diff options
Diffstat (limited to 'ChibiOS_20.3.2/os/ex/devices/ST/lis302dl.h')
| -rw-r--r-- | ChibiOS_20.3.2/os/ex/devices/ST/lis302dl.h | 566 |
1 files changed, 566 insertions, 0 deletions
diff --git a/ChibiOS_20.3.2/os/ex/devices/ST/lis302dl.h b/ChibiOS_20.3.2/os/ex/devices/ST/lis302dl.h new file mode 100644 index 0000000..3c662f4 --- /dev/null +++ b/ChibiOS_20.3.2/os/ex/devices/ST/lis302dl.h @@ -0,0 +1,566 @@ +/*
+ ChibiOS - Copyright (C) 2016..2019 Rocco Marco Guglielmi
+
+ This file is part of ChibiOS.
+
+ ChibiOS is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
+/**
+ * @file lis302dl.h
+ * @brief LIS302DL MEMS interface module header.
+ *
+ * @addtogroup LIS302DL
+ * @ingroup EX_ST
+ * @{
+ */
+
+#ifndef _LIS302DL_H_
+#define _LIS302DL_H_
+
+#include "ex_accelerometer.h"
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+/**
+ * @name Version identification
+ * @{
+ */
+/**
+ * @brief LIS302DL driver version string.
+ */
+#define EX_LIS302DL_VERSION "1.1.1"
+
+/**
+ * @brief LIS302DL driver version major number.
+ */
+#define EX_LIS302DL_MAJOR 1
+
+/**
+ * @brief LIS302DL driver version minor number.
+ */
+#define EX_LIS302DL_MINOR 1
+
+/**
+ * @brief LIS302DL driver version patch number.
+ */
+#define EX_LIS302DL_PATCH 1
+/** @} */
+
+/**
+ * @brief LIS302DL accelerometer subsystem characteristics.
+ * @note Sensitivity is expressed as milli-G/LSB whereas
+ * 1 milli-G = 0.00980665 m/s^2.
+ * @note Bias is expressed as milli-G.
+ *
+ * @{
+ */
+#define LIS302DL_ACC_NUMBER_OF_AXES 3U
+
+#define LIS302DL_ACC_2G 2.0f
+#define LIS302DL_ACC_8G 8.0f
+
+#define LIS302DL_ACC_SENS_2G 18.0f
+#define LIS302DL_ACC_SENS_8G 72.0f
+
+#define LIS302DL_ACC_BIAS 0.0f
+/** @} */
+
+/**
+ * @name LIS302DL communication interfaces related bit masks
+ * @{
+ */
+#define LIS302DL_DI_MASK 0xFF
+#define LIS302DL_DI(n) (1 << n)
+#define LIS302DL_AD_MASK 0x3F
+#define LIS302DL_AD(n) (1 << n)
+#define LIS302DL_MS (1 << 6)
+#define LIS302DL_RW (1 << 7)
+/** @} */
+
+/**
+ * @name LIS302DL register addresses
+ * @{
+ */
+#define LIS302DL_AD_WHO_AM_I 0x0F
+#define LIS302DL_AD_CTRL_REG1 0x20
+#define LIS302DL_AD_CTRL_REG2 0x21
+#define LIS302DL_AD_CTRL_REG3 0x22
+#define LIS302DL_AD_HP_FILER_RESET 0x23
+#define LIS302DL_AD_STATUS_REG 0x27
+#define LIS302DL_AD_OUT_X 0x29
+#define LIS302DL_AD_OUT_Y 0x2B
+#define LIS302DL_AD_OUT_Z 0x2D
+#define LIS302DL_AD_FF_WU_CFG_1 0x30
+#define LIS302DL_AD_FF_WU_SRC_1 0x31
+#define LIS302DL_AD_FF_WU_THS_1 0x32
+#define LIS302DL_AD_FF_WU_DURATION_1 0x33
+#define LIS302DL_AD_FF_WU_CFG_2 0x34
