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implement ST-like API for LIS2MDL, LPS22HB, and LSM6DSM

master
Daniel Peter Chokola 5 years ago
parent
d0f01e53a4
commit
d19f47865a
7 changed files with 483 additions and 324 deletions
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  1. 51
      Drivers/EM7180/Inc/lis2mdl.h
  2. 60
      Drivers/EM7180/Inc/lps22hb.h
  3. 132
      Drivers/EM7180/Inc/lsm6dsm.h
  4. 2
      Drivers/EM7180/Src/em7180.c
  5. 159
      Drivers/EM7180/Src/lis2mdl.c
  6. 134
      Drivers/EM7180/Src/lps22hb.c
  7. 251
      Drivers/EM7180/Src/lsm6dsm.c

51
Drivers/EM7180/Inc/lis2mdl.h
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@ -19,53 +19,38 @@
/* Includes */ /* Includes */
#include <stdint.h> #include <stdint.h>
#include "i2c.h"
/* Definitions */ /* Definitions */
//Register map for LIS2MDL' #define LIS2MDL_OK (0)
// http://www.st.com/content/ccc/resource/technical/document/datasheet/group3/29/13/d1/e0/9a/4d/4f/30/DM00395193/files/DM00395193.pdf/jcr:content/translations/en.DM00395193.pdf #define LIS2MDL_BAD_ARG (1 << 0)
#define LIS2MDL_OFFSET_X_REG_L 0x45 #define LIS2MDL_BAD_COMM (1 << 1)
#define LIS2MDL_OFFSET_X_REG_H 0x46
#define LIS2MDL_OFFSET_Y_REG_L 0x47
#define LIS2MDL_OFFSET_Y_REG_H 0x48
#define LIS2MDL_OFFSET_Z_REG_L 0x49
#define LIS2MDL_OFFSET_Z_REG_H 0x4A
#define LIS2MDL_WHO_AM_I 0x4F
#define LIS2MDL_CFG_REG_A 0x60
#define LIS2MDL_CFG_REG_B 0x61
#define LIS2MDL_CFG_REG_C 0x62
#define LIS2MDL_INT_CTRL_REG 0x63
#define LIS2MDL_INT_SOURCE_REG 0x64
#define LIS2MDL_INT_THS_L_REG 0x65
#define LIS2MDL_INT_THS_H_REG 0x66
#define LIS2MDL_STATUS_REG 0x67
#define LIS2MDL_OUTX_L_REG 0x68
#define LIS2MDL_OUTX_H_REG 0x69
#define LIS2MDL_OUTY_L_REG 0x6A
#define LIS2MDL_OUTY_H_REG 0x6B
#define LIS2MDL_OUTZ_L_REG 0x6C
#define LIS2MDL_OUTZ_H_REG 0x6D
#define LIS2MDL_TEMP_OUT_L_REG 0x6E
#define LIS2MDL_TEMP_OUT_H_REG 0x6F
#define LIS2MDL_ADDRESS 0x1E
#define MODR_10Hz 0x00 #define MODR_10Hz 0x00
#define MODR_20Hz 0x01 #define MODR_20Hz 0x01
#define MODR_50Hz 0x02 #define MODR_50Hz 0x02
#define MODR_100Hz 0x03 #define MODR_100Hz 0x03
#define MFS_14BITS 0 // 0.6 mG per LSB #define MFS_14BITS 0 // 0.6 mG per LSB
#define MFS_16BITS 1 // 0.15 mG per LSB #define MFS_16BITS 1 // 0.15 mG per LSB
/* Data Structures */ /* Data Structures */
typedef struct lis2mdl_s typedef int32_t lis2mdl_status_t;
typedef struct lis2mdl_init_s
{ {
uint8_t m_odr; uint8_t m_odr;
} lis2mdl_init_t;
typedef struct lis2mdl_s
{
lis2mdl_init_t *init;
uint8_t i2c_addr;
delay_func_t delay_func;
i2c_read_func_t i2c_read_func;
i2c_write_func_t i2c_write_func;
} lis2mdl_t; } lis2mdl_t;
/* Function Prototypes */ /* Function Prototypes */
void lis2mdl_init(lis2mdl_t *lis2mdl, uint8_t m_odr); lis2mdl_status_t lis2mdl_init(lis2mdl_t *lis2mdl, lis2mdl_init_t *init);
void lis2mdl_config(lis2mdl_t *lis2mdl, I2C_HandleTypeDef *hi2c); void lis2mdl_set_delay_cb(lis2mdl_t *lis2mdl, delay_func_t delay_func);
void lis2mdl_set_i2c_cbs(lis2mdl_t *lis2mdl, i2c_read_func_t i2c_read_func,
i2c_write_func_t i2c_write_func, uint8_t dev_addr);
lis2mdl_status_t lis2mdl_config(lis2mdl_t *lis2mdl);
#endif #endif

60
Drivers/EM7180/Inc/lps22hb.h
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@ -19,53 +19,43 @@
/* Includes */ /* Includes */
#include <stdint.h> #include <stdint.h>
#include "i2c.h"
// See LPS22H "MEMS pressure sensor: 260-1260 hPa absolute digital output barometer" Data Sheet /* Definitions */
// http://www.st.com/content/ccc/resource/technical/document/datasheet/bf/c1/4f/23/61/17/44/8a/DM00140895.pdf/files/DM00140895.pdf/jcr:content/translations/en.DM00140895.pdf #define LPS22HB_OK (0)
#define LPS22H_INTERRUPT_CFG 0x0B #define LPS22HB_BAD_ARG (1 << 0)
#define LPS22H_THS_P_L 0x0C #define LPS22HB_BAD_COMM (1 << 1)
#define LPS22H_THS_P_H 0x0D /* altimeter output data rate */
#define LPS22H_WHOAMI 0x0F // should return 0xB1
#define LPS22H_CTRL_REG1 0x10
#define LPS22H_CTRL_REG2 0x11
#define LPS22H_CTRL_REG3 0x12
#define LPS22H_FIFO_CTRL 0x14
#define LPS22H_REF_P_XL 0x15
#define LPS22H_REF_P_L 0x16
#define LPS22H_REF_P_H 0x17
#define LPS22H_RPDS_L 0x18
#define LPS22H_RPDS_H 0x19
#define LPS22H_RES_CONF 0x1A
#define LPS22H_INT_SOURCE 0x25
#define LPS22H_FIFO_STATUS 0x26
#define LPS22H_STATUS 0x27
#define LPS22H_PRESS_OUT_XL 0x28
#define LPS22H_PRESS_OUT_L 0x29
#define LPS22H_PRESS_OUT_H 0x2A
#define LPS22H_TEMP_OUT_L 0x2B
#define LPS22H_TEMP_OUT_H 0x2C
#define LPS22H_LPFP_RES 0x33
#define LPS22H_ADDRESS 0x5C // Address of altimeter
// Altimeter output data rate
#define P_1shot 0x00 #define P_1shot 0x00
#define P_1Hz 0x01 #define P_1Hz 0x01
#define P_10Hz 0x02 #define P_10Hz 0x02
#define P_25Hz 0x03 // 25 Hz output data rate #define P_25Hz 0x03
#define P_50Hz 0x04 #define P_50Hz 0x04
#define P_75Hz 0x05 #define P_75Hz 0x05
/* Data Structures */ /* Data Structures */
typedef struct lps22hb_s typedef int32_t lps22hb_status_t;
typedef struct lps22hb_init_s
{ {
I2C_HandleTypeDef *hi2c;
uint8_t p_odr; uint8_t p_odr;
} lps22hb_init_t;
typedef struct lps22hb_s
{
lps22hb_init_t *init;
uint8_t i2c_addr;
delay_func_t delay_func;
i2c_read_func_t i2c_read_func;
i2c_write_func_t i2c_write_func;
} lps22hb_t; } lps22hb_t;
/* Function Prototypes */ /* Function Prototypes */
void lps22hb_init(lps22hb_t *lps22hb, uint8_t p_odr); lps22hb_status_t lps22hb_init(lps22hb_t *lps22hb, lps22hb_init_t *init);
void lps22hb_config(lps22hb_t *lps22hb, I2C_HandleTypeDef *hi2c); void lps22hb_set_delay_cb(lps22hb_t *lps22hb, delay_func_t delay_func);
void lps22hb_set_i2c_cbs(lps22hb_t *lps22hb, i2c_read_func_t i2c_read_func,
