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QMK/lib/chibios/os/ex/ST/l3gd20.c

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/*
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 l3gd20.c
* @brief L3GD20 MEMS interface module code.
*
* @addtogroup L3GD20
* @ingroup EX_ST
* @{
*/
#include "hal.h"
#include "l3gd20.h"
/*===========================================================================*/
/* Driver local definitions. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver exported variables. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local variables and types. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local functions. */
/*===========================================================================*/
#if (L3GD20_USE_SPI) || defined(__DOXYGEN__)
/**
* @brief Reads a generic register value using SPI.
* @pre The SPI interface must be initialized and the driver started.
*
* @param[in] spip pointer to the SPI interface
* @param[in] reg starting register address
* @param[in] n number of consecutive registers to read
* @param[in] b pointer to an output buffer.
*/
static void l3gd20SPIReadRegister(SPIDriver *spip, uint8_t reg, size_t n,
uint8_t* b) {
uint8_t cmd;
(n == 1) ? (cmd = reg | L3GD20_RW) : (cmd = reg | L3GD20_RW | L3GD20_MS);
spiSelect(spip);
spiSend(spip, 1, &cmd);
spiReceive(spip, n, b);
spiUnselect(spip);
}
/**
* @brief Writes a value into a generic register using SPI.
* @pre The SPI interface must be initialized and the driver started.
*
* @param[in] spip pointer to the SPI interface
* @param[in] reg starting register address
* @param[in] n number of adjacent registers to write
* @param[in] b pointer to a buffer of values.
*/
static void l3gd20SPIWriteRegister(SPIDriver *spip, uint8_t reg, size_t n,
uint8_t* b) {
uint8_t cmd;
(n == 1) ? (cmd = reg) : (cmd = reg | L3GD20_MS);
spiSelect(spip);
spiSend(spip, 1, &cmd);
spiSend(spip, n, b);
spiUnselect(spip);
}
#endif /* L3GD20_USE_SPI */
/**
* @brief Return the number of axes of the BaseGyroscope.
*
* @param[in] ip pointer to @p BaseGyroscope interface.
*
* @return the number of axes.
*/
static size_t gyro_get_axes_number(void *ip) {
(void)ip;
return L3GD20_GYRO_NUMBER_OF_AXES;
}
/**
* @brief Retrieves raw data from the BaseGyroscope.
* @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
* BaseGyroscope axes number.
*
* @param[in] ip pointer to @p BaseGyroscope interface.
* @param[out] axes a buffer which would be filled with raw data.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*/
static msg_t gyro_read_raw(void *ip, int32_t axes[L3GD20_GYRO_NUMBER_OF_AXES]) {
L3GD20Driver* devp;
int16_t tmp;
uint8_t i, buff [2 * L3GD20_GYRO_NUMBER_OF_AXES];
msg_t msg = MSG_OK;
osalDbgCheck((ip != NULL) && (axes != NULL));
/* Getting parent instance pointer.*/
devp = objGetInstance(L3GD20Driver*, (BaseGyroscope*)ip);
osalDbgAssert((devp->state == L3GD20_READY),
"gyro_read_raw(), invalid state");
#if L3GD20_USE_SPI
osalDbgAssert((devp->config->spip->state == SPI_READY),
"gyro_read_raw(), channel not ready");
#if L3GD20_SHARED_SPI
spiAcquireBus(devp->config->spip);
spiStart(devp->config->spip,
devp->config->spicfg);
#endif /* L3GD20_SHARED_SPI */
l3gd20SPIReadRegister(devp->config->spip, L3GD20_AD_OUT_X_L,
L3GD20_GYRO_NUMBER_OF_AXES * 2, buff);
#if L3GD20_SHARED_SPI
spiReleaseBus(devp->config->spip);
#endif /* L3GD20_SHARED_SPI */
#endif /* L3GD20_USE_SPI */
for(i = 0; i < L3GD20_GYRO_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 BaseGyroscope.
* @note This data is manipulated according to the formula
* cooked = (raw * sensitivity) - bias.
