[LPS28DFW] Removed FIFO option, improved setting of config, simplified...

[LPS28DFW] Removed FIFO option, improved setting of config, simplified conversion of pressure and improved test

src/shared/sensors/LPS28DFW/LPS28DFW.cpp

@@ -176,21 +176,21 @@ bool LPS28DFW::init()
     return true;
 }
 
-bool LPS28DFW::setConfig(const SensorConfig& sensorConfig)
+bool LPS28DFW::setConfig(const SensorConfig& newSensorConfig)
 {
     {
         uint8_t fifo_ctrl{0};
-        switch (sensorConfig.mode)
+        switch (newSensorConfig.mode)
         {
             case Mode::ONE_SHOT_MODE:
-                fifo_ctrl |= ONE_SHOT;
+                sensorConfig = {newSensorConfig.fsr, newSensorConfig.avg,
+                                Mode::ONE_SHOT_MODE, ODR::ONE_SHOT, false};
+                fifo_ctrl |= FIFO_CTRL::BYPASS;
                 break;
             case Mode::CONTINUOUS_MODE:
+                sensorConfig = newSensorConfig;
                 fifo_ctrl |= CONTINUOUS;
                 break;
-            case Mode::FIFO_MODE:
-                fifo_ctrl |= FIFO;
-                break;
             default:
                 LOG_ERR(logger, "Mode not supported");
                 break;
@@ -203,29 +203,19 @@ bool LPS28DFW::setConfig(const SensorConfig& sensorConfig)
         }
     }
 
-    if (!(setFullScaleRange(sensorConfig.fsr) &&
-          setOutputDataRate(sensorConfig.odr) && setAverage(sensorConfig.avg)))
+    if (!(setFullScaleRange(sensorConfig.fsr) && setAverage(sensorConfig.avg) &&
+          setOutputDataRate(sensorConfig.odr)))
     {
         LOG_ERR(logger, "Sensor not configured");
         return false;
     }
 
-    if (sensorConfig.drdy)
-    {
-        if (!i2c.writeRegister(i2cConfig, CTRL_REG4_addr, INT_EN | DRDY))
-        {
-            lastError = BUS_FAULT;
-            return false;
-        }
-    }
-    else
-    {
-        if (!i2c.writeRegister(i2cConfig, CTRL_REG4_addr, 0))
+    if (!i2c.writeRegister(i2cConfig, CTRL_REG4_addr,
+                           (sensorConfig.drdy ? (INT_EN | DRDY) : 0)))
     {
         lastError = BUS_FAULT;
         return false;
     }
-    }
 
     return true;
 }
@@ -337,9 +327,12 @@ LPS28DFWData LPS28DFW::sampleImpl()
             return lastSample;
         }
 
+        // sign extending the 27-bit value: shifting to the right a signed type
+        // extends its sign. So positioning the bytes shifted to the left of 8
+        // bits, casting the result in a signed int8_t and then shifting the
+        // result to the right of 8 bits will make the work.
         int32_t press_temp =
-            (((val[2] & (1 << 7)) ? 0xff : 0x00) |  // sign extension
-             (val[2] << 16) | (val[1] << 8) | (val[0] << 0));
+            ((int32_t)((val[2] << 24) | (val[1] << 16) | (val[0] << 8))) >> 8;
 
         data.pressure = ((float)press_temp / pressureSensitivity);
 

src/shared/sensors/LPS28DFW/LPS28DFW.h

@@ -91,8 +91,7 @@ public:
     enum Mode
     {
         ONE_SHOT_MODE,   // BYPASS, ODR = ONE_SHOT
-        CONTINUOUS_MODE,  // BYPASS, ODR = odr
-        FIFO_MODE         // FIFO, ODR = odr
+        CONTINUOUS_MODE  // BYPASS, ODR = odr
     };
 
     typedef struct
@@ -102,7 +101,6 @@ public:
         Mode mode;           ///< Mode of operation
         ODR odr;             ///< Output data rate
         bool drdy;           ///< Enable Interrupt for Data Ready
-        size_t fifoSize;     ///< If fifo, length of fifo
     } SensorConfig;
 
     /**
@@ -118,7 +116,7 @@ public:
     LPS28DFW(I2C& i2c, bool sa0,
              SensorConfig sensorConfig = {FullScaleRange::FS_1260, AVG::AVG_32,
                                           Mode::CONTINUOUS_MODE, ODR::ODR_100,
-                                          false, 0});
+                                          false});
 
     /**
      * @brief Initializes the sensor with the current settings.

src/tests/sensors/test-lps28dfw.cpp

@@ -40,13 +40,8 @@ typedef Gpio<GPIOB_BASE, 8> i1scl;
 typedef Gpio<GPIOB_BASE, 9> i1sda;
 
