From d4c4f24cffc301e2f578c81b65a60ccaabe997d7 Mon Sep 17 00:00:00 2001 From: Rocco Marco Guglielmi Date: Sat, 10 Mar 2018 13:54:21 +0000 Subject: Updated LPS25H and added a thermometer interface to the driver git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@11686 110e8d01-0319-4d1e-a829-52ad28d1bb01 --- os/ex/ST/lps25h.c | 513 +++++++++++++++++++++++++++++++++++++++++++++--------- 1 file changed, 431 insertions(+), 82 deletions(-) (limited to 'os/ex/ST/lps25h.c') diff --git a/os/ex/ST/lps25h.c b/os/ex/ST/lps25h.c index ad5b197c9..2957ca87b 100644 --- a/os/ex/ST/lps25h.c +++ b/os/ex/ST/lps25h.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. @@ -57,10 +57,11 @@ * @param[out] rxbuf pointer to an output buffer * @param[in] n number of consecutive register to read * @return the operation status. + * * @notapi */ -msg_t lps25hI2CReadRegister(I2CDriver *i2cp, lps25h_sad_t sad, uint8_t reg, - uint8_t* rxbuf, size_t n) { +static msg_t lps25hI2CReadRegister(I2CDriver *i2cp, lps25h_sad_t sad, + uint8_t reg, uint8_t* rxbuf, size_t n) { uint8_t txbuf = reg; if(n > 1) txbuf |= LPS25H_SUB_MS; @@ -80,11 +81,11 @@ msg_t lps25hI2CReadRegister(I2CDriver *i2cp, lps25h_sad_t sad, uint8_t reg, * @param[in] n size of txbuf less one (not considering the first * element) * @return the operation status. + * * @notapi - * @return the operation status. */ -msg_t lps25hI2CWriteRegister(I2CDriver *i2cp, lps25h_sad_t sad, uint8_t* txbuf, - size_t n) { +static msg_t lps25hI2CWriteRegister(I2CDriver *i2cp, lps25h_sad_t sad, + uint8_t* txbuf, size_t n) { if (n > 1) (*txbuf) |= LPS25H_SUB_MS; return i2cMasterTransmitTimeout(i2cp, sad, txbuf, n + 1, NULL, 0, @@ -92,118 +93,448 @@ msg_t lps25hI2CWriteRegister(I2CDriver *i2cp, lps25h_sad_t sad, uint8_t* txbuf, } #endif /* LPS25H_USE_I2C */ -/* - * Interface implementation. +/** + * @brief Return the number of axes of the BaseBarometer. + * + * @param[in] ip pointer to @p BaseBarometer interface. + * + * @return the number of axes. */ -static size_t get_axes_number(void *ip) { +static size_t baro_get_axes_number(void *ip) { + (void)ip; - osalDbgCheck(ip != NULL); - return LPS25H_NUMBER_OF_AXES; + return LPS25H_BARO_NUMBER_OF_AXES; } -static msg_t read_raw(void *ip, int32_t* axis) { +/** + * @brief Retrieves raw data from the BaseBarometer. + * @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 + * BaseBarometer axes number. + * + * @param[in] ip pointer to @p BaseBarometer 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 baro_read_raw(void *ip, int32_t axes[]) { + LPS25HDriver* devp; uint8_t buff[3]; - msg_t msg = MSG_OK; + msg_t msg; + + osalDbgCheck((ip != NULL) && (axes != NULL)); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LPS25HDriver*, (BaseBarometer*)ip); - *axis = 0; - - osalDbgCheck((ip != NULL) && (axis != NULL)); - osalDbgAssert((((LPS25HDriver *)ip)->state == LPS25H_READY), - "read_raw(), invalid state"); + osalDbgAssert((devp->state == LPS25H_READY), + "baro_read_raw(), invalid state"); -#if LPS25H_USE_I2C - osalDbgAssert((((LPS25HDriver *)ip)->config->i2cp->state == I2C_READY), - "read_raw(), channel not ready"); + osalDbgAssert((devp->config->i2cp->state == I2C_READY), + "baro_read_raw(), channel not ready"); + #if LPS25H_SHARED_I2C - i2cAcquireBus(((LPS25HDriver *)ip)->config->i2cp); - i2cStart(((LPS25HDriver *)ip)->config->i2cp, - ((LPS25HDriver *)ip)->config->i2ccfg); + i2cAcquireBus(devp->config->i2cp); + i2cStart(devp->config->i2cp, + devp->config->i2ccfg); #endif /* LPS25H_SHARED_I2C */ - msg = lps25hI2CReadRegister(((LPS25HDriver *)ip)->config->i2cp, - ((LPS25HDriver *)ip)->config->slaveaddress, - LPS25H_AD_PRESS_OUT_XL, buff, 3); + msg = lps25hI2CReadRegister(devp->config->i2cp, devp->config->slaveaddress, + LPS25H_AD_PRESS_OUT_XL, buff, 3); #if LPS25H_SHARED_I2C - i2cReleaseBus(((LPS25HDriver *)ip)->config->i2cp); + i2cReleaseBus(devp->config->i2cp); #endif /* LPS25H_SHARED_I2C */ -#endif /* LPS25H_USE_I2C */ if(msg == MSG_OK) { - *axis = buff[0] + (buff[1] << 8) + (buff[2] << 16); + *axes = buff[0] + (buff[1] << 8) + (buff[2] << 16); } return msg; } -static msg_t read_cooked(void *ip, float* axis) { +/** + * @brief Retrieves cooked data from the BaseBarometer. + * @note This data is manipulated according to the formula + * cooked = (raw * sensitivity) - bias. + * @note Final data is expressed as hPa. + * @note The axes array must be at least the same size of the + * BaseBarometer axes number. + * + * @param[in] ip pointer to @p BaseBarometer 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 baro_read_cooked(void *ip, float axes[]) { + LPS25HDriver* devp; int32_t raw; msg_t msg; - osalDbgCheck((ip != NULL) && (axis != NULL)); + osalDbgCheck((ip != NULL) && (axes != NULL)); - osalDbgAssert((((LPS25HDriver *)ip)->state == LPS25H_READY), - "read_cooked(), invalid state"); + /* Getting parent instance pointer.*/ + devp = objGetInstance(LPS25HDriver*, (BaseBarometer*)ip); + + osalDbgAssert((devp->state == LPS25H_READY), + "baro_read_cooked(), invalid state"); - msg = read_raw(ip, &raw); + msg = baro_read_raw(ip, &raw); - *axis = raw * ((LPS25HDriver *)ip)->sensitivity; - *axis -= ((LPS25HDriver *)ip)->bias; + *axes = (raw * devp->barosensitivity) - devp->barobias; + return msg; } -static msg_t set_bias(void *ip, float *bp) { +/** + * @brief Set bias values for the BaseBarometer. + * @note Bias must be expressed as hPa. + * @note The bias buffer must be at least the same size of the + * BaseBarometer axes number. + * + * @param[in] ip pointer to @p BaseBarometer interface. + * @param[in] bp a buffer which contains biases. + * + * @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 baro_set_bias(void *ip, float *bp) { + LPS25HDriver* devp; + msg_t msg = MSG_OK; + osalDbgCheck((ip != NULL) && (bp != NULL)); - osalDbgAssert((((LPS25HDriver *)ip)->state == LPS25H_READY) || - (((LPS25HDriver *)ip)->state == LPS25H_STOP), - "set_bias(), invalid state"); + /* Getting parent instance pointer.*/ + devp = objGetInstance(LPS25HDriver*, (BaseBarometer*)ip); - ((LPS25HDriver *)ip)->bias = *bp; - return MSG_OK; + osalDbgAssert((devp->state == LPS25H_READY), + "baro_set_bias(), invalid state"); + + devp->barobias = *bp; + return msg; } -static msg_t reset_bias(void *ip) { +/** + * @brief Reset bias values for the BaseBarometer. + * @note Default biases value are obtained from device datasheet when + * available otherwise they are considered zero. + * + * @param[in] ip pointer to @p BaseBarometer interface. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + */ +static msg_t baro_reset_bias(void *ip) { + LPS25HDriver* devp; + msg_t msg = MSG_OK; + osalDbgCheck(ip != NULL); - osalDbgAssert((((LPS25HDriver *)ip)->state == LPS25H_READY) || - (((LPS25HDriver *)ip)->state == LPS25H_STOP), - "reset_bias(), invalid state"); + /* Getting parent instance pointer.*/ + devp = objGetInstance(LPS25HDriver*, (BaseBarometer*)ip); + + osalDbgAssert((devp->state == LPS25H_READY), + "baro_reset_bias(), invalid state"); + + devp->barobias = LPS25H_BARO_SENS; + return msg; +} + +/** + * @brief Set sensitivity values for the BaseBarometer. + * @note Sensitivity must be expressed as hPa/LSB. + * @note The sensitivity buffer must be at least the same size of the + * BaseBarometer axes number. + * + * @param[in] ip pointer to @p BaseBarometer interface. + * @param[in] sp a buffer which contains sensitivities. