687 lines
21 KiB
C
687 lines
21 KiB
C
/*
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ChibiOS - Copyright (C) 2016..2018 Rocco Marco Guglielmi
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This file is part of ChibiOS.
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ChibiOS is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 3 of the License, or
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(at your option) any later version.
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ChibiOS is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file lps22hb.c
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* @brief LPS22HB MEMS interface module code.
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*
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* @addtogroup LPS22HB
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* @ingroup EX_ST
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* @{
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*/
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#include "hal.h"
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#include "lps22hb.h"
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/*===========================================================================*/
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/* Driver local definitions. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver exported variables. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver local variables and types. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver local functions. */
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/*===========================================================================*/
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#if (LPS22HB_USE_I2C) || defined(__DOXYGEN__)
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/**
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* @brief Reads registers value using I2C.
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* @pre The I2C interface must be initialized and the driver started.
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*
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* @param[in] i2cp pointer to the I2C interface
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* @param[in] sad slave address without R bit
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* @param[in] reg first sub-register address
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* @param[out] rxbuf pointer to an output buffer
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* @param[in] n number of consecutive register to read
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* @return the operation status.
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*
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* @notapi
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*/
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static msg_t lps22hbI2CReadRegister(I2CDriver *i2cp, lps22hb_sad_t sad,
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uint8_t reg, uint8_t* rxbuf, size_t n) {
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return i2cMasterTransmitTimeout(i2cp, sad, ®, 1, rxbuf, n,
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TIME_INFINITE);
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}
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/**
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* @brief Writes a value into a register using I2C.
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* @pre The I2C interface must be initialized and the driver started.
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*
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* @param[in] i2cp pointer to the I2C interface
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* @param[in] sad slave address without R bit
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* @param[in] txbuf buffer containing sub-address value in first position
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* and values to write
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* @param[in] n size of txbuf less one (not considering the first
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* element)
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* @return the operation status.
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*
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* @notapi
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*/
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#define lps22hbI2CWriteRegister(i2cp, sad, txbuf, n) \
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i2cMasterTransmitTimeout(i2cp, sad, txbuf, n + 1, NULL, 0, \
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TIME_INFINITE)
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#endif /* LPS22HB_USE_I2C */
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/**
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* @brief Return the number of axes of the BaseBarometer.
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*
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* @param[in] ip pointer to @p BaseBarometer interface.
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*
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* @return the number of axes.
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*/
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static size_t baro_get_axes_number(void *ip) {
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(void)ip;
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return LPS22HB_BARO_NUMBER_OF_AXES;
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}
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/**
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* @brief Retrieves raw data from the BaseBarometer.
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* @note This data is retrieved from MEMS register without any algebraical
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* manipulation.
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* @note The axes array must be at least the same size of the
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* BaseBarometer axes number.
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*
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* @param[in] ip pointer to @p BaseBarometer interface.
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* @param[out] axes a buffer which would be filled with raw data.
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*
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* @return The operation status.
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* @retval MSG_OK if the function succeeded.
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* @retval MSG_RESET if one or more I2C errors occurred, the errors can
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* be retrieved using @p i2cGetErrors().
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* @retval MSG_TIMEOUT if a timeout occurred before operation end.
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*/
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static msg_t baro_read_raw(void *ip, int32_t axes[]) {
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LPS22HBDriver* devp;
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uint8_t buff[3];
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msg_t msg;
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osalDbgCheck((ip != NULL) && (axes != NULL));
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/* Getting parent instance pointer.*/
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devp = objGetInstance(LPS22HBDriver*, (BaseBarometer*)ip);
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osalDbgAssert((devp->state == LPS22HB_READY),
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"baro_read_raw(), invalid state");
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osalDbgAssert((devp->config->i2cp->state == I2C_READY),
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"baro_read_raw(), channel not ready");
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#if LPS22HB_SHARED_I2C
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i2cAcquireBus(devp->config->i2cp);
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i2cStart(devp->config->i2cp,
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devp->config->i2ccfg);
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#endif /* LPS22HB_SHARED_I2C */
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msg = lps22hbI2CReadRegister(devp->config->i2cp, devp->config->slaveaddress,
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LPS22HB_AD_PRESS_OUT_XL, buff, 3);
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#if LPS22HB_SHARED_I2C
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i2cReleaseBus(devp->config->i2cp);
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#endif /* LPS22HB_SHARED_I2C */
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if(msg == MSG_OK) {
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*axes = buff[0] + (buff[1] << 8) + (buff[2] << 16);
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}
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return msg;
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}
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/**
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* @brief Retrieves cooked data from the BaseBarometer.
