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Added check and assertions in L3GD20 methods, minor indent fixes 

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9040 35acf78f-673a-0410-8e92-d51de3d6d3f4
master
Rocco Marco Guglielmi 2016-03-06 15:26:45 +00:00
parent f5dc8303ad
commit eda15708d2
1 changed files with 41 additions and 14 deletions
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55
os/ex/gyroscope/ST/l3gd20.c
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@ -186,12 +186,17 @@ static void l3gd20SPIWriteRegister(SPIDriver *spip, uint8_t reg,
static size_t get_axes_number(void *ip) { static size_t get_axes_number(void *ip) {
(void) ip; osalDbgCheck(ip != NULL);
return L3GD20_NUMBER_OF_AXES; return L3GD20_NUMBER_OF_AXES;
} }
static msg_t read_raw(void *ip, int32_t axes[L3GD20_NUMBER_OF_AXES]) { static msg_t read_raw(void *ip, int32_t axes[L3GD20_NUMBER_OF_AXES]) {
osalDbgCheck((ip != NULL) && (axes != NULL));
osalDbgAssert((((L3GD20Driver *)ip)->state == L3GD20_READY),
"read_raw(), invalid state");
#if L3GD20_USE_SPI #if L3GD20_USE_SPI
osalDbgAssert((((L3GD20Driver *)ip)->config->spip->state == SPI_READY), osalDbgAssert((((L3GD20Driver *)ip)->config->spip->state == SPI_READY),
"read_raw(), channel not ready"); "read_raw(), channel not ready");
@ -228,7 +233,14 @@ static msg_t read_raw(void *ip, int32_t axes[L3GD20_NUMBER_OF_AXES]) {
static msg_t read_cooked(void *ip, float axes[]) { static msg_t read_cooked(void *ip, float axes[]) {
uint32_t i; uint32_t i;
int32_t raw[L3GD20_NUMBER_OF_AXES]; int32_t raw[L3GD20_NUMBER_OF_AXES];
msg_t msg = read_raw(ip, raw); msg_t msg;
osalDbgCheck((ip != NULL) && (axes != NULL));
osalDbgAssert((((L3GD20Driver *)ip)->state == L3GD20_READY),
"read_cooked(), invalid state");
msg = read_raw(ip, raw);
for(i = 0; i < L3GD20_NUMBER_OF_AXES ; i++){ for(i = 0; i < L3GD20_NUMBER_OF_AXES ; i++){
axes[i] = raw[i] * ((L3GD20Driver *)ip)->sensitivity; axes[i] = raw[i] * ((L3GD20Driver *)ip)->sensitivity;
} }
@ -237,6 +249,13 @@ static msg_t read_cooked(void *ip, float axes[]) {
static msg_t reset_calibration(void *ip) { static msg_t reset_calibration(void *ip) {
uint32_t i; uint32_t i;
osalDbgCheck(ip != NULL);
osalDbgAssert((((L3GD20Driver *)ip)->state == L3GD20_READY) ||
(((L3GD20Driver *)ip)->state == L3GD20_STOP),
"reset_calibration(), invalid state");
for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++) for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
((L3GD20Driver *)ip)->bias[i] = 0; ((L3GD20Driver *)ip)->bias[i] = 0;
return MSG_OK; return MSG_OK;
@ -244,20 +263,25 @@ static msg_t reset_calibration(void *ip) {
static msg_t calibrate(void *ip) { static msg_t calibrate(void *ip) {
uint32_t i, j; uint32_t i, j;
int32_t raw[L3GD20_NUMBER_OF_AXES]; int32_t raw[L3GD20_NUMBER_OF_AXES];
int32_t buff[L3GD20_NUMBER_OF_AXES] = {0, 0, 0}; int32_t buff[L3GD20_NUMBER_OF_AXES] = {0, 0, 0};
for(i = 0; i < L3GD20_BIAS_ACQ_TIMES; i++){ osalDbgCheck(ip != NULL);
read_raw(ip, raw);
for(j = 0; j < L3GD20_NUMBER_OF_AXES; j++){
buff[j] += raw[j];
}
osalThreadSleepMicroseconds(L3GD20_BIAS_SETTLING_uS);
}
for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++){ osalDbgAssert((((L3GD20Driver *)ip)->state == L3GD20_READY),
((L3GD20Driver *)ip)->bias[i] = buff[i] / L3GD20_BIAS_ACQ_TIMES; "calibrate(), invalid state");
for(i = 0; i < L3GD20_BIAS_ACQ_TIMES; i++){
read_raw(ip, raw);
for(j = 0; j < L3GD20_NUMBER_OF_AXES; j++){
buff[j] += raw[j];
} }
osalThreadSleepMicroseconds(L3GD20_BIAS_SETTLING_uS);
}
for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++){
((L3GD20Driver *)ip)->bias[i] = buff[i] / L3GD20_BIAS_ACQ_TIMES;
}
return MSG_OK; return MSG_OK;
} }
@ -278,6 +302,7 @@ static const struct L3GD20VMT vmt = {
*/ */
void l3gd20ObjectInit(L3GD20Driver *devp) { void l3gd20ObjectInit(L3GD20Driver *devp) {
uint32_t i; uint32_t i;
devp->vmt = &vmt; devp->vmt = &vmt;
devp->state = L3GD20_STOP; devp->state = L3GD20_STOP;
devp->config = NULL; devp->config = NULL;
@ -296,6 +321,7 @@ void l3gd20ObjectInit(L3GD20Driver *devp) {
void l3gd20Start(L3GD20Driver *devp, const L3GD20Config *config) { void l3gd20Start(L3GD20Driver *devp, const L3GD20Config *config) {
osalDbgCheck((devp != NULL) && (config != NULL)); osalDbgCheck((devp != NULL) && (config != NULL));
osalDbgAssert((devp->state == L3GD20_STOP) || (devp->state == L3GD20_READY), osalDbgAssert((devp->state == L3GD20_STOP) || (devp->state == L3GD20_READY),
"l3gd20Start(), invalid state"); "l3gd20Start(), invalid state");
@ -343,7 +369,8 @@ void l3gd20Stop(L3GD20Driver *devp) {
osalDbgCheck(devp != NULL); osalDbgCheck(devp != NULL);
osalDbgAssert((devp->state == L3GD20_STOP) || (devp->state == L3GD20_READY), osalDbgAssert((devp->state == L3GD20_STOP) || (devp->state == L3GD20_READY),
"l3gd20Stop(), invalid state"); "l3gd20Stop(), invalid state");
#if (L3GD20_USE_SPI) #if (L3GD20_USE_SPI)
if (devp->state == L3GD20_STOP) { if (devp->state == L3GD20_STOP) {
spiAcquireBus((devp)->config->spip); spiAcquireBus((devp)->config->spip);