diff options
Diffstat (limited to 'os/ex/ST/lis3dsh.c')
| -rw-r--r-- | os/ex/ST/lis3dsh.c | 528 |
1 files changed, 336 insertions, 192 deletions
diff --git a/os/ex/ST/lis3dsh.c b/os/ex/ST/lis3dsh.c index b981db754..4cbfac8c0 100644 --- a/os/ex/ST/lis3dsh.c +++ b/os/ex/ST/lis3dsh.c @@ -1,5 +1,5 @@ /*
- ChibiOS - Copyright (C) 2016 Rocco Marco Guglielmi
+ ChibiOS - Copyright (C) 2016-2018 Rocco Marco Guglielmi
This file is part of ChibiOS.
@@ -57,7 +57,7 @@ * @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,
+static void lis3dshSPIReadRegister(SPIDriver *spip, uint8_t reg, size_t n,
uint8_t* b) {
uint8_t cmd;
cmd = reg | LIS3DSH_RW;
@@ -88,177 +88,313 @@ static void lis3dshSPIWriteRegister(SPIDriver *spip, uint8_t reg, size_t n, }
#endif /* LIS3DSH_USE_SPI */
-/*
- * Interface implementation.
+/**
+ * @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 get_axes_number(void *ip) {
-
- osalDbgCheck(ip != NULL);
- return LIS3DSH_NUMBER_OF_AXES;
+static size_t acc_get_axes_number(void *ip) {
+ (void)ip;
+
+ return LIS3DSH_ACC_NUMBER_OF_AXES;
}
-static msg_t read_raw(void *ip, int32_t axes[LIS3DSH_NUMBER_OF_AXES]) {
- uint8_t buff [LIS3DSH_NUMBER_OF_AXES * 2], i;
+/**
+ * @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((((LIS3DSHDriver *)ip)->state == LIS3DSH_READY),
- "read_raw(), invalid state");
+ osalDbgAssert((devp->state == LIS3DSH_READY),
+ "acc_read_raw(), invalid state");
#if LIS3DSH_USE_SPI
- osalDbgAssert((((LIS3DSHDriver *)ip)->config->spip->state == SPI_READY),
- "read_raw(), channel not ready");
-
#if LIS3DSH_SHARED_SPI
- spiAcquireBus(((LIS3DSHDriver *)ip)->config->spip);
- spiStart(((LIS3DSHDriver *)ip)->config->spip,
- ((LIS3DSHDriver *)ip)->config->spicfg);
+ 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(((LIS3DSHDriver *)ip)->config->spip, LIS3DSH_AD_OUT_X_L,
- LIS3DSH_NUMBER_OF_AXES * 2, buff);
+ lis3dshSPIReadRegister(devp->config->spip, LIS3DSH_AD_OUT_X_L,
+ LIS3DSH_ACC_NUMBER_OF_AXES * 2, buff);
#if LIS3DSH_SHARED_SPI
- spiReleaseBus(((LIS3DSHDriver *)ip)->config->spip);
+ spiReleaseBus(devp->config->spip);
#endif /* LIS3DSH_SHARED_SPI */
#endif /* LIS3DSH_USE_SPI */
- for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) {
- tmp = buff[2*i] + (buff[2*i+1] << 8);
+
+ 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_OK;
+ return msg;
}
-
-static msg_t read_cooked(void *ip, float axes[]) {
+/**
+ * @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[]) {
+ LIS3DSHDriver* devp;
uint32_t i;
- int32_t raw[LIS3DSH_NUMBER_OF_AXES];
+ int32_t raw[LIS3DSH_ACC_NUMBER_OF_AXES];
msg_t msg;
osalDbgCheck((ip != NULL) && (axes != NULL));
- osalDbgAssert((((LIS3DSHDriver *)ip)->state == LIS3DSH_READY),
- "read_cooked(), invalid state");
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LIS3DSHDriver*, (BaseAccelerometer*)ip);
+
+ osalDbgAssert((devp->state == LIS3DSH_READY),
+ "acc_read_cooked(), invalid state");
- msg = read_raw(ip, raw);
- for(i = 0; i < LIS3DSH_NUMBER_OF_AXES ; i++){
- axes[i] = (raw[i] * ((LIS3DSHDriver *)ip)->sensitivity[i]);
- axes[i] -= ((LIS3DSHDriver *)ip)->bias[i];
+ msg = acc_read_raw(ip, raw);
+ for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++) {
