From 16edb2c7d0ea42a05e91333e8ada95c5a5045e47 Mon Sep 17 00:00:00 2001
From: Alberto Nidasio <alberto.nidasio@skywarder.eu>
Date: Fri, 30 Jun 2023 16:00:40 +0000
Subject: [PATCH] [LPS22DF] Created driver of digital pressure sensor
---
CMakeLists.txt | 3 +
cmake/boardcore.cmake | 1 +
src/shared/sensors/LPS22DF/LPS22DF.cpp | 203 +++++++++++++++++++++++
src/shared/sensors/LPS22DF/LPS22DF.h | 152 +++++++++++++++++
src/shared/sensors/LPS22DF/LPS22DFData.h | 52 ++++++
src/shared/sensors/LPS22DF/LPS22DFDefs.h | 124 ++++++++++++++
src/tests/sensors/test-lps22df.cpp | 91 ++++++++++
7 files changed, 626 insertions(+)
create mode 100644 src/shared/sensors/LPS22DF/LPS22DF.cpp
create mode 100644 src/shared/sensors/LPS22DF/LPS22DF.h
create mode 100644 src/shared/sensors/LPS22DF/LPS22DFData.h
create mode 100644 src/shared/sensors/LPS22DF/LPS22DFDefs.h
create mode 100644 src/tests/sensors/test-lps22df.cpp
diff --git a/CMakeLists.txt b/CMakeLists.txt
index b449783ff..723e2f947 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -419,6 +419,9 @@ sbs_target(test-h3lis331dl stm32f407vg_stm32f4discovery)
add_executable(test-lps28dfw src/tests/sensors/test-lps28dfw.cpp)
sbs_target(test-lps28dfw stm32f767zi_nucleo)
+add_executable(test-lps22df src/tests/sensors/test-lps22df.cpp)
+sbs_target(test-lps22df stm32f767zi_nucleo)
+
#-----------------------------------------------------------------------------#
# Tests - Utils #
#-----------------------------------------------------------------------------#
diff --git a/cmake/boardcore.cmake b/cmake/boardcore.cmake
index e88d029b7..85fa903a8 100644
--- a/cmake/boardcore.cmake
+++ b/cmake/boardcore.cmake
@@ -109,6 +109,7 @@ foreach(OPT_BOARD ${BOARDS})
${SBS_BASE}/src/shared/sensors/VN100/VN100.cpp
${SBS_BASE}/src/shared/sensors/LIS2MDL/LIS2MDL.cpp
${SBS_BASE}/src/shared/sensors/LPS28DFW/LPS28DFW.cpp
+ ${SBS_BASE}/src/shared/sensors/LPS22DF/LPS22DF.cpp
# Calibration
${SBS_BASE}/src/shared/sensors/calibration/BiasCalibration/BiasCalibration.cpp
diff --git a/src/shared/sensors/LPS22DF/LPS22DF.cpp b/src/shared/sensors/LPS22DF/LPS22DF.cpp
new file mode 100644
index 000000000..41fe74fc2
--- /dev/null
+++ b/src/shared/sensors/LPS22DF/LPS22DF.cpp
@@ -0,0 +1,203 @@
+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Author: Giulia Ghirardini
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include "LPS22DF.h"
+
+#include <drivers/timer/TimestampTimer.h>
+
+#include "LPS22DFDefs.h"
+
+using namespace Boardcore::LPS22DFDefs;
+
+namespace Boardcore
+{
+
+LPS22DF::LPS22DF(SPIBusInterface& bus, miosix::GpioPin cs)
+ : slave(bus, cs, getDefaultSPIConfig())
+{
+}
+
+LPS22DF::LPS22DF(SPIBusInterface& bus, miosix::GpioPin cs,
+ SPIBusConfig spiConfig, Config config)
+ : slave(bus, cs, spiConfig), config(config)
+{
+}
+
+SPIBusConfig LPS22DF::getDefaultSPIConfig()
+{
+ SPIBusConfig spiConfig;
+ spiConfig.clockDivider = SPI::ClockDivider::DIV_256;
+ spiConfig.mode = SPI::Mode::MODE_3;
+ spiConfig.byteOrder = SPI::Order::LSB_FIRST;
+ return spiConfig;
+}
+
+bool LPS22DF::init()
+{
+ SPITransaction spi(slave);
+
+ if (isInitialized)
+ {
+ LOG_ERR(logger, "Attempted to initialized sensor twice");
+ lastError = ALREADY_INIT;
+ return false;
+ }
+
+ // Disable I2C and I3C interfaces
+ spi.writeRegister(IF_CTRL, IF_CTRL::I2C_I3C_DIS);
+
+ // Setting the actual sensor configurations (Mode, ODR, AVG)
+ setConfig(config);
+
+ lastError = SensorErrors::NO_ERRORS;
+ isInitialized = true;
+ return true;
+}
+
+bool LPS22DF::selfTest()
+{
+ // Since the sensor doesn't provide any self-test feature we just try to
+ // probe the sensor and read his whoami register.
