From 3c5fdf2495f20ff7fecd6df72e312fb61f037c38 Mon Sep 17 00:00:00 2001
From: Giulia <giulia.ghirardini@skywarder.eu>
Date: Sat, 17 Jun 2023 18:52:55 +0200
Subject: [PATCH] [LPS22DF] Review and standardization with LPS28DFW
---
src/shared/sensors/LPS22DF/LPS22DF.cpp | 373 +++++++++++++----------
src/shared/sensors/LPS22DF/LPS22DF.h | 293 +++++++++---------
src/shared/sensors/LPS22DF/LPS22DFData.h | 114 +++----
src/shared/sensors/LPS22DF/LPS22DFDefs.h | 121 ++++++++
src/tests/sensors/test-lps22df.cpp | 6 +-
5 files changed, 540 insertions(+), 367 deletions(-)
create mode 100644 src/shared/sensors/LPS22DF/LPS22DFDefs.h
diff --git a/src/shared/sensors/LPS22DF/LPS22DF.cpp b/src/shared/sensors/LPS22DF/LPS22DF.cpp
index 278060ad5..4cfd455da 100644
--- a/src/shared/sensors/LPS22DF/LPS22DF.cpp
+++ b/src/shared/sensors/LPS22DF/LPS22DF.cpp
@@ -1,168 +1,205 @@
-/* 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 <miosix.h>
-#include <sensors/calibration/SensorDataExtra/SensorDataExtra.h>
-#include <utils/Debug.h>
-
-#include <iostream>
-
-using namespace Eigen;
-
-namespace Boardcore
-{
-
-static constexpr uint8_t WHO_AM_I_VALUE = 0xb4;
-static constexpr uint8_t ENABLE_ONESHOT = (0b01 << 0);
-
-LPS22DF::LPS22DF(SPIBusInterface& bus, miosix::GpioPin pin)
- : slave(bus, pin, getDefaultSPIConfig())
-{
-}
-
-LPS22DF::LPS22DF(SPIBusInterface& bus, miosix::GpioPin pin,
- SPIBusConfig spiConfig, Config config)
- : slave(bus, pin, 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_REG, I2C_I3C_DIS);
-
- // Setting the actual sensor configurations (Mode, ODR, AVG)
- setConfig(config);
-
- // TODO: Read back registers to check configuration
-
- isInitialized = true;
- return true;
-}
-
-bool LPS22DF::selfTest()
-{
- if (!isInitialized)
- {
- LOG_ERR(logger, "Invoked selfTest() but sensor was uninitialized");
- lastError = NOT_INIT;
- return false;
- }
-
- // selfTest procedure does not exist for this sensor. WhoamiValue is checked
- // to assure communication.
- {
- SPITransaction spi(slave);
- uint8_t value = spi.readRegister(WHO_AM_I_REG);
-
- if (value != WHO_AM_I_VALUE)
- {
- LOG_ERR(logger, "WHO_AM_I: read 0x{:x} but expected 0x{:x}", value,
- WHO_AM_I_VALUE);
- lastError = INVALID_WHOAMI;
- return false;
- }
- }
-
- return true;
-}
-
-void LPS22DF::setConfig(const Config& config)
-{
- SPITransaction spi(slave);
-
- setAverage(config.avg);
- setOutputDataRate(config.odr);
-}
-
-void LPS22DF::setAverage(AVG avg)
-{
- SPITransaction spi(slave);
-
- spi.writeRegister(CTRL1_REG, avg);
-
- config.avg = avg;
-}
-
-void LPS22DF::setOutputDataRate(ODR odr)
-{
- SPITransaction spi(slave);
-
- spi.writeRegister(CTRL1_REG, odr);
-
- config.odr = odr;
-}
-
-LPS22DFData LPS22DF::sampleImpl()
-{
- if (!isInitialized)
- {
- LOG_ERR(logger, "Invoked sampleImpl() but sensor was not initialized");
- lastError = NOT_INIT;
- return lastSample;
- }
-
- SPITransaction spi(slave);
- LPS22DFData data;
-
- // TODO: Handle ONE SHOT mode
- if (config.odr == ODR::ONE_SHOT)
- {
- // Trigger sample
- spi.writeRegister(CTRL2_REG, ONE_SHOT_TRIGGER);