+#define LIS302DL_AD_FF_WU_SRC_2 0x35
+#define LIS302DL_AD_FF_WU_THS_2 0x36
+#define LIS302DL_AD_FF_WU_DURATION_2 0x37
+#define LIS302DL_AD_CLICK_CFG 0x38
+#define LIS302DL_AD_CLICK_SRC 0x39
+#define LIS302DL_AD_CLICK_THSY_X 0x3B
+#define LIS302DL_AD_CLICK_THSZ 0x3C
+#define LIS302DL_AD_CLICK_TIME_LIMIT 0x3D
+#define LIS302DL_AD_CLICK_LATENCY 0x3E
+#define LIS302DL_AD_CLICK_WINDOW 0x3F
+/** @} */
+
+/**
+ * @name LIS302DL_CTRL_REG1 register bits definitions
+ * @{
+ */
+#define LIS302DL_CTRL_REG1_MASK 0xFF
+#define LIS302DL_CTRL_REG1_XEN (1 << 0)
+#define LIS302DL_CTRL_REG1_YEN (1 << 1)
+#define LIS302DL_CTRL_REG1_ZEN (1 << 2)
+#define LIS302DL_CTRL_REG1_STM (1 << 3)
+#define LIS302DL_CTRL_REG1_STP (1 << 4)
+#define LIS302DL_CTRL_REG1_FS_MASK 0x20
+#define LIS302DL_CTRL_REG1_FS (1 << 5)
+#define LIS302DL_CTRL_REG1_PD (1 << 6)
+#define LIS302DL_CTRL_REG1_DR (1 << 7)
+/** @} */
+
+/**
+ * @name LIS302DL_CTRL_REG2 register bits definitions
+ * @{
+ */
+#define LIS302DL_CTRL_REG2_MASK 0xDF
+#define LIS302DL_CTRL_REG2_HPCF1 (1 << 0)
+#define LIS302DL_CTRL_REG2_HPCF2 (1 << 1)
+#define LIS302DL_CTRL_REG2_HPFFWU1 (1 << 2)
+#define LIS302DL_CTRL_REG2_HPFFWU2 (1 << 3)
+#define LIS302DL_CTRL_REG2_FDS (1 << 4)
+#define LIS302DL_CTRL_REG2_BOOT (1 << 6)
+#define LIS302DL_CTRL_REG2_SIM (1 << 7)
+/** @} */
+
+/**
+ * @name LIS302DL_CTRL_REG3 register bits definitions
+ * @{
+ */
+#define LIS302DL_CTRL_REG3_MASK 0xFF
+#define LIS302DL_CTRL_REG3_I1CFG0 (1 << 0)
+#define LIS302DL_CTRL_REG3_I1CFG1 (1 << 1)
+#define LIS302DL_CTRL_REG3_I1CFG2 (1 << 2)
+#define LIS302DL_CTRL_REG3_I2CFG0 (1 << 3)
+#define LIS302DL_CTRL_REG3_I2CFG1 (1 << 4)
+#define LIS302DL_CTRL_REG3_I2CFG2 (1 << 5)
+#define LIS302DL_CTRL_REG3_PP_OD (1 << 6)
+#define LIS302DL_CTRL_REG3_IHL (1 << 7)
+/** @} */
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+/**
+ * @name Configuration options
+ * @{
+ */
+/**
+ * @brief LIS302DL SPI interface switch.
+ * @details If set to @p TRUE the support for SPI is included.
+ * @note The default is @p TRUE.
+ */
+#if !defined(LIS302DL_USE_SPI) || defined(__DOXYGEN__)
+#define LIS302DL_USE_SPI TRUE
+#endif
+
+/**
+ * @brief LIS302DL shared SPI switch.
+ * @details If set to @p TRUE the device acquires SPI bus ownership
+ * on each transaction.
+ * @note The default is @p FALSE. Requires SPI_USE_MUTUAL_EXCLUSION.
+ */
+#if !defined(LIS302DL_SHARED_SPI) || defined(__DOXYGEN__)
+#define LIS302DL_SHARED_SPI FALSE
+#endif
+
+/**
+ * @brief LIS302DL I2C interface switch.
+ * @details If set to @p TRUE the support for I2C is included.