i2c_write_func_t i2c_write_func, uint8_t dev_addr);
lps22hb_status_t lps22hb_config(lps22hb_t *lps22hb);
lps22hb_status_t lps22hb_status(lps22hb_t *lps22hb, uint8_t *status);
lps22hb_status_t lps22hb_chip_id_get(lps22hb_t *lps22hb, uint8_t *data);
lps22hb_status_t lps22hb_pressure_get(lps22hb_t *lps22hb, int32_t *data);
lps22hb_status_t lps22hb_temp_get(lps22hb_t *lps22hb, int16_t *data);
#endif #endif

132
Drivers/EM7180/Inc/lsm6dsm.h
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@ -19,124 +19,19 @@
/* Includes */ /* Includes */
#include <stdint.h> #include <stdint.h>
#include "i2c.h"
/* Definitions */ /* Definitions */
/* #define LSM6DSM_OK (0)
* LSM6DSM registers #define LSM6DSM_BAD_ARG (1 << 0)
* http://www.st.com/content/ccc/resource/technical/document/datasheet/76/27/cf/88/c5/03/42/6b/DM00218116.pdf/files/DM00218116.pdf/jcr:content/translations/en.DM00218116.pdf #define LSM6DSM_BAD_COMM (1 << 1)
*/
#define LSM6DSM_FUNC_CFG_ACCESS 0x01
#define LSM6DSM_SENSOR_SYNC_TIME_FRAME 0x04
#define LSM6DSM_SENSOR_SYNC_RES_RATIO 0x05
#define LSM6DSM_FIFO_CTRL1 0x06
#define LSM6DSM_FIFO_CTRL2 0x07
#define LSM6DSM_FIFO_CTRL3 0x08
#define LSM6DSM_FIFO_CTRL4 0x09
#define LSM6DSM_FIFO_CTRL5 0x0A
#define LSM6DSM_DRDY_PULSE_CFG 0x0B
#define LSM6DSM_INT1_CTRL 0x0D
#define LSM6DSM_INT2_CTRL 0x0E
#define LSM6DSM_WHO_AM_I 0x0F // should be 0x6A
#define LSM6DSM_CTRL1_XL 0x10
#define LSM6DSM_CTRL2_G 0x11
#define LSM6DSM_CTRL3_C 0x12
#define LSM6DSM_CTRL4_C 0x13
#define LSM6DSM_CTRL5_C 0x14
#define LSM6DSM_CTRL6_C 0x15
#define LSM6DSM_CTRL7_G 0x16
#define LSM6DSM_CTRL8_XL 0x17
#define LSM6DSM_CTRL9_XL 0x18
#define LSM6DSM_CTRL10_C 0x19
#define LSM6DSM_MASTER_CONFIG 0x1A
#define LSM6DSM_WAKE_UP_SRC 0x1B
#define LSM6DSM_TAP_SRC 0x1C
#define LSM6DSM_D6D_SRC 0x1D
#define LSM6DSM_STATUS_REG 0x1E
#define LSM6DSM_OUT_TEMP_L 0x20
#define LSM6DSM_OUT_TEMP_H 0x21
#define LSM6DSM_OUTX_L_G 0x22
#define LSM6DSM_OUTX_H_G 0x23
#define LSM6DSM_OUTY_L_G 0x24
#define LSM6DSM_OUTY_H_G 0x25
#define LSM6DSM_OUTZ_L_G 0x26
#define LSM6DSM_OUTZ_H_G 0x27
#define LSM6DSM_OUTX_L_XL 0x28
#define LSM6DSM_OUTX_H_XL 0x29
#define LSM6DSM_OUTY_L_XL 0x2A
#define LSM6DSM_OUTY_H_XL 0x2B
#define LSM6DSM_OUTZ_L_XL 0x2C
#define LSM6DSM_OUTZ_H_XL 0x2D
#define LSM6DSM_SENSORHUB1_REG 0x2E
#define LSM6DSM_SENSORHUB2_REG 0x2F
#define LSM6DSM_SENSORHUB3_REG 0x30
#define LSM6DSM_SENSORHUB4_REG 0x31
#define LSM6DSM_SENSORHUB5_REG 0x32
#define LSM6DSM_SENSORHUB6_REG 0x33
#define LSM6DSM_SENSORHUB7_REG 0x34
#define LSM6DSM_SENSORHUB8_REG 0x35
#define LSM6DSM_SENSORHUB9_REG 0x36
#define LSM6DSM_SENSORHUB10_REG 0x37
#define LSM6DSM_SENSORHUB11_REG 0x38
#define LSM6DSM_SENSORHUB12_REG 0x39
#define LSM6DSM_FIFO_STATUS1 0x3A
#define LSM6DSM_FIFO_STATUS2 0x3B
#define LSM6DSM_FIFO_STATUS3 0x3C
#define LSM6DSM_FIFO_STATUS4 0x3D
#define LSM6DSM_FIFO_DATA_OUT_L 0x3E
#define LSM6DSM_FIFO_DATA_OUT_H 0x3F
#define LSM6DSM_TIMESTAMP0_REG 0x40
#define LSM6DSM_TIMESTAMP1_REG 0x41
#define LSM6DSM_TIMESTAMP2_REG 0x42
#define LSM6DSM_STEP_TIMESTAMP_L 0x49
#define LSM6DSM_STEP_TIMESTAMP_H 0x4A
#define LSM6DSM_STEP_COUNTER_L 0x4B
#define LSM6DSM_STEP_COUNTER_H 0x4C
#define LSM6DSM_SENSORHUB13_REG 0x4D
#define LSM6DSM_SENSORHUB14_REG 0x4E
#define LSM6DSM_SENSORHUB15_REG 0x4F
#define LSM6DSM_SENSORHUB16_REG 0x50
#define LSM6DSM_SENSORHUB17_REG 0x51
#define LSM6DSM_SENSORHUB18_REG 0x52
#define LSM6DSM_FUNC_SRC1 0x53
#define LSM6DSM_FUNC_SRC2 0x54
#define LSM6DSM_WRIST_TILT_IA 0x55
#define LSM6DSM_TAP_CFG 0x58
#define LSM6DSM_TAP_THS_6D 0x59
#define LSM6DSM_INT_DUR2 0x5A
#define LSM6DSM_WAKE_UP_THS 0x5B
#define LSM6DSM_WAKE_UP_DUR 0x5C
#define LSM6DSM_FREE_FALL 0x5D
#define LSM6DSM_MD1_CFG 0x5E
#define LSM6DSM_MD2_CFG 0x5F
#define LSM6DSM_MASTER_MODE_CODE 0x60
#define LSM6DSM_SENS_SYNC_SPI_ERROR_CODE 0x61
#define LSM6DSM_OUT_MAG_RAW_X_L 0x66
#define LSM6DSM_OUT_MAG_RAW_X_H 0x67
#define LSM6DSM_OUT_MAG_RAW_Y_L 0x68
#define LSM6DSM_OUT_MAG_RAW_Y_H 0x69
#define LSM6DSM_OUT_MAG_RAW_Z_L 0x6A
#define LSM6DSM_OUT_MAG_RAW_Z_H 0x6B
#define LSM6DSM_INT_OIS 0x6F
#define LSM6DSM_CTRL1_OIS 0x70
#define LSM6DSM_CTRL2_OIS 0x71
#define LSM6DSM_CTRL3_OIS 0x72
#define LSM6DSM_X_OFS_USR 0x73
#define LSM6DSM_Y_OFS_USR 0x74
#define LSM6DSM_Z_OFS_USR 0x75
#define LSM6DSM_ADDRESS 0x6A // Address of LSM6DSM accel/gyro when ADO = 0
#define AFS_2G 0x00 #define AFS_2G 0x00
#define AFS_4G 0x02 #define AFS_4G 0x02
#define AFS_8G 0x03 #define AFS_8G 0x03
#define AFS_16G 0x01 #define AFS_16G 0x01
#define GFS_250DPS 0x00 #define GFS_250DPS 0x00
#define GFS_500DPS 0x01 #define GFS_500DPS 0x01
#define GFS_1000DPS 0x02 #define GFS_1000DPS 0x02
#define GFS_2000DPS 0x03 #define GFS_2000DPS 0x03
#define AODR_12_5Hz 0x01 // same for accel and gyro in normal mode #define AODR_12_5Hz 0x01 // same for accel and gyro in normal mode
#define AODR_26Hz 0x02 #define AODR_26Hz 0x02
#define AODR_52Hz 0x03 #define AODR_52Hz 0x03
@ -147,7 +42,6 @@
#define AODR_1660Hz 0x08 #define AODR_1660Hz 0x08
#define AODR_3330Hz 0x09 #define AODR_3330Hz 0x09
#define AODR_6660Hz 0x0A #define AODR_6660Hz 0x0A
#define GODR_12_5Hz 0x01 #define GODR_12_5Hz 0x01
#define GODR_26Hz 0x02 #define GODR_26Hz 0x02
#define GODR_52Hz 0x03 #define GODR_52Hz 0x03
@ -160,18 +54,28 @@
#define GODR_6660Hz 0x0A #define GODR_6660Hz 0x0A
/* Data Structures */ /* Data Structures */
typedef struct lsm6dsm_s typedef int32_t lsm6dsm_status_t;
typedef struct lsm6dsm_init_s
{ {
I2C_HandleTypeDef *hi2c;
uint8_t ascale; uint8_t ascale;
uint8_t gscale; uint8_t gscale;
uint8_t a_odr; uint8_t a_odr;
uint8_t g_odr; uint8_t g_odr;
} lsm6dsm_init_t;
typedef struct lsm6dsm_s
{
lsm6dsm_init_t *init;
