sensors/hal_gyroscope.h b/os/hal/lib/peripherals/sensors/hal_gyroscope.h
index ac2901fe4..e61d06b0f 100644
--- a/os/hal/lib/peripherals/sensors/hal_gyroscope.h
+++ b/os/hal/lib/peripherals/sensors/hal_gyroscope.h
@@ -47,10 +47,10 @@
* @brief BaseGyroscope specific methods.
*/
#define _base_gyroscope_methods_alone \
- /* Remove the calibration data.*/ \
- msg_t (*reset_calibration)(void *instance); \
- /* Invokes the calibration procedure.*/ \
- msg_t (*calibrate)(void *instance);
+ /* Invoke the sample bias procedure.*/ \
+ msg_t (*sample_bias)(void *instance); \
+ /* Remove bias stored data.*/ \
+ msg_t (*reset_bias)(void *instance);
/**
* @brief BaseGyroscope specific methods with inherited ones.
@@ -132,7 +132,10 @@ typedef struct {
(ip)->vmt_basegyroscope->read_cooked(ip, dp)
/**
- * @brief Delete calibration data.
+ * @brief Gyroscope bias sampling procedure.
+ * @note During this procedure gyroscope must be kept hold in the rest
+ * position. Sampled bias will be automatically removed after calling
+ * this procedure.
*
* @param[in] ip pointer to a @p BaseGyroscope class.
*
@@ -142,11 +145,11 @@ typedef struct {
*
* @api
*/
-#define gyroscopeResetCalibration(ip) \
- (ip)->vmt_basegyroscope->reset_calibration(ip)
+#define gyroscopeSampleBias(ip) \
+ (ip)->vmt_basegyroscope->sample_bias(ip)
/**
- * @brief Gyroscope calibration procedure.
+ * @brief Reset bias data restoring it to zero.
*
* @param[in] ip pointer to a @p BaseGyroscope class.
*
@@ -156,8 +159,8 @@ typedef struct {
*
* @api
*/
-#define gyroscopeCalibrate(ip) \
- (ip)->vmt_basegyroscope->calibrate(ip)
+#define gyroscopeResetCalibration(ip) \
+ (ip)->vmt_basegyroscope->reset_bias(ip)
/** @} */
/*===========================================================================*/
diff --git a/testhal/STM32/STM32F3xx/SPI-L3GD20/.project b/testhal/STM32/STM32F3xx/SPI-L3GD20/.project
new file mode 100644
index 000000000..80babdba1
--- /dev/null
+++ b/testhal/STM32/STM32F3xx/SPI-L3GD20/.project
@@ -0,0 +1,38 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+ <name>STM32F3xx-SPI-L3GD20</name>
+ <comment></comment>
+ <projects>
+ </projects>
+ <buildSpec>
+ <buildCommand>
+ <name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
+ <triggers>clean,full,incremental,</triggers>
+ <arguments>
+ </arguments>
+ </buildCommand>
+ <buildCommand>
+ <name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
+ <triggers>full,incremental,</triggers>
+ <arguments>
+ </arguments>
+ </buildCommand>
+ </buildSpec>
+ <natures>
+ <nature>org.eclipse.cdt.core.cnature</nature>
+ <nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
+ <nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
+ </natures>
+ <linkedResources>
+ <link>
+ <name>board</name>
+ <type>2</type>
+ <location>C:/ChibiStudio/chibios_trunk/os/hal/boards/ST_STM32F3_DISCOVERY</location>
+ </link>
+ <link>
+ <name>os</name>
+ <type>2</type>
+ <locationURI>CHIBIOS/os</locationURI>
+ </link>
+ </linkedResources>
+</projectDescription>
diff --git a/testhal/STM32/STM32F3xx/SPI-L3GD20/main.c b/testhal/STM32/STM32F3xx/SPI-L3GD20/main.c
index d9925b041..ec198ec7a 100644
--- a/testhal/STM32/STM32F3xx/SPI-L3GD20/main.c
+++ b/testhal/STM32/STM32F3xx/SPI-L3GD20/main.c
@@ -146,14 +146,14 @@ int main(void) {
}
palClearLine(LINE_LED10_RED);
- chprintf(chp, "Calibrating Gyroscope...\r\n");
+ chprintf(chp, "Calibrating Gyroscope sampling bias...\r\n");
chprintf(chp, "Keep it in the rest position while red LED is on\r\n");
chThdSleepMilliseconds(3000);
palSetLine(LINE_LED10_RED);
chThdSleepMilliseconds(1000);
- gyroscopeCalibrate(&L3GD20D1);
+ gyroscopeSampleBias(&L3GD20D1);
palClearLine(LINE_LED10_RED);
#if CHPRINTF_USE_ANSI_CODE
chprintf(chp, "\033[2J\033[1;1H");
diff --git a/testhal/STM32/STM32L4xx/SPI-L3GD20/main.c b/testhal/STM32/STM32L4xx/SPI-L3GD20/main.c
index b7a837c80..464f5d550 100644
--- a/testhal/STM32/STM32L4xx/SPI-L3GD20/main.c
+++ b/testhal/STM32/STM32L4xx/SPI-L3GD20/main.c
@@ -119,14 +119,14 @@ int main(void) {
}
palClearLine(LINE_LED_RED);
- chprintf(chp, "Calibrating Gyroscope...\r\n");
+ chprintf(chp, "Calibrating Gyroscope sampling bias...\r\n");
chprintf(chp, "Keep it in the rest position while red LED is on\r\n");
chThdSleepMilliseconds(3000);
palSetLine(LINE_LED_RED);
chThdSleepMilliseconds(1000);
- gyroscopeCalibrate(&L3GD20D1);
+ gyroscopeSampleBias(&L3GD20D1);
palClearLine(LINE_LED_RED);
#if CHPRINTF_USE_ANSI_CODE
chprintf(chp, "\033[2J\033[1;1H");
generated by cgit v1.2.3 (git 2.25.1) at 2025-02-25 00:21:37 +0000