+ * @note The default is @p FALSE.
+ */
+#if !defined(LIS302DL_USE_I2C) || defined(__DOXYGEN__)
+#define LIS302DL_USE_I2C FALSE
+#endif
+
+/**
+ * @brief LIS302DL shared I2C switch.
+ * @details If set to @p TRUE the device acquires I2C bus ownership
+ * on each transaction.
+ * @note The default is @p FALSE. Requires I2C_USE_MUTUAL_EXCLUSION.
+ */
+#if !defined(LIS302DL_SHARED_I2C) || defined(__DOXYGEN__)
+#define LIS302DL_SHARED_I2C FALSE
+#endif
+
+/**
+ * @brief LIS302DL advanced configurations switch.
+ * @details If set to @p TRUE more configurations are available.
+ * @note The default is @p FALSE.
+ */
+#if !defined(LIS302DL_USE_ADVANCED) || defined(__DOXYGEN__)
+#define LIS302DL_USE_ADVANCED FALSE
+#endif
+/** @} */
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+#if !(LIS302DL_USE_SPI ^ LIS302DL_USE_I2C)
+#error "LIS302DL_USE_SPI and LIS302DL_USE_I2C cannot be both true or both false"
+#endif
+
+#if LIS302DL_USE_SPI && !HAL_USE_SPI
+#error "LIS302DL_USE_SPI requires HAL_USE_SPI"
+#endif
+
+#if LIS302DL_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION
+#error "LIS302DL_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION"
+#endif
+
+#if LIS302DL_USE_I2C && !HAL_USE_I2C
+#error "LIS302DL_USE_I2C requires HAL_USE_I2C"
+#endif
+
+#if LIS302DL_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION
+#error "LIS302DL_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION"
+#endif
+
+/*
+ * CHTODO: Add support for LIS302DL over I2C.
+ */
+#if LIS302DL_USE_I2C
+#error "LIS302DL over I2C still not supported"
+#endif
+
+/*===========================================================================*/
+/* Driver data structures and types. */
+/*===========================================================================*/
+
+/**
+ * @name LIS302DL data structures and types
+ * @{
+ */
+/**
+ * @brief Structure representing a LIS302DL driver.
+ */
+typedef struct LIS302DLDriver LIS302DLDriver;
+
+/**
+ * @brief LIS302DL full scale.
+ */
+typedef enum {
+ LIS302DL_ACC_FS_2G = 0x00, /**< Full scale �2g. */
+ LIS302DL_ACC_FS_8G = 0x20 /**< Full scale �8g. */
+}lis302dl_acc_fs_t;
+
+/**
+ * @brief LIS302DL output data rate and bandwidth.
+ */
+typedef enum {
+ LIS302DL_ACC_ODR_100HZ = 0x00, /**< ODR 100 Hz. */
+ LIS302DL_ACC_ODR_400HZ = 0x80 /**< ODR 400 Hz. */
+}lis302dl_acc_odr_t;
+
+/**
+ * @brief LIS302DL high pass filtering.
+ */
+typedef enum {
+ LIS302DL_ACC_HP_DISABLED = 0x00, /**< HP bypassed. */
+ LIS302DL_ACC_HP_0 = 0x10, /**< HP cutoff 2Hz (ODR 100Hz) or 8Hz */
+ LIS302DL_ACC_HP_1 = 0x11, /**< HP cutoff 1Hz or 4Hz */
+ LIS302DL_ACC_HP_2 = 0x12, /**< HP cutoff 0.5Hz or 2Hz */
+ LIS302DL_ACC_HP_3 = 0x13 /**< HP cutoff 0.25Hz or 1Hz */
+}lis302dl_acc_hp_t;
+
+/**
+ * @brief Driver state machine possible states.
+ */
+typedef enum {
+ LIS302DL_UNINIT = 0, /**< Not initialized. */
+ LIS302DL_STOP = 1, /**< Stopped. */
+ LIS302DL_READY = 2, /**< Ready. */
+} lis302dl_state_t;
+
+/**
+ * @brief LIS302DL configuration structure.
