diff options
Diffstat (limited to 'os/ex/ST/lis3mdl.c')
| -rw-r--r-- | os/ex/ST/lis3mdl.c | 966 |
1 files changed, 483 insertions, 483 deletions
diff --git a/os/ex/ST/lis3mdl.c b/os/ex/ST/lis3mdl.c index 7abcd41e2..659cc29e0 100644 --- a/os/ex/ST/lis3mdl.c +++ b/os/ex/ST/lis3mdl.c @@ -1,483 +1,483 @@ -/* - ChibiOS - Copyright (C) 2016 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 lis3mdl.c - * @brief LIS3MDL MEMS interface module code. - * - * @addtogroup lis3mdl - * @{ - */ - -#include "hal.h" -#include "lis3mdl.h" - -/*===========================================================================*/ -/* Driver local definitions. */ -/*===========================================================================*/ - -#define LIS3MDL_SENS_4GA ((float)6842.0f) -#define LIS3MDL_SENS_8GA ((float)3421.0f) -#define LIS3MDL_SENS_12GA ((float)2281.0f) -#define LIS3MDL_SENS_16GA ((float)1711.0f) - -#define LIS3MDL_TEMP_SENS ((float)8.0f) - -#define LIS3MDL_DI ((uint8_t)0xFF) -#define LIS3MDL_DI_0 ((uint8_t)0x01) -#define LIS3MDL_DI_1 ((uint8_t)0x02) -#define LIS3MDL_DI_2 ((uint8_t)0x04) -#define LIS3MDL_DI_3 ((uint8_t)0x08) -#define LIS3MDL_DI_4 ((uint8_t)0x10) -#define LIS3MDL_DI_5 ((uint8_t)0x20) -#define LIS3MDL_DI_6 ((uint8_t)0x40) -#define LIS3MDL_DI_7 ((uint8_t)0x80) - -#define LIS3MDL_AD ((uint8_t)0x3F) -#define LIS3MDL_AD_0 ((uint8_t)0x01) -#define LIS3MDL_AD_1 ((uint8_t)0x02) -#define LIS3MDL_AD_2 ((uint8_t)0x04) -#define LIS3MDL_AD_3 ((uint8_t)0x08) -#define LIS3MDL_AD_4 ((uint8_t)0x10) -#define LIS3MDL_AD_5 ((uint8_t)0x20) -#define LIS3MDL_AD_6 ((uint8_t)0x40) -#define LIS3MDL_RW ((uint8_t)0x80) - -#define LIS3MDL_AD_WHO_AM_I ((uint8_t)0x0F) -#define LIS3MDL_AD_CTRL_REG1 ((uint8_t)0x20) -#define LIS3MDL_AD_CTRL_REG2 ((uint8_t)0x21) -#define LIS3MDL_AD_CTRL_REG3 ((uint8_t)0x22) -#define LIS3MDL_AD_CTRL_REG4 ((uint8_t)0x23) -#define LIS3MDL_AD_CTRL_REG5 ((uint8_t)0x24) -#define LIS3MDL_AD_STATUS_REG ((uint8_t)0x27) -#define LIS3MDL_AD_OUT_X_L ((uint8_t)0x28) -#define LIS3MDL_AD_OUT_X_H ((uint8_t)0x29) -#define LIS3MDL_AD_OUT_Y_L ((uint8_t)0x2A) -#define LIS3MDL_AD_OUT_Y_H ((uint8_t)0x2B) -#define LIS3MDL_AD_OUT_Z_L ((uint8_t)0x2C) -#define LIS3MDL_AD_OUT_Z_H ((uint8_t)0x2D) -#define LIS3MDL_AD_TEMP_OUT_L ((uint8_t)0x2E) -#define LIS3MDL_AD_TEMP_OUT_H ((uint8_t)0x2F) -#define LIS3MDL_AD_INT_CFG ((uint8_t)0x30) -#define LIS3MDL_AD_INT_SOURCE ((uint8_t)0x31) -#define LIS3MDL_AD_INT_THS_L ((uint8_t)0x32) -#define LIS3MDL_AD_INT_THS_H ((uint8_t)0x33) - -#define LIS3MDL_CTRL_REG2_FS_MASK ((uint8_t)0x60) - -/*===========================================================================*/ -/* Driver exported variables. */ -/*===========================================================================*/ - -/*===========================================================================*/ -/* Driver local variables and types. */ -/*===========================================================================*/ - -/*===========================================================================*/ -/* Driver local functions. */ -/*===========================================================================*/ - -#if (LIS3MDL_USE_I2C) || defined(__DOXYGEN__) -/** - * @brief Reads registers value 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] reg first sub-register address - * @return the read value. - */ -uint8_t lis3mdlI2CReadRegister(I2CDriver *i2cp, lis3mdl_sad_t sad, uint8_t reg, - msg_t* msgp) { - msg_t msg; -#if defined(STM32F103_MCUCONF) - uint8_t rxbuf[2]; - msg = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 2, - TIME_INFINITE); - if(msgp != NULL){ - *msgp = msg; - } - return rxbuf[0]; -#else - uint8_t txbuf, rxbuf; - txbuf = reg; - msg = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, &rxbuf, 1, - TIME_INFINITE); - if(msgp != NULL){ - *msgp = msg; - } - return rxbuf; -#endif -} - -/** - * @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] sub sub-register address - * @param[in] value the value to be written - * @return the operation status. - */ -msg_t lis3mdlI2CWriteRegister(I2CDriver *i2cp, lis3mdl_sad_t sad, uint8_t reg, - uint8_t value) { - uint8_t rxbuf; - uint8_t txbuf[2]; - switch (reg) { - default: - /* Reserved register must not be written, according to the datasheet - * this could permanently damage the device. - */ - chDbgAssert(FALSE, "lis3mdlI2CWriteRegister(), reserved register"); - case LIS3MDL_AD_WHO_AM_I: - case LIS3MDL_AD_STATUS_REG: - case LIS3MDL_AD_OUT_X_L: - case LIS3MDL_AD_OUT_X_H: - case LIS3MDL_AD_OUT_Y_L: - case LIS3MDL_AD_OUT_Y_H: - case LIS3MDL_AD_OUT_Z_L: - case LIS3MDL_AD_OUT_Z_H: - case LIS3MDL_AD_TEMP_OUT_L: - case LIS3MDL_AD_TEMP_OUT_H: - case LIS3MDL_AD_INT_SOURCE: - case LIS3MDL_AD_INT_THS_L: - case LIS3MDL_AD_INT_THS_H: - /* Read only registers cannot be written, the command is ignored.*/ - return MSG_RESET; - case LIS3MDL_AD_CTRL_REG1: - case LIS3MDL_AD_CTRL_REG2: - case LIS3MDL_AD_CTRL_REG3: - case LIS3MDL_AD_CTRL_REG4: - case LIS3MDL_AD_CTRL_REG5: - case LIS3MDL_AD_INT_CFG: - txbuf[0] = reg; - txbuf[1] = value; - return i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0, TIME_INFINITE); - break; - } -} -#endif /* LIS3MDL_USE_I2C */ - -/* - * Interface implementation. - */ -static size_t get_axes_number(void *ip) { - - osalDbgCheck(ip != NULL); - return LIS3MDL_NUMBER_OF_AXES; -} - -static msg_t read_raw(void *ip, int32_t axes[LIS3MDL_NUMBER_OF_AXES]) { - uint16_t tmp; - osalDbgCheck((ip != NULL) && (axes != NULL)); - osalDbgAssert((((LIS3MDLDriver *)ip)->state == LIS3MDL_READY), - "read_raw(), invalid state"); - -#if LIS3MDL_USE_I2C - osalDbgAssert((((LIS3MDLDriver *)ip)->config->i2cp->state == I2C_READY), - "read_raw(), channel not ready"); -#if LIS3MDL_SHARED_I2C - i2cAcquireBus(((LIS3MDLDriver *)ip)->config->i2cp); - i2cStart(((LIS3MDLDriver *)ip)->config->i2cp, - ((LIS3MDLDriver *)ip)->config->i2ccfg); -#endif /* LIS3MDL_SHARED_I2C */ - - tmp = lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp, - ((LIS3MDLDriver *)ip)->config->slaveaddress, - LIS3MDL_AD_OUT_X_L, NULL); - tmp += lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp, - ((LIS3MDLDriver *)ip)->config->slaveaddress, - LIS3MDL_AD_OUT_X_H, NULL) << 8; - axes[0] = (int32_t)tmp - ((LIS3MDLDriver *)ip)->bias[0]; - - tmp = lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp, - ((LIS3MDLDriver *)ip)->config->slaveaddress, - LIS3MDL_AD_OUT_Y_L, NULL); - tmp += lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp, - ((LIS3MDLDriver *)ip)->config->slaveaddress, - LIS3MDL_AD_OUT_Y_H, NULL) << 8; - axes[1] = (int32_t)tmp - ((LIS3MDLDriver *)ip)->bias[1]; - - tmp = lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp, - ((LIS3MDLDriver *)ip)->config->slaveaddress, - LIS3MDL_AD_OUT_Z_L, NULL); - tmp += lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp, - ((LIS3MDLDriver *)ip)->config->slaveaddress, - LIS3MDL_AD_OUT_Z_H, NULL) << 8; - axes[2] = (int32_t)tmp - ((LIS3MDLDriver *)ip)->bias[2]; - -#if LIS3MDL_SHARED_I2C - i2cReleaseBus(((LIS3MDLDriver *)ip)->config->i2cp); -#endif /* LIS3MDL_SHARED_I2C */ -#endif /* LIS3MDL_USE_I2C */ - return MSG_OK; -} - -static msg_t read_cooked(void *ip, float axes[]) { - uint32_t i; - int32_t raw[LIS3MDL_NUMBER_OF_AXES]; - msg_t msg; - - osalDbgCheck((ip != NULL) && (axes != NULL)); - - osalDbgAssert((((LIS3MDLDriver *)ip)->state == LIS3MDL_READY), - "read_cooked(), invalid state"); - - msg = read_raw(ip, raw); - for(i = 0; i < LIS3MDL_NUMBER_OF_AXES ; i++){ - axes[i] = raw[i] / ((LIS3MDLDriver *)ip)->sensitivity[i]; - } - return msg; -} - -static msg_t set_bias(void *ip, int32_t *bp) { - uint32_t i; - - osalDbgCheck((ip != NULL) && (bp !