From 4a75665e19e2c4a522d1055f7953b190eeb5d005 Mon Sep 17 00:00:00 2001
From: Valerio Flamminii <valerio.flamminii@skywarder.eu>
Date: Sat, 25 Nov 2023 12:54:59 +0100
Subject: [PATCH] my_LIS3DSH driver
---
src/entrypoints/test-tempsensor.cpp | 71 ++++
src/shared/sensors/my_LIS3DSH/my_LIS3DSH.cpp | 310 ++++++++++++++++++
src/shared/sensors/my_LIS3DSH/my_LIS3DSH.h | 211 ++++++++++++
.../sensors/my_LIS3DSH/my_LIS3DSHData.h | 51 +++
src/shared/sensors/my_LIS3DSH/spi-driver.cpp | 141 ++++++++
src/shared/sensors/my_LIS3DSH/spi-driver.h | 65 ++++
6 files changed, 849 insertions(+)
create mode 100644 src/entrypoints/test-tempsensor.cpp
create mode 100644 src/shared/sensors/my_LIS3DSH/my_LIS3DSH.cpp
create mode 100644 src/shared/sensors/my_LIS3DSH/my_LIS3DSH.h
create mode 100644 src/shared/sensors/my_LIS3DSH/my_LIS3DSHData.h
create mode 100644 src/shared/sensors/my_LIS3DSH/spi-driver.cpp
create mode 100644 src/shared/sensors/my_LIS3DSH/spi-driver.h
diff --git a/src/entrypoints/test-tempsensor.cpp b/src/entrypoints/test-tempsensor.cpp
new file mode 100644
index 000000000..5dd788070
--- /dev/null
+++ b/src/entrypoints/test-tempsensor.cpp
@@ -0,0 +1,71 @@
+/* Copyright (c) <2023> Skyward Experimental Rocketry
+ * Author: <Valerio flamminii>
+ *
+ * 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 <miosix.h>
+#include <utils/Debug.h>
+#include <sensors/my_LIS3DSH/my_LIS3DSH.h>
+#include <sensors/my_LIS3DSH/my_LIS3DSHData.h>
+
+using namespace miosix;
+using namespace Boardcore;
+
+
+int main()
+{
+
+
+ LIS3DSH sensore(LIS3DSH::OutputDataRate::ODR_100_HZ,
+ LIS3DSH::BlockDataUpdate::UPDATE_AFTER_READ_MODE,
+ LIS3DSH::FullScale::FULL_SCALE_2G);
+
+ // test getlasterror
+ /*
+ TRACE("sensore self-test: %d\n", sensore.selfTest());
+ TRACE("lastError: %d\n\n", sensore.getLastError());
+
+ TRACE("sensore.init(): %d\n\n", sensore.init());
+
+ TRACE("sensore self-test: %d\n", sensore.selfTest());
+ TRACE("lastError: %d\n", sensore.getLastError());
+ */
+
+ if (sensore.init())
+ {
+
+ my_LIS3DSHData accel;
+
+ while (true)
+ {
+ sensore.sample();
+ accel = sensore.getLastSample();
+ printf("timeStamp: %llu\n", accel.accelerationTimestamp);
+ TRACE("X: %f\n", accel.accelerationX);
+ TRACE("Y: %f\n", accel.accelerationY);
+ TRACE("Z: %f\n\n", accel.accelerationZ);
+ Thread::sleep(200);
+ }
+
+ }
+ else TRACE("-----sensor initialisation failed -----\n");
+
+ return 0;
+}
diff --git a/src/shared/sensors/my_LIS3DSH/my_LIS3DSH.cpp b/src/shared/sensors/my_LIS3DSH/my_LIS3DSH.cpp
new file mode 100644
index 000000000..31ccf3a31
--- /dev/null
+++ b/src/shared/sensors/my_LIS3DSH/my_LIS3DSH.cpp
@@ -0,0 +1,310 @@
+/* Copyright (c) <2023> Skyward Experimental Rocketry
+ * Author: <Valerio flamminii>
+ *
+ * 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 <miosix.h>
+#include <utils/Debug.h>
+#include <drivers/timer/TimestampTimer.h>
+#include <math.h>
+#include "my_LIS3DSH.h"
+
+namespace Boardcore {
+
+
+ LIS3DSH::LIS3DSH(uint8_t odr = OutputDataRate::ODR_100_HZ,
+ uint8_t bdu = BlockDataUpdate::UPDATE_AFTER_READ_MODE,
+ uint8_t fullScale = FullScale::FULL_SCALE_2G)
+ : odr(odr), bdu(bdu), fullScale(fullScale) {}
+
+
+ bool LIS3DSH::init() {
+
+ // check if the sensor is already initialized
+ if (initialized)
+ {
+ lastError = SensorErrors::ALREADY_INIT;
+ return false;
+ }
+
+ // config spi-driver to initialise the communication
+ spi_driver.config();
+
+ // check who_am_i value
+ if(checkWhoAmI() == false) return false;
+
+ // set the output data rate and the block-data-update in CTRL_REG4
+ // enable X,Y and Z axis setting the LSB three bits.
