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Diffstat (limited to 'ChibiOS_20.3.2/os/ex/devices/ST/lsm303dlhc.h')
| -rw-r--r-- | ChibiOS_20.3.2/os/ex/devices/ST/lsm303dlhc.h | 955 |
1 files changed, 955 insertions, 0 deletions
diff --git a/ChibiOS_20.3.2/os/ex/devices/ST/lsm303dlhc.h b/ChibiOS_20.3.2/os/ex/devices/ST/lsm303dlhc.h new file mode 100644 index 0000000..98bc43a --- /dev/null +++ b/ChibiOS_20.3.2/os/ex/devices/ST/lsm303dlhc.h @@ -0,0 +1,955 @@ +/*
+ 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 lsm303dlhc.h
+ * @brief LSM303DLHC MEMS interface module header.
+ *
+ * @addtogroup LSM303DLHC
+ * @ingroup EX_ST
+ * @{
+ */
+#ifndef _LSM303DLHC_H_
+#define _LSM303DLHC_H_
+
+#include "ex_accelerometer.h"
+#include "ex_compass.h"
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+/**
+ * @name Version identification
+ * @{
+ */
+/**
+ * @brief LSM303DLHC driver version string.
+ */
+#define EX_LSM303DLHC_VERSION "1.1.2"
+
+/**
+ * @brief LSM303DLHC driver version major number.
+ */
+#define EX_LSM303DLHC_MAJOR 1
+
+/**
+ * @brief LSM303DLHC driver version minor number.
+ */
+#define EX_LSM303DLHC_MINOR 1
+
+/**
+ * @brief LSM303DLHC driver version patch number.
+ */
+#define EX_LSM303DLHC_PATCH 2
+/** @} */
+
+/**
+ * @brief LSM303DLHC 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 LSM303DLHC_ACC_NUMBER_OF_AXES 3U
+
+#define LSM303DLHC_ACC_2G 2.0f
+#define LSM303DLHC_ACC_4G 4.0f
+#define LSM303DLHC_ACC_8G 8.0f
+#define LSM303DLHC_ACC_16G 16.0f
+
+#define LSM303DLHC_ACC_SENS_2G 0.0610f
+#define LSM303DLHC_ACC_SENS_4G 0.1221f
+#define LSM303DLHC_ACC_SENS_8G 0.2442f
+#define LSM303DLHC_ACC_SENS_16G 0.4884f
+
+#define LSM303DLHC_ACC_BIAS 0.0f
+/** @} */
+
+/**
+ * @brief LSM303DLHC compass subsystem characteristics.
+ * @note Sensitivity is expressed as G/LSB whereas G stands for Gauss.
+ * @note Bias is expressed as G.
+ *
+ * @{
+ */
+#define LSM303DLHC_COMP_NUMBER_OF_AXES 3U
+
+#define LSM303DLHC_COMP_1P3GA 1.3f
+#define LSM303DLHC_COMP_1P9GA 1.9f
+#define LSM303DLHC_COMP_2P5GA 2.5f
+#define LSM303DLHC_COMP_4P0GA 4.0f
+#define LSM303DLHC_COMP_4P7GA 4.7f
+#define LSM303DLHC_COMP_5P6GA 5.6f
+#define LSM303DLHC_COMP_8P1GA 8.1f
+
+#define LSM303DLHC_COMP_SENS_XY_1P3GA 0.000909f
+#define LSM303DLHC_COMP_SENS_XY_1P9GA 0.001169f
+#define LSM303DLHC_COMP_SENS_XY_2P5GA 0.0014925f