-
- // Pool status register until the sample is ready
- while ((spi.readRegister16(STATUS_REG) & 0x3) == 0)
- ;
- }
-
- data.pressureTimestamp = TimestampTimer::getTimestamp();
- data.temperatureTimestamp = data.pressureTimestamp;
-
- data.pressure = spi.readRegister24(PRESSURE_OUT_XL_REG) / PRES_SENS;
- data.temperature = spi.readRegister16(TEMP_OUT_L_REG) / TEMP_SENS;
-
- return data;
-}
-
-} // namespace Boardcore
+/* 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 <miosix.h>
+#include <sensors/calibration/SensorDataExtra/SensorDataExtra.h>
+#include <utils/Debug.h>
+
+#include <iostream>
+
+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()
+{
+ if (isInitialized)
+ {
+ LOG_ERR(logger, "Attempted to initialized sensor twice");
+ lastError = ALREADY_INIT;
+ return false;
+ }
+
+ {
+ // Disable I2C and I3C interfaces
+ SPITransaction spi(slave);
+ spi.writeRegister(IF_CTRL_addr, 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_addr);
+
+ // 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)
+{
+ // 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.
+ {
+ SPITransaction spi(slave);
+ spi.writeRegister(CTRL_REG1_addr, config.odr | avg);
+ }
+ config.avg = avg;
+}
+
+void LPS22DF::setOutputDataRate(ODR odr)
+{
+ // 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.
+ {
+ SPITransaction spi(slave);
+ spi.writeRegister(CTRL_REG1_addr, odr | config.avg);
+ }
+ config.odr = odr;
+}
+
+LPS22DFData LPS22DF::sampleImpl()
+{
+ if (!isInitialized)
+ {
+ LOG_ERR(logger, "Invoked sampleImpl() but sensor was not initialized");
+ lastError = NOT_INIT;
+ return lastSample;
+ }
+
+ LPS22DFData data;
+ SPITransaction spi(slave);
+ 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_addr);
+
+ // Trigger sample
+ spi.writeRegister(CTRL_REG2_addr,
+ ctrl_reg2_val | CTRL_REG2::ONE_SHOT_START);
+
+ // Pool status register until the sample is ready
+ do
+ {
+ statusValue = spi.readRegister(STATUS_addr);
+ } while (!(statusValue & (STATUS::P_DA | STATUS::T_DA)));
+ }
+ else
+ {
+ // read status register value
+ statusValue = spi.readRegister(STATUS_addr);
+ }
+
+ 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(PRESSURE_OUT_XL_addr) / 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_addr) / 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
index d78174ba5..d42537bab 100644
--- a/src/shared/sensors/LPS22DF/LPS22DF.h
+++ b/src/shared/sensors/LPS22DF/LPS22DF.h
@@ -1,140 +1,155 @@
-/* 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 <diagnostic/PrintLogger.h>
-#include <drivers/spi/SPIDriver.h>
-#include <drivers/timer/TimestampTimer.h>
-#include <miosix.h>
-#include <sensors/Sensor.h>
-
-#include <Eigen/Core>
-#include <array>
-
-#include "LPS22DFData.h"
-
-namespace Boardcore
-{
-
-/**
- * @brief Driver for LPS22DF, Low-power and high-precision MEMS pressure sensor.
- */
-class LPS22DF : public Sensor<LPS22DFData>
-{
-public:
- /**
- * @brief Constants for Output Data Rate Configuration
- *
- * 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 Averaging of pressure and temperature.
