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Posted to commits@mynewt.apache.org by GitBox <gi...@apache.org> on 2018/12/13 11:43:00 UTC
[GitHub] kasjer closed pull request #1183: lis2dw12: fix self test to match
an5038 rev2
kasjer closed pull request #1183: lis2dw12: fix self test to match an5038 rev2
URL: https://github.com/apache/mynewt-core/pull/1183
This is a PR merged from a forked repository.
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diff --git a/hw/drivers/sensors/lis2dw12/src/lis2dw12.c b/hw/drivers/sensors/lis2dw12/src/lis2dw12.c
index ac1cca650f..afaba5932a 100644
--- a/hw/drivers/sensors/lis2dw12/src/lis2dw12.c
+++ b/hw/drivers/sensors/lis2dw12/src/lis2dw12.c
@@ -38,6 +38,8 @@
*/
#define LIS2DW12_MAX_INT_WAIT (4 * OS_TICKS_PER_SEC)
+#define LIS2DW12_ST_NUM_READINGS 5
+
const struct lis2dw12_notif_cfg dflt_notif_cfg[] = {
{ SENSOR_EVENT_TYPE_SINGLE_TAP, 0, LIS2DW12_INT1_CFG_SINGLE_TAP },
{ SENSOR_EVENT_TYPE_DOUBLE_TAP, 0, LIS2DW12_INT1_CFG_DOUBLE_TAP },
@@ -1920,52 +1922,115 @@ int lis2dw12_get_int1_on_int2_map(struct sensor_itf *itf, uint8_t *val)
int lis2dw12_run_self_test(struct sensor_itf *itf, int *result)
{
int rc;
- /*configure min and max values for reading 5 samples, and accounting for
- * both negative and positive offset */
- int min = LIS2DW12_ST_MIN*5*2;
- int max = LIS2DW12_ST_MAX*5*2;
-
- int16_t data[3], diff[3] = {0,0,0};
+ int16_t no_st[3], st[3], data[3] = {0,0,0};
+ int32_t scratch[3] = {0,0,0};
int i;
uint8_t prev_config[6];
- /* set config per datasheet, with positive self test mode enabled. */
- uint8_t st_config[] = {0x44, 0x04, 0x40, 0x00, 0x00, 0x10};
+ *result = 0;
+ uint8_t config[6] = { LIS2DW12_DATA_RATE_50HZ | LIS2DW12_PM_HIGH_PERF, LIS2DW12_CTRL_REG2_IF_ADD_INC | LIS2DW12_CTRL_REG2_BDU, 0x00, 0x00, 0x00, LIS2DW12_FS_4G};
+ uint8_t fs;
rc = lis2dw12_readlen(itf, LIS2DW12_REG_CTRL_REG1, prev_config, 6);
if (rc) {
return rc;
}
- rc = lis2dw12_writelen(itf, LIS2DW12_REG_CTRL_REG2, &st_config[1], 5);
- rc = lis2dw12_writelen(itf, LIS2DW12_REG_CTRL_REG1, st_config, 1);
+
+ rc = lis2dw12_writelen(itf, LIS2DW12_REG_CTRL_REG2, &config[1], 5);
+ if (rc) {
+ return rc;
+ }
+
+ rc = lis2dw12_write8(itf, LIS2DW12_REG_CTRL_REG1, config[0]);
+ if (rc) {
+ return rc;
+ }
+
+ /* wait 200ms */
+ os_time_delay(OS_TICKS_PER_SEC / 5 + 1);
+
+ rc = lis2dw12_get_fs(itf, &fs);
if (rc) {
return rc;
}
+ //discard
+ //TODO poll DRDY in STATUS (27h) instead?
+ rc = lis2dw12_get_data(itf, fs, &(data[0]), &(data[1]), &(data[2]));
+ if (rc) {
+ return rc;
+ }
+
+ /* take no st offset reading */
+ for(i=0; i<LIS2DW12_ST_NUM_READINGS; i++) {
+
+ // TODO poll DRDY in STATUS (27h) instead?
+ /* wait at least 20 ms */
+ os_time_delay(OS_TICKS_PER_SEC / 50 + 1);
+
+ rc = lis2dw12_get_data(itf, fs, &(data[0]), &(data[1]), &(data[2]));
+ if (rc) {
+ return rc;
+ }
+ scratch[0] += data[0];
+ scratch[1] += data[1];
+ scratch[2] += data[2];
+ }
+
+ //average
+ no_st[0] = scratch[0]/LIS2DW12_ST_NUM_READINGS;
+ no_st[1] = scratch[1]/LIS2DW12_ST_NUM_READINGS;
+ no_st[2] = scratch[2]/LIS2DW12_ST_NUM_READINGS;
+
+ //clean scratch
+ memset(&scratch, 0, sizeof scratch);
+
/* go into self test mode 1 */
rc = lis2dw12_set_self_test(itf, LIS2DW12_ST_MODE_MODE1);
if (rc) {
return rc;
}
- /* wait 100ms */
- os_time_delay(OS_TICKS_PER_SEC / 100);
- rc = lis2dw12_get_data(itf, 2, &(data[0]), &(data[1]), &(data[2]));
+ /* wait 200ms */
+ os_time_delay(OS_TICKS_PER_SEC / 5 + 1);
+
+ //discard
+ //TODO poll DRDY in STATUS (27h) instead?