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* @note This data is manipulated according to the formula
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* cooked = (raw * sensitivity) - bias.
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* @note Final data is expressed as hPa.
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* @note The axes array must be at least the same size of the
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* BaseBarometer axes number.
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*
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* @param[in] ip pointer to @p BaseBarometer interface.
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* @param[out] axes a buffer which would be filled with cooked data.
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*
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* @return The operation status.
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* @retval MSG_OK if the function succeeded.
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* @retval MSG_RESET if one or more I2C errors occurred, the errors can
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* be retrieved using @p i2cGetErrors().
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* @retval MSG_TIMEOUT if a timeout occurred before operation end.
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*/
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static msg_t baro_read_cooked(void *ip, float axes[]) {
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LPS22HBDriver* devp;
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int32_t raw;
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msg_t msg;
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osalDbgCheck((ip != NULL) && (axes != NULL));
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/* Getting parent instance pointer.*/
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devp = objGetInstance(LPS22HBDriver*, (BaseBarometer*)ip);
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osalDbgAssert((devp->state == LPS22HB_READY),
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"baro_read_cooked(), invalid state");
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msg = baro_read_raw(ip, &raw);
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*axes = (raw * devp->barosensitivity) - devp->barobias;
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return msg;
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}
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/**
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* @brief Set bias values for the BaseBarometer.
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* @note Bias must be expressed as hPa.
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* @note The bias buffer must be at least the same size of the
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* BaseBarometer axes number.
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*
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* @param[in] ip pointer to @p BaseBarometer interface.
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* @param[in] bp a buffer which contains biases.
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*
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* @return The operation status.
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* @retval MSG_OK if the function succeeded.
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* @retval MSG_RESET if one or more I2C errors occurred, the errors can
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* be retrieved using @p i2cGetErrors().
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* @retval MSG_TIMEOUT if a timeout occurred before operation end.
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*/
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static msg_t baro_set_bias(void *ip, float *bp) {
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LPS22HBDriver* devp;
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msg_t msg = MSG_OK;
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osalDbgCheck((ip != NULL) && (bp != NULL));
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/* Getting parent instance pointer.*/
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devp = objGetInstance(LPS22HBDriver*, (BaseBarometer*)ip);
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osalDbgAssert((devp->state == LPS22HB_READY),
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"baro_set_bias(), invalid state");
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devp->barobias = *bp;
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return msg;
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}
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/**
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* @brief Reset bias values for the BaseBarometer.
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* @note Default biases value are obtained from device datasheet when
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* available otherwise they are considered zero.
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*
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* @param[in] ip pointer to @p BaseBarometer interface.
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*
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* @return The operation status.
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* @retval MSG_OK if the function succeeded.
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*/
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static msg_t baro_reset_bias(void *ip) {
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LPS22HBDriver* devp;
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msg_t msg = MSG_OK;
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osalDbgCheck(ip != NULL);
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/* Getting parent instance pointer.*/
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devp = objGetInstance(LPS22HBDriver*, (BaseBarometer*)ip);
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osalDbgAssert((devp->state == LPS22HB_READY),
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"baro_reset_bias(), invalid state");
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devp->barobias = LPS22HB_BARO_SENS;
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return msg;
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}
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/**
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* @brief Set sensitivity values for the BaseBarometer.
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* @note Sensitivity must be expressed as hPa/LSB.
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* @note The sensitivity buffer must be at least the same size of the
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* BaseBarometer axes number.