+ // so it's possible reading both temperature and accelaration.
+ uint8_t ctrl_reg4_value = (odr << 4) | (bdu << 3) | 7; // 7 = 111b
+
+ // set the full scale range possible values: 2g, 4g, 6g, 8g, 16g
+ uint8_t ctrl_reg5_value = fullScale << 3;
+
+ // write values in control registers 4 and 5
+ spi_driver.write(CTRL_REG5, ctrl_reg5_value);
+ spi_driver.write(CTRL_REG4, ctrl_reg4_value);
+
+ // select the correct sensitivity
+ // for the specified full scale range
+ sensitivity = selectSensitivity();
+
+ initialized = true;
+
+ return true;
+ }
+
+
+ bool LIS3DSH::checkWhoAmI() {
+
+ // check the WHO_AM_I_REG register
+ uint8_t whoAmIValue = spi_driver.read(WHO_AM_I_REG);
+
+ if (whoAmIValue == WHO_AM_I_DEFAULT_VALUE) return true;
+ else lastError = SensorErrors::INVALID_WHOAMI;
+
+ return false;
+ }
+
+
+ int16_t LIS3DSH::combine(uint8_t msb, uint8_t lsb) {
+ return (msb << 8) | lsb;
+ }
+
+
+ float LIS3DSH::selectSensitivity() {
+
+ float s;
+ switch(fullScale) {
+
+ case(FULL_SCALE_2G):
+ s = sensitivityValues[FullScale::FULL_SCALE_2G];
+ break;
+
+ case(FULL_SCALE_4G):
+ s = sensitivityValues[FullScale::FULL_SCALE_4G];
+ break;
+
+ case(FullScale::FULL_SCALE_6G):
+ s = sensitivityValues[FullScale::FULL_SCALE_6G];
+ break;
+
+ case(FullScale::FULL_SCALE_8G):
+ s = sensitivityValues[FullScale::FULL_SCALE_8G];
+ break;
+
+ case(FullScale::FULL_SCALE_16G):
+ s = sensitivityValues[FullScale::FULL_SCALE_16G];
+ break;
+
+ default:
+ TRACE("Invalid full scale range given, using +/-2g");
+ this->fullScale = FullScale::FULL_SCALE_2G;
+ s = sensitivityValues[FullScale::FULL_SCALE_2G];
+ break;
+ }
+ return s;
+ }
+
+
+ AccelerometerData LIS3DSH::readAccelData()
+ {
+
+ AccelerometerData accelData;
+
+ // read the sensor's status register
+ uint8_t status = spi_driver.read(STATUS);
+
+ if (status & 0x08)
+ { // bit 3 of status set to 1 (new data available)
+ if (status & 0x80)
+ { // bit 7 of status set to 1 (some data overwritten)
+
+ // getting timestamp
+ accelData.accelerationTimestamp = TimestampTimer::getTimestamp();
+
+ // read acceleration X axis
+ int8_t accel_L = spi_driver.read(OUT_X_L);
+ int8_t accel_H = spi_driver.read(OUT_X_H);
+ accelData.accelerationX = static_cast<float>(combine(accel_H, accel_L)) * sensitivity;
+
+ // read acceleration on Y
+ accel_L = spi_driver.read(OUT_Y_L);
+ accel_H = spi_driver.read(OUT_Y_H);
+ accelData.accelerationY = static_cast<float>(combine(accel_H, accel_L)) * sensitivity;
+
+ // read acceleration on Z
+ accel_L = spi_driver.read(OUT_Z_L);
+ accel_H = spi_driver.read(OUT_Z_H);
+ accelData.accelerationZ = static_cast<float>(combine(accel_H, accel_L)) * sensitivity;
+
+ // reset last error of the sensor
+ lastError = SensorErrors::NO_ERRORS;
