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QMK/lib/chibios/os/ex/ST/lis3mdl.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 lis3mdl.c
* @brief LIS3MDL MEMS interface module code.
*
* @addtogroup LIS3MDL
* @ingroup EX_ST
* @{
*/
#include "hal.h"
#include "lis3mdl.h"
/*===========================================================================*/
/* Driver local definitions. */
/*===========================================================================*/
/*===========================================================================*/
/* 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
* @param[out] rxbuf pointer to an output buffer
* @param[in] n number of consecutive register to read
* @return the operation status.
* @notapi
*/
msg_t lis3mdlI2CReadRegister(I2CDriver *i2cp, lis3mdl_sad_t sad, uint8_t reg,
uint8_t* rxbuf, size_t n) {
uint8_t txbuf = reg;
if(n > 1)
txbuf |= LIS3MDL_SUB_MS;
return i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, n,
TIME_INFINITE);
}
/**
* @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] txbuf buffer containing sub-address value in first position
* and values to write
* @param[in] n size of txbuf less one (not considering the first
* element)
* @return the operation status.
* @notapi
*/
msg_t lis3mdlI2CWriteRegister(I2CDriver *i2cp, lis3mdl_sad_t sad, uint8_t* txbuf,
uint8_t n) {
if (n > 1)
(*txbuf) |= LIS3MDL_SUB_MS;
return i2cMasterTransmitTimeout(i2cp, sad, txbuf, n + 1, NULL, 0,
TIME_INFINITE);
}
#endif /* LIS3MDL_USE_I2C */
/**
* @brief Return the number of axes of the BaseCompass.
*
* @param[in] ip pointer to @p BaseCompass interface
*
* @return the number of axes.
*/
static size_t comp_get_axes_number(void *ip) {
osalDbgCheck(ip != NULL);
return LIS3MDL_COMP_NUMBER_OF_AXES;
}
/**
* @brief Retrieves raw data from the BaseCompass.
* @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
* BaseCompass axes number.
*
* @param[in] ip pointer to @p BaseCompass 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 comp_read_raw(void *ip, int32_t axes[]) {
LIS3MDLDriver* devp;
uint8_t buff [LIS3MDL_COMP_NUMBER_OF_AXES * 2], i;
int16_t tmp;
msg_t msg;
osalDbgCheck((ip != NULL) && (axes != NULL));
/* Getting parent instance pointer.*/
devp = objGetInstance(LIS3MDLDriver*, (BaseCompass*)ip);
osalDbgAssert((devp->state == LIS3MDL_READY),
"comp_read_raw(), invalid state");
osalDbgAssert((devp->config->i2cp->state == I2C_READY),
"comp_read_raw(), channel not ready");
#if LIS3MDL_SHARED_I2C
i2cAcquireBus(devp->config->i2cp);
i2cStart(devp->config->i2cp,
devp->config->i2ccfg);
#endif /* LIS3MDL_SHARED_I2C */
msg = lis3mdlI2CReadRegister(devp->config->i2cp, devp->config->slaveaddress,
LIS3MDL_AD_OUT_X_L, buff,
LIS3MDL_COMP_NUMBER_OF_AXES * 2);
#if LIS3MDL_SHARED_I2C
i2cReleaseBus(devp->config->i2cp);
#endif /* LIS3MDL_SHARED_I2C */
if(msg == MSG_OK)
for(i = 0; i < LIS3MDL_COMP_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 BaseCompass.
* @note This data is manipulated according to the formula
* cooked = (raw * sensitivity) - bias.
* @note Final data is expressed as G.
* @note The axes array must be at least the same size of the
* BaseCompass axes number.
*
* @param[in] ip pointer to @p BaseCompass 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 comp_read_cooked(void *ip, float axes[]) {
LIS3MDLDriver* devp;
uint32_t i;
int32_t raw[LIS3MDL_COMP_NUMBER_OF_AXES];
msg_t msg;
osalDbgCheck((ip != NULL) && (axes != NULL));
/* Getting parent instance pointer.*/
devp = objGetInstance(LIS3MDLDriver*, (BaseCompass*)ip);
osalDbgAssert((devp->state == LIS3MDL_READY),
"comp_read_cooked(), invalid state");
msg = comp_read_raw(ip, raw);
for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES ; i++) {
axes[i] = (raw[i] * devp->compsensitivity[i]) - devp->compbias[i];
}
return msg;
}
/**
* @brief Set bias values for the BaseCompass.