+ if (!isInitialized)
+ {
+ LOG_ERR(logger, "Invoked selfTest() but sensor was uninitialized");
+ lastError = NOT_INIT;
+ return false;
+ }
+
+ // Reading the whoami value to assure communication
+ SPITransaction spi(slave);
+ uint8_t whoamiValue = spi.readRegister(WHO_AM_I);
+
+ // Checking the whoami value to assure correct communication
+ if (whoamiValue != WHO_AM_I_VALUE)
+ {
+ LOG_ERR(logger, "WHO_AM_I: read 0x{:x} but expected 0x{:x}",
+ whoamiValue, WHO_AM_I_VALUE);
+ lastError = INVALID_WHOAMI;
+ return false;
+ }
+
+ return true;
+}
+
+void LPS22DF::setConfig(const Config& config)
+{
+ setAverage(config.avg);
+ setOutputDataRate(config.odr);
+}
+
+void LPS22DF::setAverage(AVG avg)
+{
+ SPITransaction spi(slave);
+
+ /**
+ * Since the CTRL_REG1 contains only the AVG and ODR settings, we use the
+ * internal driver state to set the register with the wanted ODR and AVG
+ * without previously reading it. This allows to avoid a useless
+ * transaction.
+ */
+ spi.writeRegister(CTRL_REG1, config.odr | avg);
+
+ config.avg = avg;
+}
+
+void LPS22DF::setOutputDataRate(ODR odr)
+{
+ SPITransaction spi(slave);
+
+ /**
+ * Since the CTRL_REG1 contains only the AVG and ODR settings, we use the
+ * internal driver state to set the register with the wanted ODR and AVG
+ * without previously reading it. This allows to avoid a useless
+ * transaction.
+ */
+ spi.writeRegister(CTRL_REG1, odr | config.avg);
+
+ config.odr = odr;
+}
+
+LPS22DFData LPS22DF::sampleImpl()
+{
+ SPITransaction spi(slave);
+
+ if (!isInitialized)
+ {
+ LOG_ERR(logger, "Invoked sampleImpl() but sensor was not initialized");
+ lastError = NOT_INIT;
+ return lastSample;
+ }
+
+ LPS22DFData data;
+ uint8_t statusValue = 0;
+
+ if (config.odr == ODR::ONE_SHOT)
+ {
+ // Reading previous value of Control Register 2
+ uint8_t ctrl_reg2_val = spi.readRegister(CTRL_REG2);
+
+ // Trigger sample
+ spi.writeRegister(CTRL_REG2, ctrl_reg2_val | CTRL_REG2::ONE_SHOT_START);
+
+ // Pull status register until the sample is ready
+ do
+ {
+ statusValue = spi.readRegister(STATUS);
+ } while (!(statusValue & (STATUS::P_DA | STATUS::T_DA)));
+ }
+ else
+ {
+ // Read status register value
+ statusValue = spi.readRegister(STATUS);
+ }
+
+ auto ts = TimestampTimer::getTimestamp();
+
+ // Sample pressure if data is available, return last sample otherwise
+ if (statusValue & STATUS::P_DA)
+ {
+ data.pressureTimestamp = ts;
+ data.pressure = spi.readRegister24(PRESS_OUT_XL) / PRES_SENS;
+ }
+ else
+ {
+ lastError = NO_NEW_DATA;
+ data.pressureTimestamp = lastSample.pressureTimestamp;
+ data.pressure = lastSample.pressure;
+ }
+
+ // Sample temperature if data is available, return last sample otherwise
+ if (statusValue & STATUS::T_DA)
+ {
+ data.temperatureTimestamp = ts;
+ data.temperature = spi.readRegister16(TEMP_OUT_L) / TEMP_SENS;
+ }
+ else
+ {
+ data.temperatureTimestamp = lastSample.temperatureTimestamp;
+ data.temperature = lastSample.temperature;
+ }
+
+ return data;
+}
+
+} // namespace Boardcore
diff --git a/src/shared/sensors/LPS22DF/LPS22DF.h b/src/shared/sensors/LPS22DF/LPS22DF.h
new file mode 100644
index 000000000..876c5fc49
--- /dev/null
+++ b/src/shared/sensors/LPS22DF/LPS22DF.h
@@ -0,0 +1,152 @@
+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Author: Giulia Ghirardini
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <diagnostic/PrintLogger.h>
+#include <drivers/spi/SPIDriver.h>
+#include <sensors/Sensor.h>
+
+#include "LPS22DFData.h"
+
+namespace Boardcore
+{
+
+/**
+ * @brief Driver for LPS22DF, Low-power and high-precision MEMS pressure sensor.