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + */ +static msg_t baro_set_sensitivity(void *ip, float *sp) { + LPS25HDriver* devp; + msg_t msg = MSG_OK; + + osalDbgCheck((ip != NULL) && (sp != NULL)); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LPS25HDriver*, (BaseBarometer*)ip); + + osalDbgAssert((devp->state == LPS25H_READY), + "baro_set_sensitivity(), invalid state"); + + devp->barosensitivity = *sp; + return msg; +} + +/** + * @brief Reset sensitivity values for the BaseBarometer. + * @note Default sensitivities value are obtained from device datasheet. + * + * @param[in] ip pointer to @p BaseBarometer interface. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + */ +static msg_t baro_reset_sensitivity(void *ip) { + LPS25HDriver* devp; + msg_t msg = MSG_OK; + + osalDbgCheck(ip != NULL); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LPS25HDriver*, (BaseBarometer*)ip); + + osalDbgAssert((devp->state == LPS25H_READY), + "baro_reset_sensitivity(), invalid state"); + + devp->barosensitivity = LPS25H_BARO_SENS; + return msg; +} + +/** + * @brief Return the number of axes of the BaseThermometer. + * + * @param[in] ip pointer to @p BaseThermometer interface. + * + * @return the number of axes. + */ +static size_t thermo_get_axes_number(void *ip) { + (void)ip; + + return LPS25H_THERMO_NUMBER_OF_AXES; +} + +/** + * @brief Retrieves raw data from the BaseThermometer. + * @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 + * BaseThermometer axes number. + * + * @param[in] ip pointer to @p BaseThermometer 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 thermo_read_raw(void *ip, int32_t axes[]) { + LPS25HDriver* devp; + int16_t tmp; + uint8_t buff[2]; + msg_t msg; + + osalDbgCheck((ip != NULL) && (axes != NULL)); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LPS25HDriver*, (BaseThermometer*)ip); + + osalDbgAssert((devp->state == LPS25H_READY), + "thermo_read_raw(), invalid state"); + + osalDbgAssert((devp->config->i2cp->state == I2C_READY), + "thermo_read_raw(), channel not ready"); + +#if LPS25H_SHARED_I2C + i2cAcquireBus(devp->config->i2cp); + i2cStart(devp->config->i2cp, + devp->config->i2ccfg); +#endif /* LPS25H_SHARED_I2C */ - ((LPS25HDriver *)ip)->bias = 0.0f; - return MSG_OK; + msg = lps25hI2CReadRegister(devp->config->i2cp, devp->config->slaveaddress, + LPS25H_AD_TEMP_OUT_L, buff, 2); + +#if LPS25H_SHARED_I2C + i2cReleaseBus(devp->config->i2cp); +#endif /* LPS25H_SHARED_I2C */ + + if (msg == MSG_OK) { + tmp = buff[0] + (buff[1] << 8); + *axes = (int32_t)tmp; + } + return msg; } +/** + * @brief Retrieves cooked data from the BaseThermometer. + * @note This data is manipulated according to the formula + * cooked = (raw * sensitivity) - bias. + * @note Final data is expressed as °C. + * @note The axes array must be at least the same size of the + * BaseThermometer axes number. + * + * @param[in] ip pointer to @p BaseThermometer 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 thermo_read_cooked(void *ip, float* axis) { + LPS25HDriver* devp; + int32_t raw; + msg_t msg; -static msg_t set_sensivity(void *ip, float *sp) { + osalDbgCheck((ip != NULL) && (axis != NULL)); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LPS25HDriver*, (BaseThermometer*)ip); - osalDbgCheck((ip != NULL) && (sp !