* @note Final data is expressed as DPS.
* @note The axes array must be at least the same size of the
* BaseGyroscope axes number.
*
* @param[in] ip pointer to @p BaseGyroscope interface.
* @param[out] axes a buffer which would be filled with cooked data.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*/
static msg_t gyro_read_cooked(void *ip, float axes[]) {
L3GD20Driver* devp;
uint32_t i;
int32_t raw[L3GD20_GYRO_NUMBER_OF_AXES];
msg_t msg;
osalDbgCheck((ip != NULL) && (axes != NULL));
/* Getting parent instance pointer.*/
devp = objGetInstance(L3GD20Driver*, (BaseGyroscope*)ip);
osalDbgAssert((devp->state == L3GD20_READY),
"gyro_read_cooked(), invalid state");
msg = gyro_read_raw(ip, raw);
for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++){
axes[i] = (raw[i] * devp->gyrosensitivity[i]) - devp->gyrobias[i];
}
return msg;
}
/**
* @brief Samples bias values for the BaseGyroscope.
* @note The L3GD20 shall not be moved during the whole procedure.
* @note After this function internal bias is automatically updated.
* @note The behavior of this function depends on @p L3GD20_BIAS_ACQ_TIMES
* and @p L3GD20_BIAS_SETTLING_US.
*
* @param[in] ip pointer to @p BaseGyroscope interface.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*/
static msg_t gyro_sample_bias(void *ip) {
L3GD20Driver* devp;
uint32_t i, j;
int32_t raw[L3GD20_GYRO_NUMBER_OF_AXES];
int32_t buff[L3GD20_GYRO_NUMBER_OF_AXES] = {0, 0, 0};
msg_t msg;
osalDbgCheck(ip != NULL);
/* Getting parent instance pointer.*/
devp = objGetInstance(L3GD20Driver*, (BaseGyroscope*)ip);
osalDbgAssert((devp->state == L3GD20_READY),
"gyro_sample_bias(), invalid state");
#if L3GD20_USE_SPI
osalDbgAssert((devp->config->spip->state == SPI_READY),
"gyro_sample_bias(), channel not ready");
#endif
for(i = 0; i < L3GD20_BIAS_ACQ_TIMES; i++){
msg = gyro_read_raw(ip, raw);
if(msg != MSG_OK)
return msg;
for(j = 0; j < L3GD20_GYRO_NUMBER_OF_AXES; j++){
buff[j] += raw[j];
}
osalThreadSleepMicroseconds(L3GD20_BIAS_SETTLING_US);
}
for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++){
devp->gyrobias[i] = (buff[i] / L3GD20_BIAS_ACQ_TIMES);
devp->gyrobias[i] *= devp->gyrosensitivity[i];
}
return msg;
}
/**
* @brief Set bias values for the BaseGyroscope.
* @note Bias must be expressed as DPS.
* @note The bias buffer must be at least the same size of the BaseGyroscope
* axes number.
*
* @param[in] ip pointer to @p BaseGyroscope interface.
* @param[in] bp a buffer which contains biases.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*/
static msg_t gyro_set_bias(void *ip, float *bp) {
L3GD20Driver* devp;
uint32_t i;
msg_t msg = MSG_OK;
osalDbgCheck((ip != NULL) && (bp != NULL));
/* Getting parent instance pointer.*/
devp = objGetInstance(L3GD20Driver*, (BaseGyroscope*)ip);
osalDbgAssert((devp->state == L3GD20_READY),
"gyro_set_bias(), invalid state");
for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++) {
devp->gyrobias[i] = bp[i];
}
return msg;
}
/**
* @brief Reset bias values for the BaseGyroscope.
* @note Default biases value are obtained from device datasheet when
* available otherwise they are considered zero.