+ */
+class LPS22DF : public Sensor<LPS22DFData>
+{
+public:
+ /**
+ * @brief Enumeration for Output Data Rate Configuration.
+ *
+ * Available are One shot (only one sample calculated when signal sent), 1
+ * Hz to 200 Hz. ODR configuration is valid for both pressure and
+ * temperature.
+ */
+ enum ODR : uint8_t
+ {
+ ONE_SHOT = 0b0000 << 3,
+ ODR_1 = 0b0001 << 3,
+ ODR_4 = 0b0010 << 3,
+ ODR_10 = 0b0011 << 3,
+ ODR_25 = 0b0100 << 3,
+ ODR_50 = 0b0101 << 3,
+ ODR_75 = 0b0110 << 3,
+ ODR_100 = 0b0111 << 3,
+ ODR_200 = 0b1000 << 3
+ };
+
+ /**
+ * @brief Oversampling average values.
+ *
+ * The value read from the sensor will actually be the average of multiple
+ * samples. Available are from 4 to 512 averaged samples.
+ *
+ * @warning For an AGV value of 512, 128, 64 the maximum ODR values are
+ * respectively of 25, 75 and 100 Hz. For any other AVG value all ODR
+ * configurations are possible.
+ */
+ enum AVG : uint8_t
+ {
+ AVG_4 = 0b000,
+ AVG_8 = 0b001,
+ AVG_16 = 0b010,
+ AVG_32 = 0b011,
+ AVG_64 = 0b100,
+ AVG_128 = 0b101,
+ AVG_512 = 0b111
+ };
+
+ /**
+ * @brief Struct that sums up all the settings of the sensor.
+ */
+ struct Config
+ {
+ ODR odr = ODR::ODR_25;
+ AVG avg = AVG::AVG_512;
+ };
+
+ /**
+ * @brief Constructor that stores the initial default settings (without
+ * applying them to the sensor).
+ * @param bus SPI bus.
+ * @param cs SPI Chip Select pin.
+ */
+ LPS22DF(SPIBusInterface& bus, miosix::GpioPin cs);
+
+ /**
+ * @brief Constructor that stores the initial settings (without applying
+ * them to the sensor).
+ * @param bus SPI bus.
+ * @param cs SPI Chip Select pin.
+ * @param config Sensor configuration.
+ */
+ LPS22DF(SPIBusInterface& bus, miosix::GpioPin cs, SPIBusConfig spiConfig,
+ Config config);
+
+ static SPIBusConfig getDefaultSPIConfig();
+
+ /**
+ * @brief Initializes the sensor with the current settings.
+ * @return true if initialization succeeded, false otherwise.
+ */
+ bool init() override;
+
+ /**
+ * @brief The self test method returns true if we read the right whoami
+ * value. We can't make a better self test due to the fact that the sensor
+ * doesn't support this feature.
+ * @return true if the right whoami has been read.
+ */
+ bool selfTest() override;
+
+ /**
+ * @brief Sets and saves the configurations passed on the parameters.
+ */
+ void setConfig(const Config& config);
+
+ /**
+ * @brief Sets and saves the oversampling on the sensor.
+ * @return True if setting succeeded, false otherwise.
+ */
+ void setAverage(AVG avg);
+
+ /**
+ * @brief Sets and saves the output data rate.
+ * @return True if setting succeeded, false otherwise.