- *
- * 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
- };
-
- struct Config
- {
- ODR odr = ODR::ODR_25;
- AVG avg = AVG::AVG_512;
- };
-
- LPS22DF(SPIBusInterface& bus, miosix::GpioPin pin);
-
- LPS22DF(SPIBusInterface& bus, miosix::GpioPin pin, SPIBusConfig spiConfig,
- Config config);
-
- static SPIBusConfig getDefaultSPIConfig();
-
- bool init() override;
-
- bool selfTest() override;
-
- void setConfig(const Config& config);
-
- void setAverage(AVG avg);
-
- void setOutputDataRate(ODR odr);
-
-private:
- LPS22DFData sampleImpl() override;
-
- SPISlave slave;
- Config config;
-
- bool isInitialized = false;
-
- enum Registers : uint8_t
- {
- IF_CTRL_REG = 0x0e,
-
- WHO_AM_I_REG = 0x0f,
-
- CTRL1_REG = 0x10,
- CTRL2_REG = 0x11,
- CTRL3_REG = 0x12,
- CTRL4_REG = 0x13,
-
- STATUS_REG = 0x27,
-
- PRESSURE_OUT_XL_REG = 0x28,
- PRESSURE_OUT_L_REG = 0x29,
- PRESSURE_OUT_H_REG = 0x2a,
- TEMP_OUT_L_REG = 0x2b,
- TEMP_OUT_H_REG = 0x2c,
- };
-
- static constexpr uint32_t WHO_AM_I_VALUE = 0xb4;
- static constexpr uint8_t I2C_I3C_DIS = 1 << 6;
- static constexpr uint8_t ONE_SHOT_TRIGGER = 1 << 0;
-
- static constexpr float TEMP_SENS = 100; // LSB / °C
- static constexpr float PRES_SENS = 40.96; // LSB / Pa
-
- PrintLogger logger = Logging::getLogger("lps22df");
-};
-
+/* 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 <drivers/timer/TimestampTimer.h>
+#include <miosix.h>
+#include <sensors/Sensor.h>
+
+#include <Eigen/Core>
+#include <array>
+
+#include "LPS22DFData.h"
+#include "LPS22DFDefs.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 Averaging of pressure and temperature.
+ *
+ * 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 LPS22DF 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
index ae483b0ea..c76cbd245 100644
--- a/src/shared/sensors/LPS22DF/LPS22DFData.h
+++ b/src/shared/sensors/LPS22DF/LPS22DFData.h
@@ -1,58 +1,58 @@
-/* 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 t, float press, float deg)
- : PressureData{t, press}, TemperatureData{t, deg}
-
- {
- }
-
- LPS22DFData(PressureData pressData, TemperatureData tempData)
- : PressureData(pressData), TemperatureData(tempData)
-
- {
- }
-
- static std::string header()
- {
- return "pressureTimestamp, press, temperatureTimestamp, temp\n";
- }
-
- void print(std::ostream& os) const
- {
- os << pressureTimestamp << "," << pressure << ","
- << temperatureTimestamp << "," << temperature << "\n";
- }
-};
-
+/* 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 t, float press, float deg)
+ : PressureData{t, press}, TemperatureData{t, deg}
+
+ {
+ }
+
+ LPS22DFData(PressureData pressData, TemperatureData tempData)
+ : PressureData(pressData), TemperatureData(tempData)
+
+ {
+ }
+
+ static std::string header()
+ {
+ return "pressureTimestamp, press, temperatureTimestamp, temp\n";
+ }
+
+ void print(std::ostream& os) const
+ {
+ os << pressureTimestamp << "," << pressure << ","
+ << temperatureTimestamp << "," << temperature << "\n";
+ }
+};
+
} // namespace Boardcore
\ No newline at end of file
diff --git a/src/shared/sensors/LPS22DF/LPS22DFDefs.h b/src/shared/sensors/LPS22DF/LPS22DFDefs.h
new file mode 100644
index 000000000..d22788f60
--- /dev/null