+ }
+ }
+ else lastError = SensorErrors::NO_NEW_DATA;
+
+ return accelData;
+ }
+
+
+ my_LIS3DSHData LIS3DSH::sampleImpl()
+ {
+ // check if the sensor is initialized
+ if (!initialized)
+ {
+ lastError = SensorErrors::NOT_INIT;
+ return lastSample;
+ }
+
+ AccelerometerData accelData = readAccelData();
+
+ if (lastError != SensorErrors::NO_ERRORS) return lastSample;
+ else {
+ return my_LIS3DSHData(accelData);
+ }
+ }
+
+
+ bool LIS3DSH::selfTest()
+ {
+ // check if the sensor is initialized
+ if (!initialized)
+ {
+ lastError = SensorErrors::NOT_INIT;
+ return false;
+ }
+
+ const uint8_t numSamples = 5; // number of samples to be used
+ // vectors for storing samples, both
+ // in self-test and no-self-test modes
+ float X_ST[numSamples] = {0};
+ float Y_ST[numSamples] = {0};
+ float Z_ST[numSamples] = {0};
+ float X_NO_ST[numSamples] = {0};
+ float Y_NO_ST[numSamples] = {0};
+ float Z_NO_ST[numSamples] = {0};
+ // vectors containing avg values for each axis
+ float AVG_ST[3] = {0}; // one element per axis
+ float AVG_NO_ST[3] = {0}; // one element per axis
+
+ // set output data rate to 50 hz
+ uint8_t ctrlReg4Value = (OutputDataRate::ODR_100_HZ << 4) |
+ (BlockDataUpdate::UPDATE_AFTER_READ_MODE << 3) |
+ (7 << 0);
+
+
+ spi_driver.write(CTRL_REG4, ctrlReg4Value);
+
+
+ // set full scale to default value +/-2g
+ // enable the self-test mode with positive sign
+ uint8_t ctrlReg5Value = (FullScale::FULL_SCALE_2G << 3) | (1 << 1);
+
+ spi_driver.write(CTRL_REG5, ctrlReg5Value);
+
+ // read samples in self-test positive sign mode
+ for (uint8_t i = 0; i < numSamples; i++)
+ {
+ AccelerometerData accelData = readAccelData();
+ X_ST[i] = accelData.accelerationX;
+ Y_ST[i] = accelData.accelerationY;
+ Z_ST[i] = accelData.accelerationZ;
+ miosix::Thread::sleep(10);
+ }
+
+ // reset the self-test bits
+ ctrlReg5Value &= ~(3 << 1);
+ // normal mode with full scale range +/-2g
+ ctrlReg5Value |= (FULL_SCALE_2G << 3);
+
+ spi_driver.write(CTRL_REG5, ctrlReg5Value);
+
+ // read samples in normal mode
+ for (uint8_t i = 0; i < numSamples; i++)
+ {
+ AccelerometerData accelData = readAccelData();
+ X_NO_ST[i] = accelData.accelerationX;
+ Y_NO_ST[i] = accelData.accelerationY;
+ Z_NO_ST[i] = accelData.accelerationZ;
+ miosix::Thread::sleep(10);
+ }
+ // compute averages vectors:
+ // they contain one element for each axis
+ // (position 0 for x, 1 for y and 2 for z)
+ // AVG_ST : for self-test samples
+ // AVG_NO_ST : for normal mode samples
+ for (uint8_t i = 0; i < numSamples; i++)
+ {
+ AVG_ST[0] += X_ST[i];
+ AVG_ST[1] += Y_ST[i];
+ AVG_ST[2] += Z_ST[i];
+ AVG_NO_ST[0] += X_NO_ST[i];
+ AVG_NO_ST[1] += Y_NO_ST[i];
+ AVG_NO_ST[2] += Z_NO_ST[i];
+ }