+ */
+ void setOutputDataRate(ODR odr);
+
+private:
+ LPS22DFData sampleImpl() override;
+
+ SPISlave slave;
+ Config config;
+
+ bool isInitialized = false;
+
+ PrintLogger logger = Logging::getLogger("lps22df");
+};
+
+} // namespace Boardcore
\ No newline at end of file
diff --git a/src/shared/sensors/LPS22DF/LPS22DFData.h b/src/shared/sensors/LPS22DF/LPS22DFData.h
new file mode 100644
index 000000000..5867f4e52
--- /dev/null
+++ b/src/shared/sensors/LPS22DF/LPS22DFData.h
@@ -0,0 +1,52 @@
+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Author: Giulia Ghirardini
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <sensors/SensorData.h>
+
+namespace Boardcore
+{
+
+struct LPS22DFData : public PressureData, public TemperatureData
+{
+ LPS22DFData() : PressureData{0, 0.0}, TemperatureData{0, 0.0} {}
+
+ LPS22DFData(uint64_t timestamp, float pressure, float temperature)
+ : PressureData{timestamp, pressure}, TemperatureData{timestamp,
+ temperature}
+ {
+ }
+
+ static std::string header()
+ {
+ return "pressureTimestamp,pressure,temperatureTimestamp,temperature\n";
+ }
+
+ void print(std::ostream& os) const
+ {
+ os << pressureTimestamp << "," << pressure << ","
+ << temperatureTimestamp << "," << temperature << "\n";
+ }
+};
+
+} // namespace Boardcore
diff --git a/src/shared/sensors/LPS22DF/LPS22DFDefs.h b/src/shared/sensors/LPS22DF/LPS22DFDefs.h
new file mode 100644
index 000000000..62dc2e0c0
--- /dev/null
+++ b/src/shared/sensors/LPS22DF/LPS22DFDefs.h
@@ -0,0 +1,124 @@
+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Author: Giulia Ghirardini
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+namespace Boardcore
+{
+
+namespace LPS22DFDefs
+{
+
+static constexpr uint32_t WHO_AM_I_VALUE = 0xb4;
+
+static constexpr float TEMP_SENS = 100; ///< [LSB/°C]
+static constexpr float PRES_SENS = 40.96; ///< [LSB/Pa]
+
+enum Registers : uint8_t
+{
+ INTERRUPT_CFG = 0x0b, ///< Interrupt mode for pressure acquisition
+
+ THS_P_L = 0x0c, ///< User-defined threshold LSB register
+ THS_P_H = 0x0d, ///< User-defined threshold MSB register
+
+ IF_CTRL = 0x0e, ///< Interface control register
+
+ WHO_AM_I = 0x0f, ///< Device Who am I register
+
+ CTRL_REG1 = 0x10, ///< Control Register 1 [ODR, AVG]
+ CTRL_REG2 = 0x11, ///< Control Register 2
+ CTRL_REG3 = 0x12, ///< Control Register 3
+ CTRL_REG4 = 0x13, ///< Control Register 4
+
+ FIFO_CTRL = 0x14, ///< FIFO control register
+ FIFO_WTM = 0x15, ///< FIFO threshold setting register
+
+ REF_P_L = 0x16, ///< Reference pressure LSB data
+ REF_P_H = 0x17, ///< Reference pressure MSB data
+
+ FIFO_STATUS1 = 0x25, ///< FIFO status register 1
+ FIFO_STATUS2 = 0x26, ///< FIFO status register 2
+
+ STATUS = 0x27, ///< Status register
+
+ PRESS_OUT_XL = 0x28, ///< Pressure output value LSB data
+ PRESS_OUT_L = 0x29, ///< Pressure output value middle data
+ PRESS_OUT_H = 0x2a, ///< Pressure output value MSB data
+
+ TEMP_OUT_L = 0x2b, ///< Temperature output value LSB data
+ TEMP_OUT_H = 0x2c, ///< Temperature output value MSB data
+
+ FIFO_DATA_OUT_PRESS_XL = 0x78, ///< FIFO pressure output LSB data
+ FIFO_DATA_OUT_PRESS_L = 0x79, ///< FIFO pressure output middle data
+ FIFO_DATA_OUT_PRESS_H = 0x7a, ///< FIFO pressure output MSB data
+};
+
+enum IF_CTRL : uint8_t
+{
+ CS_PU_DIS = 1 << 1,
+ INT_PD_DIS = 1 << 2,