*
* @param[in] ip pointer to @p BaseGyroscope interface.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*/
static msg_t gyro_reset_bias(void *ip) {
L3GD20Driver* devp;
uint32_t i;
msg_t msg = MSG_OK;
osalDbgCheck(ip != NULL);
/* Getting parent instance pointer.*/
devp = objGetInstance(L3GD20Driver*, (BaseGyroscope*)ip);
osalDbgAssert((devp->state == L3GD20_READY),
"gyro_reset_bias(), invalid state");
for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++)
devp->gyrobias[i] = L3GD20_GYRO_BIAS;
return msg;
}
/**
* @brief Set sensitivity values for the BaseGyroscope.
* @note Sensitivity must be expressed as DPS/LSB.
* @note The sensitivity buffer must be at least the same size of the
* BaseGyroscope axes number.
*
* @param[in] ip pointer to @p BaseGyroscope interface.
* @param[in] sp a buffer which contains sensitivities.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*/
static msg_t gyro_set_sensivity(void *ip, float *sp) {
L3GD20Driver* devp;
uint32_t i;
msg_t msg = MSG_OK;
osalDbgCheck((ip != NULL) && (sp !=NULL));
/* Getting parent instance pointer.*/
devp = objGetInstance(L3GD20Driver*, (BaseGyroscope*)ip);
osalDbgAssert((devp->state == L3GD20_READY),
"gyro_set_sensivity(), invalid state");
for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++) {
devp->gyrosensitivity[i] = sp[i];
}
return msg;
}
/**
* @brief Reset sensitivity values for the BaseGyroscope.
* @note Default sensitivities value are obtained from device datasheet.
*
* @param[in] ip pointer to @p BaseGyroscope interface.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
* @retval MSG_RESET otherwise.
*/
static msg_t gyro_reset_sensivity(void *ip) {
L3GD20Driver* devp;
uint32_t i;
msg_t msg = MSG_OK;
osalDbgCheck(ip != NULL);
/* Getting parent instance pointer.*/
devp = objGetInstance(L3GD20Driver*, (BaseGyroscope*)ip);
osalDbgAssert((devp->state == L3GD20_READY),
"gyro_reset_sensivity(), invalid state");
if(devp->config->gyrofullscale == L3GD20_FS_250DPS)
for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++)
devp->gyrosensitivity[i] = L3GD20_GYRO_SENS_250DPS;
else if(devp->config->gyrofullscale == L3GD20_FS_500DPS)
for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++)
devp->gyrosensitivity[i] = L3GD20_GYRO_SENS_500DPS;
else if(devp->config->gyrofullscale == L3GD20_FS_2000DPS)
for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++)
devp->gyrosensitivity[i] = L3GD20_GYRO_SENS_2000DPS;
else {
osalDbgAssert(FALSE, "gyro_reset_sensivity(), full scale issue");
return MSG_RESET;
}
return msg;
}
/**
* @brief Changes the L3GD20Driver gyroscope 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 BaseGyroscope 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 gyro_set_full_scale(L3GD20Driver *devp, l3gd20_fs_t fs) {
float newfs, scale;
uint8_t i, cr;
msg_t msg = MSG_OK;
osalDbgCheck(devp != NULL);
osalDbgAssert((devp->state == L3GD20_READY),
"gyro_set_full_scale(), invalid state");
#if L3GD20_USE_SPI
osalDbgAssert((devp->config->spip->state == SPI_READY),
"gyro_set_full_scale(), channel not ready");
#endif
if(fs == L3GD20_FS_250DPS) {
newfs = L3GD20_250DPS;
}
else if(fs == L3GD20_FS_500DPS) {