+ for (uint8_t i = 0; i < 3; i++)
+ {
+ AVG_ST[i] /= numSamples;
+ AVG_NO_ST[i] /= numSamples;
+ }
+
+ // Reset registers values with the ones
+ // specified in the constructor:
+ // set the output data rate value in CTRL_REG4
+ ctrlReg4Value = (odr << 4) | (bdu << 3) | (7 << 0);
+
+ spi_driver.write(CTRL_REG4, ctrlReg4Value);
+
+ // set the full scale value in CTRL_REG5
+ ctrlReg5Value = (fullScale << 3); // normal mode
+
+ spi_driver.write(CTRL_REG5, ctrlReg5Value);
+
+ float delta[3] = {0};
+ for (uint8_t i = 0; i < 3; i++)
+ {
+ delta[i] = fabs(AVG_NO_ST[i] - AVG_ST[i]);
+ }
+
+ /*
+ TRACE("Selftest: delta[x] = {%f}, delta[y] = {%f}, delta[z] = {%f}",
+ delta[0], delta[1], delta[2]);
+ */
+
+ // check that the averages differences
+ // do not exceed maximum tolerance
+ if ((delta[0] >
+ SELF_TEST_DIFF_X_Y + SELF_TEST_DIFF_X_Y * SELF_TEST_TOLERANCE) ||
+ (delta[1] >
+ SELF_TEST_DIFF_X_Y + SELF_TEST_DIFF_X_Y * SELF_TEST_TOLERANCE) ||
+ (delta[2] >
+ SELF_TEST_DIFF_Z + SELF_TEST_DIFF_Z * SELF_TEST_TOLERANCE))
+ {
+ lastError = SensorErrors::SELF_TEST_FAIL;
+ return false;
+ }
+
+ return true;
+ }
+
+
+
+} // namespace Bordcore
\ No newline at end of file
diff --git a/src/shared/sensors/my_LIS3DSH/my_LIS3DSH.h b/src/shared/sensors/my_LIS3DSH/my_LIS3DSH.h
new file mode 100644
index 000000000..111aac96e
--- /dev/null
+++ b/src/shared/sensors/my_LIS3DSH/my_LIS3DSH.h
@@ -0,0 +1,211 @@
+/* Copyright (c) <2023> Skyward Experimental Rocketry
+ * Author: <Valerio flamminii>
+ *
+ * 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/Sensor.h>
+#include "my_LIS3DSHData.h"
+#include <drivers/timer/TimestampTimer.h>
+#include "spi-driver.h"
+
+namespace Boardcore {
+
+ /**
+ * @brief Driver class for stm32f407vg discovery on-board 3-axis
+ * accelerometer.
+ * The sensor is connected to SPI1 using the
+ * following GPIOs: PA5 : clock
+ * PA6 : miso
+ * PA7 : mosi
+ * PE3 : chip select
+ */
+ class LIS3DSH : public Sensor<my_LIS3DSHData> {
+
+ public:
+
+ /**
+ * @brief constructor
+ * @param odr output data rate, default value = 100 hz
+ * @param bdu block data update mode.
+ * can be continuos or not-continuos mode, default value is update after data
+ * has been read (BDU=1).
+ * @param fullScale full scale range value (from +/-2g up to +/-16g)
+ */
+ LIS3DSH(uint8_t odr, uint8_t bdu, uint8_t fullScale);
+
+ /**
+ * @brief Initialize the sensor.
+ *
+ * @return boolean value indicating whether the operation succeded or not
+ */
+ bool init() override;
+
+ /**
+ * @brief Check if the sensor is working properly.
+ *
+ * @return boolean indicating whether the sensor is correctly working or not
+ */
+ bool selfTest() override;
+
+ /**
+ * @brief Output data rate allowed values (4 bits).