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*
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* @param[in] ip pointer to @p BaseBarometer interface.
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* @param[in] sp a buffer which contains sensitivities.
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*
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* @return The operation status.
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* @retval MSG_OK if the function succeeded.
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*/
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static msg_t baro_set_sensitivity(void *ip, float *sp) {
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LPS22HBDriver* devp;
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msg_t msg = MSG_OK;
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osalDbgCheck((ip != NULL) && (sp != NULL));
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/* Getting parent instance pointer.*/
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devp = objGetInstance(LPS22HBDriver*, (BaseBarometer*)ip);
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osalDbgAssert((devp->state == LPS22HB_READY),
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"baro_set_sensitivity(), invalid state");
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devp->barosensitivity = *sp;
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return msg;
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}
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/**
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* @brief Reset sensitivity values for the BaseBarometer.
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* @note Default sensitivities value are obtained from device datasheet.
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*
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* @param[in] ip pointer to @p BaseBarometer interface.
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*
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* @return The operation status.
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* @retval MSG_OK if the function succeeded.
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*/
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static msg_t baro_reset_sensitivity(void *ip) {
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LPS22HBDriver* devp;
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msg_t msg = MSG_OK;
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osalDbgCheck(ip != NULL);
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/* Getting parent instance pointer.*/
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devp = objGetInstance(LPS22HBDriver*, (BaseBarometer*)ip);
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osalDbgAssert((devp->state == LPS22HB_READY),
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"baro_reset_sensitivity(), invalid state");
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devp->barosensitivity = LPS22HB_BARO_SENS;
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return msg;
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}
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/**
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* @brief Return the number of axes of the BaseThermometer.
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*
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* @param[in] ip pointer to @p BaseThermometer interface.
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*
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* @return the number of axes.
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*/
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static size_t thermo_get_axes_number(void *ip) {
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(void)ip;
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return LPS22HB_THERMO_NUMBER_OF_AXES;
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}
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/**
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* @brief Retrieves raw data from the BaseThermometer.
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* @note This data is retrieved from MEMS register without any algebraical
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* manipulation.
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* @note The axes array must be at least the same size of the
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* BaseThermometer axes number.
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*
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* @param[in] ip pointer to @p BaseThermometer interface.
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* @param[out] axes a buffer which would be filled with raw data.
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*
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* @return The operation status.
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* @retval MSG_OK if the function succeeded.
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* @retval MSG_RESET if one or more I2C errors occurred, the errors can
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* be retrieved using @p i2cGetErrors().
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* @retval MSG_TIMEOUT if a timeout occurred before operation end.
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*/
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static msg_t thermo_read_raw(void *ip, int32_t axes[]) {
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LPS22HBDriver* devp;
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int16_t tmp;
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uint8_t buff[2];
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msg_t msg;
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osalDbgCheck((ip != NULL) && (axes != NULL));
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/* Getting parent instance pointer.*/
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devp = objGetInstance(LPS22HBDriver*, (BaseThermometer*)ip);
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osalDbgAssert((devp->state == LPS22HB_READY),
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"thermo_read_raw(), invalid state");
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osalDbgAssert((devp->config->i2cp->state == I2C_READY),
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"thermo_read_raw(), channel not ready");
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#if LPS22HB_SHARED_I2C
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i2cAcquireBus(devp->config->i2cp);
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i2cStart(devp->config->i2cp,
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devp->config->i2ccfg);
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#endif /* LPS22HB_SHARED_I2C */
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msg = lps22hbI2CReadRegister(devp->config->i2cp, devp->config->slaveaddress,
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LPS22HB_AD_TEMP_OUT_L, buff, 2);
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#if LPS22HB_SHARED_I2C
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i2cReleaseBus(devp->config->i2cp);
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#endif /* LPS22HB_SHARED_I2C */
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if (msg == MSG_OK) {
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tmp = buff[0] + (buff[1] << 8);
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*axes = (int32_t)tmp;
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}
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return msg;
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}
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/**
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* @brief Retrieves cooked data from the BaseThermometer.