=NULL)); - - osalDbgAssert((((LIS3MDLDriver *)ip)->state == LIS3MDL_READY) || - (((LIS3MDLDriver *)ip)->state == LIS3MDL_STOP), - "set_bias(), invalid state"); - - for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++) { - ((LIS3MDLDriver *)ip)->bias[i] = bp[i]; - } - return MSG_OK; -} - -static msg_t reset_bias(void *ip) { - uint32_t i; - - osalDbgCheck(ip != NULL); - - osalDbgAssert((((LIS3MDLDriver *)ip)->state == LIS3MDL_READY) || - (((LIS3MDLDriver *)ip)->state == LIS3MDL_STOP), - "reset_bias(), invalid state"); - - for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++) - ((LIS3MDLDriver *)ip)->bias[i] = 0; - return MSG_OK; -} - -static msg_t set_sensivity(void *ip, float *sp) { - uint32_t i; - - osalDbgCheck((ip != NULL) && (sp !=NULL)); - - osalDbgAssert((((LIS3MDLDriver *)ip)->state == LIS3MDL_READY), - "set_sensivity(), invalid state"); - - for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++) { - ((LIS3MDLDriver *)ip)->sensitivity[i] = sp[i]; - } - return MSG_OK; -} - -static msg_t reset_sensivity(void *ip) { - uint32_t i; - - osalDbgCheck(ip != NULL); - - osalDbgAssert((((LIS3MDLDriver *)ip)->state == LIS3MDL_READY), - "reset_sensivity(), invalid state"); - - if(((LIS3MDLDriver *)ip)->config->fullscale == LIS3MDL_FS_4GA) - for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++) - ((LIS3MDLDriver *)ip)->sensitivity[i] = LIS3MDL_SENS_4GA; - else if(((LIS3MDLDriver *)ip)->config->fullscale == LIS3MDL_FS_8GA) - for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++) - ((LIS3MDLDriver *)ip)->sensitivity[i] = LIS3MDL_SENS_8GA; - else if(((LIS3MDLDriver *)ip)->config->fullscale == LIS3MDL_FS_12GA) - for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++) - ((LIS3MDLDriver *)ip)->sensitivity[i] = LIS3MDL_SENS_12GA; - else if(((LIS3MDLDriver *)ip)->config->fullscale == LIS3MDL_FS_16GA) - for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++) - ((LIS3MDLDriver *)ip)->sensitivity[i] = LIS3MDL_SENS_16GA; - else { - osalDbgAssert(FALSE, "reset_sensivity(), compass full scale issue"); - return MSG_RESET; - } - return MSG_OK; -} - -static msg_t get_temperature(void *ip, float* tempp) { - int16_t temp; -#if LIS3MDL_USE_I2C - osalDbgAssert((((LIS3MDLDriver *)ip)->config->i2cp->state == I2C_READY), - "gyro_read_raw(), channel not ready"); -#if LIS3MDL_SHARED_I2C - i2cAcquireBus(((LIS3MDLDriver *)ip)->config->i2cp); - i2cStart(((LIS3MDLDriver *)ip)->config->i2cp, - ((LIS3MDLDriver *)ip)->config->i2ccfg); -#endif /* LIS3MDL_SHARED_I2C */ - temp = (int16_t)(lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp, - ((LIS3MDLDriver *)ip)->config->slaveaddress, - LIS3MDL_AD_TEMP_OUT_L, NULL)); - temp += (int16_t)(lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp, - ((LIS3MDLDriver *)ip)->config->slaveaddress, - LIS3MDL_AD_TEMP_OUT_H, NULL) << 8); -#if LIS3MDL_SHARED_I2C - i2cReleaseBus(((LIS3MDLDriver *)ip)->config->i2cp); -#endif /* LIS3MDL_SHARED_I2C */ -#endif /* LIS3MDL_USE_I2C */ - *tempp = (float)temp / LIS3MDL_TEMP_SENS; - return MSG_OK; -} - -static const struct BaseSensorVMT vmt_basesensor = { - get_axes_number, read_raw, read_cooked -}; - -static const struct BaseCompassVMT vmt_basecompass = { - get_axes_number, read_raw, read_cooked, - set_bias, reset_bias, set_sensivity, reset_sensivity -}; - -static const struct LIS3MDLVMT vmt_lis3mdl = { - get_axes_number, read_raw, read_cooked, - set_bias, reset_bias, set_sensivity, reset_sensivity, - get_temperature -}; - -/*===========================================================================*/ -/* Driver exported functions. */ -/*===========================================================================*/ - -/** - * @brief Initializes an instance. - * - * @param[out] devp