 I2C i2c(I2C1, i1scl::getPin(), i1sda::getPin());
-LPS28DFW::SensorConfig lps28dfwConfig{LPS28DFW::FullScaleRange::FS_1260,
-                                      LPS28DFW::AVG::AVG_4,
-                                      LPS28DFW::Mode::CONTINUOUS_MODE,
-                                      LPS28DFW::ODR::ODR_10,
-                                      true,
-                                      0};
-LPS28DFW lps28dfw(i2c, false, lps28dfwConfig);
+LPS28DFW lps28dfw(i2c, false);
+uint8_t nSamples = 10;
 /**
  * ONE_SHOT | AVG4   : 161.6 us/samp (W1+R1+W2+W1+R5)   @1Hz: 1.7  uA [FROM DS]
  * ONE_SHOT | AVG512 : 162 us/samp (W1+R1+W2+W1+R5)     @1Hz: 32.2 uA [FROM DS]
@@ -54,26 +49,51 @@ LPS28DFW lps28dfw(i2c, false, lps28dfwConfig);
  * ODR1     | AVG512 : 127.8 us/samp (W1+R1+W1+R5)      @1Hz: 32.8 uA [FROM DS]
  */
 miosix::Thread *waiting = 0;
+bool sampleAvailable    = false;
 void __attribute__((used)) EXTI5_IRQHandlerImpl()
 {
     if (waiting)
     {
-        waiting->wakeup();
+        sampleAvailable = true;
+        waiting->IRQwakeup();
     }
 }
 
-int main()
+void sampleOneShotMode(LPS28DFW &lps28dfw)
 {
-    waiting = Thread::getCurrentThread();
-    enableExternalInterrupt(GPIOE_BASE, 5, InterruptTrigger::RISING_EDGE);
+    printf("Start One-Shot\n");
+    LPS28DFW::SensorConfig lps28dfwConfig{
+        LPS28DFW::FullScaleRange::FS_1260, LPS28DFW::AVG::AVG_64,
+        LPS28DFW::Mode::ONE_SHOT_MODE, LPS28DFW::ODR::ONE_SHOT, false};
+    lps28dfw.setConfig(lps28dfwConfig);
 
-    if (!lps28dfw.init())
+    for (uint8_t i = 0; i < nSamples; i++)
     {
-        printf("Error initialization of sensor\n");
-        return 0;
+        lps28dfw.sample();
+
+        if (lps28dfw.getLastError() == SensorErrors::NO_ERRORS)
+        {
+            lps28dfw.getLastSample().print(std::cout);
+        }
+        else
+        {
+            printf("Error: %d\n", lps28dfw.getLastError());
+        }
+        Thread::sleep(100);
     }
 
-    for (;;)
+    printf("End One-Shot\n\n");
+}
+
+void sampleContinuousMode(LPS28DFW &lps28dfw)
+{
+    printf("Start Continuous\n");
+    LPS28DFW::SensorConfig lps28dfwConfig{
+        LPS28DFW::FullScaleRange::FS_1260, LPS28DFW::AVG::AVG_64,
+        LPS28DFW::Mode::CONTINUOUS_MODE, LPS28DFW::ODR::ODR_10, false};
+    lps28dfw.setConfig(lps28dfwConfig);
+
+    for (uint8_t i = 0; i < nSamples; i++)
     {
         lps28dfw.sample();
 
@@ -85,8 +105,63 @@ int main()
         {
             printf("Error: %d\n", lps28dfw.getLastError());
         }
+
+        Thread::sleep(100);
+    }
+
+    printf("End Continuous\n\n");
+}
+
+void sampleInterruptMode(LPS28DFW &lps28dfw)
+{
+    printf("Start Interrupt\n");
+    LPS28DFW::SensorConfig lps28dfwConfig{
+        LPS28DFW::FullScaleRange::FS_1260, LPS28DFW::AVG::AVG_64,
+        LPS28DFW::Mode::CONTINUOUS_MODE, LPS28DFW::ODR::ODR_10, true};
+    lps28dfw.setConfig(lps28dfwConfig);
+
+    for (uint8_t i = 0; i < nSamples; i++)
+    {
+
+        while (!sampleAvailable)
+        {
             waiting->wait();
         }
 
+        sampleAvailable = false;
+        lps28dfw.sample();
+
+        if (lps28dfw.getLastError() == SensorErrors::NO_ERRORS)
+        {
+            lps28dfw.getLastSample().print(std::cout);
+        }
+        else
+        {
+            printf("Error: %d\n", lps28dfw.getLastError());
+        }
+    }
+
+    printf("End Interrupt\n\n");
+}
+
+int main()
+{
+    waiting = Thread::getCurrentThread();
+    enableExternalInterrupt(GPIOE_BASE, 5, InterruptTrigger::RISING_EDGE);
+
+    if (!lps28dfw.init())
+    {
+        printf("Error initialization of sensor\n");
+        return 0;
+    }
+
+    for (;;)
+    {
+        printf("\nNew set of samples\n");
+        sampleOneShotMode(lps28dfw);
+        sampleContinuousMode(lps28dfw);
+        sampleInterruptMode(lps28dfw);
+    }
+
     return 0;
 }