+ */
+typedef struct {
+
+#if (LIS302DL_USE_SPI) || defined(__DOXYGEN__)
+ /**
+ * @brief SPI driver associated to this LIS302DL.
+ */
+ SPIDriver *spip;
+ /**
+ * @brief SPI configuration associated to this LIS302DL.
+ */
+ const SPIConfig *spicfg;
+#endif /* LIS302DL_USE_SPI */
+#if (LIS302DL_USE_I2C) || defined(__DOXYGEN__)
+ /**
+ * @brief I2C driver associated to this LIS302DL.
+ */
+ I2CDriver *i2cp;
+ /**
+ * @brief I2C configuration associated to this LIS302DL.
+ */
+ const I2CConfig *i2ccfg;
+#endif /* LIS302DL_USE_I2C */
+ /**
+ * @brief LIS302DL accelerometer subsystem initial sensitivity.
+ */
+ float *accsensitivity;
+ /**
+ * @brief LIS302DL accelerometer subsystem initial bias.
+ */
+ float *accbias;
+ /**
+ * @brief LIS302DL accelerometer subsystem initial full scale.
+ */
+ lis302dl_acc_fs_t accfullscale;
+ /**
+ * @brief LIS302DL output data rate selection.
+ */
+ lis302dl_acc_odr_t accoutputdatarate;
+#if LIS302DL_USE_ADVANCED || defined(__DOXYGEN__)
+ /**
+ * @brief LIS302DL high pass filtering.
+ */
+ lis302dl_acc_hp_t acchighpass;
+#endif
+} LIS302DLConfig;
+
+/**
+ * @brief @p LIS302DL specific methods.
+ */
+#define _lis302dl_methods_alone \
+ /* Change full scale value of LIS302DL .*/ \
+ msg_t (*set_full_scale)(LIS302DLDriver *devp, lis302dl_acc_fs_t fs);
+
+
+/**
+ * @brief @p LIS302DL specific methods with inherited ones.
+ */
+#define _lis302dl_methods \
+ _base_object_methods \
+ _lis302dl_methods_alone
+
+/**
+ * @extends BaseObjectVMT
+ *
+ * @brief @p LIS302DL accelerometer virtual methods table.
+ */
+struct LIS302DLVMT {
+ _lis302dl_methods
+};
+
+/**
+ * @brief @p LIS302DLDriver specific data.
+ */
+#define _lis302dl_data \
+ /* Driver state.*/ \
+ lis302dl_state_t state; \
+ /* Current configuration data.*/ \
+ const LIS302DLConfig *config; \
+ /* Accelerometer subsystem axes number.*/ \
+ size_t accaxes; \
+ /* Current sensitivity.*/ \
+ float accsensitivity[LIS302DL_ACC_NUMBER_OF_AXES]; \
+ /* Bias data.*/ \
+ int32_t accbias[LIS302DL_ACC_NUMBER_OF_AXES]; \
+ /* Current full scale value.*/ \
+ float accfullscale;
+
+/**
+ * @brief LIS302DL 3-axis accelerometer class.
+ */
+struct LIS302DLDriver {
+ /** @brief Virtual Methods Table.*/
+ const struct LIS302DLVMT *vmt;
+ /** @brief Base accelerometer interface.*/
+ BaseAccelerometer acc_if;
+ _lis302dl_data
+};
+/** @} */
+
+/*===========================================================================*/
+/* Driver macros. */
+/*===========================================================================*/
+
+/**
+ * @brief Return the number of axes of the BaseAccelerometer.
+ *
+ * @param[in] devp pointer to @p LIS302DLDriver.
+ *
+ * @return the number of axes.
+ *
+ * @api
+ */
+#define lis302dlAccelerometerGetAxesNumber(devp) \
+ accelerometerGetAxesNumber(&((devp)->acc_if))
+
+/**
+ * @brief Retrieves raw data from the BaseAccelerometer.
+ * @note This data is retrieved from MEMS register without any algebraical
+ * manipulation.
+ * @note The axes array must be at least the same size of the
+ * BaseAccelerometer axes number.