pointer to the @p LIS3MDLDriver object - * - * @init - */ -void lis3mdlObjectInit(LIS3MDLDriver *devp) { - uint32_t i; - devp->vmt_basesensor = &vmt_basesensor; - devp->vmt_basecompass = &vmt_basecompass; - devp->vmt_lis3mdl = &vmt_lis3mdl; - devp->config = NULL; - for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++) - devp->bias[i] = 0; - devp->state = LIS3MDL_STOP; -} - -/** - * @brief Configures and activates LIS3MDL Complex Driver peripheral. - * - * @param[in] devp pointer to the @p LIS3MDLDriver object - * @param[in] config pointer to the @p LIS3MDLConfig object - * - * @api - */ -void lis3mdlStart(LIS3MDLDriver *devp, const LIS3MDLConfig *config) { - uint32_t i; - osalDbgCheck((devp != NULL) && (config != NULL)); - - osalDbgAssert((devp->state == LIS3MDL_STOP) || (devp->state == LIS3MDL_READY), - "lis3mdlStart(), invalid state"); - - devp->config = config; - -#if LIS3MDL_USE_I2C -#if LIS3MDL_SHARED_I2C - i2cAcquireBus((devp)->config->i2cp); -#endif /* LIS3MDL_SHARED_I2C */ - i2cStart((devp)->config->i2cp, - (devp)->config->i2ccfg); - lis3mdlI2CWriteRegister(devp->config->i2cp, - devp->config->slaveaddress, - LIS3MDL_AD_CTRL_REG1, - devp->config->temperature | - devp->config->outputdatarate | - devp->config->operationmodexy); - lis3mdlI2CWriteRegister(devp->config->i2cp, - devp->config->slaveaddress, - LIS3MDL_AD_CTRL_REG2, - devp->config->fullscale); - lis3mdlI2CWriteRegister(devp->config->i2cp, - devp->config->slaveaddress, - LIS3MDL_AD_CTRL_REG3, - devp->config->conversionmode); - lis3mdlI2CWriteRegister(devp->config->i2cp, - devp->config->slaveaddress, - LIS3MDL_AD_CTRL_REG4, - devp->config->operationmodez | - devp->config->endianness); - lis3mdlI2CWriteRegister(devp->config->i2cp, - devp->config->slaveaddress, - LIS3MDL_AD_CTRL_REG5, - devp->config->blockdataupdate); -#if LIS3MDL_SHARED_I2C - i2cReleaseBus((devp)->config->i2cp); -#endif /* LIS3MDL_SHARED_I2C */ -#endif /* LIS3MDL_USE_I2C */ - /* Storing sensitivity information according to full scale value */ - if(devp->config->fullscale == LIS3MDL_FS_4GA) - for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++) - devp->sensitivity[i] = LIS3MDL_SENS_4GA; - else if(devp->config->fullscale == LIS3MDL_FS_8GA) - for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++) - devp->sensitivity[i] = LIS3MDL_SENS_8GA; - else if(devp->config->fullscale == LIS3MDL_FS_12GA) - for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++) - devp->sensitivity[i] = LIS3MDL_SENS_12GA; - else if(devp->config->fullscale == LIS3MDL_FS_16GA) - for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++) - devp->sensitivity[i] = LIS3MDL_SENS_16GA; - else - osalDbgAssert(FALSE, "lis3mdlStart(), compass full scale issue"); - devp->state = LIS3MDL_READY; -} - -/** - * @brief Deactivates the LIS3MDL Complex Driver peripheral. - * - * @param[in] devp pointer to the @p LIS3MDLDriver object - * - * @api - */ -void lis3mdlStop(LIS3MDLDriver *devp) { - - osalDbgCheck(devp != NULL); - - osalDbgAssert((devp->state == LIS3MDL_STOP) || (devp->state == LIS3MDL_READY), - "lis3mdlStop(), invalid state"); - -#if (LIS3MDL_USE_I2C) - if (devp->state == LIS3MDL_STOP) { -#if LIS3MDL_SHARED_I2C - i2cAcquireBus((devp)->config->i2cp); - i2cStart((devp)->config->i2cp, - (devp)->config->i2ccfg); -#endif /* LIS3MDL_SHARED_I2C */ - lis3mdlI2CWriteRegister(devp->config->i2cp, - devp->config->slaveaddress, - LIS3MDL_AD_CTRL_REG3, - LIS3MDL_MD_POWER_DOWN); - i2cStop((devp)->config->i2cp); -#if LIS3MDL_SHARED_I2C - i2cReleaseBus((devp)->config->i2cp); -#endif /* LIS3MDL_SHARED_I2C */ - } -#endif /* LIS3MDL_USE_I2C */ - devp->state = LIS3MDL_STOP; -} -/** @} */ +/*
+ ChibiOS - Copyright (C) 2016 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 lis3mdl.c
+ * @brief LIS3MDL MEMS interface module code.