newfs = L3GD20_500DPS;
}
else if(fs == L3GD20_FS_2000DPS) {
newfs = L3GD20_2000DPS;
}
else {
return MSG_RESET;
}
if(newfs != devp->gyrofullscale) {
scale = newfs / devp->gyrofullscale;
devp->gyrofullscale = newfs;
#if L3GD20_USE_SPI
#if L3GD20_SHARED_SPI
spiAcquireBus(devp->config->spip);
spiStart(devp->config->spip,
devp->config->spicfg);
#endif /* L3GD20_SHARED_SPI */
/* Updating register.*/
l3gd20SPIReadRegister(devp->config->spip,
L3GD20_AD_CTRL_REG4, 1, &cr);
#if L3GD20_SHARED_SPI
spiReleaseBus(devp->config->spip);
#endif /* L3GD20_SHARED_SPI */
#endif /* L3GD20_USE_SPI */
cr &= ~(L3GD20_CTRL_REG4_FS_MASK);
cr |= fs;
#if L3GD20_USE_SPI
#if L3GD20_SHARED_SPI
spiAcquireBus(devp->config->spip);
spiStart(devp->config->spip,
devp->config->spicfg);
#endif /* L3GD20_SHARED_SPI */
l3gd20SPIWriteRegister(devp->config->spip,
L3GD20_AD_CTRL_REG4, 1, &cr);
#if L3GD20_SHARED_SPI
spiReleaseBus(devp->config->spip);
#endif /* L3GD20_SHARED_SPI */
#endif /* L3GD20_USE_SPI */
/* Scaling sensitivity and bias. Re-calibration is suggested anyway. */
for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++) {
devp->gyrosensitivity[i] *= scale;
devp->gyrobias[i] *= scale;
}
}
return msg;
}
static const struct L3GD20VMT vmt_device = {
(size_t)0,
gyro_set_full_scale
};
static const struct BaseGyroscopeVMT vmt_gyroscope = {
sizeof(struct L3GD20VMT*),
gyro_get_axes_number, gyro_read_raw, gyro_read_cooked,
gyro_sample_bias, gyro_set_bias, gyro_reset_bias,
gyro_set_sensivity, gyro_reset_sensivity
};
/*===========================================================================*/
/* Driver exported functions. */
/*===========================================================================*/
/**
* @brief Initializes an instance.
*
* @param[out] devp pointer to the @p L3GD20Driver object
*
* @init
*/
void l3gd20ObjectInit(L3GD20Driver *devp) {
devp->vmt = &vmt_device;
devp->gyro_if.vmt = &vmt_gyroscope;
devp->config = NULL;
devp->state = L3GD20_STOP;
}
/**
* @brief Configures and activates L3GD20 Complex Driver peripheral.
*
* @param[in] devp pointer to the @p L3GD20Driver object
* @param[in] config pointer to the @p L3GD20Config object
*
* @api
*/
void l3gd20Start(L3GD20Driver *devp, const L3GD20Config *config) {
uint32_t i;
uint8_t cr[5] = {0, 0, 0, 0, 0};
osalDbgCheck((devp != NULL) && (config != NULL));
osalDbgAssert((devp->state == L3GD20_STOP) || (devp->state == L3GD20_READY),
"l3gd20Start(), invalid state");
devp->config = config;
/* Control register 1 configuration block.*/
{
cr[0] = L3GD20_CTRL_REG1_XEN | L3GD20_CTRL_REG1_YEN |
L3GD20_CTRL_REG1_ZEN | L3GD20_CTRL_REG1_PD |
devp->config->gyrooutputdatarate;
#if L3GD20_USE_ADVANCED || defined(__DOXYGEN__)
cr[0] |= devp->config->gyrobandwidth;
#endif
}
/* Control register 2 configuration block.*/
{
#if L3GD20_USE_ADVANCED || defined(__DOXYGEN__)
if(devp->config->gyrohpmode != L3GD20_HPM_BYPASSED)
cr[1] = devp->config->gyrohpmode | devp->config->gyrohpconfiguration;
#endif
}
/* Control register 4 configuration block.*/
{
cr[3] = devp->config->gyrofullscale;
#if L3GD20_USE_ADVANCED || defined(__DOXYGEN__)
cr[3] |= devp->config->gyroblockdataupdate |