+ axes[i] = (raw[i] * devp->accsensitivity[i]) - devp->accbias[i];
}
return msg;
}
-static msg_t set_bias(void *ip, float *bp) {
+/**
+ * @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) {
+ LIS3DSHDriver* devp;
uint32_t i;
-
- osalDbgCheck((ip != NULL) && (bp !=NULL));
+ msg_t msg = MSG_OK;
- osalDbgAssert((((LIS3DSHDriver *)ip)->state == LIS3DSH_READY) ||
- (((LIS3DSHDriver *)ip)->state == LIS3DSH_STOP),
- "set_bias(), invalid state");
-
- for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) {
- ((LIS3DSHDriver *)ip)->bias[i] = bp[i];
+ osalDbgCheck((ip != NULL) && (bp != NULL));
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LIS3DSHDriver*, (BaseAccelerometer*)ip);
+
+ osalDbgAssert((devp->state == LIS3DSH_READY),
+ "acc_set_bias(), invalid state");
+
+ for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++) {
+ devp->accbias[i] = bp[i];
}
- return MSG_OK;
+ return msg;
}
-static msg_t reset_bias(void *ip) {
+/**
+ * @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) {
+ LIS3DSHDriver* devp;
uint32_t i;
+ msg_t msg = MSG_OK;
osalDbgCheck(ip != NULL);
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LIS3DSHDriver*, (BaseAccelerometer*)ip);
- osalDbgAssert((((LIS3DSHDriver *)ip)->state == LIS3DSH_READY) ||
- (((LIS3DSHDriver *)ip)->state == LIS3DSH_STOP),
- "reset_bias(), invalid state");
+ osalDbgAssert((devp->state == LIS3DSH_READY),
+ "acc_reset_bias(), invalid state");
- for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
- ((LIS3DSHDriver *)ip)->bias[i] = 0;
- return MSG_OK;
+ for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
+ devp->accbias[i] = LIS3DSH_ACC_BIAS;
+ return msg;
}
-static msg_t set_sensivity(void *ip, float *sp) {
+/**
+ * @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) {
+ LIS3DSHDriver* devp;
uint32_t i;
-
- osalDbgCheck((ip != NULL) && (sp !=NULL));
+ msg_t msg = MSG_OK;
- osalDbgAssert((((LIS3DSHDriver *)ip)->state == LIS3DSH_READY),
- "set_sensivity(), invalid state");
-
- for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) {
- ((LIS3DSHDriver *)ip)->sensitivity[i] = sp[i];
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LIS3DSHDriver*, (BaseAccelerometer*)ip);
+
+ osalDbgCheck((ip != NULL) && (sp != NULL));
+
+ osalDbgAssert((devp->state == LIS3DSH_READY),
+ "acc_set_sensivity(), invalid state");
+
+ for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++) {
+ devp->accsensitivity[i] = sp[i];
}
- return MSG_OK;
+ return msg;
}
-static msg_t reset_sensivity(void *ip) {
+/**
+ * @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) {
+ LIS3DSHDriver* devp;
uint32_t i;
+ msg_t msg = MSG_OK;
osalDbgCheck(ip != NULL);
-
- osalDbgAssert((((LIS3DSHDriver *)ip)->state == LIS3DSH_READY),
- "reset_sensivity(), invalid state");
-
- if(((LIS3DSHDriver *)ip)->config->fullscale == LIS3DSH_FS_2G)
- for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
- ((LIS3DSHDriver *)ip)->sensitivity[i] = LIS3DSH_SENS_2G;
- else if(((LIS3DSHDriver *)ip)->config->fullscale == LIS3DSH_FS_4G)
- for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
- ((LIS3DSHDriver *)ip)->sensitivity[i] = LIS3DSH_SENS_4G;
- else if(((LIS3DSHDriver *)ip)->config->fullscale == LIS3DSH_FS_6G)
- for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