+++ b/src/shared/sensors/LPS22DF/LPS22DFDefs.h
@@ -0,0 +1,121 @@
+/* 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_addr = 0x0b, ///< Interrupt mode for pressure acquisition
+
+ THS_P_L_addr = 0x0c, ///< User-defined threshold LSB register
+ THS_P_H_addr = 0x0d, ///< User-defined threshold MSB register
+
+ IF_CTRL_addr = 0x0e, ///< Interface control register
+
+ WHO_AM_I_addr = 0x0f, ///< Device Who am I register
+
+ CTRL_REG1_addr = 0x10, ///< Control Register 1 [ODR, AVG]
+ CTRL_REG2_addr = 0x11, ///< Control Register 2
+ CTRL_REG3_addr = 0x12, ///< Control Register 3
+ CTRL_REG4_addr = 0x13, ///< Control Register 4
+
+ FIFO_CTRL_addr = 0x14, ///< FIFO control register
+ FIFO_WTM_addr = 0x15, ///< FIFO threshold setting register
+
+ REF_P_L_addr = 0x16, ///< Reference pressure LSB data
+ REF_P_H_addr = 0x17, ///< Reference pressure MSB data
+
+ FIFO_STATUS1_addr = 0x25, ///< FIFO status register 1
+ FIFO_STATUS2_addr = 0x26, ///< FIFO status register 2
+
+ STATUS_addr = 0x27, ///< Status register
+
+ PRESSURE_OUT_XL_addr = 0x28, ///< Pressure output value LSB data
+ PRESSURE_OUT_L_addr = 0x29, ///< Pressure output value middle data
+ PRESSURE_OUT_H_addr = 0x2a, ///< Pressure output value MSB data
+
+ TEMP_OUT_L_addr = 0x2b, ///< Temperature output value LSB data
+ TEMP_OUT_H_addr = 0x2c, ///< Temperature output value MSB data
+
+ FIFO_DATA_OUT_PRESS_XL_addr = 0x78, ///< FIFO pressure output LSB data
+ FIFO_DATA_OUT_PRESS_L_addr = 0x79, ///< FIFO pressure output middle data
+ FIFO_DATA_OUT_PRESS_H_addr = 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 =
+ (0b1 << 0), ///< Increment register during a multiple byte access
+ PP_OD = (0b1 << 1), ///< Push-pull/open-drain selection on interrupt pin
+ INT_H_L = (0b1 << 3) ///< Select interrupt active-high, active-low
+};
+
+enum CTRL_REG4 : uint8_t
+{
+ INT_F_OVR = (0b1 << 0), ///< FIFO overrun status on INT_DRDY pin
+ INT_F_WTM = (0b1 << 1), ///< FIFO threshold status on INT_DRDY pin
+ INT_F_FULL = (0b1 << 2), ///< FIFO full flag on INT_DRDY pin
+ INT_EN = (0b1 << 4), ///< Interrupt signal on INT_DRDY pin
+ DRDY = (0b1 << 5), ///< Date-ready signal on INT_DRDY pin
+ DRDY_PLS = (0b1 << 6) ///< Data-ready pulsed on INT_DRDY pin
+};
+
+enum STATUS : uint8_t
+{
+ P_DA = (0b1 << 0), ///< Pressure data available
+ T_DA = (0b1 << 1), ///< Temperature data available
+ P_OR = (0b1 << 4), ///< Pressure data overrun
+ T_OR = (0b1 << 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
index 7be3e9cd9..caad6e697 100644
--- a/src/tests/sensors/test-lps22df.cpp
+++ b/src/tests/sensors/test-lps22df.cpp
@@ -67,13 +67,13 @@ int main()
return 0;
}
- printf("Trying one shot mode for 10 seconds");
+ 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° | %.2fPa\n", data.temperature, data.pressure);
+ printf("%.2f C | %.2f Pa\n", data.temperature, data.pressure);
miosix::Thread::sleep(100);
}
@@ -85,7 +85,7 @@ int main()
sensor.sample();
LPS22DFData data = sensor.getLastSample();
- printf("%.2f° | %.2fPa\n", data.temperature, data.pressure);
+ printf("%.2f C | %.2f Pa\n", data.temperature, data.pressure);
miosix::Thread::sleep(100);
}
--
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