uint8_t i2c_addr;
delay_func_t delay_func;
i2c_read_func_t i2c_read_func;
i2c_write_func_t i2c_write_func;
} lsm6dsm_t; } lsm6dsm_t;
/* Function Prototypes */ /* Function Prototypes */
void lsm6dsm_init(lsm6dsm_t *lsm6dsm, uint8_t ascale, uint8_t gscale, lsm6dsm_status_t lsm6dsm_init(lsm6dsm_t *lsm6dsm, lsm6dsm_init_t *init);
uint8_t a_odr, uint8_t g_odr); void lsm6dsm_set_delay_cb(lsm6dsm_t *lsm6dsm, delay_func_t delay_func);
void lsm6dsm_config(lsm6dsm_t *lsm6dsm, I2C_HandleTypeDef *hi2c); void lsm6dsm_set_i2c_cbs(lsm6dsm_t *lsm6dsm, i2c_read_func_t i2c_read_func,
i2c_write_func_t i2c_write_func, uint8_t dev_addr);
lsm6dsm_status_t lsm6dsm_config(lsm6dsm_t *lsm6dsm);
#endif #endif

2
Drivers/EM7180/Src/em7180.c
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@ -272,7 +272,7 @@ em7180_status_t em7180_tempdata_get(em7180_t *em7180, int16_t *destination)
return ret ? EM7180_BAD_COMM : EM7180_OK; return ret ? EM7180_BAD_COMM : EM7180_OK;
} }
/* FIXME: haven't explored the usagge/usefulness of these yet: */ /* FIXME: haven't explored the usage/usefulness of these yet: */
#if(0) #if(0)
uint8_t em7180_status(em7180_t *em7180) uint8_t em7180_status(em7180_t *em7180)
{ {

159
Drivers/EM7180/Src/lis2mdl.c
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@ -16,90 +16,151 @@
/* Includes */ /* Includes */
#include <stdint.h> #include <stdint.h>
#include <stddef.h>
#include "em7180_common.h" #include "em7180_common.h"
#include "lis2mdl.h" #include "lis2mdl.h"
/* Definitions */
/*
* Register map for LIS2MDL
* http://www.st.com/content/ccc/resource/technical/document/datasheet/group3/29/13/d1/e0/9a/4d/4f/30/DM00395193/files/DM00395193.pdf/jcr:content/translations/en.DM00395193.pdf
*/
#define LIS2MDL_OFFSET_X_REG_L 0x45
#define LIS2MDL_OFFSET_X_REG_H 0x46
#define LIS2MDL_OFFSET_Y_REG_L 0x47
#define LIS2MDL_OFFSET_Y_REG_H 0x48
#define LIS2MDL_OFFSET_Z_REG_L 0x49
#define LIS2MDL_OFFSET_Z_REG_H 0x4A
#define LIS2MDL_WHO_AM_I 0x4F
#define LIS2MDL_CFG_REG_A 0x60
#define LIS2MDL_CFG_REG_B 0x61
#define LIS2MDL_CFG_REG_C 0x62
#define LIS2MDL_INT_CTRL_REG 0x63
#define LIS2MDL_INT_SOURCE_REG 0x64
#define LIS2MDL_INT_THS_L_REG 0x65
#define LIS2MDL_INT_THS_H_REG 0x66
#define LIS2MDL_STATUS_REG 0x67
#define LIS2MDL_OUTX_L_REG 0x68
#define LIS2MDL_OUTX_H_REG 0x69
#define LIS2MDL_OUTY_L_REG 0x6A
#define LIS2MDL_OUTY_H_REG 0x6B
#define LIS2MDL_OUTZ_L_REG 0x6C
#define LIS2MDL_OUTZ_H_REG 0x6D
#define LIS2MDL_TEMP_OUT_L_REG 0x6E
#define LIS2MDL_TEMP_OUT_H_REG 0x6F
/* Macros */
#define lis2mdl_read_byte(addr, byte) i2c_read_byte((lis2mdl->i2c_read_func), (lis2mdl->i2c_addr), (addr), (byte))
#define lis2mdl_write_byte(addr, byte) i2c_write_byte((lis2mdl->i2c_write_func), (lis2mdl->i2c_addr), (addr), (byte))
#define lis2mdl_read(addr, data, len) i2c_read((lis2mdl->i2c_read_func), (lis2mdl->i2c_addr), (addr), (data), (len))
#define lis2mdl_write(addr, data, len) i2c_write((lis2mdl->i2c_write_func), (lis2mdl->i2c_addr), (addr), (data), (len))
/* Private Global Variables */ /* Private Global Variables */
/* Function Prototypes */ /* Function Prototypes */
/* Function Definitions */ /* Function Definitions */
void lis2mdl_init(lis2mdl_t *lis2mdl, uint8_t m_odr) lis2mdl_status_t lis2mdl_init(lis2mdl_t *lis2mdl, lis2mdl_init_t *init)
{ {
if(!lis2mdl) int8_t *ptr = (int8_t*) lis2mdl;
size_t i;
return_val_if_fail(lis2mdl, LIS2MDL_BAD_ARG);
return_val_if_fail(init, LIS2MDL_BAD_ARG);
/* zero lis2mdl_t struct */
for(i = 0; i < sizeof(lis2mdl_t); i++)
{ {
return; *ptr++ = 0;
} }
lis2mdl->m_odr = m_odr; lis2mdl->init = init;
return LIS2MDL_OK;
} }
void lis2mdl_config(lis2mdl_t *lis2mdl, I2C_HandleTypeDef *hi2c) void lis2mdl_set_delay_cb(lis2mdl_t *lis2mdl, delay_func_t delay_func)
{ {
// enable temperature compensation (bit 7 == 1), continuous mode (bits 0:1 == 00) return_if_fail(lis2mdl);
broken_i2c_write_byte(hi2c, LIS2MDL_ADDRESS, LIS2MDL_CFG_REG_A,
0x80 | lis2mdl->m_odr << 2);
// enable low pass filter (bit 0 == 1), set to ODR/4 lis2mdl->delay_func = delay_func;
broken_i2c_write_byte(hi2c, LIS2MDL_ADDRESS, LIS2MDL_CFG_REG_B, 0x01); }
void lis2mdl_set_i2c_cbs(lis2mdl_t *lis2mdl, i2c_read_func_t i2c_read_func,
i2c_write_func_t i2c_write_func, uint8_t dev_addr)
{
return_if_fail(lis2mdl);
lis2mdl->i2c_read_func = i2c_read_func;
lis2mdl->i2c_write_func = i2c_write_func;
lis2mdl->i2c_addr = dev_addr;
}
lis2mdl_status_t lis2mdl_config(lis2mdl_t *lis2mdl)
{
int32_t ret = 0;
// enable data ready on interrupt pin (bit 0 == 1), enable block data read (bit 4 == 1) /* enable temperature compensation (bit 7 == 1), continuous mode (bits 0:1 == 00) */
broken_i2c_write_byte(hi2c, LIS2MDL_ADDRESS, LIS2MDL_CFG_REG_C, ret |= lis2mdl_write_byte(LIS2MDL_CFG_REG_A,
0x01 | 0x10); 0x80 | lis2mdl->init->m_odr << 2);
/* enable low pass filter (bit 0 == 1), set to ODR/4 */
ret |= lis2mdl_write_byte(LIS2MDL_CFG_REG_B, 0x01);
/* enable data ready on interrupt pin (bit 0 == 1), enable block data read (bit 4 == 1) */
ret |= lis2mdl_write_byte(LIS2MDL_CFG_REG_C, 0x01 | 0x10);
return ret ? LIS2MDL_BAD_COMM : LIS2MDL_OK;
} }
uint8_t lis2mdl_chip_id_get(I2C_HandleTypeDef *hi2c) /* FIXME: haven't explored the usage/usefulness of these yet: */
#if(0)
uint8_t lis2mdl_chip_id_get(lis2mdl_t *lis2mdl)
{ {
uint8_t c = broken_i2c_read_byte(hi2c, LIS2MDL_ADDRESS, LIS2MDL_WHO_AM_I); uint8_t c;
lis2mdl_read_byte(LIS2MDL_WHO_AM_I, &c);
return c; return c;
} }
void lis2mdl_reset(I2C_HandleTypeDef *hi2c) void lis2mdl_reset(lis2mdl_t *lis2mdl)
{ {
// reset device // reset device
uint8_t temp = broken_i2c_read_byte(hi2c, LIS2MDL_ADDRESS, uint8_t temp;
