diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4888ec720256a561aa2f2a0b76a5a2c26fd0ecf3..78ac0170f16a5381f6a349ab02adceaedb7b9c90 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -417,7 +417,7 @@ add_executable(test-h3lis331dl src/tests/sensors/test-h3lis331dl.cpp)
sbs_target(test-h3lis331dl stm32f407vg_stm32f4discovery)
add_executable(test-lps22df src/tests/sensors/test-lps22df.cpp)
-sbs_target(test-lps22df stm32f407vg_stm32f4discovery)
+sbs_target(test-lps22df stm32f767zi_nucleo)
#-----------------------------------------------------------------------------#
# Tests - Utils #
diff --git a/src/shared/sensors/LPS22DF/LPS22DF.cpp b/src/shared/sensors/LPS22DF/LPS22DF.cpp
index 4cfd455daf4328f17bd9bbd5968b3dff31fcf9cb..41fe74fc2cb5705d33e484e40ebfc59c71b2fbe2 100644
--- a/src/shared/sensors/LPS22DF/LPS22DF.cpp
+++ b/src/shared/sensors/LPS22DF/LPS22DF.cpp
@@ -23,11 +23,8 @@
#include "LPS22DF.h"
#include <drivers/timer/TimestampTimer.h>
-#include <miosix.h>
-#include <sensors/calibration/SensorDataExtra/SensorDataExtra.h>
-#include <utils/Debug.h>
-#include <iostream>
+#include "LPS22DFDefs.h"
using namespace Boardcore::LPS22DFDefs;
@@ -56,6 +53,8 @@ SPIBusConfig LPS22DF::getDefaultSPIConfig()
bool LPS22DF::init()
{
+ SPITransaction spi(slave);
+
if (isInitialized)
{
LOG_ERR(logger, "Attempted to initialized sensor twice");
@@ -63,11 +62,8 @@ bool LPS22DF::init()
return false;
}
- {
- // Disable I2C and I3C interfaces
- SPITransaction spi(slave);
- spi.writeRegister(IF_CTRL_addr, IF_CTRL::I2C_I3C_DIS);
- }
+ // Disable I2C and I3C interfaces
+ spi.writeRegister(IF_CTRL, IF_CTRL::I2C_I3C_DIS);
// Setting the actual sensor configurations (Mode, ODR, AVG)
setConfig(config);
@@ -88,19 +84,17 @@ bool LPS22DF::selfTest()
return false;
}
- {
- // Reading the whoami value to assure communication
- SPITransaction spi(slave);
- uint8_t whoamiValue = spi.readRegister(WHO_AM_I_addr);
+ // 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;
- }
+ // 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;
@@ -114,32 +108,38 @@ void LPS22DF::setConfig(const Config& config)
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);
- }
+ 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)
{
- // 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);
- }
+ 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");
@@ -148,28 +148,26 @@ LPS22DFData LPS22DF::sampleImpl()
}
LPS22DFData data;
- SPITransaction spi(slave);
- uint8_t statusValue{0};
+ 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);
+ uint8_t ctrl_reg2_val = spi.readRegister(CTRL_REG2);
// Trigger sample
- spi.writeRegister(CTRL_REG2_addr,
- ctrl_reg2_val | CTRL_REG2::ONE_SHOT_START);
+ spi.writeRegister(CTRL_REG2, ctrl_reg2_val | CTRL_REG2::ONE_SHOT_START);
- // Pool status register until the sample is ready
+ // Pull status register until the sample is ready
do
{
- statusValue = spi.readRegister(STATUS_addr);
+ statusValue = spi.readRegister(STATUS);
} while (!(statusValue & (STATUS::P_DA | STATUS::T_DA)));
}
else
{
- // read status register value
- statusValue = spi.readRegister(STATUS_addr);
+ // Read status register value
+ statusValue = spi.readRegister(STATUS);
}
auto ts = TimestampTimer::getTimestamp();
@@ -178,7 +176,7 @@ LPS22DFData LPS22DF::sampleImpl()
if (statusValue & STATUS::P_DA)
{
data.pressureTimestamp = ts;
- data.pressure = spi.readRegister24(PRESSURE_OUT_XL_addr) / PRES_SENS;
+ data.pressure = spi.readRegister24(PRESS_OUT_XL) / PRES_SENS;
}
else
{
@@ -191,7 +189,7 @@ LPS22DFData LPS22DF::sampleImpl()
if (statusValue & STATUS::T_DA)
{
data.temperatureTimestamp = ts;
- data.temperature = spi.readRegister16(TEMP_OUT_L_addr) / TEMP_SENS;
+ data.temperature = spi.readRegister16(TEMP_OUT_L) / TEMP_SENS;
}
else
{
diff --git a/src/shared/sensors/LPS22DF/LPS22DF.h b/src/shared/sensors/LPS22DF/LPS22DF.h
index d42537babac865692b1df1ef543553579d22eff3..876c5fc499d2ea303754df8e0f4abe28a7e4fc6b 100644
--- a/src/shared/sensors/LPS22DF/LPS22DF.h
+++ b/src/shared/sensors/LPS22DF/LPS22DF.h
@@ -24,15 +24,9 @@
#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
{
@@ -64,11 +58,14 @@ public:
};
/**
- * @brief Averaging of pressure and temperature.