+ */
+ enum OutputDataRate : uint8_t {
+
+ // to make the sensor working odr must be set (don't keep the default one)
+ ODR_POWER_DOWN = 0, // the sensor is turned off (default value)
+ ODR_3_125_HZ = 1,
+ ODR_6_25_HZ = 2,
+ ODR_12_5_HZ = 3,
+ ODR_25_HZ = 4,
+ ODR_50_HZ = 5,
+ ODR_100_HZ = 6,
+ ODR_400_HZ = 7,
+ ODR_800_HZ = 8,
+ ODR_1600_HZ = 9
+
+ };
+
+ /**
+ * @brief Block data update allowed modes (1 bit).
+ */
+ enum BlockDataUpdate : uint8_t {
+
+ CONTINUOS_UPDATE_MODE = 0, // continuos sensor data updating
+ UPDATE_AFTER_READ_MODE = 1 // update data after reading process
+ };
+
+ /**
+ * @brief Full scale range allowed values (3 bits).
+ */
+ enum FullScale
+ {
+ FULL_SCALE_2G = 0, // 000, +/- 2g
+ FULL_SCALE_4G = 1, // 001, +/- 4g
+ FULL_SCALE_6G = 2, // 010, +/- 6g
+ FULL_SCALE_8G = 3, // 011, +/- 8g
+ FULL_SCALE_16G = 4 // 100 +/- 16g
+ };
+
+
+ private:
+
+ /**
+ * @brief Read new data from the accelerometer.
+ * Accelerations are returned in g.
+ * @return accelerations data, if there are new data available otherwise it returns the last sample.
+ */
+ my_LIS3DSHData sampleImpl() override;
+
+ /**
+ * @brief Read accelerometer data.
+ *
+ * @return the read accelerometer sample
+ */
+ AccelerometerData readAccelData();
+
+ /**
+ * @brief Check that the WHO_AM_I register
+ * contains the correct value.
+ *
+ * @return boolean value indicating whether the value read
+ * from the WHO_AM_I register is correct or not
+ */
+ bool checkWhoAmI();
+
+ /**
+ * @brief Given the requested full scale range, select the correct
+ * sensitivity value.
+ *
+ * @return the sensitivity value corresponding to the requested full scale
+ * range
+ */
+ float selectSensitivity();
+
+ /**
+ * @brief Combine low and high bits in a single number.
+ *
+ * @param msb the most significatn bits
+ * @param lsb the least significant bits
+ * @return MSB and LSB combined in one value
+ */
+ int16_t combine(uint8_t msb, uint8_t lsb);
+
+ /**
+ * @brief Registers' addresses definition.
+ */
+ enum REG : uint8_t {
+
+ WHO_AM_I_REG = 0x0F, // contains the who_am_i number to be checked
+
+ CTRL_REG1 = 0x21, // state Machine 1 interrupt configuration register
+ CTRL_REG2 = 0x22, // state Machine 2 interrupt configuration register
+ CTRL_REG3 = 0x23, // interrupt handling
+ CTRL_REG4 = 0x20, // control register 4, to set odr and bdu parameters
+ CTRL_REG5 = 0x24, // control register 5, to set the full scale 2,4,6,8,16g
+ CTRL_REG6 = 0x25, // fifo structure handling
+
+ // status register
+ STATUS = 0x27,
+
+ // accelerometer output registers
+ // for x, y and z axis
+ // (low and high bits in separate registers)
+ OUT_X_L = 0x28,
+ OUT_X_H = 0x29,
+ OUT_Y_L = 0x2A,
+ OUT_Y_H = 0x2B,
+ OUT_Z_L = 0x2C,
+ OUT_Z_H = 0x2D,
+
+ // temperature output data register
+ OUT_T = 0x0C
+
+ };
+
+ SpiDriver spi_driver;
+
+ bool initialized = false; // whether the sensor has been initialized or not
+
+ uint8_t odr; // output data rate, default = 100hz
+ uint8_t bdu; // block data update mode: continuous or block after update
+ uint8_t fullScale; // full scale range value default +-2g
+
+ /**
+ * @brief Sensitivity values corresponding to full scale range allowed
+ * values.