LIS2MDL_CFG_REG_A); lis2mdl_read_byte(LIS2MDL_CFG_REG_A, &temp);
broken_i2c_write_byte(hi2c, LIS2MDL_ADDRESS, LIS2MDL_CFG_REG_A, lis2mdl_write_byte(LIS2MDL_CFG_REG_A, temp | 0x20); // Set bit 5 to 1 to reset LIS2MDL
temp | 0x20); // Set bit 5 to 1 to reset LIS2MDL lis2mdl->delay_func(1);
HAL_Delay(1); lis2mdl_write_byte(LIS2MDL_CFG_REG_A, temp | 0x40); // Set bit 6 to 1 to boot LIS2MDL
broken_i2c_write_byte(hi2c, LIS2MDL_ADDRESS, LIS2MDL_CFG_REG_A, lis2mdl->delay_func(100); // Wait for all registers to reset
temp | 0x40); // Set bit 6 to 1 to boot LIS2MDL
HAL_Delay(100); // Wait for all registers to reset
} }
uint8_t lis2mdl_status(I2C_HandleTypeDef *hi2c) uint8_t lis2mdl_status(lis2mdl_t *lis2mdl)
{ {
// Read the status register of the altimeter // Read the status register of the altimeter
uint8_t temp = broken_i2c_read_byte(hi2c, LIS2MDL_ADDRESS, uint8_t temp;
LIS2MDL_STATUS_REG); lis2mdl_read_byte(LIS2MDL_STATUS_REG, &temp);
return temp; return temp;
} }
void lis2mdl_data_get(I2C_HandleTypeDef *hi2c, int16_t *destination) void lis2mdl_data_get(lis2mdl_t *lis2mdl, int16_t *destination)
{ {
uint8_t data[6]; // x/y/z mag register data stored here uint8_t data[6]; // x/y/z mag register data stored here
broken_i2c_read(hi2c, LIS2MDL_ADDRESS, (0x80 | LIS2MDL_OUTX_L_REG), data, lis2mdl_read((0x80 | LIS2MDL_OUTX_L_REG), data, 8); // Read the 6 raw data registers into data array
8); // Read the 6 raw data registers into data array
destination[0] = ((int16_t) data[1] << 8) | data[0]; // Turn the MSB and LSB into a signed 16-bit value destination[0] = ((int16_t) data[1] << 8) | data[0]; // Turn the MSB and LSB into a signed 16-bit value
destination[1] = ((int16_t) data[3] << 8) | data[2]; destination[1] = ((int16_t) data[3] << 8) | data[2];
destination[2] = ((int16_t) data[5] << 8) | data[4]; destination[2] = ((int16_t) data[5] << 8) | data[4];
} }
int16_t lis2mdl_temp_get() int16_t lis2mdl_temp_get(lis2mdl_t *lis2mdl)
{ {
uint8_t data[2]; // x/y/z mag register data stored here uint8_t data[2]; // x/y/z mag register data stored here
lis2mdl_read_bytes(LIS2MDL_ADDRESS, (0x80 | LIS2MDL_TEMP_OUT_L_REG), 2, lis2mdl_read(0x80 | LIS2MDL_TEMP_OUT_L_REG, data, 2); // Read the 8 raw data registers into data array
&data[0]); // Read the 8 raw data registers into data array
int16_t temp = ((int16_t) data[1] << 8) | data[0]; // Turn the MSB and LSB into a signed 16-bit value int16_t temp = ((int16_t) data[1] << 8) | data[0]; // Turn the MSB and LSB into a signed 16-bit value
return temp; return temp;
} }
void lis2mdl_offset_bias(I2C_HandleTypeDef *hi2c, float *dest1, float *dest2) void lis2mdl_offset_bias(lis2mdl_t *lis2mdl, float *dest1, float *dest2)
{ {
int32_t mag_bias[3] = { 0, 0, 0 }, mag_scale[3] = { 0, 0, 0 }; int32_t mag_bias[3] = { 0, 0, 0 }, mag_scale[3] = { 0, 0, 0 };
int16_t mag_max[3] = { -32767, -32767, -32767 }, mag_min[3] = int16_t mag_max[3] = { -32767, -32767, -32767 }, mag_min[3] =
@ -107,11 +168,11 @@ void lis2mdl_offset_bias(I2C_HandleTypeDef *hi2c, float *dest1, float *dest2)
float m_res = 0.0015f; float m_res = 0.0015f;
/* Serial.println("Calculate mag offset bias: move all around to sample the complete response surface!"); */ /* Serial.println("Calculate mag offset bias: move all around to sample the complete response surface!"); */
HAL_Delay(4000); lis2mdl->delay_func(4000);
for(int ii = 0; ii < 4000; ii++) for(int ii = 0; ii < 4000; ii++)
{ {
lis2mdl_data_get(hi2c, mag_temp); lis2mdl_data_get(lis2mdl, mag_temp);
for(int jj = 0; jj < 3; jj++) for(int jj = 0; jj < 3; jj++)
{ {
if(mag_temp[jj] > mag_max[jj]) if(mag_temp[jj] > mag_max[jj])
@ -123,7 +184,7 @@ void lis2mdl_offset_bias(I2C_HandleTypeDef *hi2c, float *dest1, float *dest2)
mag_min[jj] = mag_temp[jj]; mag_min[jj] = mag_temp[jj];
} }
} }
HAL_Delay(12); lis2mdl->delay_func(12);
} }
m_res = 0.0015f; // fixed sensitivity m_res = 0.0015f; // fixed sensitivity
@ -151,8 +212,9 @@ void lis2mdl_offset_bias(I2C_HandleTypeDef *hi2c, float *dest1, float *dest2)
/* Serial.println("Mag Calibration done!"); */ /* Serial.println("Mag Calibration done!"); */
} }
void lis2mdl_self_test(I2C_HandleTypeDef *hi2c) void lis2mdl_self_test(lis2mdl_t *lis2mdl)
{ {
uint8_t c;
int16_t temp[3] = { 0, 0, 0 }; int16_t temp[3] = { 0, 0, 0 };
float magTest[3] = { 0., 0., 0. }; float magTest[3] = { 0., 0., 0. };
float magNom[3] = { 0., 0., 0. }; float magNom[3] = { 0., 0., 0. };
@ -162,39 +224,39 @@ void lis2mdl_self_test(I2C_HandleTypeDef *hi2c)
// first, get average response with self test disabled // first, get average response with self test disabled
for(int ii = 0; ii < 50; ii++) for(int ii = 0; ii < 50; ii++)
{ {
lis2mdl_data_get(hi2c, temp); lis2mdl_data_get(lis2mdl, temp);
sum[0] += temp[0]; sum[0] += temp[0];
sum[1] += temp[1]; sum[1] += temp[1];
sum[2] += temp[2]; sum[2] += temp[2];
HAL_Delay(50); lis2mdl->delay_func(50);
} }
magNom[0] = (float) sum[0] / 50.0f; magNom[0] = (float) sum[0] / 50.0f;
magNom[1] = (float) sum[1] / 50.0f; magNom[1] = (float) sum[1] / 50.0f;
magNom[2] = (float) sum[2] / 50.0f; magNom[2] = (float) sum[2] / 50.0f;
uint8_t c = broken_i2c_read_byte(hi2c, LIS2MDL_ADDRESS, LIS2MDL_CFG_REG_C); lis2mdl_read_byte(LIS2MDL_CFG_REG_C, &c);
broken_i2c_write_byte(hi2c, LIS2MDL_ADDRESS, LIS2MDL_CFG_REG_C, c | 0x02); // enable self test lis2mdl_write_byte(LIS2MDL_CFG_REG_C, c | 0x02); // enable self test
HAL_Delay(100); // let mag respond lis2mdl->delay_func(100); // let mag respond
sum[0] = 0; sum[0] = 0;
sum[1] = 0; sum[1] = 0;
sum[2] = 0; sum[2] = 0;
for(int ii = 0; ii < 50; ii++) for(int ii = 0; ii < 50; ii++)
{ {
lis2mdl_data_get(hi2c, temp); lis2mdl_data_get(lis2mdl, temp);