+ *
+ * @addtogroup lis3mdl
+ * @{
+ */
+
+#include "hal.h"
+#include "lis3mdl.h"
+
+/*===========================================================================*/
+/* Driver local definitions. */
+/*===========================================================================*/
+
+#define LIS3MDL_SENS_4GA ((float)6842.0f)
+#define LIS3MDL_SENS_8GA ((float)3421.0f)
+#define LIS3MDL_SENS_12GA ((float)2281.0f)
+#define LIS3MDL_SENS_16GA ((float)1711.0f)
+
+#define LIS3MDL_TEMP_SENS ((float)8.0f)
+
+#define LIS3MDL_DI ((uint8_t)0xFF)
+#define LIS3MDL_DI_0 ((uint8_t)0x01)
+#define LIS3MDL_DI_1 ((uint8_t)0x02)
+#define LIS3MDL_DI_2 ((uint8_t)0x04)
+#define LIS3MDL_DI_3 ((uint8_t)0x08)
+#define LIS3MDL_DI_4 ((uint8_t)0x10)
+#define LIS3MDL_DI_5 ((uint8_t)0x20)
+#define LIS3MDL_DI_6 ((uint8_t)0x40)
+#define LIS3MDL_DI_7 ((uint8_t)0x80)
+
+#define LIS3MDL_AD ((uint8_t)0x3F)
+#define LIS3MDL_AD_0 ((uint8_t)0x01)
+#define LIS3MDL_AD_1 ((uint8_t)0x02)
+#define LIS3MDL_AD_2 ((uint8_t)0x04)
+#define LIS3MDL_AD_3 ((uint8_t)0x08)
+#define LIS3MDL_AD_4 ((uint8_t)0x10)
+#define LIS3MDL_AD_5 ((uint8_t)0x20)
+#define LIS3MDL_AD_6 ((uint8_t)0x40)
+#define LIS3MDL_RW ((uint8_t)0x80)
+
+#define LIS3MDL_AD_WHO_AM_I ((uint8_t)0x0F)
+#define LIS3MDL_AD_CTRL_REG1 ((uint8_t)0x20)
+#define LIS3MDL_AD_CTRL_REG2 ((uint8_t)0x21)
+#define LIS3MDL_AD_CTRL_REG3 ((uint8_t)0x22)
+#define LIS3MDL_AD_CTRL_REG4 ((uint8_t)0x23)
+#define LIS3MDL_AD_CTRL_REG5 ((uint8_t)0x24)
+#define LIS3MDL_AD_STATUS_REG ((uint8_t)0x27)
+#define LIS3MDL_AD_OUT_X_L ((uint8_t)0x28)
+#define LIS3MDL_AD_OUT_X_H ((uint8_t)0x29)
+#define LIS3MDL_AD_OUT_Y_L ((uint8_t)0x2A)
+#define LIS3MDL_AD_OUT_Y_H ((uint8_t)0x2B)
+#define LIS3MDL_AD_OUT_Z_L ((uint8_t)0x2C)
+#define LIS3MDL_AD_OUT_Z_H ((uint8_t)0x2D)
+#define LIS3MDL_AD_TEMP_OUT_L ((uint8_t)0x2E)
+#define LIS3MDL_AD_TEMP_OUT_H ((uint8_t)0x2F)
+#define LIS3MDL_AD_INT_CFG ((uint8_t)0x30)
+#define LIS3MDL_AD_INT_SOURCE ((uint8_t)0x31)
+#define LIS3MDL_AD_INT_THS_L ((uint8_t)0x32)
+#define LIS3MDL_AD_INT_THS_H ((uint8_t)0x33)
+
+#define LIS3MDL_CTRL_REG2_FS_MASK ((uint8_t)0x60)
+
+/*===========================================================================*/
+/* Driver exported variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local variables and types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local functions. */
+/*===========================================================================*/
+
+#if (LIS3MDL_USE_I2C) || defined(__DOXYGEN__)
+/**
+ * @brief Reads registers value 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] reg first sub-register address
+ * @return the read value.
+ */
+uint8_t lis3mdlI2CReadRegister(I2CDriver *i2cp, lis3mdl_sad_t sad, uint8_t reg,
+ msg_t* msgp) {
+ msg_t msg;
+#if defined(STM32F103_MCUCONF)
+ uint8_t rxbuf[2];
+ msg = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 2,
+ TIME_INFINITE);
+ if(msgp != NULL){
+ *msgp = msg;
+ }
+ return rxbuf[0];
+#else
+ uint8_t txbuf, rxbuf;
+ txbuf = reg;
+ msg = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, &rxbuf, 1,
+ TIME_INFINITE);
+ if(msgp != NULL){
+ *msgp = msg;
+ }
+ return rxbuf;
+#endif
+}
+
+/**
+ * @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] sub sub-register address
+ * @param[in] value the value to be written
+ * @return the operation status.
+ */
+msg_t lis3mdlI2CWriteRegister(I2CDriver *i2cp, lis3mdl_sad_t sad, uint8_t reg,
+ uint8_t value) {
+ uint8_t rxbuf;
+ uint8_t txbuf[2];
+ switch (reg) {
+ default:
+ /* Reserved register must not be written, according to the datasheet
+ * this could permanently damage the device.