+ */
+ const float sensitivityValues[5] = {0.06, 0.12, 0.18, 0.24, 0.73};
+
+ float sensitivity = sensitivityValues[FullScale::FULL_SCALE_2G]; // default sensitivity value of +-2g scale
+
+ const uint8_t WHO_AM_I_DEFAULT_VALUE = 63;
+
+ // constants values needed for the self-test of the sensor
+ const float SELF_TEST_DIFF_X_Y = 140.0f; // 140 mg
+ const float SELF_TEST_DIFF_Z = 590.0f; // 590 mg
+ const float SELF_TEST_TOLERANCE = 0.3f;
+
+ };
+
+
+} // namespace boardcore
\ No newline at end of file
diff --git a/src/shared/sensors/my_LIS3DSH/my_LIS3DSHData.h b/src/shared/sensors/my_LIS3DSH/my_LIS3DSHData.h
new file mode 100644
index 000000000..c53dd56be
--- /dev/null
+++ b/src/shared/sensors/my_LIS3DSH/my_LIS3DSHData.h
@@ -0,0 +1,51 @@
+/* Copyright (c) <2023> Skyward Experimental Rocketry
+ * Author: <Valerio flamminii>
+ *
+ * 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 {
+
+ /**
+ * @brief my_LIS3DSHData is a data struct same as struct Boardcore::AccelerometerData in SensorData.h
+ */
+ struct my_LIS3DSHData : public AccelerometerData {
+
+ /**
+ * @brief constructor
+ */
+ my_LIS3DSHData() : AccelerometerData {0, 0.0, 0.0, 0.0} {}
+
+ /**
+ * @brief constructor
+ * @param acc AccelerometerData struct
+ */
+ my_LIS3DSHData(AccelerometerData acc)
+ : AccelerometerData{acc.accelerationTimestamp, acc.accelerationX,
+ acc.accelerationY, acc.accelerationZ} {}
+
+ };
+
+
+} // namespace boardcore
\ No newline at end of file
diff --git a/src/shared/sensors/my_LIS3DSH/spi-driver.cpp b/src/shared/sensors/my_LIS3DSH/spi-driver.cpp
new file mode 100644
index 000000000..0690242e1
--- /dev/null
+++ b/src/shared/sensors/my_LIS3DSH/spi-driver.cpp
@@ -0,0 +1,141 @@
+/* Copyright (c) <2023> Skyward Experimental Rocketry
+ * Author: <Valerio flamminii>
+ *
+ * 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 <miosix.h>
+#include <utils/Debug.h>
+#include "spi-driver.h"
+
+
+namespace Boardcore {
+
+
+ SpiDriver::SpiDriver() {}
+
+ void SpiDriver::config(){
+
+ // slave select pin is active low during communication
+
+ cs::mode(miosix::Mode::OUTPUT); // set the pin with a low impedance (output)
+
+ cs::high(); // pin state: HIGH
+
+ // sck, miso and mosi in ALTERNATE mode so they won't be affettected
+ // by their GPIO function and will be used just for SPI.
+ sck::mode(miosix::Mode::ALTERNATE);
+ miso::mode(miosix::Mode::ALTERNATE);
+ mosi::mode(miosix::Mode::ALTERNATE);
+
+ // setting AF5 in order to use SPI1 on portA pins.
+ sck::alternateFunction(5);
+ miso::alternateFunction(5);
+ mosi::alternateFunction(5);
+
+ //TRACE("[SpiDriver] GPIOs configured \n");
+
+ // now disable interrupts in order to prioritize the SPI communication.
+ // In a "local" scope so, at the end, the objects inside will be deallocated.
+ {
+ // now disable interrupts in order to prioritize the SPI communication.
+ miosix::FastInterruptDisableLock dLock;
+
+ // enabling SPI peripheral by setting the corresponding bit high in
+ // the "clock gating register", which is gonna start the peripheral.