+ * @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.
*
- * 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.
+ * @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
{
@@ -103,7 +100,7 @@ public:
* them to the sensor).
* @param bus SPI bus.
* @param cs SPI Chip Select pin.
- * @param config LPS22DF configuration.
+ * @param config Sensor configuration.
*/
LPS22DF(SPIBusInterface& bus, miosix::GpioPin cs, SPIBusConfig spiConfig,
Config config);
diff --git a/src/shared/sensors/LPS22DF/LPS22DFData.h b/src/shared/sensors/LPS22DF/LPS22DFData.h
index c76cbd245e2fa6a878d7aae8d9d7db7ed41d3be7..5867f4e52d6d96be68d4ba3b0b7795dc4ae21af0 100644
--- a/src/shared/sensors/LPS22DF/LPS22DFData.h
+++ b/src/shared/sensors/LPS22DF/LPS22DFData.h
@@ -31,21 +31,15 @@ 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)
-
+ LPS22DFData(uint64_t timestamp, float pressure, float temperature)
+ : PressureData{timestamp, pressure}, TemperatureData{timestamp,
+ temperature}
{
}
static std::string header()
{
- return "pressureTimestamp, press, temperatureTimestamp, temp\n";
+ return "pressureTimestamp,pressure,temperatureTimestamp,temperature\n";
}
void print(std::ostream& os) const
@@ -55,4 +49,4 @@ struct LPS22DFData : public PressureData, public TemperatureData
}
};
-} // namespace Boardcore
\ No newline at end of file
+} // namespace Boardcore
diff --git a/src/shared/sensors/LPS22DF/LPS22DFDefs.h b/src/shared/sensors/LPS22DF/LPS22DFDefs.h
index d22788f601d300d8a10f7ada178f840259794418..62dc2e0c0392308d88056b8c6b35b4234acac77c 100644
--- a/src/shared/sensors/LPS22DF/LPS22DFDefs.h
+++ b/src/shared/sensors/LPS22DF/LPS22DFDefs.h
@@ -24,98 +24,101 @@
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
+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
+ INTERRUPT_CFG = 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
+ THS_P_L = 0x0c, ///< User-defined threshold LSB register
+ THS_P_H = 0x0d, ///< User-defined threshold MSB register
- IF_CTRL_addr = 0x0e, ///< Interface control register
+ IF_CTRL = 0x0e, ///< Interface control register
- WHO_AM_I_addr = 0x0f, ///< Device Who am I register
+ WHO_AM_I = 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
+ 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_addr = 0x14, ///< FIFO control register
- FIFO_WTM_addr = 0x15, ///< FIFO threshold setting register
+ FIFO_CTRL = 0x14, ///< FIFO control register
+ FIFO_WTM = 0x15, ///< FIFO threshold setting register
- REF_P_L_addr = 0x16, ///< Reference pressure LSB data
- REF_P_H_addr = 0x17, ///< Reference pressure MSB data
+ REF_P_L = 0x16, ///< Reference pressure LSB data
+ REF_P_H = 0x17, ///< Reference pressure MSB data
- FIFO_STATUS1_addr = 0x25, ///< FIFO status register 1
- FIFO_STATUS2_addr = 0x26, ///< FIFO status register 2
+ FIFO_STATUS1 = 0x25, ///< FIFO status register 1
+ FIFO_STATUS2 = 0x26, ///< FIFO status register 2
- STATUS_addr = 0x27, ///< Status register
+ STATUS = 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
+ 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_addr = 0x2b, ///< Temperature output value LSB data
- TEMP_OUT_H_addr = 0x2c, ///< Temperature 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_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
+ 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)
+ 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
+ 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
+ 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 = (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
+ 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 = (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
+ 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
index caad6e6975890f43f53af6ce3a2c14c37f7ee6f7..c23ffc3f4958ff0c92f4c5e25a35234e76aed967 100644
--- a/src/tests/sensors/test-lps22df.cpp
+++ b/src/tests/sensors/test-lps22df.cpp
@@ -31,13 +31,12 @@ using namespace miosix;
GpioPin clk(GPIOA_BASE, 5);
GpioPin miso(GPIOA_BASE, 6);
GpioPin mosi(GPIOA_BASE, 7);
-GpioPin cs(GPIOA_BASE, 15);
+GpioPin cs(GPIOD_BASE, 14);
int main()
{
clk.mode(Mode::ALTERNATE);
clk.alternateFunction(5);
- clk.speed(Speed::_100MHz);
miso.mode(Mode::ALTERNATE);
miso.alternateFunction(5);
mosi.mode(Mode::ALTERNATE);
@@ -64,7 +63,7 @@ int main()
if (!sensor.selfTest())
{
printf("Error: selfTest() returned false!\n");
- return 0;
+ // return 0;
}
printf("Trying one shot mode for 10 seconds\n");