+ */
+ chDbgAssert(FALSE, "lis3mdlI2CWriteRegister(), reserved register");
+ case LIS3MDL_AD_WHO_AM_I:
+ case LIS3MDL_AD_STATUS_REG:
+ case LIS3MDL_AD_OUT_X_L:
+ case LIS3MDL_AD_OUT_X_H:
+ case LIS3MDL_AD_OUT_Y_L:
+ case LIS3MDL_AD_OUT_Y_H:
+ case LIS3MDL_AD_OUT_Z_L:
+ case LIS3MDL_AD_OUT_Z_H:
+ case LIS3MDL_AD_TEMP_OUT_L:
+ case LIS3MDL_AD_TEMP_OUT_H:
+ case LIS3MDL_AD_INT_SOURCE:
+ case LIS3MDL_AD_INT_THS_L:
+ case LIS3MDL_AD_INT_THS_H:
+ /* Read only registers cannot be written, the command is ignored.*/
+ return MSG_RESET;
+ case LIS3MDL_AD_CTRL_REG1:
+ case LIS3MDL_AD_CTRL_REG2:
+ case LIS3MDL_AD_CTRL_REG3:
+ case LIS3MDL_AD_CTRL_REG4:
+ case LIS3MDL_AD_CTRL_REG5:
+ case LIS3MDL_AD_INT_CFG:
+ txbuf[0] = reg;
+ txbuf[1] = value;
+ return i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0, TIME_INFINITE);
+ break;
+ }
+}
+#endif /* LIS3MDL_USE_I2C */
+
+/*
+ * Interface implementation.
+ */
+static size_t get_axes_number(void *ip) {
+
+ osalDbgCheck(ip != NULL);
+ return LIS3MDL_NUMBER_OF_AXES;
+}
+
+static msg_t read_raw(void *ip, int32_t axes[LIS3MDL_NUMBER_OF_AXES]) {
+ uint16_t tmp;
+ osalDbgCheck((ip != NULL) && (axes != NULL));
+ osalDbgAssert((((LIS3MDLDriver *)ip)->state == LIS3MDL_READY),
+ "read_raw(), invalid state");
+
+#if LIS3MDL_USE_I2C
+ osalDbgAssert((((LIS3MDLDriver *)ip)->config->i2cp->state == I2C_READY),
+ "read_raw(), channel not ready");
+#if LIS3MDL_SHARED_I2C
+ i2cAcquireBus(((LIS3MDLDriver *)ip)->config->i2cp);
+ i2cStart(((LIS3MDLDriver *)ip)->config->i2cp,
+ ((LIS3MDLDriver *)ip)->config->i2ccfg);
+#endif /* LIS3MDL_SHARED_I2C */
+
+ tmp = lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
+ ((LIS3MDLDriver *)ip)->config->slaveaddress,
+ LIS3MDL_AD_OUT_X_L, NULL);
+ tmp += lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
+ ((LIS3MDLDriver *)ip)->config->slaveaddress,
+ LIS3MDL_AD_OUT_X_H, NULL) << 8;
+ axes[0] = (int32_t)tmp - ((LIS3MDLDriver *)ip)->bias[0];
+
+ tmp = lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
+ ((LIS3MDLDriver *)ip)->config->slaveaddress,
+ LIS3MDL_AD_OUT_Y_L, NULL);
+ tmp += lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
+ ((LIS3MDLDriver *)ip)->config->slaveaddress,
+ LIS3MDL_AD_OUT_Y_H, NULL) << 8;
+ axes[1] = (int32_t)tmp - ((LIS3MDLDriver *)ip)->bias[1];
+
+ tmp = lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
+ ((LIS3MDLDriver *)ip)->config->slaveaddress,
+ LIS3MDL_AD_OUT_Z_L, NULL);
+ tmp += lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
+ ((LIS3MDLDriver *)ip)->config->slaveaddress,
+ LIS3MDL_AD_OUT_Z_H, NULL) << 8;
+ axes[2] = (int32_t)tmp - ((LIS3MDLDriver *)ip)->bias[2];
+
+#if LIS3MDL_SHARED_I2C
+ i2cReleaseBus(((LIS3MDLDriver *)ip)->config->i2cp);
+#endif /* LIS3MDL_SHARED_I2C */
+#endif /* LIS3MDL_USE_I2C */
+ return MSG_OK;
+}
+
+static msg_t read_cooked(void *ip, float axes[]) {
+ uint32_t i;
+ int32_t raw[LIS3MDL_NUMBER_OF_AXES];
+ msg_t msg;
+
+ osalDbgCheck((ip != NULL) && (axes != NULL));
+
+ osalDbgAssert((((LIS3MDLDriver *)ip)->state == LIS3MDL_READY),
+ "read_cooked(), invalid state");
+
+ msg = read_raw(ip, raw);
+ for(i = 0; i < LIS3MDL_NUMBER_OF_AXES ; i++){
+ axes[i] = raw[i] / ((LIS3MDLDriver *)ip)->sensitivity[i];
+ }
+ return msg;
+}
+
+static msg_t set_bias(void *ip, int32_t *bp) {
+ uint32_t i;
+
+ osalDbgCheck((ip != NULL) && (bp !=NULL));
+
+ osalDbgAssert((((LIS3MDLDriver *)ip)->state == LIS3MDL_READY) ||
+ (((LIS3MDLDriver *)ip)->state == LIS3MDL_STOP),
+ "set_bias(), invalid state");