- ((LIS3DSHDriver *)ip)->sensitivity[i] = LIS3DSH_SENS_6G;
- else if(((LIS3DSHDriver *)ip)->config->fullscale == LIS3DSH_FS_8G)
- for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
- ((LIS3DSHDriver *)ip)->sensitivity[i] = LIS3DSH_SENS_8G;
- else if(((LIS3DSHDriver *)ip)->config->fullscale == LIS3DSH_FS_16G)
- for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
- ((LIS3DSHDriver *)ip)->sensitivity[i] = LIS3DSH_SENS_16G;
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LIS3DSHDriver*, (BaseAccelerometer*)ip);
+
+ osalDbgAssert((devp->state == LIS3DSH_READY),
+ "acc_reset_sensivity(), invalid state");
+
+ if(devp->config->accfullscale == LIS3DSH_ACC_FS_2G)
+ for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = LIS3DSH_ACC_SENS_2G;
+ else if(devp->config->accfullscale == LIS3DSH_ACC_FS_4G)
+ for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = LIS3DSH_ACC_SENS_4G;
+ else if(devp->config->accfullscale == LIS3DSH_ACC_FS_6G)
+ for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = LIS3DSH_ACC_SENS_6G;
+ else if(devp->config->accfullscale == LIS3DSH_ACC_FS_8G)
+ for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = LIS3DSH_ACC_SENS_8G;
+ else if(devp->config->accfullscale == LIS3DSH_ACC_FS_16G)
+ for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = LIS3DSH_ACC_SENS_16G;
else {
- osalDbgAssert(FALSE, "reset_sensivity(), accelerometer full scale issue");
+ osalDbgAssert(FALSE,
+ "acc_reset_sensivity(), accelerometer full scale issue");
return MSG_RESET;
}
- return MSG_OK;
+ return msg;
}
-static msg_t set_full_scale(void *ip, lis3dsh_fs_t fs) {
+/**
+ * @brief Changes the LIS3DSHDriver 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] ip pointer to @p LIS3DSHDriver 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(LIS3DSHDriver *devp,
+ lis3dsh_acc_fs_t fs) {
float newfs, scale;
uint8_t i, cr;
+ msg_t msg;
+
+ osalDbgCheck(devp != NULL);
+
+ osalDbgAssert((devp->state == LIS3DSH_READY),
+ "acc_set_full_scale(), invalid state");
+ osalDbgAssert((devp->config->spip->state == SPI_READY),
+ "acc_set_full_scale(), channel not ready");
- if(fs == LIS3DSH_FS_2G) {
- newfs = LIS3DSH_2G;
+ /* Computing new fullscale value.*/
+ if(fs == LIS3DSH_ACC_FS_2G) {
+ newfs = LIS3DSH_ACC_2G;
}
- else if(fs == LIS3DSH_FS_4G) {
- newfs = LIS3DSH_4G;
+ else if(fs == LIS3DSH_ACC_FS_4G) {
+ newfs = LIS3DSH_ACC_4G;
}
- else if(fs == LIS3DSH_FS_6G) {
- newfs = LIS3DSH_6G;
+ else if(fs == LIS3DSH_ACC_FS_6G) {
+ newfs = LIS3DSH_ACC_6G;
}
- else if(fs == LIS3DSH_FS_8G) {
- newfs = LIS3DSH_8G;
+ else if(fs == LIS3DSH_ACC_FS_8G) {
+ newfs = LIS3DSH_ACC_8G;
}
- else if(fs == LIS3DSH_FS_16G) {
- newfs = LIS3DSH_16G;
+ else if(fs == LIS3DSH_ACC_FS_16G) {
+ newfs = LIS3DSH_ACC_16G;
}
else {
- return MSG_RESET;
+ msg = MSG_RESET;
+ return msg;
}
- if(newfs != ((LIS3DSHDriver *)ip)->fullscale) {
- scale = newfs / ((LIS3DSHDriver *)ip)->fullscale;
- ((LIS3DSHDriver *)ip)->fullscale = newfs;
+ if(newfs != devp->accfullscale) {
+ /* Computing scale value.*/
+ scale = newfs / devp->accfullscale;
+ devp->accfullscale = newfs;
#if LIS3DSH_USE_SPI
#if LIS3DSH_SHARED_SPI
- spiAcquireBus(((LIS3DSHDriver *)ip)->config->spip);