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* @note This data is manipulated according to the formula
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* cooked = (raw * sensitivity) - bias.
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* @note Final data is expressed as °C.
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* @note The axes array must be at least the same size of the
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* BaseThermometer axes number.
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*
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* @param[in] ip pointer to @p BaseThermometer interface.
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* @param[out] axis a buffer which would be filled with cooked data.
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*
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* @return The operation status.
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* @retval MSG_OK if the function succeeded.
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* @retval MSG_RESET if one or more I2C errors occurred, the errors can
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* be retrieved using @p i2cGetErrors().
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* @retval MSG_TIMEOUT if a timeout occurred before operation end.
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*/
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static msg_t thermo_read_cooked(void *ip, float* axis) {
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LPS22HBDriver* devp;
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int32_t raw;
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msg_t msg;
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osalDbgCheck((ip != NULL) && (axis != NULL));
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/* Getting parent instance pointer.*/
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devp = objGetInstance(LPS22HBDriver*, (BaseThermometer*)ip);
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osalDbgAssert((devp->state == LPS22HB_READY),
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"thermo_read_cooked(), invalid state");
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msg = thermo_read_raw(devp, &raw);
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*axis = (raw * devp->thermosensitivity) - devp->thermobias;
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return msg;
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}
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/**
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* @brief Set bias values for the BaseThermometer.
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* @note Bias must be expressed as °C.
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* @note The bias buffer must be at least the same size of the
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* BaseThermometer axes number.
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*
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* @param[in] ip pointer to @p BaseThermometer interface.
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* @param[in] bp a buffer which contains biases.
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*
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* @return The operation status.
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* @retval MSG_OK if the function succeeded.
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*/
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static msg_t thermo_set_bias(void *ip, float *bp) {
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LPS22HBDriver* devp;
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msg_t msg = MSG_OK;
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osalDbgCheck((ip != NULL) && (bp != NULL));
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/* Getting parent instance pointer.*/
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devp = objGetInstance(LPS22HBDriver*, (BaseThermometer*)ip);
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osalDbgAssert((devp->state == LPS22HB_READY),
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"thermo_set_bias(), invalid state");
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devp->thermobias = *bp;
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return msg;
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}
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/**
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* @brief Reset bias values for the BaseThermometer.
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* @note Default biases value are obtained from device datasheet when
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* available otherwise they are considered zero.
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*
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* @param[in] ip pointer to @p BaseThermometer interface.
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*
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* @return The operation status.
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* @retval MSG_OK if the function succeeded.
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*/
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static msg_t thermo_reset_bias(void *ip) {
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LPS22HBDriver* devp;
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msg_t msg = MSG_OK;
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osalDbgCheck(ip != NULL);
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/* Getting parent instance pointer.*/
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devp = objGetInstance(LPS22HBDriver*, (BaseThermometer*)ip);
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osalDbgAssert((devp->state == LPS22HB_READY),
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"thermo_reset_bias(), invalid state");
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devp->thermobias = LPS22HB_THERMO_BIAS;
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return msg;
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}
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/**
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* @brief Set sensitivity values for the BaseThermometer.
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* @note Sensitivity must be expressed as °C/LSB.
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* @note The sensitivity buffer must be at least the same size of the
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* BaseThermometer axes number.
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*
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* @param[in] ip pointer to @p BaseThermometer interface.
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* @param[in] sp a buffer which contains sensitivities.
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*
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* @return The operation status.
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* @retval MSG_OK if the function succeeded.
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*/
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static msg_t thermo_set_sensitivity(void *ip, float *sp) {
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LPS22HBDriver* devp;
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msg_t msg = MSG_OK;
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osalDbgCheck((ip != NULL) && (sp != NULL));
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/* Getting parent instance pointer.*/
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devp = objGetInstance(LPS22HBDriver*, (BaseThermometer*)ip);
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osalDbgAssert((devp->state == LPS22HB_READY),
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"thermo_set_sensitivity(), invalid state");
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devp->thermosensitivity = *sp;
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return msg;
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}
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/**
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* @brief Reset sensitivity values for the BaseThermometer.