+
+ for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++) {
+ ((LIS3MDLDriver *)ip)->bias[i] = bp[i];
+ }
+ return MSG_OK;
+}
+
+static msg_t reset_bias(void *ip) {
+ uint32_t i;
+
+ osalDbgCheck(ip != NULL);
+
+ osalDbgAssert((((LIS3MDLDriver *)ip)->state == LIS3MDL_READY) ||
+ (((LIS3MDLDriver *)ip)->state == LIS3MDL_STOP),
+ "reset_bias(), invalid state");
+
+ for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
+ ((LIS3MDLDriver *)ip)->bias[i] = 0;
+ return MSG_OK;
+}
+
+static msg_t set_sensivity(void *ip, float *sp) {
+ uint32_t i;
+
+ osalDbgCheck((ip != NULL) && (sp !=NULL));
+
+ osalDbgAssert((((LIS3MDLDriver *)ip)->state == LIS3MDL_READY),
+ "set_sensivity(), invalid state");
+
+ for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++) {
+ ((LIS3MDLDriver *)ip)->sensitivity[i] = sp[i];
+ }
+ return MSG_OK;
+}
+
+static msg_t reset_sensivity(void *ip) {
+ uint32_t i;
+
+ osalDbgCheck(ip != NULL);
+
+ osalDbgAssert((((LIS3MDLDriver *)ip)->state == LIS3MDL_READY),
+ "reset_sensivity(), invalid state");
+
+ if(((LIS3MDLDriver *)ip)->config->fullscale == LIS3MDL_FS_4GA)
+ for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
+ ((LIS3MDLDriver *)ip)->sensitivity[i] = LIS3MDL_SENS_4GA;
+ else if(((LIS3MDLDriver *)ip)->config->fullscale == LIS3MDL_FS_8GA)
+ for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
+ ((LIS3MDLDriver *)ip)->sensitivity[i] = LIS3MDL_SENS_8GA;
+ else if(((LIS3MDLDriver *)ip)->config->fullscale == LIS3MDL_FS_12GA)
+ for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
+ ((LIS3MDLDriver *)ip)->sensitivity[i] = LIS3MDL_SENS_12GA;
+ else if(((LIS3MDLDriver *)ip)->config->fullscale == LIS3MDL_FS_16GA)
+ for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
+ ((LIS3MDLDriver *)ip)->sensitivity[i] = LIS3MDL_SENS_16GA;
+ else {
+ osalDbgAssert(FALSE, "reset_sensivity(), compass full scale issue");
+ return MSG_RESET;
+ }
+ return MSG_OK;
+}
+
+static msg_t get_temperature(void *ip, float* tempp) {
+ int16_t temp;
+#if LIS3MDL_USE_I2C
+ osalDbgAssert((((LIS3MDLDriver *)ip)->config->i2cp->state == I2C_READY),
+ "gyro_read_raw(), channel not ready");
+#if LIS3MDL_SHARED_I2C
+ i2cAcquireBus(((LIS3MDLDriver *)ip)->config->i2cp);
+ i2cStart(((LIS3MDLDriver *)ip)->config->i2cp,
+ ((LIS3MDLDriver *)ip)->config->i2ccfg);
+#endif /* LIS3MDL_SHARED_I2C */
+ temp = (int16_t)(lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
+ ((LIS3MDLDriver *)ip)->config->slaveaddress,
+ LIS3MDL_AD_TEMP_OUT_L, NULL));
+ temp += (int16_t)(lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
+ ((LIS3MDLDriver *)ip)->config->slaveaddress,
+ LIS3MDL_AD_TEMP_OUT_H, NULL) << 8);
+#if LIS3MDL_SHARED_I2C
+ i2cReleaseBus(((LIS3MDLDriver *)ip)->config->i2cp);
+#endif /* LIS3MDL_SHARED_I2C */
+#endif /* LIS3MDL_USE_I2C */
+ *tempp = (float)temp / LIS3MDL_TEMP_SENS;
+ return MSG_OK;
+}
+
+static const struct BaseSensorVMT vmt_basesensor = {
+ get_axes_number, read_raw, read_cooked
+};
+
+static const struct BaseCompassVMT vmt_basecompass = {
+ get_axes_number, read_raw, read_cooked,
+ set_bias, reset_bias, set_sensivity, reset_sensivity
+};
+
+static const struct LIS3MDLVMT vmt_lis3mdl = {
+ get_axes_number, read_raw, read_cooked,
+ set_bias, reset_bias, set_sensivity, reset_sensivity,
+ get_temperature
+};
+
+/*===========================================================================*/
+/* Driver exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Initializes an instance.