- spiStart(((LIS3DSHDriver *)ip)->config->spip,
- ((LIS3DSHDriver *)ip)->config->spicfg);
+ spiAcquireBus(devp->config->spip);
+ spiStart(devp->config->spip,
+ devp->config->spicfg);
#endif /* LIS3DSH_SHARED_SPI */
- lis3dshSPIReadRegister(((LIS3DSHDriver *)ip)->config->spip,
- LIS3DSH_AD_CTRL_REG5, 1, &cr);
+
+ /* Getting data from register.*/
+ lis3dshSPIReadRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG5, 1, &cr);
+
#if LIS3DSH_SHARED_SPI
- spiReleaseBus(((LIS3DSHDriver *)ip)->config->spip);
+ spiReleaseBus(devp->config->spip);
#endif /* LIS3DSH_SHARED_SPI */
#endif /* LIS3DSH_USE_SPI */
@@ -267,34 +403,37 @@ static msg_t set_full_scale(void *ip, lis3dsh_fs_t fs) { #if LIS3DSH_USE_SPI
#if LIS3DSH_SHARED_SPI
- spiAcquireBus(((LIS3DSHDriver *)ip)->config->spip);
- spiStart(((LIS3DSHDriver *)ip)->config->spip,
- ((LIS3DSHDriver *)ip)->config->spicfg);
+ spiAcquireBus(devp->config->spip);
+ spiStart(devp->config->spip,
+ devp->config->spicfg);
#endif /* LIS3DSH_SHARED_SPI */
- lis3dshSPIWriteRegister(((LIS3DSHDriver *)ip)->config->spip,
- LIS3DSH_AD_CTRL_REG5, 1, &cr);
+
+ /* Getting data from register.*/
+ lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG5, 1, &cr);
+
#if LIS3DSH_SHARED_SPI
- spiReleaseBus(((LIS3DSHDriver *)ip)->config->spip);
+ spiReleaseBus(devp->config->spip);
#endif /* LIS3DSH_SHARED_SPI */
#endif /* LIS3DSH_USE_SPI */
/* Scaling sensitivity and bias. Re-calibration is suggested anyway. */
- for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++) {
- ((LIS3DSHDriver *)ip)->sensitivity[i] *= scale;
- ((LIS3DSHDriver *)ip)->bias[i] *= scale;
+ for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++) {
+ devp->accsensitivity[i] *= scale;
+ devp->accbias[i] *= scale;
}
}
- return MSG_OK;
+ return msg;
}
-static const struct BaseSensorVMT vmt_sensor = {
- get_axes_number, read_raw, read_cooked
+static const struct LIS3DSHVMT vmt_device = {
+ (size_t)0,
+ acc_set_full_scale
};
-static const struct LIS3DSHVMT vmt_accelerometer = {
- get_axes_number, read_raw, read_cooked,
- set_bias, reset_bias, set_sensivity, reset_sensivity,
- set_full_scale
+static const struct BaseAccelerometerVMT vmt_accelerometer = {
+ sizeof(struct LIS3DSHVMT*),
+ acc_get_axes_number, acc_read_raw, acc_read_cooked,
+ acc_set_bias, acc_reset_bias, acc_set_sensivity, acc_reset_sensivity
};
/*===========================================================================*/
@@ -309,13 +448,14 @@ static const struct LIS3DSHVMT vmt_accelerometer = { * @init
*/
void lis3dshObjectInit(LIS3DSHDriver *devp) {
- uint32_t i;
- devp->vmt_sensor = &vmt_sensor;
- devp->vmt_accelerometer = &vmt_accelerometer;
+ devp->vmt = &vmt_device;
+ devp->acc_if.vmt = &vmt_accelerometer;
+
devp->config = NULL;
- for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
- devp->bias[i] = 0.0f;
- devp->state = LIS3DSH_STOP;
+
+ devp->accaxes = LIS3DSH_ACC_NUMBER_OF_AXES;
+
+ devp->state = LIS3DSH_STOP;
}
/**
@@ -328,55 +468,55 @@ void lis3dshObjectInit(LIS3DSHDriver *devp) { */
void lis3dshStart(LIS3DSHDriver *devp, const LIS3DSHConfig *config) {
uint32_t i;
- osalDbgCheck((devp != NULL) && (config != NULL));
uint8_t cr;
- osalDbgAssert((devp->state == LIS3DSH_STOP) || (devp->state == LIS3DSH_READY),