sum[0] += temp[0]; sum[0] += temp[0];
sum[1] += temp[1]; sum[1] += temp[1];
sum[2] += temp[2]; sum[2] += temp[2];
HAL_Delay(50); lis2mdl->delay_func(50);
} }
magTest[0] = (float) sum[0] / 50.0f; magTest[0] = (float) sum[0] / 50.0f;
magTest[1] = (float) sum[1] / 50.0f; magTest[1] = (float) sum[1] / 50.0f;
magTest[2] = (float) sum[2] / 50.0f; magTest[2] = (float) sum[2] / 50.0f;
broken_i2c_write_byte(hi2c, LIS2MDL_ADDRESS, LIS2MDL_CFG_REG_C, c); // return to previous settings/normal mode lis2mdl_write_byte(LIS2MDL_CFG_REG_C, c); // return to previous settings/normal mode
HAL_Delay(100); // let mag respond lis2mdl->delay_func(100); // let mag respond
/* Serial.println("Mag Self Test:"); */ /* Serial.println("Mag Self Test:"); */
/* Serial.print("Mx results:"); */ /* Serial.print("Mx results:"); */
@ -205,5 +267,6 @@ void lis2mdl_self_test(I2C_HandleTypeDef *hi2c)
/* Serial.print("Mz results:"); */ /* Serial.print("Mz results:"); */
/* Serial.println((magTest[1] - magNom[1]) * m_res * 1000.0); */ /* Serial.println((magTest[1] - magNom[1]) * m_res * 1000.0); */
/* Serial.println("Should be between 15 and 500 mG"); */ /* Serial.println("Should be between 15 and 500 mG"); */
HAL_Delay(2000); // give some time to read the screen /* lis2mdl->delay_func(2000); // give some time to read the screen */
} }
#endif

134
Drivers/EM7180/Src/lps22hb.c
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@ -7,7 +7,7 @@
* Author: Daniel Peter Chokola * Author: Daniel Peter Chokola
* *
* Adapted From: * Adapted From:
* EM7180_LSM6DSM_LIS2MDL_LPS22HB_Butterfly * EM7180_LSM6DSM_XXYYZZ_LPS22HB_Butterfly
* by: Kris Winer * by: Kris Winer
* 09/23/2017 Copyright Tlera Corporation * 09/23/2017 Copyright Tlera Corporation
* *
@ -16,63 +16,141 @@
/* Includes */ /* Includes */
#include <stdint.h> #include <stdint.h>
#include <stddef.h>
#include "em7180_common.h" #include "em7180_common.h"
#include "lps22hb.h" #include "lps22hb.h"
/* Definitions */
/*
* LPS22H Registers
* http://www.st.com/content/ccc/resource/technical/document/datasheet/bf/c1/4f/23/61/17/44/8a/DM00140895.pdf/files/DM00140895.pdf/jcr:content/translations/en.DM00140895.pdf
*/
#define LPS22H_INTERRUPT_CFG 0x0B
#define LPS22H_THS_P_L 0x0C
#define LPS22H_THS_P_H 0x0D
#define LPS22H_WHOAMI 0x0F // should return 0xB1
#define LPS22H_CTRL_REG1 0x10
#define LPS22H_CTRL_REG2 0x11
#define LPS22H_CTRL_REG3 0x12
#define LPS22H_FIFO_CTRL 0x14
#define LPS22H_REF_P_XL 0x15
#define LPS22H_REF_P_L 0x16
#define LPS22H_REF_P_H 0x17
#define LPS22H_RPDS_L 0x18
#define LPS22H_RPDS_H 0x19
#define LPS22H_RES_CONF 0x1A
#define LPS22H_INT_SOURCE 0x25
#define LPS22H_FIFO_STATUS 0x26
#define LPS22H_STATUS 0x27
#define LPS22H_PRESS_OUT_XL 0x28
#define LPS22H_PRESS_OUT_L 0x29
#define LPS22H_PRESS_OUT_H 0x2A
#define LPS22H_TEMP_OUT_L 0x2B
#define LPS22H_TEMP_OUT_H 0x2C
#define LPS22H_LPFP_RES 0x33
/* Macros */
#define lps22hb_read_byte(addr, byte) i2c_read_byte((lps22hb->i2c_read_func), (lps22hb->i2c_addr), (addr), (byte))
#define lps22hb_write_byte(addr, byte) i2c_write_byte((lps22hb->i2c_write_func), (lps22hb->i2c_addr), (addr), (byte))
#define lps22hb_read(addr, data, len) i2c_read((lps22hb->i2c_read_func), (lps22hb->i2c_addr), (addr), (data), (len))
#define lps22hb_write(addr, data, len) i2c_write((lps22hb->i2c_write_func), (lps22hb->i2c_addr), (addr), (data), (len))
/* Private Global Variables */ /* Private Global Variables */
/* Function Prototypes */ /* Function Prototypes */
/* Function Definitions */ /* Function Definitions */
void lps22hb_init(lps22hb_t *lps22hb, uint8_t p_odr) lps22hb_status_t lps22hb_init(lps22hb_t *lps22hb, lps22hb_init_t *init)
{
int8_t *ptr = (int8_t*) lps22hb;
size_t i;
return_val_if_fail(lps22hb, LPS22HB_BAD_ARG);
return_val_if_fail(init, LPS22HB_BAD_ARG);
/* zero lps22hb_t struct */
for(i = 0; i < sizeof(lps22hb_t); i++)
{
*ptr++ = 0;
}
lps22hb->init = init;
return LPS22HB_OK;
}
void lps22hb_set_delay_cb(lps22hb_t *lps22hb, delay_func_t delay_func)
{ {
return_if_fail(lps22hb); return_if_fail(lps22hb);
lps22hb->p_odr = p_odr; lps22hb->delay_func = delay_func;
} }
void lps22hb_config(lps22hb_t *lps22hb, I2C_HandleTypeDef *hi2c) void lps22hb_set_i2c_cbs(lps22hb_t *lps22hb, i2c_read_func_t i2c_read_func,
i2c_write_func_t i2c_write_func, uint8_t dev_addr)
{ {
// set sample rate by setting bits 6:4 return_if_fail(lps22hb);
// enable low-pass filter by setting bit 3 to one
// bit 2 == 0 means bandwidth is odr/9, bit 2 == 1 means bandwidth is odr/20 lps22hb->i2c_read_func = i2c_read_func;
// make sure data not updated during read by setting block data udate (bit 1) to 1 lps22hb->i2c_write_func = i2c_write_func;
broken_i2c_write_byte(hi2c, LPS22H_ADDRESS, LPS22H_CTRL_REG1, lps22hb->i2c_addr = dev_addr;
lps22hb->p_odr << 4 | 0x08 | 0x02);
broken_i2c_write_byte(hi2c, LPS22H_ADDRESS, LPS22H_CTRL_REG3, 0x04); // enable data ready as interrupt source
} }
uint8_t lps22hb_chip_id_get(I2C_HandleTypeDef *hi2c) lps22hb_status_t lps22hb_config(lps22hb_t *lps22hb)
{ {
// Read the WHO_AM_I register of the altimeter this is a good test of communication int32_t ret = 0;
uint8_t temp = broken_i2c_read_byte(hi2c, LPS22H_ADDRESS, LPS22H_WHOAMI); // Read WHO_AM_I register for LPS22H
/*
* set sample rate by setting bits 6:4
* enable low-pass filter by setting bit 3 to one
* bit 2 == 0 means bandwidth is odr/9, bit 2 == 1 means bandwidth is odr/20
* make sure data not updated during read by setting block data udate (bit 1) to 1
*/
ret |= lps22hb_write_byte(LPS22H_CTRL_REG1,
lps22hb->init->p_odr << 4 | 0x08 | 0x02);
ret |= lps22hb_write_byte(LPS22H_CTRL_REG3, 0x04); // enable data ready as interrupt source