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* @note Default sensitivities value are obtained from device datasheet.
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*
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* @param[in] ip pointer to @p BaseThermometer interface.
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*
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* @return The operation status.
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* @retval MSG_OK if the function succeeded.
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*/
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static msg_t thermo_reset_sensitivity(void *ip) {
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LPS22HBDriver* devp;
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msg_t msg = MSG_OK;
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osalDbgCheck(ip != NULL);
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/* Getting parent instance pointer.*/
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devp = objGetInstance(LPS22HBDriver*, (BaseThermometer*)ip);
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osalDbgAssert((devp->state == LPS22HB_READY),
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"thermo_reset_sensitivity(), invalid state");
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devp->thermosensitivity = LPS22HB_THERMO_SENS;
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return msg;
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}
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static const struct LPS22HBVMT vmt_device = {
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(size_t)0
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};
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|
|
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static const struct BaseBarometerVMT vmt_barometer = {
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sizeof(struct LPS22HBVMT*),
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baro_get_axes_number, baro_read_raw, baro_read_cooked,
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baro_set_bias, baro_reset_bias, baro_set_sensitivity,
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baro_reset_sensitivity
|
|
};
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|
|
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static const struct BaseThermometerVMT vmt_thermometer = {
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sizeof(struct LPS22HBVMT*) + sizeof(BaseBarometer),
|
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thermo_get_axes_number, thermo_read_raw, thermo_read_cooked,
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thermo_set_bias, thermo_reset_bias, thermo_set_sensitivity,
|
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thermo_reset_sensitivity
|
|
};
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|
|
|
/*===========================================================================*/
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/* Driver exported functions. */
|
|
/*===========================================================================*/
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|
|
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/**
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* @brief Initializes an instance.
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|
*
|
|
* @param[out] devp pointer to the @p LPS22HBDriver object
|
|
*
|
|
* @init
|
|
*/
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|
void lps22hbObjectInit(LPS22HBDriver *devp) {
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|
|
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devp->vmt = &vmt_device;
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devp->baro_if.vmt = &vmt_barometer;
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devp->thermo_if.vmt = &vmt_thermometer;
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|
|
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devp->config = NULL;
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|