- "lis3dshStart(), invalid state");
+ osalDbgCheck((devp != NULL) && (config != NULL));
+
+ osalDbgAssert((devp->state == LIS3DSH_STOP) ||
+ (devp->state == LIS3DSH_READY),
+ "lis3dshStart(), invalid state");
devp->config = config;
/* Control register 4 configuration block.*/
{
cr = LIS3DSH_CTRL_REG4_XEN | LIS3DSH_CTRL_REG4_YEN | LIS3DSH_CTRL_REG4_ZEN |
- devp->config->outputdatarate;
+ devp->config->accoutputdatarate;
#if LIS3DSH_USE_ADVANCED || defined(__DOXYGEN__)
- cr |= devp->config->blockdataupdate;
+ cr |= devp->config->accblockdataupdate;
#endif
}
#if LIS3DSH_USE_SPI
#if LIS3DSH_SHARED_SPI
- spiAcquireBus((devp)->config->spip);
+ spiAcquireBus(devp->config->spip);
#endif /* LIS3DSH_SHARED_SPI */
- spiStart((devp)->config->spip, (devp)->config->spicfg);
+ spiStart(devp->config->spip, devp->config->spicfg);
- lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG4,
- 1, &cr);
+ lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG4, 1, &cr);
#if LIS3DSH_SHARED_SPI
- spiReleaseBus((devp)->config->spip);
+ spiReleaseBus(devp->config->spip);
#endif /* LIS3DSH_SHARED_SPI */
#endif /* LIS3DSH_USE_SPI */
/* Control register 5 configuration block.*/
{
- cr = devp->config->fullscale;
+ cr = devp->config->accfullscale;
#if LIS3DSH_USE_ADVANCED || defined(__DOXYGEN__)
- cr |= devp->config->antialiasing;
+ cr |= devp->config->accantialiasing;
#endif
}
#if LIS3DSH_USE_SPI
#if LIS3DSH_SHARED_SPI
- spiAcquireBus((devp)->config->spip);
- spiStart((devp)->config->spip, (devp)->config->spicfg);
+ spiAcquireBus(devp->config->spip);
+ spiStart(devp->config->spip, devp->config->spicfg);
#endif /* LIS3DSH_SHARED_SPI */
- lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG5,
- 1, &cr);
+ lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG5, 1, &cr);
#if LIS3DSH_SHARED_SPI
- spiReleaseBus((devp)->config->spip);
+ spiReleaseBus(devp->config->spip);
#endif /* LIS3DSH_SHARED_SPI */
#endif /* LIS3DSH_USE_SPI */
@@ -384,79 +524,81 @@ void lis3dshStart(LIS3DSHDriver *devp, const LIS3DSHConfig *config) { {
cr = LIS3DSH_CTRL_REG6_ADD_INC;
#if LIS3DSH_USE_ADVANCED || defined(__DOXYGEN__)
- cr |= devp->config->blockdataupdate;
+ cr |= devp->config->accblockdataupdate;
#endif
}
#if LIS3DSH_USE_SPI
#if LIS3DSH_SHARED_SPI
- spiAcquireBus((devp)->config->spip);
- spiStart((devp)->config->spip, (devp)->config->spicfg);
+ spiAcquireBus(devp->config->spip);
+ spiStart(devp->config->spip, devp->config->spicfg);
#endif /* LIS3DSH_SHARED_SPI */
- lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG6,
- 1, &cr);
+ lis3dshSPIWriteRegister(devp->config->spip, LIS3DSH_AD_CTRL_REG6, 1, &cr);
#if LIS3DSH_SHARED_SPI
- spiReleaseBus((devp)->config->spip);
+ spiReleaseBus(devp->config->spip);
#endif /* LIS3DSH_SHARED_SPI */
#endif /* LIS3DSH_USE_SPI */
/* Storing sensitivity information according to user setting */
- if(devp->config->fullscale == LIS3DSH_FS_2G) {
- devp->fullscale = LIS3DSH_2G;
- if(devp->config->sensitivity == NULL)
- for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
- devp->sensitivity[i] = LIS3DSH_SENS_2G;
+ if(devp->config->accfullscale == LIS3DSH_ACC_FS_2G) {
+ devp->accfullscale = LIS3DSH_ACC_2G;
+ if(devp->config->accsensitivity == NULL)