* @note Bias must be expressed as G.
* @note The bias buffer must be at least the same size of the
* BaseCompass axes number.
*
* @param[in] ip pointer to @p BaseCompass interface.
* @param[in] bp a buffer which contains biases.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*/
static msg_t comp_set_bias(void *ip, float *bp) {
LIS3MDLDriver* devp;
uint32_t i;
msg_t msg = MSG_OK;
osalDbgCheck((ip != NULL) && (bp != NULL));
/* Getting parent instance pointer.*/
devp = objGetInstance(LIS3MDLDriver*, (BaseCompass*)ip);
osalDbgAssert((devp->state == LIS3MDL_READY),
"comp_set_bias(), invalid state");
for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) {
devp->compbias[i] = bp[i];
}
return msg;
}
/**
* @brief Reset bias values for the BaseCompass.
* @note Default biases value are obtained from device datasheet when
* available otherwise they are considered zero.
*
* @param[in] ip pointer to @p BaseCompass interface.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*/
static msg_t comp_reset_bias(void *ip) {
LIS3MDLDriver* devp;
uint32_t i;
msg_t msg = MSG_OK;
osalDbgCheck(ip != NULL);
/* Getting parent instance pointer.*/
devp = objGetInstance(LIS3MDLDriver*, (BaseCompass*)ip);
osalDbgAssert((devp->state == LIS3MDL_READY),
"comp_reset_bias(), invalid state");
for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++)
devp->compbias[i] = LIS3MDL_COMP_BIAS;
return msg;
}
/**
* @brief Set sensitivity values for the BaseCompass.
* @note Sensitivity must be expressed as G/LSB.
* @note The sensitivity buffer must be at least the same size of the
* BaseCompass axes number.
*
* @param[in] ip pointer to @p BaseCompass interface.
* @param[in] sp a buffer which contains sensitivities.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*/
static msg_t comp_set_sensivity(void *ip, float *sp) {
LIS3MDLDriver* devp;
uint32_t i;
msg_t msg = MSG_OK;
/* Getting parent instance pointer.*/
devp = objGetInstance(LIS3MDLDriver*, (BaseCompass*)ip);
osalDbgCheck((ip != NULL) && (sp != NULL));
osalDbgAssert((devp->state == LIS3MDL_READY),
"comp_set_sensivity(), invalid state");
for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) {
devp->compsensitivity[i] = sp[i];
}
return msg;
}
/**
* @brief Reset sensitivity values for the BaseCompass.
* @note Default sensitivities value are obtained from device datasheet.
*
* @param[in] ip pointer to @p BaseCompass interface.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
* @retval MSG_RESET otherwise.
*/
static msg_t comp_reset_sensivity(void *ip) {
LIS3MDLDriver* devp;
uint32_t i;
msg_t msg = MSG_OK;
osalDbgCheck(ip != NULL);
/* Getting parent instance pointer.*/
devp = objGetInstance(LIS3MDLDriver*, (BaseCompass*)ip);
osalDbgAssert((devp->state == LIS3MDL_READY),
"comp_reset_sensivity(), invalid state");
if(devp->config->compfullscale == LIS3MDL_COMP_FS_4GA)
for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++)
devp->compsensitivity[i] = LIS3MDL_COMP_SENS_4GA;
else if(devp->config->compfullscale == LIS3MDL_COMP_FS_8GA)
for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++)
