1 files changed, 554 insertions, 0 deletions

diff --git a/lib/chibios/os/ex/devices/ST/lis302dl.c b/lib/chibios/os/ex/devices/ST/lis302dl.c
new file mode 100644
index 000000000..f1e03cacc
--- /dev/null
+++ b/lib/chibios/os/ex/devices/ST/lis302dl.c
@@ -0,0 +1,554 @@
+/*
+    ChibiOS - Copyright (C) 2016..2019 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    lis302dl.c
+ * @brief   LIS302DL MEMS interface module code.
+ *
+ * @addtogroup LIS302DL
+ * @ingroup EX_ST
+ * @{
+ */
+
+#include "hal.h"
+#include "lis302dl.h"
+
+/*===========================================================================*/
+/* Driver local definitions.                                                 */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported variables.                                                */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local variables and types.                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local functions.                                                   */
+/*===========================================================================*/
+
+#if (LIS302DL_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 adjacent registers to write
+ * @param[in] b         pointer to a buffer.
+ */
+static void lis302dlSPIReadRegister(SPIDriver *spip, uint8_t reg,  size_t n,
+                                    uint8_t* b) {
+  uint8_t cmd;
+  (n == 1) ? (cmd = reg | LIS302DL_RW) : (cmd = reg | LIS302DL_RW | LIS302DL_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 lis302dlSPIWriteRegister(SPIDriver *spip, uint8_t reg, size_t n,
+                                     uint8_t* b) {
+  uint8_t cmd;
+  (n == 1) ? (cmd = reg) : (cmd = reg | LIS302DL_MS);
+  spiSelect(spip);
+  spiSend(spip, 1, &cmd);
+  spiSend(spip, n, b);
+  spiUnselect(spip);
+}
+#endif /* LIS302DL_USE_SPI */
+
+/**
+ * @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 acc_get_axes_number(void *ip) {
+  (void)ip;
+
+  return LIS302DL_ACC_NUMBER_OF_AXES;
+}
+
+/**
+ * @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[]) {
+  LIS302DLDriver* devp;
+  uint8_t i, tmp;
+  msg_t msg = MSG_OK;
+
+  osalDbgCheck((ip != NULL) && (axes != NULL));
+
+  /* Getting parent instance pointer.*/
+  devp = objGetInstance(LIS302DLDriver*, (BaseAccelerometer*)ip);
+
+  osalDbgAssert((devp->state == LIS302DL_READY),
+                "acc_read_raw(), invalid state");
+
+#if LIS302DL_USE_SPI
+#if     LIS302DL_SHARED_SPI
+  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 /* LIS302DL_SHARED_SPI */
+
+    for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++) {
+      lis302dlSPIReadRegister(devp->config->spip,
+                              LIS302DL_AD_OUT_X + (i * 2), 1, &tmp);
+      axes[i] = (int32_t)((int8_t)tmp);
+    }
+
+#if     LIS302DL_SHARED_SPI
+  spiReleaseBus(devp->config->spip);
+#endif /* LIS302DL_SHARED_SPI */
+#endif /* LIS302DL_USE_SPI */
+  return msg;
+}
+
+/**
+ * @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[]) {
+  LIS302DLDriver* devp;
+  uint32_t i;