return temp; return ret ? LPS22HB_BAD_COMM : LPS22HB_OK;
} }
uint8_t lps22hb_status(I2C_HandleTypeDef *hi2c) lps22hb_status_t lps22hb_status(lps22hb_t *lps22hb, uint8_t *status)
{ {
// Read the status register of the altimeter int32_t ret = 0;
uint8_t temp = broken_i2c_read_byte(hi2c, LPS22H_ADDRESS, LPS22H_STATUS);
/* read the status register of the altimeter */
ret |= lps22hb_read_byte(LPS22H_STATUS, status);
return ret ? LPS22HB_BAD_COMM : LPS22HB_OK;
}
lps22hb_status_t lps22hb_chip_id_get(lps22hb_t *lps22hb, uint8_t *data)
{
int32_t ret = 0;
/* read the WHO_AM_I register of the altimeter; this is a good test of communication */
ret |= lps22hb_read_byte(LPS22H_WHOAMI, data); // Read WHO_AM_I register for LPS22H
return temp; return ret ? LPS22HB_BAD_COMM : LPS22HB_OK;
} }
int32_t lps22hb_pressure_get(I2C_HandleTypeDef *hi2c) lps22hb_status_t lps22hb_pressure_get(lps22hb_t *lps22hb, int32_t *data)
{ {
uint8_t data[3]; // 24-bit pressure register data stored here int32_t ret = 0;
uint8_t temp[3]; // 24-bit pressure register data stored here
broken_i2c_read(hi2c, LPS22H_ADDRESS, (LPS22H_PRESS_OUT_XL | 0x80), data, ret |= lps22hb_read(LPS22H_PRESS_OUT_XL | 0x80, temp, 3); // bit 7 must be one to read multiple bytes
3); // bit 7 must be one to read multiple bytes *data = ((int32_t) temp[2] << 16 | (int32_t) temp[1] << 8 | temp[0]);
return ((int32_t) data[2] << 16 | (int32_t) data[1] << 8 | data[0]); return ret ? LPS22HB_BAD_COMM : LPS22HB_OK;
} }
int16_t lps22hb_temp_get(I2C_HandleTypeDef *hi2c) lps22hb_status_t lps22hb_temp_get(lps22hb_t *lps22hb, int16_t *data)
{ {
uint8_t data[2]; // 16-bit pressure register data stored here int32_t ret = 0;
uint8_t temp[2]; // 16-bit pressure register data stored here
broken_i2c_read(hi2c, LPS22H_ADDRESS, (LPS22H_TEMP_OUT_L | 0x80), data, 2); // bit 7 must be one to read multiple bytes ret |= lps22hb_read(LPS22H_TEMP_OUT_L | 0x80, temp, 2); // bit 7 must be one to read multiple bytes
*data = ((int16_t) temp[1] << 8 | temp[0]);
return ((int16_t) data[1] << 8 | data[0]); return ret ? LPS22HB_BAD_COMM : LPS22HB_OK;
} }

251
Drivers/EM7180/Src/lsm6dsm.c
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@ -16,56 +16,196 @@
/* Includes */ /* Includes */
#include <stdint.h> #include <stdint.h>
#include <math.h> #include <stddef.h>
#include "em7180_common.h" #include "em7180_common.h"
#include "lsm6dsm.h" #include "lsm6dsm.h"
/* Definitions */
/*
* LSM6DSM registers
* http://www.st.com/content/ccc/resource/technical/document/datasheet/76/27/cf/88/c5/03/42/6b/DM00218116.pdf/files/DM00218116.pdf/jcr:content/translations/en.DM00218116.pdf
*/
#define LSM6DSM_FUNC_CFG_ACCESS 0x01
#define LSM6DSM_SENSOR_SYNC_TIME_FRAME 0x04
#define LSM6DSM_SENSOR_SYNC_RES_RATIO 0x05
#define LSM6DSM_FIFO_CTRL1 0x06
#define LSM6DSM_FIFO_CTRL2 0x07
#define LSM6DSM_FIFO_CTRL3 0x08
#define LSM6DSM_FIFO_CTRL4 0x09
#define LSM6DSM_FIFO_CTRL5 0x0A
#define LSM6DSM_DRDY_PULSE_CFG 0x0B
#define LSM6DSM_INT1_CTRL 0x0D
#define LSM6DSM_INT2_CTRL 0x0E
#define LSM6DSM_WHO_AM_I 0x0F // should be 0x6A
#define LSM6DSM_CTRL1_XL 0x10
#define LSM6DSM_CTRL2_G 0x11
#define LSM6DSM_CTRL3_C 0x12
#define LSM6DSM_CTRL4_C 0x13
#define LSM6DSM_CTRL5_C 0x14
#define LSM6DSM_CTRL6_C 0x15
#define LSM6DSM_CTRL7_G 0x16
#define LSM6DSM_CTRL8_XL 0x17
#define LSM6DSM_CTRL9_XL 0x18
#define LSM6DSM_CTRL10_C 0x19
#define LSM6DSM_MASTER_CONFIG 0x1A
#define LSM6DSM_WAKE_UP_SRC 0x1B
#define LSM6DSM_TAP_SRC 0x1C
#define LSM6DSM_D6D_SRC 0x1D
#define LSM6DSM_STATUS_REG 0x1E
#define LSM6DSM_OUT_TEMP_L 0x20
#define LSM6DSM_OUT_TEMP_H 0x21
#define LSM6DSM_OUTX_L_G 0x22
#define LSM6DSM_OUTX_H_G 0x23
#define LSM6DSM_OUTY_L_G 0x24
#define LSM6DSM_OUTY_H_G 0x25
#define LSM6DSM_OUTZ_L_G 0x26
#define LSM6DSM_OUTZ_H_G 0x27
#define LSM6DSM_OUTX_L_XL 0x28
#define LSM6DSM_OUTX_H_XL 0x29
#define LSM6DSM_OUTY_L_XL 0x2A
#define LSM6DSM_OUTY_H_XL 0x2B
#define LSM6DSM_OUTZ_L_XL 0x2C
#define LSM6DSM_OUTZ_H_XL 0x2D
#define LSM6DSM_SENSORHUB1_REG 0x2E
#define LSM6DSM_SENSORHUB2_REG 0x2F
#define LSM6DSM_SENSORHUB3_REG 0x30
#define LSM6DSM_SENSORHUB4_REG 0x31
#define LSM6DSM_SENSORHUB5_REG 0x32
#define LSM6DSM_SENSORHUB6_REG 0x33
#define LSM6DSM_SENSORHUB7_REG 0x34
#define LSM6DSM_SENSORHUB8_REG 0x35
#define LSM6DSM_SENSORHUB9_REG 0x36
#define LSM6DSM_SENSORHUB10_REG 0x37
#define LSM6DSM_SENSORHUB11_REG 0x38
#define LSM6DSM_SENSORHUB12_REG 0x39
#define LSM6DSM_FIFO_STATUS1 0x3A
#define LSM6DSM_FIFO_STATUS2 0x3B
#define LSM6DSM_FIFO_STATUS3 0x3C
#define LSM6DSM_FIFO_STATUS4 0x3D
#define LSM6DSM_FIFO_DATA_OUT_L 0x3E
#define LSM6DSM_FIFO_DATA_OUT_H 0x3F
#define LSM6DSM_TIMESTAMP0_REG 0x40
#define LSM6DSM_TIMESTAMP1_REG 0x41
#define LSM6DSM_TIMESTAMP2_REG 0x42
#define LSM6DSM_STEP_TIMESTAMP_L 0x49
#define LSM6DSM_STEP_TIMESTAMP_H 0x4A
#define LSM6DSM_STEP_COUNTER_L 0x4B
#define LSM6DSM_STEP_COUNTER_H 0x4C
#define LSM6DSM_SENSORHUB13_REG 0x4D
#define LSM6DSM_SENSORHUB14_REG 0x4E
#define LSM6DSM_SENSORHUB15_REG 0x4F
#define LSM6DSM_SENSORHUB16_REG 0x50
#define LSM6DSM_SENSORHUB17_REG 0x51
#define LSM6DSM_SENSORHUB18_REG 0x52
#define LSM6DSM_FUNC_SRC1 0x53
#define LSM6DSM_FUNC_SRC2 0x54
#define LSM6DSM_WRIST_TILT_IA 0x55
#define LSM6DSM_TAP_CFG 0x58
#define LSM6DSM_TAP_THS_6D 0x59
#define LSM6DSM_INT_DUR2 0x5A
#define LSM6DSM_WAKE_UP_THS 0x5B
#define LSM6DSM_WAKE_UP_DUR 0x5C
#define LSM6DSM_FREE_FALL 0x5D
#define LSM6DSM_MD1_CFG 0x5E
#define LSM6DSM_MD2_CFG 0x5F
#define LSM6DSM_MASTER_MODE_CODE 0x60
#define LSM6DSM_SENS_SYNC_SPI_ERROR_CODE 0x61
#define LSM6DSM_OUT_MAG_RAW_X_L 0x66
#define LSM6DSM_OUT_MAG_RAW_X_H 0x67