devp->compsensitivity[i] = LIS3MDL_COMP_SENS_8GA;
else if(devp->config->compfullscale == LIS3MDL_COMP_FS_12GA)
for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++)
devp->compsensitivity[i] = LIS3MDL_COMP_SENS_12GA;
else if(devp->config->compfullscale == LIS3MDL_COMP_FS_16GA)
for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++)
devp->compsensitivity[i] = LIS3MDL_COMP_SENS_16GA;
else {
osalDbgAssert(FALSE, "comp_reset_sensivity(), compass full scale issue");
msg = MSG_RESET;
}
return msg;
}
/**
* @brief Changes the LIS3MDLDriver compass 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 LIS3MDLDriver 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 comp_set_full_scale(LIS3MDLDriver *devp, lis3mdl_comp_fs_t fs) {
float newfs, scale;
uint8_t i, buff[2];
msg_t msg;
osalDbgCheck(devp != NULL);
osalDbgAssert((devp->state == LIS3MDL_READY),
"comp_set_full_scale(), invalid state");
osalDbgAssert((devp->config->i2cp->state == I2C_READY),
"comp_set_full_scale(), channel not ready");
/* Computing new fullscale value.*/
if(fs == LIS3MDL_COMP_FS_4GA) {
newfs = LIS3MDL_COMP_4GA;
}
else if(fs == LIS3MDL_COMP_FS_8GA) {
newfs = LIS3MDL_COMP_8GA;
}
else if(fs == LIS3MDL_COMP_FS_12GA) {
newfs = LIS3MDL_COMP_12GA;
}
else if(fs == LIS3MDL_COMP_FS_16GA) {
newfs = LIS3MDL_COMP_16GA;
}
else {
msg = MSG_RESET;
return msg;
}
if(newfs != devp->compfullscale) {
/* Computing scale value.*/
scale = newfs / devp->compfullscale;
devp->compfullscale = newfs;
#if LIS3MDL_SHARED_I2C
i2cAcquireBus(devp->config->i2cp);
i2cStart(devp->config->i2cp, devp->config->i2ccfg);
#endif /* LIS3MDL_SHARED_I2C */
/* Updating register.*/
msg = lis3mdlI2CReadRegister(devp->config->i2cp, devp->config->slaveaddress,
LIS3MDL_AD_CTRL_REG2, &buff[1], 1);
#if LIS3MDL_SHARED_I2C
i2cReleaseBus(devp->config->i2cp);
#endif /* LIS3MDL_SHARED_I2C */
if(msg != MSG_OK)
return msg;
buff[1] &= ~(LIS3MDL_CTRL_REG2_FS_MASK);
buff[1] |= fs;
buff[0] = LIS3MDL_AD_CTRL_REG2;
#if LIS3MDL_SHARED_I2C
i2cAcquireBus(devp->config->i2cp);
i2cStart(devp->config->i2cp, devp->config->i2ccfg);
#endif /* LIS3MDL_SHARED_I2C */
msg = lis3mdlI2CWriteRegister(devp->config->i2cp,
devp->config->slaveaddress,
buff, 1);
#if LIS3MDL_SHARED_I2C
i2cReleaseBus(devp->config->i2cp);
#endif /* LIS3MDL_SHARED_I2C */
if(msg != MSG_OK)
return msg;
/* Scaling sensitivity and bias. Re-calibration is suggested anyway.*/
for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) {
devp->compsensitivity[i] *= scale;
devp->compbias[i] *= scale;
}
}
return msg;
}
static const struct LIS3MDLVMT vmt_device = {
(size_t)0,
comp_set_full_scale
};
static const struct BaseCompassVMT vmt_compass = {
sizeof(struct LIS3MDLVMT*),
comp_get_axes_number, comp_read_raw, comp_read_cooked,
comp_set_bias, comp_reset_bias, comp_set_sensivity, comp_reset_sensivity
};
/*===========================================================================*/
/* Driver exported functions. */
/*===========================================================================*/
/**
* @brief Initializes an instance.