+  int32_t raw[LIS302DL_ACC_NUMBER_OF_AXES];
+  msg_t msg;
+
+  osalDbgCheck((ip != NULL) && (axes != NULL));
+
+  /* Getting parent instance pointer.*/
+  devp = objGetInstance(LIS302DLDriver*, (BaseAccelerometer*)ip);
+
+  osalDbgAssert((devp->state == LIS302DL_READY),
+                "acc_read_cooked(), invalid state");
+
+  msg = acc_read_raw(ip, raw);
+  for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++) {
+    axes[i] = (raw[i] * devp->accsensitivity[i]) - devp->accbias[i];
+  }
+  return msg;
+}
+
+/**
+ * @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) {
+  LIS302DLDriver* devp;
+  uint32_t i;
+  msg_t msg = MSG_OK;
+
+  osalDbgCheck((ip != NULL) && (bp != NULL));
+
+  /* Getting parent instance pointer.*/
+  devp = objGetInstance(LIS302DLDriver*, (BaseAccelerometer*)ip);
+
+  osalDbgAssert((devp->state == LIS302DL_READY),
+                "acc_set_bias(), invalid state");
+
+  for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++) {
+    devp->accbias[i] = bp[i];
+  }
+  return msg;
+}
+
+/**
+ * @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) {
+  LIS302DLDriver* devp;
+  uint32_t i;
+  msg_t msg = MSG_OK;
+
+  osalDbgCheck(ip != NULL);
+
+  /* Getting parent instance pointer.*/
+  devp = objGetInstance(LIS302DLDriver*, (BaseAccelerometer*)ip);
+
+  osalDbgAssert((devp->state == LIS302DL_READY),
+                "acc_reset_bias(), invalid state");
+
+  for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++)
+    devp->accbias[i] = LIS302DL_ACC_BIAS;
+  return msg;
+}
+
+/**
+ * @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) {
+  LIS302DLDriver* devp;
+  uint32_t i;
+  msg_t msg = MSG_OK;
+
+  /* Getting parent instance pointer.*/
+  devp = objGetInstance(LIS302DLDriver*, (BaseAccelerometer*)ip);
+
+  osalDbgCheck((ip != NULL) && (sp != NULL));
+
+  osalDbgAssert((devp->state == LIS302DL_READY),
+                "acc_set_sensivity(), invalid state");
+
+  for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++) {
+    devp->accsensitivity[i] = sp[i];
+  }
+  return msg;
+}
+
+/**
+ * @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) {
+  LIS302DLDriver* devp;
+  uint32_t i;
+  msg_t msg = MSG_OK;
+
+  osalDbgCheck(ip != NULL);
+
+  /* Getting parent instance pointer.*/
+  devp = objGetInstance(LIS302DLDriver*, (BaseAccelerometer*)ip);
+
+  osalDbgAssert((devp->state == LIS302DL_READY),
+                "acc_reset_sensivity(), invalid state");
+
+  if(devp->config->accfullscale == LIS302DL_ACC_FS_2G)
+    for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++)
+      devp->accsensitivity[i] = LIS302DL_ACC_SENS_2G;
+  else if(devp->config->accfullscale == LIS302DL_ACC_FS_8G)
+    for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++)
+      devp->accsensitivity[i] = LIS302DL_ACC_SENS_8G;
+  else {
+    osalDbgAssert(FALSE,
+                  "acc_reset_sensivity(), accelerometer full scale issue");
+    return MSG_RESET;
+  }
+  return msg;
+}
+
+/**