+ RCC->APB2ENR |= RCC_APB2ENR_SPI1EN;
+ RCC_SYNC();
+ }
+
+ /* let's set some protocol configurations (by setting high these under-written bits):
+ - slave select pin is controlled by the firmware. (SPI_CR1_SSM)
+ - internal slave select set (SPI_CR1_SSI)
+ - myDiscovery as an SPI master device (SPI_CR1_MSTR)
+ - set clock division factor to 32 (84MHz / 32 = 2.625MHz) (SPI_CR1_BR_2)
+ - finally, enable the entire SPI peripheral (SPI_CR1_SPE)
+ */
+ SPI1->CR1 = SPI_CR1_SSM | SPI_CR1_SSI | SPI_CR1_MSTR | SPI_CR1_BR_2 | SPI_CR1_SPE;
+
+
+ //TRACE("[SpiDriver] SPI1 configured \n");
+ }
+
+
+ uint8_t SpiDriver::sendRecv(uint8_t data){
+ SPI1->DR = data; // send data on the SPI bus
+ waitBusy(); // wait till the comunication has ended
+ return SPI1->DR; // return the byte received
+ }
+
+ void SpiDriver::waitBusy() {
+
+ // wait until the RX Not Empty flag in peripheral's status
+ // register (SPI1->SR) is no longer LOW. This means that the communication is over and
+ // the data received by the slave device are available in the SP1->DR (SPI data register).
+ while((SPI1->SR & SPI_SR_RXNE) == 0) {;}
+
+ }
+
+ uint8_t SpiDriver::read(uint8_t addr) {
+
+ // to read a value in one of the slave's registers, we need to:
+ // 1 - pull-down the slave select pin (cs)
+ // 2 - send the register's address with the eigth bit HIGH (reading access)
+ // 3 - send a "jummy" value over the SPI bus just in order to receive our needed data
+ // 4 - pull-up the slave select pin (cs) to end the transaction.
+
+ cs::low();
+
+ sendRecv(addr | 0x80);
+
+ uint8_t data = sendRecv(0x00); // "jummy" value just to shift the register.
+
+ cs::high();
+
+ miosix::delayUs(10); // wait 10 micros
+
+ return data;
+ }
+
+ void SpiDriver::write(uint8_t addr, uint8_t value) {
+
+ // to write a value in one of slave's register or address, we need to:
+ // 1 - pull-down the slave select pin (cs)
+ // 2 - send the address/ or register's address that we need to write.
+ // 3 - send the data to be written.
+ // 4 - pull-up the slave select pin (cs) to end the transaction.
+
+ // active communication with the slave
+ cs::low();
+
+ // send address
+ sendRecv(addr);
+
+ // send value (data)
+ sendRecv(value);
+
+ // cs HIGH to end the transaction over SPI bus.
+ cs::high();
+
+ // wait 10 microseconds
+ miosix::delayUs(10);
+ }
+
+
+} // namespace Boardcore
\ No newline at end of file
diff --git a/src/shared/sensors/my_LIS3DSH/spi-driver.h b/src/shared/sensors/my_LIS3DSH/spi-driver.h
new file mode 100644
index 000000000..93b881716
--- /dev/null
+++ b/src/shared/sensors/my_LIS3DSH/spi-driver.h
@@ -0,0 +1,65 @@
+/* Copyright (c) <2023> Skyward Experimental Rocketry
+ * Author: <Valerio flamminii>
+ *
+ * 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 <miosix.h>
+
+
+namespace Boardcore {
+
+ // define GPIO pins 5,6,7,3 as "sck", "miso", "mosi" and "cs"
+ typedef miosix::Gpio<GPIOA_BASE, 5> sck; // serial clock line pin
+ typedef miosix::Gpio<GPIOA_BASE, 6> miso; // master input slave output pin
+ typedef miosix::Gpio<GPIOA_BASE, 7> mosi; // master output slave input pin
+ typedef miosix::Gpio<GPIOE_BASE, 3> cs; // slave-select pin
+
+ /*
+ @brief SPI driver for dev-board: STM32F407VG discovery
+ */
+ class SpiDriver {
+
+ public:
+
+ // constructor
+ SpiDriver();
+
+ // config spi-peripheral
+ void config();
+
+ // read by SPi bus
+ uint8_t read(uint8_t addr);
+
+ // write on SPI bus
+ void write(uint8_t addr, uint8_t value);
+
+
+ private:
+
+ // trade a byte on SPI bus
+ uint8_t sendRecv(uint8_t data);
+
+ // wait until SPI bus is free
+ void waitBusy();
+ };
+
+
+} // namespace boardcore
\ No newline at end of file
--
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