#define LSM6DSM_OUT_MAG_RAW_Y_L 0x68
#define LSM6DSM_OUT_MAG_RAW_Y_H 0x69
#define LSM6DSM_OUT_MAG_RAW_Z_L 0x6A
#define LSM6DSM_OUT_MAG_RAW_Z_H 0x6B
#define LSM6DSM_INT_OIS 0x6F
#define LSM6DSM_CTRL1_OIS 0x70
#define LSM6DSM_CTRL2_OIS 0x71
#define LSM6DSM_CTRL3_OIS 0x72
#define LSM6DSM_X_OFS_USR 0x73
#define LSM6DSM_Y_OFS_USR 0x74
#define LSM6DSM_Z_OFS_USR 0x75
/* Macros */
#define lsm6dsm_read_byte(addr, byte) i2c_read_byte((lsm6dsm->i2c_read_func), (lsm6dsm->i2c_addr), (addr), (byte))
#define lsm6dsm_write_byte(addr, byte) i2c_write_byte((lsm6dsm->i2c_write_func), (lsm6dsm->i2c_addr), (addr), (byte))
#define lsm6dsm_read(addr, data, len) i2c_read((lsm6dsm->i2c_read_func), (lsm6dsm->i2c_addr), (addr), (data), (len))
#define lsm6dsm_write(addr, data, len) i2c_write((lsm6dsm->i2c_write_func), (lsm6dsm->i2c_addr), (addr), (data), (len))
/* Private Global Variables */ /* Private Global Variables */
/* Function Prototypes */ /* Function Prototypes */
static void lsm6dsm_read_data(lsm6dsm_t *lsm6dsm, I2C_HandleTypeDef *hi2c,
int16_t *destination);
/* Function Definitions */ /* Function Definitions */
void lsm6dsm_init(lsm6dsm_t *lsm6dsm, uint8_t ascale, uint8_t gscale, lsm6dsm_status_t lsm6dsm_init(lsm6dsm_t *lsm6dsm, lsm6dsm_init_t *init)
uint8_t a_odr, uint8_t g_odr) {
int8_t *ptr = (int8_t*) lsm6dsm;
size_t i;
return_val_if_fail(lsm6dsm, LSM6DSM_BAD_ARG);
return_val_if_fail(init, LSM6DSM_BAD_ARG);
/* zero lsm6dsm_t struct */
for(i = 0; i < sizeof(lsm6dsm_t); i++)
{
*ptr++ = 0;
}
lsm6dsm->init = init;
return LSM6DSM_OK;
}
void lsm6dsm_set_delay_cb(lsm6dsm_t *lsm6dsm, delay_func_t delay_func)
{ {
return_if_fail(lsm6dsm); return_if_fail(lsm6dsm);
lsm6dsm->ascale = ascale; lsm6dsm->delay_func = delay_func;
lsm6dsm->gscale = gscale;
lsm6dsm->a_odr = a_odr;
lsm6dsm->g_odr = g_odr;
} }
void lsm6dsm_config(lsm6dsm_t *lsm6dsm, I2C_HandleTypeDef *hi2c) void lsm6dsm_set_i2c_cbs(lsm6dsm_t *lsm6dsm, i2c_read_func_t i2c_read_func,
i2c_write_func_t i2c_write_func, uint8_t dev_addr)
{ {
broken_i2c_write_byte(hi2c, LSM6DSM_ADDRESS, LSM6DSM_CTRL1_XL, return_if_fail(lsm6dsm);
lsm6dsm->a_odr << 4 | lsm6dsm->ascale << 2);
broken_i2c_write_byte(hi2c, LSM6DSM_ADDRESS, LSM6DSM_CTRL2_G, lsm6dsm->i2c_read_func = i2c_read_func;
lsm6dsm->g_odr << 4 | lsm6dsm->gscale << 2); lsm6dsm->i2c_write_func = i2c_write_func;
lsm6dsm->i2c_addr = dev_addr;
}
uint8_t temp = broken_i2c_read_byte(hi2c, LSM6DSM_ADDRESS, LSM6DSM_CTRL3_C); lsm6dsm_status_t lsm6dsm_config(lsm6dsm_t *lsm6dsm)
{
int32_t ret = 0;
uint8_t temp;
ret |= lsm6dsm_write_byte(
LSM6DSM_CTRL1_XL,
lsm6dsm->init->a_odr << 4 | lsm6dsm->init->ascale << 2);
ret |= lsm6dsm_write_byte(
LSM6DSM_CTRL2_G,
lsm6dsm->init->g_odr << 4 | lsm6dsm->init->gscale << 2);
ret |= lsm6dsm_read_byte(LSM6DSM_CTRL3_C, &temp);
// enable block update (bit 6 = 1), auto-increment registers (bit 2 = 1) // enable block update (bit 6 = 1), auto-increment registers (bit 2 = 1)
broken_i2c_write_byte(hi2c, LSM6DSM_ADDRESS, LSM6DSM_CTRL3_C, ret |= lsm6dsm_write_byte(LSM6DSM_CTRL3_C, temp | 0x40 | 0x04);
temp | 0x40 | 0x04);
// by default, interrupts active HIGH, push pull, little endian data // by default, interrupts active HIGH, push pull, little endian data
// (can be changed by writing to bits 5, 4, and 1, resp to above register) // (can be changed by writing to bits 5, 4, and 1, resp to above register)
// enable accel LP2 (bit 7 = 1), set LP2 tp ODR/9 (bit 6 = 1), enable input_composite (bit 3) for low noise // enable accel LP2 (bit 7 = 1), set LP2 tp ODR/9 (bit 6 = 1), enable input_composite (bit 3) for low noise
broken_i2c_write_byte(hi2c, LSM6DSM_ADDRESS, LSM6DSM_CTRL8_XL, ret |= lsm6dsm_write_byte(LSM6DSM_CTRL8_XL, 0x80 | 0x40 | 0x08);
0x80 | 0x40 | 0x08);
// interrupt handling // interrupt handling
broken_i2c_write_byte(hi2c, LSM6DSM_ADDRESS, LSM6DSM_DRDY_PULSE_CFG, 0x80); // latch interrupt until data read ret |= lsm6dsm_write_byte(LSM6DSM_DRDY_PULSE_CFG, 0x80); // latch interrupt until data read
broken_i2c_write_byte(hi2c, LSM6DSM_ADDRESS, LSM6DSM_INT1_CTRL, 0x40); // enable significant motion interrupts on INT1 ret |= lsm6dsm_write_byte(LSM6DSM_INT1_CTRL, 0x40); // enable significant motion interrupts on INT1
broken_i2c_write_byte(hi2c, LSM6DSM_ADDRESS, LSM6DSM_INT2_CTRL, 0x03); // enable accel/gyro data ready interrupts on INT2 ret |= lsm6dsm_write_byte(LSM6DSM_INT2_CTRL, 0x03); // enable accel/gyro data ready interrupts on INT2
return ret ? LSM6DSM_BAD_COMM : LSM6DSM_OK;
} }
uint8_t lsm6dsm_chip_id_get(lsm6dsm_t *lsm6dsm, I2C_HandleTypeDef *hi2c) /* FIXME: haven't explored the usage/usefulness of these yet: */
#if(0)
uint8_t lsm6dsm_chip_id_get(lsm6dsm_t *lsm6dsm)
{ {
uint8_t c = broken_i2c_read_byte(hi2c, LSM6DSM_ADDRESS, LSM6DSM_WHO_AM_I); uint8_t c;
lsm6dsm_read_byte(LSM6DSM_WHO_AM_I, &c);
return c; return c;
} }
@ -74,7 +214,7 @@ float lsm6dsm_ares_get(lsm6dsm_t *lsm6dsm)
{ {
float a_res; float a_res;
switch(lsm6dsm->ascale) switch(lsm6dsm->init->ascale)
{ {
// Possible accelerometer scales (and their register bit settings) are: // Possible accelerometer scales (and their register bit settings) are:
// 2 Gs (00), 4 Gs (01), 8 Gs (10), and 16 Gs (11). // 2 Gs (00), 4 Gs (01), 8 Gs (10), and 16 Gs (11).
@ -103,7 +243,7 @@ float lsm6dsm_gres_get(lsm6dsm_t *lsm6dsm)
{ {
float g_res; float g_res;
switch(lsm6dsm->gscale) switch(lsm6dsm->init->gscale)
{ {
// Possible gyro scales (and their register bit settings) are: // Possible gyro scales (and their register bit settings) are:
// 250 DPS (00), 500 DPS (01), 1000 DPS (10), and 2000 DPS (11). // 250 DPS (00), 500 DPS (01), 1000 DPS (10), and 2000 DPS (11).