devp->config->gyroendianness;
#endif
}
/* Control register 5 configuration block.*/
{
#if L3GD20_USE_ADVANCED || defined(__DOXYGEN__)
if((devp->config->gyrohpmode != L3GD20_HPM_BYPASSED)) {
cr[4] = L3GD20_CTRL_REG5_HPEN;
if(devp->config->gyrolp2mode != L3GD20_LP2M_BYPASSED) {
cr[4] |= L3GD20_CTRL_REG5_INT1_SEL1 |
L3GD20_CTRL_REG5_OUT_SEL1;
}
else {
cr[4] |= L3GD20_CTRL_REG5_INT1_SEL0 |
L3GD20_CTRL_REG5_OUT_SEL0;
}
}
#endif
}
#if L3GD20_USE_SPI
#if L3GD20_SHARED_SPI
spiAcquireBus(devp->config->spip);
#endif /* L3GD20_SHARED_SPI */
spiStart(devp->config->spip,
devp->config->spicfg);
l3gd20SPIWriteRegister(devp->config->spip, L3GD20_AD_CTRL_REG1,
5, cr);
#if L3GD20_SHARED_SPI
spiReleaseBus(devp->config->spip);
#endif /* L3GD20_SHARED_SPI */
#endif /* L3GD20_USE_SPI */
/* Storing sensitivity information according to full scale.*/
if(devp->config->gyrofullscale == L3GD20_FS_250DPS) {
devp->gyrofullscale = L3GD20_250DPS;
for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++) {
if (devp->config->gyrosensitivity == NULL)
devp->gyrosensitivity[i] = L3GD20_GYRO_SENS_250DPS;
else
devp->gyrosensitivity[i] = devp->config->gyrosensitivity[i];
}
}
else if(devp->config->gyrofullscale == L3GD20_FS_500DPS) {
devp->gyrofullscale = L3GD20_500DPS;
for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++) {
if (devp->config->gyrosensitivity == NULL)
devp->gyrosensitivity[i] = L3GD20_GYRO_SENS_500DPS;
else
devp->gyrosensitivity[i] = devp->config->gyrosensitivity[i];
}
}
else if(devp->config->gyrofullscale == L3GD20_FS_2000DPS) {
devp->gyrofullscale = L3GD20_2000DPS;
for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++) {
if (devp->config->gyrosensitivity == NULL)
devp->gyrosensitivity[i] = L3GD20_GYRO_SENS_2000DPS;
else
devp->gyrosensitivity[i] = devp->config->gyrosensitivity[i];
}
}
else
osalDbgAssert(FALSE, "l3gd20Start(), full scale issue");
/* Storing bias information.*/
if(devp->config->gyrobias != NULL) {
for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++) {
devp->gyrobias[i] = devp->config->gyrobias[i];
}
}
else {
for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++)
devp->gyrobias[i] = L3GD20_GYRO_BIAS;
}
/* This is the Gyroscope transient recovery time.*/
osalThreadSleepMilliseconds(10);
devp->state = L3GD20_READY;
}
/**
* @brief Deactivates the L3GD20 Complex Driver peripheral.
*
* @param[in] devp pointer to the @p L3GD20Driver object
*
* @api
*/
void l3gd20Stop(L3GD20Driver *devp) {
uint8_t cr1;
osalDbgCheck(devp != NULL);
osalDbgAssert((devp->state == L3GD20_STOP) || (devp->state == L3GD20_READY),
"l3gd20Stop(), invalid state");
if (devp->state == L3GD20_READY) {
/* Disabling all axes and enabling power down mode.*/
cr1 = 0;
#if L3GD20_USE_SPI
#if L3GD20_SHARED_SPI
spiAcquireBus(devp->config->spip);
spiStart(devp->config->spip,
devp->config->spicfg);
#endif /* L3GD20_SHARED_SPI */
l3gd20SPIWriteRegister(devp->config->spip, L3GD20_AD_CTRL_REG1,
1, &cr1);
spiStop(devp->config->spip);
#if L3GD20_SHARED_SPI
spiReleaseBus(devp->config->spip);
#endif /* L3GD20_SHARED_SPI */
#endif /* L3GD20_USE_SPI */
}
devp->state = L3GD20_STOP;
}
/** @} */
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