+ * @brief   Changes the LIS302DLDriver 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] devp      pointer to @p LIS302DLDriver 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(LIS302DLDriver *devp, lis302dl_acc_fs_t fs) {
+  float newfs, scale;
+  uint8_t i, cr;
+  msg_t msg;
+
+  osalDbgCheck(devp != NULL);
+
+  osalDbgAssert((devp->state == LIS302DL_READY),
+                "acc_set_full_scale(), invalid state");
+  osalDbgAssert((devp->config->spip->state == SPI_READY),
+                "acc_set_full_scale(), channel not ready");
+
+  /* Computing new fullscale value.*/
+  if(fs == LIS302DL_ACC_FS_2G) {
+    newfs = LIS302DL_ACC_2G;
+  }
+  else if(fs == LIS302DL_ACC_FS_8G) {
+    newfs = LIS302DL_ACC_8G;
+  }
+  else {
+    msg = MSG_RESET;
+    return msg;
+  }
+
+  if(newfs != devp->accfullscale) {
+    /* Computing scale value.*/
+    scale = newfs / devp->accfullscale;
+    devp->accfullscale = newfs;
+
+#if LIS302DL_USE_SPI
+#if LIS302DL_SHARED_SPI
+    spiAcquireBus(devp->config->spip);
+    spiStart(devp->config->spip,
+             devp->config->spicfg);
+#endif /* LIS302DL_SHARED_SPI */
+
+    /* Getting data from register.*/
+    lis302dlSPIReadRegister(devp->config->spip, LIS302DL_AD_CTRL_REG1, 1, &cr);
+
+#if LIS302DL_SHARED_SPI
+    spiReleaseBus(devp->config->spip);
+#endif /* LIS302DL_SHARED_SPI */
+#endif /* LIS302DL_USE_SPI */
+
+    cr &= ~(LIS302DL_CTRL_REG1_FS_MASK);
+    cr |= fs;
+
+#if LIS302DL_USE_SPI
+#if LIS302DL_SHARED_SPI
+    spiAcquireBus(devp->config->spip);
+    spiStart(devp->config->spip,
+             devp->config->spicfg);
+#endif /* LIS302DL_SHARED_SPI */
+
+    /* Getting data from register.*/
+    lis302dlSPIWriteRegister(devp->config->spip, LIS302DL_AD_CTRL_REG1, 1, &cr);
+
+#if LIS302DL_SHARED_SPI
+    spiReleaseBus(devp->config->spip);
+#endif /* LIS302DL_SHARED_SPI */
+#endif /* LIS302DL_USE_SPI */
+
+    /* Scaling sensitivity and bias. Re-calibration is suggested anyway. */
+    for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++) {
+      devp->accsensitivity[i] *= scale;
+      devp->accbias[i] *= scale;
+    }
+  }
+  return msg;
+}
+
+static const struct LIS302DLVMT vmt_device = {
+  (size_t)0,
+  acc_set_full_scale
+};
+
+static const struct BaseAccelerometerVMT vmt_accelerometer = {
+  sizeof(struct LIS302DLVMT*),
+  acc_get_axes_number, acc_read_raw, acc_read_cooked,
+  acc_set_bias, acc_reset_bias, acc_set_sensivity, acc_reset_sensivity
+};
+
+/*===========================================================================*/
+/* Driver exported functions.                                                */
+/*===========================================================================*/
+
+/**
+ * @brief   Initializes an instance.
+ *
+ * @param[out] devp     pointer to the @p LIS302DLDriver object
+ *
+ * @init
+ */
+void lis302dlObjectInit(LIS302DLDriver *devp) {
+  devp->vmt = &vmt_device;
+  devp->acc_if.vmt = &vmt_accelerometer;
+
+  devp->config = NULL;
+
+  devp->accaxes = LIS302DL_ACC_NUMBER_OF_AXES;
+
+  devp->state = LIS302DL_STOP;
+}
+
+/**
+ * @brief   Configures and activates LIS302DL Complex Driver peripheral.