@ -127,16 +267,17 @@ float lsm6dsm_gres_get(lsm6dsm_t *lsm6dsm)
return g_res; return g_res;
} }
void lsm6dsm_reset(lsm6dsm_t *lsm6dsm, I2C_HandleTypeDef *hi2c) void lsm6dsm_reset(lsm6dsm_t *lsm6dsm)
{ {
// reset device // reset device
uint8_t temp = broken_i2c_read_byte(hi2c, LSM6DSM_ADDRESS, LSM6DSM_CTRL3_C); uint8_t temp;
broken_i2c_write_byte(hi2c, LSM6DSM_ADDRESS, LSM6DSM_CTRL3_C, temp | 0x01); // Set bit 0 to 1 to reset LSM6DSM lsm6dsm_read_byte(LSM6DSM_CTRL3_C, &temp);
HAL_Delay(100); // Wait for all registers to reset lsm6dsm_write_byte(LSM6DSM_CTRL3_C, temp | 0x01); // Set bit 0 to 1 to reset LSM6DSM
lsm6dsm->delay_func(100); // Wait for all registers to reset
} }
void lsm6dsm_self_test(lsm6dsm_t *lsm6dsm, I2C_HandleTypeDef *hi2c) void lsm6dsm_self_test(lsm6dsm_t *lsm6dsm)
{ {
int16_t temp[7] = { 0, 0, 0, 0, 0, 0, 0 }; int16_t temp[7] = { 0, 0, 0, 0, 0, 0, 0 };
int16_t accelPTest[3] = { 0, 0, 0 }; int16_t accelPTest[3] = { 0, 0, 0 };
@ -146,7 +287,7 @@ void lsm6dsm_self_test(lsm6dsm_t *lsm6dsm, I2C_HandleTypeDef *hi2c)
int16_t accelNom[3] = { 0, 0, 0 }; int16_t accelNom[3] = { 0, 0, 0 };
int16_t gyroNom[3] = { 0, 0, 0 }; int16_t gyroNom[3] = { 0, 0, 0 };
lsm6dsm_read_data(lsm6dsm, hi2c, temp); lsm6dsm_read_data(lsm6dsm, temp);
accelNom[0] = temp[4]; accelNom[0] = temp[4];
accelNom[1] = temp[5]; accelNom[1] = temp[5];
accelNom[2] = temp[6]; accelNom[2] = temp[6];
@ -154,36 +295,36 @@ void lsm6dsm_self_test(lsm6dsm_t *lsm6dsm, I2C_HandleTypeDef *hi2c)
gyroNom[1] = temp[2]; gyroNom[1] = temp[2];
gyroNom[2] = temp[3]; gyroNom[2] = temp[3];
broken_i2c_write_byte(hi2c, LSM6DSM_ADDRESS, LSM6DSM_CTRL5_C, 0x01); // positive accel self test lsm6dsm_write_byte(LSM6DSM_CTRL5_C, 0x01); // positive accel self test
HAL_Delay(100); // let accel respond lsm6dsm->delay_func(100); // let accel respond
lsm6dsm_read_data(lsm6dsm, hi2c, temp); lsm6dsm_read_data(lsm6dsm, temp);
accelPTest[0] = temp[4]; accelPTest[0] = temp[4];
accelPTest[1] = temp[5]; accelPTest[1] = temp[5];
accelPTest[2] = temp[6]; accelPTest[2] = temp[6];
broken_i2c_write_byte(hi2c, LSM6DSM_ADDRESS, LSM6DSM_CTRL5_C, 0x03); // negative accel self test lsm6dsm_write_byte(LSM6DSM_CTRL5_C, 0x03); // negative accel self test
HAL_Delay(100); // let accel respond lsm6dsm->delay_func(100); // let accel respond
lsm6dsm_read_data(lsm6dsm, hi2c, temp); lsm6dsm_read_data(lsm6dsm, temp);
accelNTest[0] = temp[4]; accelNTest[0] = temp[4];
accelNTest[1] = temp[5]; accelNTest[1] = temp[5];
accelNTest[2] = temp[6]; accelNTest[2] = temp[6];
broken_i2c_write_byte(hi2c, LSM6DSM_ADDRESS, LSM6DSM_CTRL5_C, 0x04); // positive gyro self test lsm6dsm_write_byte(LSM6DSM_CTRL5_C, 0x04); // positive gyro self test
HAL_Delay(100); // let gyro respond lsm6dsm->delay_func(100); // let gyro respond
lsm6dsm_read_data(lsm6dsm, hi2c, temp); lsm6dsm_read_data(lsm6dsm, temp);
gyroPTest[0] = temp[1]; gyroPTest[0] = temp[1];
gyroPTest[1] = temp[2]; gyroPTest[1] = temp[2];
gyroPTest[2] = temp[3]; gyroPTest[2] = temp[3];
broken_i2c_write_byte(hi2c, LSM6DSM_ADDRESS, LSM6DSM_CTRL5_C, 0x0C); // negative gyro self test lsm6dsm_write_byte(LSM6DSM_CTRL5_C, 0x0C); // negative gyro self test
HAL_Delay(100); // let gyro respond lsm6dsm->delay_func(100); // let gyro respond
lsm6dsm_read_data(lsm6dsm, hi2c, temp); lsm6dsm_read_data(lsm6dsm, temp);
gyroNTest[0] = temp[1]; gyroNTest[0] = temp[1];
gyroNTest[1] = temp[2]; gyroNTest[1] = temp[2];
gyroNTest[2] = temp[3]; gyroNTest[2] = temp[3];
broken_i2c_write_byte(hi2c, LSM6DSM_ADDRESS, LSM6DSM_CTRL5_C, 0x00); // normal mode lsm6dsm_write_byte(LSM6DSM_CTRL5_C, 0x00); // normal mode
HAL_Delay(100); // let accel and gyro respond lsm6dsm->delay_func(100); // let accel and gyro respond
/* Serial.println("Accel Self Test:"); */ /* Serial.println("Accel Self Test:"); */
/* Serial.print("+Ax results:"); */ /* Serial.print("+Ax results:"); */
@ -216,12 +357,10 @@ void lsm6dsm_self_test(lsm6dsm_t *lsm6dsm, I2C_HandleTypeDef *hi2c)
/* Serial.print("-Gz results:"); */ /* Serial.print("-Gz results:"); */
/* Serial.println((gyroNTest[2] - gyroNom[2]) * g_res); */ /* Serial.println((gyroNTest[2] - gyroNom[2]) * g_res); */
/* Serial.println("Should be between 20 and 80 dps"); */ /* Serial.println("Should be between 20 and 80 dps"); */
HAL_Delay(2000); lsm6dsm->delay_func(2000);
} }
void lsm6dsm_offset_bias(lsm6dsm_t *lsm6dsm, I2C_HandleTypeDef *hi2c, void lsm6dsm_offset_bias(lsm6dsm_t *lsm6dsm, float *dest1, float *dest2)
float *dest1, float *dest2)
{ {
int16_t temp[7] = { 0, 0, 0, 0, 0, 0, 0 }; int16_t temp[7] = { 0, 0, 0, 0, 0, 0, 0 };
int32_t sum[7] = { 0, 0, 0, 0, 0, 0, 0 }; int32_t sum[7] = { 0, 0, 0, 0, 0, 0, 0 };
@ -229,18 +368,18 @@ void lsm6dsm_offset_bias(lsm6dsm_t *lsm6dsm, I2C_HandleTypeDef *hi2c,
float g_res = lsm6dsm_gres_get(lsm6dsm); float g_res = lsm6dsm_gres_get(lsm6dsm);
/* Serial.println("Calculate accel and gyro offset biases: keep sensor flat and motionless!"); */ /* Serial.println("Calculate accel and gyro offset biases: keep sensor flat and motionless!"); */
HAL_Delay(4000); lsm6dsm->delay_func(4000);
for(int ii = 0; ii < 128; ii++) for(int ii = 0; ii < 128; ii++)
{ {
lsm6dsm_read_data(lsm6dsm, hi2c, temp); lsm6dsm_read_data(lsm6dsm, temp);
sum[1] += temp[1]; sum[1] += temp[1];
sum[2] += temp[2]; sum[2] += temp[2];
sum[3] += temp[3]; sum[3] += temp[3];
sum[4] += temp[4]; sum[4] += temp[4];
sum[5] += temp[5]; sum[5] += temp[5];
sum[6] += temp[6]; sum[6] += temp[6];
HAL_Delay(50); lsm6dsm->delay_func(50);
} }
dest1[0] = sum[1] * g_res / 128.0f; dest1[0] = sum[1] * g_res / 128.0f;
@ -277,12 +416,11 @@ void lsm6dsm_offset_bias(lsm6dsm_t *lsm6dsm, I2C_HandleTypeDef *hi2c,
} }
static void lsm6dsm_read_data(lsm6dsm_t *lsm6dsm, I2C_HandleTypeDef *hi2c, static void lsm6dsm_read_data(lsm6dsm_t *lsm6dsm, int16_t *destination)
int16_t *destination)
{ {
uint8_t data[14]; // x/y/z accel register data stored here uint8_t data[14]; // x/y/z accel register data stored here
broken_i2c_read(hi2c, LSM6DSM_ADDRESS, LSM6DSM_OUT_TEMP_L, data, 14); // Read the 14 raw data registers into data array lsm6dsm_read(LSM6DSM_OUT_TEMP_L, data, 14); // Read the 14 raw data registers into data array
destination[0] = ((int16_t) data[1] << 8) | data[0]; // Turn the MSB and LSB into a signed 16-bit value destination[0] = ((int16_t) data[1] << 8) | data[0]; // Turn the MSB and LSB into a signed 16-bit value
destination[1] = ((int16_t) data[3] << 8) | data[2]; destination[1] = ((int16_t) data[3] << 8) | data[2];
destination[2] = ((int16_t) data[5] << 8) | data[4]; destination[2] = ((int16_t) data[5] << 8) | data[4];
@ -291,3 +429,4 @@ static void lsm6dsm_read_data(lsm6dsm_t *lsm6dsm, I2C_HandleTypeDef *hi2c,
destination[5] = ((int16_t) data[11] << 8) | data[10]; destination[5] = ((int16_t) data[11] << 8) | data[10];
destination[6] = ((int16_t) data[13] << 8) | data[12]; destination[6] = ((int16_t) data[13] << 8) | data[12];
} }
#endif

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