+ rc = lis2dw12_get_data(itf, fs, &(data[0]), &(data[1]), &(data[2]));
if (rc) {
return rc;
}
/* take positive offset reading */
- for(i=0; i<5; i++) {
+ for(i=0; i<LIS2DW12_ST_NUM_READINGS; i++) {
- rc = lis2dw12_get_data(itf, 2, &(data[0]), &(data[1]), &(data[2]));
+ // TODO poll DRDY in STATUS (27h) instead?
+ /* wait at least 20 ms */
+ os_time_delay(OS_TICKS_PER_SEC / 50 + 1);
+
+ rc = lis2dw12_get_data(itf, fs, &(data[0]), &(data[1]), &(data[2]));
if (rc) {
return rc;
}
- diff[0] += data[0];
- diff[1] += data[1];
- diff[2] += data[2];
- /* wait at least 20 ms */
- os_time_delay(OS_TICKS_PER_SEC / 50 + 1);
+ scratch[0] += data[0];
+ scratch[1] += data[1];
+ scratch[2] += data[2];
+ }
+
+ //average
+ st[0] = scratch[0]/LIS2DW12_ST_NUM_READINGS;
+ st[1] = scratch[1]/LIS2DW12_ST_NUM_READINGS;
+ st[2] = scratch[2]/LIS2DW12_ST_NUM_READINGS;
+
+ //clean scratch
+ memset(&scratch, 0, sizeof scratch);
+
+ // |Min(ST_X)| <=|OUTX_AVG_ST - OUTX_AVG_NO_ST| <= |Max(ST_X)|
+ /* compare values to thresholds */
+ for (i = 0; i < 3; i++) {
+ int16_t diff = abs(st[i] - no_st[i]);
+ if (diff < LIS2DW12_ST_MIN || diff > LIS2DW12_ST_MAX) {
+ *result -= 1;
+ }
}
/* go into self test mode 2 */
@@ -1974,44 +2039,56 @@ int lis2dw12_run_self_test(struct sensor_itf *itf, int *result)
return rc;
}
- os_time_delay(OS_TICKS_PER_SEC / 50 + 1);
- rc = lis2dw12_get_data(itf, 2, &(data[0]), &(data[1]), &(data[2]));
+ /* wait 200ms */
+ os_time_delay(OS_TICKS_PER_SEC / 5 + 1);
+
+ //discard
+ rc = lis2dw12_get_data(itf, fs, &(data[0]), &(data[1]), &(data[2]));
if (rc) {
return rc;
}
/* take negative offset reading */
- for (i=0; i<5; i++) {
+ for(i=0; i<LIS2DW12_ST_NUM_READINGS; i++) {
- rc = lis2dw12_get_data(itf, 2, &(data[0]), &(data[1]), &(data[2]));
- if (rc) {
- return rc;
- }
- diff[0] -= data[0];
- diff[1] -= data[1];
- diff[2] -= data[2];
- /* wait at least 20 ms */
- os_time_delay(OS_TICKS_PER_SEC / 50 + 1);
- }
+ // TODO poll DRDY in STATUS (27h) instead?
+ /* wait at least 20 ms */
+ os_time_delay(OS_TICKS_PER_SEC / 50 + 1);
- /* disable self test mod */
- rc = lis2dw12_writelen(itf, LIS2DW12_REG_CTRL_REG1, prev_config, 6);
+ rc = lis2dw12_get_data(itf, fs, &(data[0]), &(data[1]), &(data[2]));
if (rc) {
return rc;
}
+ scratch[0] += data[0];
+ scratch[1] += data[1];
+ scratch[2] += data[2];
+ }
+
+ //average
+ st[0] = scratch[0]/LIS2DW12_ST_NUM_READINGS;
+ st[1] = scratch[1]/LIS2DW12_ST_NUM_READINGS;
+ st[2] = scratch[2]/LIS2DW12_ST_NUM_READINGS;
/* compare values to thresholds */
- *result = 0;
for (i = 0; i < 3; i++) {
- if ((diff[i] < min) || (diff[i] > max)) {
+ int16_t diff = abs(st[i] - no_st[i]);
+ if (diff < LIS2DW12_ST_MIN || diff > LIS2DW12_ST_MAX) {
*result -= 1;
}
}
+ /* disable self test mode */
+ rc = lis2dw12_writelen(itf, LIS2DW12_REG_CTRL_REG1, prev_config, 6);
+ if (rc) {
+ return rc;
+ }
+
+ /* wait 200ms */
+ os_time_delay(OS_TICKS_PER_SEC / 5 + 1);
+
return 0;
}
-
static void
init_interrupt(struct lis2dw12_int *interrupt, struct sensor_int *ints)
{
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