+ for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = LIS3DSH_ACC_SENS_2G;
else
- for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
- devp->sensitivity[i] = devp->config->sensitivity[i];
+ for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = devp->config->accsensitivity[i];
}
- else if(devp->config->fullscale == LIS3DSH_FS_4G) {
- devp->fullscale = LIS3DSH_4G;
- if(devp->config->sensitivity == NULL)
- for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
- devp->sensitivity[i] = LIS3DSH_SENS_4G;
+ else if(devp->config->accfullscale == LIS3DSH_ACC_FS_4G) {
+ devp->accfullscale = LIS3DSH_ACC_4G;
+ if(devp->config->accsensitivity == NULL)
+ for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = LIS3DSH_ACC_SENS_4G;
else
- for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
- devp->sensitivity[i] = devp->config->sensitivity[i];
+ for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = devp->config->accsensitivity[i];
}
- else if(devp->config->fullscale == LIS3DSH_FS_6G) {
- devp->fullscale = LIS3DSH_6G;
- if(devp->config->sensitivity == NULL)
- for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
- devp->sensitivity[i] = LIS3DSH_SENS_6G;
+ else if(devp->config->accfullscale == LIS3DSH_ACC_FS_6G) {
+ devp->accfullscale = LIS3DSH_ACC_6G;
+ if(devp->config->accsensitivity == NULL)
+ for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = LIS3DSH_ACC_SENS_6G;
else
- for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
- devp->sensitivity[i] = devp->config->sensitivity[i];
+ for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = devp->config->accsensitivity[i];
}
- else if(devp->config->fullscale == LIS3DSH_FS_8G) {
- devp->fullscale = LIS3DSH_8G;
- if(devp->config->sensitivity == NULL)
- for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
- devp->sensitivity[i] = LIS3DSH_SENS_8G;
+ 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_NUMBER_OF_AXES; i++)
- devp->sensitivity[i] = devp->config->sensitivity[i];
+ for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = devp->config->accsensitivity[i];
}
- else if(devp->config->fullscale == LIS3DSH_FS_16G) {
- devp->fullscale = LIS3DSH_16G;
- if(devp->config->sensitivity == NULL)
- for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
- devp->sensitivity[i] = LIS3DSH_SENS_16G;
+ 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_NUMBER_OF_AXES; i++)
- devp->sensitivity[i] = devp->config->sensitivity[i];
+ 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->bias != NULL)
- for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
- devp->bias[i] = devp->config->bias[i];
-
+ 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);
@@ -474,23 +616,25 @@ void lis3dshStop(LIS3DSHDriver *devp) { uint8_t cr4;
osalDbgCheck(devp != NULL);
- osalDbgAssert((devp->state == LIS3DSH_STOP) || (devp->state == LIS3DSH_READY),
+ 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);
+ 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);
+
+ spiStop(devp->config->spip);
#if LIS3DSH_SHARED_SPI
- spiReleaseBus((devp)->config->spip);
+ spiReleaseBus(devp->config->spip);
#endif /* LIS3DSH_SHARED_SPI */
#endif /* LIS3DSH_USE_SPI */
}
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