*
* @param[out] devp pointer to the @p LIS3MDLDriver object
*
* @init
*/
void lis3mdlObjectInit(LIS3MDLDriver *devp) {
devp->vmt = &vmt_device;
devp->comp_if.vmt = &vmt_compass;
devp->config = NULL;
devp->compaxes = LIS3MDL_COMP_NUMBER_OF_AXES;
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;
uint8_t cr[6];
osalDbgCheck((devp != NULL) && (config != NULL));
osalDbgAssert((devp->state == LIS3MDL_STOP) || (devp->state == LIS3MDL_READY),
"lis3mdlStart(), invalid state");
devp->config = config;
/* Control register 1 configuration block.*/
{
cr[0] = LIS3MDL_AD_CTRL_REG1;
cr[1] = devp->config->compoutputdatarate;
#if LIS3MDL_USE_ADVANCED || defined(__DOXYGEN__)
cr[1] |= devp->config->compoperationmodexy;
#else
cr[1] |= LIS3MDL_CTRL_REG1_OM0 | LIS3MDL_CTRL_REG1_OM1;
#endif
}
/* Control register 2 configuration block.*/
{
cr[2] = devp->config->compfullscale;
}
/* Control register 3 configuration block.*/
{
cr[3] = 0;
#if LIS3MDL_USE_ADVANCED || defined(__DOXYGEN__)
cr[3] = devp->config->compconversionmode;
#endif
}
/* Control register 4 configuration block.*/
{
cr[4] = 0;
#if LIS3MDL_USE_ADVANCED || defined(__DOXYGEN__)
cr[4] = devp->config->compoperationmodez | devp->config->endianness;
#endif
}
/* Control register 5 configuration block.*/
{
cr[5] = 0;
#if LIS3MDL_USE_ADVANCED || defined(__DOXYGEN__)
cr[5] = devp->config->blockdataupdate;
#endif
}
#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,
cr, 5);
#if LIS3MDL_SHARED_I2C
i2cReleaseBus((devp)->config->i2cp);
#endif /* LIS3MDL_SHARED_I2C */
#endif /* LIS3MDL_USE_I2C */
if(devp->config->compfullscale == LIS3MDL_COMP_FS_4GA) {
devp->compfullscale = LIS3MDL_COMP_4GA;
for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) {
if(devp->config->compsensitivity == NULL) {
devp->compsensitivity[i] = LIS3MDL_COMP_SENS_4GA;
}
else {
devp->compsensitivity[i] = devp->config->compsensitivity[i];
}
}
}
else if(devp->config->compfullscale == LIS3MDL_COMP_FS_8GA) {
devp->compfullscale = LIS3MDL_COMP_8GA;
for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) {
if(devp->config->compsensitivity == NULL) {
devp->compsensitivity[i] = LIS3MDL_COMP_SENS_8GA;
}
else {
devp->compsensitivity[i] = devp->config->compsensitivity[i];
}
}
}
else if(devp->config->compfullscale == LIS3MDL_COMP_FS_12GA) {
devp->compfullscale = LIS3MDL_COMP_12GA;
for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) {
if(devp->config->compsensitivity == NULL) {
devp->compsensitivity[i] = LIS3MDL_COMP_SENS_12GA;
}
else {
devp->compsensitivity[i] = devp->config->compsensitivity[i];
}
}
}
else if(devp->config->compfullscale == LIS3MDL_COMP_FS_16GA) {
devp->compfullscale = LIS3MDL_COMP_16GA;
for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) {
if(devp->config->compsensitivity == NULL) {
devp->compsensitivity[i] = LIS3MDL_COMP_SENS_16GA;
}
else {
devp->compsensitivity[i] = devp->config->compsensitivity[i];
}
}
}
else
osalDbgAssert(FALSE, "lis3mdlStart(), compass full scale issue");
/* Storing bias information */
if(devp->config->compbias != NULL)
for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++)
devp->compbias[i] = devp->config->compbias[i];
else
for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++)
devp->compbias[i] = LIS3MDL_COMP_BIAS;
/* This is the MEMS transient recovery time */
osalThreadSleepMilliseconds(5);
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) {
uint8_t cr[2];
osalDbgCheck(devp != NULL);
osalDbgAssert((devp->state == LIS3MDL_STOP) || (devp->state == LIS3MDL_READY),
"lis3mdlStop(), invalid state");
if (devp->state == LIS3MDL_READY) {
#if (LIS3MDL_USE_I2C)
#if LIS3MDL_SHARED_I2C
i2cAcquireBus((devp)->config->i2cp);
i2cStart((devp)->config->i2cp,
(devp)->config->i2ccfg);
#endif /* LIS3MDL_SHARED_I2C */
/* Disabling compass. */
cr[0] = LIS3MDL_AD_CTRL_REG3;
cr[1] = LIS3MDL_CTRL_REG3_MD0 | LIS3MDL_CTRL_REG3_MD1;
lis3mdlI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
cr, 1);
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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