=NULL)); + osalDbgAssert((devp->state == LPS25H_READY), + "thermo_read_cooked(), invalid state"); + + msg = thermo_read_raw(devp, &raw); - osalDbgAssert((((LPS25HDriver *)ip)->state == LPS25H_READY), - "set_sensivity(), invalid state"); + *axis = (raw * devp->thermosensitivity) - devp->thermobias; + + return msg; +} + +/** + * @brief Set bias values for the BaseThermometer. + * @note Bias must be expressed as °C. + * @note The bias buffer must be at least the same size of the + * BaseThermometer axes number. + * + * @param[in] ip pointer to @p BaseThermometer interface. + * @param[in] bp a buffer which contains biases. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + */ +static msg_t thermo_set_bias(void *ip, float *bp) { + LPS25HDriver* devp; + msg_t msg = MSG_OK; + + osalDbgCheck((ip != NULL) && (bp != NULL)); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LPS25HDriver*, (BaseThermometer*)ip); - ((LPS25HDriver *)ip)->sensitivity = *sp; - return MSG_OK; + osalDbgAssert((devp->state == LPS25H_READY), + "thermo_set_bias(), invalid state"); + + devp->thermobias = *bp; + + return msg; } -static msg_t reset_sensivity(void *ip) { +/** + * @brief Reset bias values for the BaseThermometer. + * @note Default biases value are obtained from device datasheet when + * available otherwise they are considered zero. + * + * @param[in] ip pointer to @p BaseThermometer interface. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + */ +static msg_t thermo_reset_bias(void *ip) { + LPS25HDriver* devp; + msg_t msg = MSG_OK; + + osalDbgCheck(ip != NULL); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LPS25HDriver*, (BaseThermometer*)ip); + + osalDbgAssert((devp->state == LPS25H_READY), + "thermo_reset_bias(), invalid state"); + devp->thermobias = LPS25H_THERMO_BIAS; + + return msg; +} + +/** + * @brief Set sensitivity values for the BaseThermometer. + * @note Sensitivity must be expressed as °C/LSB. + * @note The sensitivity buffer must be at least the same size of the + * BaseThermometer axes number. + * + * @param[in] ip pointer to @p BaseThermometer interface. + * @param[in] sp a buffer which contains sensitivities. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + */ +static msg_t thermo_set_sensitivity(void *ip, float *sp) { + LPS25HDriver* devp; + msg_t msg = MSG_OK; + + osalDbgCheck((ip != NULL) && (sp != NULL)); + + /* Getting parent instance pointer.*/ + devp = objGetInstance(LPS25HDriver*, (BaseThermometer*)ip); + + osalDbgAssert((devp->state == LPS25H_READY), + "thermo_set_sensitivity(), invalid state"); + + devp->thermosensitivity = *sp; + + return msg; +} + +/** + * @brief Reset sensitivity values for the BaseThermometer. + * @note Default sensitivities value are obtained from device datasheet. + * + * @param[in] ip pointer to @p BaseThermometer interface. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + */ +static msg_t thermo_reset_sensitivity(void *ip) { + LPS25HDriver* devp; + msg_t msg = MSG_OK; + osalDbgCheck(ip != NULL); - osalDbgAssert((((LPS25HDriver *)ip)->state == LPS25H_READY), - "reset_sensivity(), invalid state"); + /* Getting parent instance pointer.*/ + devp = objGetInstance(LPS25HDriver*, (BaseThermometer*)ip); + + osalDbgAssert((devp->state == LPS25H_READY), + "thermo_reset_sensitivity(), invalid state"); - ((LPS25HDriver *)ip)->sensitivity = LPS25H_SENS; - return MSG_OK; + devp->thermosensitivity = LPS25H_THERMO_SENS; + + return msg; } -static const struct BaseSensorVMT vmt_sensor = { - get_axes_number, read_raw, read_cooked +static const struct LPS25HVMT vmt_device = { + (size_t)0 +}; + +static const struct BaseBarometerVMT vmt_barometer = { + sizeof(struct LPS25HVMT*), + baro_get_axes_number, baro_read_raw, baro_read_cooked, + baro_set_bias, baro_reset_bias, baro_set_sensitivity, + baro_reset_sensitivity }; -static const struct LPS25HBarometerVMT vmt_barometer = { - get_axes_number, read_raw, read_cooked, - set_bias, reset_bias, set_sensivity, reset_sensivity +static const struct BaseThermometerVMT vmt_thermometer = { + sizeof(struct LPS25HVMT*) + sizeof(BaseBarometer), + thermo_get_axes_number, thermo_read_raw, thermo_read_cooked, + thermo_set_bias, thermo_reset_bias, thermo_set_sensitivity, + thermo_reset_sensitivity }; /*===========================================================================*/ @@ -219,10 +550,15 @@ static const struct LPS25HBarometerVMT vmt_barometer = { */ void lps25hObjectInit(LPS25HDriver *devp) { - devp->vmt_sensor = &vmt_sensor; - devp->vmt_barometer = &vmt_barometer; + devp->vmt = &vmt_device; + devp->baro_if.vmt = &vmt_barometer; + devp->thermo_if.vmt = &vmt_thermometer; + devp->config = NULL; - devp->bias = 0; + + devp->baroaxes = LPS25H_BARO_NUMBER_OF_AXES; + devp->thermoaxes = LPS25H_THERMO_NUMBER_OF_AXES; + devp->state = LPS25H_STOP; } @@ -239,10 +575,10 @@ void lps25hStart(LPS25HDriver *devp, const LPS25HConfig *config) { osalDbgCheck((devp != NULL) && (config != NULL)); osalDbgAssert((devp->state == LPS25H_STOP) || (devp->state == LPS25H_READY), - "lps25hStart(), invalid state"); + "lps25hStart(), invalid state"); devp->config = config; -#if LPS25H_USE_I2C + /* Control register 1 configuration block.*/ { cr[0] = LPS25H_AD_CTRL_REG1; @@ -269,7 +605,7 @@ void lps25hStart(LPS25HDriver *devp, const LPS25HConfig *config) { cr[0] = LPS25H_AD_RES_CONF; cr[1] = 0x05; #if LPS25H_USE_ADVANCED || defined(__DOXYGEN__) - cr[1] = devp->config->respressure | devp->config->restemperature; + cr[1] = devp->config->baroresolution | devp->config->thermoresolution; #endif } @@ -285,22 +621,37 @@ void lps25hStart(LPS25HDriver *devp, const LPS25HConfig *config) { #if LPS25H_SHARED_I2C i2cReleaseBus((devp)->config->i2cp); #endif /* LPS25H_SHARED_I2C */ -#endif /* LPS25H_USE_I2C */ - if(devp->config->sensitivity == NULL) { - devp->sensitivity = LPS25H_SENS; + if(devp->config->barosensitivity == NULL) { + devp->barosensitivity = LPS25H_BARO_SENS; + } + else{ + /* Taking barometer sensitivity from user configurations */ + devp->barosensitivity = *(devp->config->barosensitivity); + } + + if(devp->config->barobias == NULL) { + devp->barobias = LPS25H_BARO_BIAS; } else{ - /* Taking Sensitivity from user configurations */ - devp->sensitivity = *devp->config->sensitivity; + /* Taking barometer bias from user configurations */ + devp->barobias = *(devp->config->barobias); } - if(devp->config->bias == NULL) { - devp->bias = 0.0f; + if(devp->config->thermosensitivity == NULL) { + devp->thermosensitivity = LPS25H_THERMO_SENS; } else{ - /* Taking Bias from user configurations */ - devp->bias = *devp->config->bias; + /* Taking thermometer sensitivity from user configurations */ + devp->thermosensitivity = *(devp->config->thermosensitivity); + } + + if(devp->config->thermobias == NULL) { + devp->thermobias = LPS25H_THERMO_BIAS; + } + else{ + /* Taking thermometer bias from user configurations */ + devp->thermobias = *(devp->config->thermobias); } /* This is the Barometer transient recovery time */ @@ -325,7 +676,6 @@ void lps25hStop(LPS25HDriver *devp) { "lps25hStop(), invalid state"); if (devp->state == LPS25H_READY) { -#if (LPS25H_USE_I2C) #if LPS25H_SHARED_I2C i2cAcquireBus((devp)->config->i2cp); i2cStart((devp)->config->i2cp, @@ -341,7 +691,6 @@ void lps25hStop(LPS25HDriver *devp) { #if LPS25H_SHARED_I2C i2cReleaseBus((devp)->config->i2cp); #endif /* LPS25H_SHARED_I2C */ -#endif /* LPS25H_USE_I2C */ } devp->state = LPS25H_STOP; } -- cgit v1.2.3