|
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devp->baroaxes = LPS22HB_BARO_NUMBER_OF_AXES;
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devp->thermoaxes = LPS22HB_THERMO_NUMBER_OF_AXES;
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|
|
|
devp->state = LPS22HB_STOP;
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}
|
|
|
|
/**
|
|
* @brief Configures and activates LPS22HB Complex Driver peripheral.
|
|
*
|
|
* @param[in] devp pointer to the @p LPS22HBDriver object
|
|
* @param[in] config pointer to the @p LPS22HBConfig object
|
|
*
|
|
* @api
|
|
*/
|
|
void lps22hbStart(LPS22HBDriver *devp, const LPS22HBConfig *config) {
|
|
uint8_t cr[2];
|
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osalDbgCheck((devp != NULL) && (config != NULL));
|
|
|
|
osalDbgAssert((devp->state == LPS22HB_STOP) || (devp->state == LPS22HB_READY),
|
|
"lps22hbStart(), invalid state");
|
|
|
|
devp->config = config;
|
|
|
|
/* Enabling register auto-increment.*/
|
|
/* Control register 1 configuration block.*/
|
|
{
|
|
cr[0] = LPS22HB_AD_CTRL_REG2;
|
|
cr[1] = LPS22HB_CTRL_REG2_IF_ADD_INC;
|
|
}
|
|
#if LPS22HB_SHARED_I2C
|
|
i2cAcquireBus(devp->config->i2cp);
|
|
#endif /* LPS22HB_SHARED_I2C */
|
|
|
|
i2cStart(devp->config->i2cp, devp->config->i2ccfg);
|
|
lps22hbI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
|
|
cr, 1);
|
|
|
|
#if LPS22HB_SHARED_I2C
|
|
i2cReleaseBus((devp)->config->i2cp);
|
|
#endif /* LPS22HB_SHARED_I2C */
|
|
|
|
/* Control register 1 configuration block.*/
|
|
{
|
|
cr[0] = LPS22HB_AD_CTRL_REG1;
|
|
cr[1] = devp->config->outputdatarate;
|
|
#if LPS22HB_USE_ADVANCED || defined(__DOXYGEN__)
|
|
cr[1] |= devp->config->blockdataupdate;
|
|
cr[1] |= devp->config->lowpass_filter;
|
|
#endif
|
|
}
|
|
|
|
#if LPS22HB_SHARED_I2C
|
|
i2cAcquireBus((devp)->config->i2cp);
|
|
i2cStart((devp)->config->i2cp,
|
|
(devp)->config->i2ccfg);
|
|
#endif /* LPS22HB_SHARED_I2C */
|
|
|
|
lps22hbI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress, cr, 1);
|
|
|
|
#if LPS22HB_SHARED_I2C
|
|
i2cReleaseBus((devp)->config->i2cp);
|
|
#endif /* LPS22HB_SHARED_I2C */
|
|
|
|
if(devp->config->barosensitivity == NULL) {
|
|
devp->barosensitivity = LPS22HB_BARO_SENS;
|
|
}
|
|
else{
|
|
/* Taking barometer sensitivity from user configurations */
|
|
devp->barosensitivity = *(devp->config->barosensitivity);
|
|
}
|
|
|
|
if(devp->config->barobias == NULL) {
|
|
devp->barobias = LPS22HB_BARO_BIAS;
|
|
}
|
|
else{
|
|
/* Taking barometer bias from user configurations */
|
|
devp->barobias = *(devp->config->barobias);
|
|
}
|
|
|
|
if(devp->config->thermosensitivity == NULL) {
|
|
devp->thermosensitivity = LPS22HB_THERMO_SENS;
|
|
}
|
|
else{
|
|
/* Taking thermometer sensitivity from user configurations */
|
|
devp->thermosensitivity = *(devp->config->thermosensitivity);
|
|
}
|
|
|
|
if(devp->config->thermobias == NULL) {
|
|
devp->thermobias = LPS22HB_THERMO_BIAS;
|
|
}
|
|
else{
|
|
/* Taking thermometer bias from user configurations */
|
|
devp->thermobias = *(devp->config->thermobias);
|
|
}
|
|
|
|
/* This is the Barometer transient recovery time */
|
|
osalThreadSleepMilliseconds(5);
|
|
|
|
devp->state = LPS22HB_READY;
|
|
}
|
|
|
|
/**
|
|
* @brief Deactivates the LPS22HB Complex Driver peripheral.
|
|
*
|
|
* @param[in] devp pointer to the @p LPS22HBDriver object
|
|
*
|
|
* @api
|
|
*/
|
|
void lps22hbStop(LPS22HBDriver *devp) {
|
|
uint8_t cr[2];
|
|
|
|
osalDbgCheck(devp != NULL);
|
|
|
|
osalDbgAssert((devp->state == LPS22HB_STOP) || (devp->state == LPS22HB_READY),
|
|
"lps22hbStop(), invalid state");
|
|
|
|
if (devp->state == LPS22HB_READY) {
|
|
#if LPS22HB_SHARED_I2C
|
|
i2cAcquireBus((devp)->config->i2cp);
|
|
i2cStart((devp)->config->i2cp,
|
|
(devp)->config->i2ccfg);
|
|
#endif /* LPS22HB_SHARED_I2C */
|
|
|
|
cr[0] = LPS22HB_AD_CTRL_REG1;
|
|
cr[1] = 0;
|
|
lps22hbI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
|
|
cr, 1);
|
|
|
|
i2cStop((devp)->config->i2cp);
|
|
#if LPS22HB_SHARED_I2C
|
|
i2cReleaseBus((devp)->config->i2cp);
|
|
#endif /* LPS22HB_SHARED_I2C */
|
|
}
|
|
devp->state = LPS22HB_STOP;
|
|
}
|
|
/** @} */
|