+ *
+ * @param[out] devp pointer to the @p LIS3MDLDriver object
+ *
+ * @init
+ */
+void lis3mdlObjectInit(LIS3MDLDriver *devp) {
+ uint32_t i;
+ devp->vmt_basesensor = &vmt_basesensor;
+ devp->vmt_basecompass = &vmt_basecompass;
+ devp->vmt_lis3mdl = &vmt_lis3mdl;
+ devp->config = NULL;
+ for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
+ devp->bias[i] = 0;
+ devp->state = LIS3MDL_STOP;
+}
+
+/**
+ * @brief Configures and activates LIS3MDL Complex Driver peripheral.
+ *
+ * @param[in] devp pointer to the @p LIS3MDLDriver object
+ * @param[in] config pointer to the @p LIS3MDLConfig object
+ *
+ * @api
+ */
+void lis3mdlStart(LIS3MDLDriver *devp, const LIS3MDLConfig *config) {
+ uint32_t i;
+ osalDbgCheck((devp != NULL) && (config != NULL));
+
+ osalDbgAssert((devp->state == LIS3MDL_STOP) || (devp->state == LIS3MDL_READY),
+ "lis3mdlStart(), invalid state");
+
+ devp->config = config;
+
+#if LIS3MDL_USE_I2C
+#if LIS3MDL_SHARED_I2C
+ i2cAcquireBus((devp)->config->i2cp);
+#endif /* LIS3MDL_SHARED_I2C */
+ i2cStart((devp)->config->i2cp,
+ (devp)->config->i2ccfg);
+ lis3mdlI2CWriteRegister(devp->config->i2cp,
+ devp->config->slaveaddress,
+ LIS3MDL_AD_CTRL_REG1,
+ devp->config->temperature |
+ devp->config->outputdatarate |
+ devp->config->operationmodexy);
+ lis3mdlI2CWriteRegister(devp->config->i2cp,
+ devp->config->slaveaddress,
+ LIS3MDL_AD_CTRL_REG2,
+ devp->config->fullscale);
+ lis3mdlI2CWriteRegister(devp->config->i2cp,
+ devp->config->slaveaddress,
+ LIS3MDL_AD_CTRL_REG3,
+ devp->config->conversionmode);
+ lis3mdlI2CWriteRegister(devp->config->i2cp,
+ devp->config->slaveaddress,
+ LIS3MDL_AD_CTRL_REG4,
+ devp->config->operationmodez |
+ devp->config->endianness);
+ lis3mdlI2CWriteRegister(devp->config->i2cp,
+ devp->config->slaveaddress,
+ LIS3MDL_AD_CTRL_REG5,
+ devp->config->blockdataupdate);
+#if LIS3MDL_SHARED_I2C
+ i2cReleaseBus((devp)->config->i2cp);
+#endif /* LIS3MDL_SHARED_I2C */
+#endif /* LIS3MDL_USE_I2C */
+ /* Storing sensitivity information according to full scale value */
+ if(devp->config->fullscale == LIS3MDL_FS_4GA)
+ for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
+ devp->sensitivity[i] = LIS3MDL_SENS_4GA;
+ else if(devp->config->fullscale == LIS3MDL_FS_8GA)
+ for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
+ devp->sensitivity[i] = LIS3MDL_SENS_8GA;
+ else if(devp->config->fullscale == LIS3MDL_FS_12GA)
+ for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
+ devp->sensitivity[i] = LIS3MDL_SENS_12GA;
+ else if(devp->config->fullscale == LIS3MDL_FS_16GA)
+ for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
+ devp->sensitivity[i] = LIS3MDL_SENS_16GA;
+ else
+ osalDbgAssert(FALSE, "lis3mdlStart(), compass full scale issue");
+ devp->state = LIS3MDL_READY;
+}
+
+/**
+ * @brief Deactivates the LIS3MDL Complex Driver peripheral.
+ *
+ * @param[in] devp pointer to the @p LIS3MDLDriver object
+ *
+ * @api
+ */
+void lis3mdlStop(LIS3MDLDriver *devp) {
+
+ osalDbgCheck(devp != NULL);
+
+ osalDbgAssert((devp->state == LIS3MDL_STOP) || (devp->state == LIS3MDL_READY),
+ "lis3mdlStop(), invalid state");
+
+#if (LIS3MDL_USE_I2C)
+ if (devp->state == LIS3MDL_STOP) {
+#if LIS3MDL_SHARED_I2C
+ i2cAcquireBus((devp)->config->i2cp);
+ i2cStart((devp)->config->i2cp,
+ (devp)->config->i2ccfg);
+#endif /* LIS3MDL_SHARED_I2C */
+ lis3mdlI2CWriteRegister(devp->config->i2cp,
+ devp->config->slaveaddress,
+ LIS3MDL_AD_CTRL_REG3,
+ LIS3MDL_MD_POWER_DOWN);
+ i2cStop((devp)->config->i2cp);
+#if LIS3MDL_SHARED_I2C
+ i2cReleaseBus((devp)->config->i2cp);
+#endif /* LIS3MDL_SHARED_I2C */
+ }
+#endif /* LIS3MDL_USE_I2C */
+ devp->state = LIS3MDL_STOP;
+}
+/** @} */
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