+ *
+ * @param[in] devp      pointer to the @p LIS302DLDriver object
+ * @param[in] config    pointer to the @p LIS302DLConfig object
+ *
+ * @api
+ */
+void lis302dlStart(LIS302DLDriver *devp, const LIS302DLConfig *config) {
+  uint32_t i;
+  uint8_t cr[2] = {0, 0};
+  osalDbgCheck((devp != NULL) && (config != NULL));
+
+  osalDbgAssert((devp->state == LIS302DL_STOP) || (devp->state == LIS302DL_READY),
+              "lis302dlStart(), invalid state");
+
+  devp->config = config;
+
+  /* Control register 1 configuration block.*/
+  {
+    cr[0] = LIS302DL_CTRL_REG1_XEN | LIS302DL_CTRL_REG1_YEN |
+            LIS302DL_CTRL_REG1_ZEN | LIS302DL_CTRL_REG1_PD |
+            devp->config->accoutputdatarate |
+            devp->config->accfullscale;
+  }
+
+  /* Control register 2 configuration block.*/
+  {
+#if LIS302DL_USE_ADVANCED || defined(__DOXYGEN__)
+  if(devp->config->hpmode != LIS302DL_HPM_BYPASSED)
+    cr[1] = devp->config->acchighpass;
+#endif
+  }
+
+#if LIS302DL_USE_SPI
+#if LIS302DL_SHARED_SPI
+  spiAcquireBus((devp)->config->spip);
+#endif /* LIS302DL_SHARED_SPI */
+  spiStart((devp)->config->spip, (devp)->config->spicfg);
+
+  lis302dlSPIWriteRegister(devp->config->spip, LIS302DL_AD_CTRL_REG1,
+                           2, cr);
+
+#if     LIS302DL_SHARED_SPI
+  spiReleaseBus((devp)->config->spip);
+#endif /* LIS302DL_SHARED_SPI */
+#endif /* LIS302DL_USE_SPI */
+
+  /* Storing sensitivity information according to full scale value */
+  if(devp->config->accfullscale == LIS302DL_ACC_FS_2G) {
+    devp->accfullscale = LIS302DL_ACC_2G;
+    if(devp->config->accsensitivity == NULL)
+      for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++)
+        devp->accsensitivity[i] = LIS302DL_ACC_SENS_2G;
+    else
+      for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++)
+        devp->accsensitivity[i] = devp->config->accsensitivity[i];
+  }
+  else if(devp->config->accfullscale == LIS302DL_ACC_FS_8G) {
+    devp->accfullscale = LIS302DL_ACC_8G;
+    if(devp->config->accsensitivity == NULL)
+      for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++)
+        devp->accsensitivity[i] = LIS302DL_ACC_SENS_8G;
+    else
+      for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++)
+        devp->accsensitivity[i] = devp->config->accsensitivity[i];
+  }
+  else {
+    osalDbgAssert(FALSE, "lis302dlStart(), accelerometer full scale issue");
+  }
+
+  /* Storing bias information according to user setting */
+  if(devp->config->accbias != NULL)
+    for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++)
+      devp->accbias[i] = devp->config->accbias[i];
+  else
+    for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++)
+      devp->accbias[i] = LIS302DL_ACC_BIAS;
+
+  /* This is the Accelerometer transient recovery time */
+  osalThreadSleepMilliseconds(10);
+
+  devp->state = LIS302DL_READY;
+}
+
+/**
+ * @brief   Deactivates the LIS302DL Complex Driver peripheral.
+ *
+ * @param[in] devp       pointer to the @p LIS302DLDriver object
+ *
+ * @api
+ */
+void lis302dlStop(LIS302DLDriver *devp) {
+  uint8_t cr1;
+  osalDbgCheck(devp != NULL);
+
+  osalDbgAssert((devp->state == LIS302DL_STOP) ||
+                (devp->state == LIS302DL_READY),
+                "lis302dlStop(), invalid state");
+
+  if (devp->state == LIS302DL_READY) {
+#if LIS302DL_USE_SPI
+#if     LIS302DL_SHARED_SPI
+    spiAcquireBus((devp)->config->spip);
+    spiStart((devp)->config->spip,
+             (devp)->config->spicfg);
+#endif /* LIS302DL_SHARED_SPI */
+    /* Disabling all axes and enabling power down mode.*/
+    cr1 = 0;
+    lis302dlSPIWriteRegister(devp->config->spip, LIS302DL_AD_CTRL_REG1, 1, &cr1);
+    spiStop((devp)->config->spip);
+#if     LIS302DL_SHARED_SPI
+    spiReleaseBus((devp)->config->spip);
+#endif /* LIS302DL_SHARED_SPI */
+#endif /* LIS302DL_USE_SPI */
+  }
+  devp->state = LIS302DL_STOP;
+}
+/** @} */