+ SDO_PU_EN = 1 << 3,
+ SDA_PU_EN = 1 << 4,
+ SIM = 1 << 5,
+ I2C_I3C_DIS = 1 << 6, ///< Disable I2C and I3C digital interfaces
+ INT_EN_I3C = 1 << 7
+};
+
+enum CTRL_REG2 : uint8_t
+{
+ ONE_SHOT_START = 1 << 0, ///< Enable one-shot mode
+ SWRESET = 1 << 2, ///< Software reset
+ BDU = 1 << 3, ///< Block data update
+ EN_LPFP = 1 << 4, ///< Enable low-pass filter on pressure data
+ LFPF_CFG = 1 << 5, ///< Low-pass filter configuration
+ FS_MODE = 1 << 6, ///< Full-scale selection
+ BOOT = 1 << 7 ///< Reboot memory content
+};
+
+enum CTRL_REG3 : uint8_t
+{
+ IF_ADD_INC = 1 << 0, ///< Increment register during a multiple byte access
+ PP_OD = 1 << 1, ///< Push-pull/open-drain selection on interrupt pin
+ INT_H_L = 1 << 3 ///< Select interrupt active-high, active-low
+};
+
+enum CTRL_REG4 : uint8_t
+{
+ INT_F_OVR = 1 << 0, ///< FIFO overrun status on INT_DRDY pin
+ INT_F_WTM = 1 << 1, ///< FIFO threshold status on INT_DRDY pin
+ INT_F_FULL = 1 << 2, ///< FIFO full flag on INT_DRDY pin
+ INT_EN = 1 << 4, ///< Interrupt signal on INT_DRDY pin
+ DRDY = 1 << 5, ///< Date-ready signal on INT_DRDY pin
+ DRDY_PLS = 1 << 6 ///< Data-ready pulsed on INT_DRDY pin
+};
+
+enum STATUS : uint8_t
+{
+ P_DA = 1 << 0, ///< Pressure data available
+ T_DA = 1 << 1, ///< Temperature data available
+ P_OR = 1 << 4, ///< Pressure data overrun
+ T_OR = 1 << 5 ///< Temperature data overrun
+};
+
+} // namespace LPS22DFDefs
+
+} // namespace Boardcore
\ No newline at end of file
diff --git a/src/tests/sensors/test-lps22df.cpp b/src/tests/sensors/test-lps22df.cpp
new file mode 100644
index 000000000..c23ffc3f4
--- /dev/null
+++ b/src/tests/sensors/test-lps22df.cpp
@@ -0,0 +1,91 @@
+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Author: Giulia Ghirardini
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include <drivers/spi/SPIDriver.h>
+#include <miosix.h>
+#include <sensors/LPS22DF/LPS22DF.h>
+#include <utils/Debug.h>
+
+using namespace Boardcore;
+using namespace miosix;
+
+GpioPin clk(GPIOA_BASE, 5);
+GpioPin miso(GPIOA_BASE, 6);
+GpioPin mosi(GPIOA_BASE, 7);
+GpioPin cs(GPIOD_BASE, 14);
+
+int main()
+{
+ clk.mode(Mode::ALTERNATE);
+ clk.alternateFunction(5);
+ miso.mode(Mode::ALTERNATE);
+ miso.alternateFunction(5);
+ mosi.mode(Mode::ALTERNATE);
+ mosi.alternateFunction(5);
+ cs.mode(Mode::OUTPUT);
+ cs.high();
+
+ SPIBus bus(SPI1);
+
+ LPS22DF::Config config;
+ config.odr = LPS22DF::ONE_SHOT;
+ config.avg = LPS22DF::AVG_128;
+
+ LPS22DF sensor(bus, cs, LPS22DF::getDefaultSPIConfig(), config);
+
+ printf("Starting...\n");
+
+ if (!sensor.init())
+ {
+ printf("Init failed\n");
+ return 0;
+ }
+
+ if (!sensor.selfTest())
+ {
+ printf("Error: selfTest() returned false!\n");
+ // return 0;
+ }
+
+ printf("Trying one shot mode for 10 seconds\n");
+ for (int i = 0; i < 10 * 10; i++)
+ {
+ sensor.sample();
+ LPS22DFData data = sensor.getLastSample();
+
+ printf("%.2f C | %.2f Pa\n", data.temperature, data.pressure);
+
+ miosix::Thread::sleep(100);
+ }
+
+ printf("Now setting 10Hz continuous mode\n");
+ sensor.setOutputDataRate(LPS22DF::ODR_10);
+ while (true)
+ {
+ sensor.sample();
+ LPS22DFData data = sensor.getLastSample();
+
+ printf("%.2f C | %.2f Pa\n", data.temperature, data.pressure);
+
+ miosix::Thread::sleep(100);
+ }
+}
--
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