+ *
+ * @param[in] devp pointer to @p LIS302DLDriver.
+ * @param[out] axes a buffer which would be filled with raw data.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET if one or more I2C errors occurred, the errors can
+ * be retrieved using @p i2cGetErrors().
+ * @retval MSG_TIMEOUT if a timeout occurred before operation end.
+ *
+ * @api
+ */
+#define lis302dlAccelerometerReadRaw(devp, axes) \
+ accelerometerReadRaw(&((devp)->acc_if), axes)
+
+/**
+ * @brief Retrieves cooked data from the BaseAccelerometer.
+ * @note This data is manipulated according to the formula
+ * cooked = (raw * sensitivity) - bias.
+ * @note Final data is expressed as milli-G.
+ * @note The axes array must be at least the same size of the
+ * BaseAccelerometer axes number.
+ *
+ * @param[in] devp pointer to @p LIS302DLDriver.
+ * @param[out] axes a buffer which would be filled with cooked data.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET if one or more I2C errors occurred, the errors can
+ * be retrieved using @p i2cGetErrors().
+ * @retval MSG_TIMEOUT if a timeout occurred before operation end.
+ *
+ * @api
+ */
+#define lis302dlAccelerometerReadCooked(devp, axes) \
+ accelerometerReadCooked(&((devp)->acc_if), axes)
+
+/**
+ * @brief Set bias values for the BaseAccelerometer.
+ * @note Bias must be expressed as milli-G.
+ * @note The bias buffer must be at least the same size of the
+ * BaseAccelerometer axes number.
+ *
+ * @param[in] devp pointer to @p LIS302DLDriver.
+ * @param[in] bp a buffer which contains biases.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ *
+ * @api
+ */
+#define lis302dlAccelerometerSetBias(devp, bp) \
+ accelerometerSetBias(&((devp)->acc_if), bp)
+
+/**
+ * @brief Reset bias values for the BaseAccelerometer.
+ * @note Default biases value are obtained from device datasheet when
+ * available otherwise they are considered zero.
+ *
+ * @param[in] devp pointer to @p LIS302DLDriver.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ *
+ * @api
+ */
+#define lis302dlAccelerometerResetBias(devp) \
+ accelerometerResetBias(&((devp)->acc_if))
+
+/**
+ * @brief Set sensitivity values for the BaseAccelerometer.
+ * @note Sensitivity must be expressed as milli-G/LSB.
+ * @note The sensitivity buffer must be at least the same size of the
+ * BaseAccelerometer axes number.
+ *
+ * @param[in] devp pointer to @p LIS302DLDriver.
+ * @param[in] sp a buffer which contains sensitivities.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ *
+ * @api
+ */
+#define lis302dlAccelerometerSetSensitivity(devp, sp) \
+ accelerometerSetSensitivity(&((devp)->acc_if), sp)
+
+/**
+ * @brief Reset sensitivity values for the BaseAccelerometer.
+ * @note Default sensitivities value are obtained from device datasheet.
+ *
+ * @param[in] devp pointer to @p LIS302DLDriver.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET otherwise.
+ *
+ * @api
+ */
+#define lis302dlAccelerometerResetSensitivity(devp) \
+ accelerometerResetSensitivity(&((devp)->acc_if))
+
+/**
+ * @brief Changes the LIS302DLDriver accelerometer fullscale value.
+ * @note This function also rescale sensitivities and biases based on
+ * previous and next fullscale value.
+ * @note A recalibration is highly suggested after calling this function.
+ *
+ * @param[in] devp pointer to @p LIS302DLDriver.
+ * @param[in] fs new fullscale value.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET otherwise.
+ *
+ * @api
+ */
+#define lis302dlAccelerometerSetFullScale(devp, fs) \
+ (devp)->vmt->acc_set_full_scale(devp, fs)
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void lis302dlObjectInit(LIS302DLDriver *devp);
+ void lis302dlStart(LIS302DLDriver *devp, const LIS302DLConfig *config);
+ void lis302dlStop(LIS302DLDriver *devp);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _LIS302DL_H_ */
+
+/** @} */
+
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