+#define LSM303DLHC_COMP_SENS_XY_4P0GA 0.0022222f
+#define LSM303DLHC_COMP_SENS_XY_4P7GA 0.0025000f
+#define LSM303DLHC_COMP_SENS_XY_5P6GA 0.0030303f
+#define LSM303DLHC_COMP_SENS_XY_8P1GA 0.0043478f
+
+#define LSM303DLHC_COMP_SENS_Z_1P3GA 0.0010204f
+#define LSM303DLHC_COMP_SENS_Z_1P9GA 0.0013071f
+#define LSM303DLHC_COMP_SENS_Z_2P5GA 0.0016666f
+#define LSM303DLHC_COMP_SENS_Z_4P0GA 0.0025000f
+#define LSM303DLHC_COMP_SENS_Z_4P7GA 0.0028169f
+#define LSM303DLHC_COMP_SENS_Z_5P6GA 0.0033898f
+#define LSM303DLHC_COMP_SENS_Z_8P1GA 0.0048780f
+
+#define LSM303DLHC_COMP_BIAS 0.0f
+/** @} */
+
+/**
+ * @name LSM303DLHC communication interfaces related bit masks
+ * @{
+ */
+#define LSM303DLHC_DI_MASK 0xFF
+#define LSM303DLHC_DI(n) (1 << n)
+#define LSM303DLHC_AD_MASK 0x7F
+#define LSM303DLHC_AD(n) (1 << n)
+#define LSM303DLHC_MS (1 << 7)
+/** @} */
+
+/**
+ * @name LSM303DLHC register addresses
+ * @{
+ */
+#define LSM303DLHC_AD_ACC_CTRL_REG1 0x20
+#define LSM303DLHC_AD_ACC_CTRL_REG2 0x21
+#define LSM303DLHC_AD_ACC_CTRL_REG3 0x22
+#define LSM303DLHC_AD_ACC_CTRL_REG4 0x23
+#define LSM303DLHC_AD_ACC_CTRL_REG5 0x24
+#define LSM303DLHC_AD_ACC_CTRL_REG6 0x25
+#define LSM303DLHC_AD_ACC_REFERENCE 0x26
+#define LSM303DLHC_AD_ACC_STATUS_REG 0x27
+#define LSM303DLHC_AD_ACC_OUT_X_L 0x28
+#define LSM303DLHC_AD_ACC_OUT_X_H 0x29
+#define LSM303DLHC_AD_ACC_OUT_Y_L 0x2A
+#define LSM303DLHC_AD_ACC_OUT_Y_H 0x2B
+#define LSM303DLHC_AD_ACC_OUT_Z_L 0x2C
+#define LSM303DLHC_AD_ACC_OUT_Z_H 0x2D
+#define LSM303DLHC_AD_ACC_FIFO_CTRL_REG 0x2E
+#define LSM303DLHC_AD_ACC_FIFO_SRC_REG 0x2F
+#define LSM303DLHC_AD_ACC_INT1_CFG 0x30
+#define LSM303DLHC_AD_ACC_INT1_SRC 0x31
+#define LSM303DLHC_AD_ACC_INT1_THS 0x32
+#define LSM303DLHC_AD_ACC_INT1_DURATION 0x33
+#define LSM303DLHC_AD_ACC_INT2_CFG 0x34
+#define LSM303DLHC_AD_ACC_INT2_SRC 0x35
+#define LSM303DLHC_AD_ACC_INT2_THS 0x36
+#define LSM303DLHC_AD_ACC_INT2_DURATION 0x37
+#define LSM303DLHC_AD_ACC_CLICK_CFG 0x38
+#define LSM303DLHC_AD_ACC_CLICK_SRC 0x39
+#define LSM303DLHC_AD_ACC_CLICK_THS 0x3A
+#define LSM303DLHC_AD_ACC_TIME_LIMIT 0x3B
+#define LSM303DLHC_AD_ACC_TIME_LATENCY 0x3C
+#define LSM303DLHC_AD_ACC_TIME_WINDOW 0x3D
+#define LSM303DLHC_AD_COMP_CRA_REG 0x00
+#define LSM303DLHC_AD_COMP_CRB_REG 0x01
+#define LSM303DLHC_AD_COMP_MR_REG 0x02
+#define LSM303DLHC_AD_COMP_OUT_X_H 0x03
+#define LSM303DLHC_AD_COMP_OUT_X_L 0x04
+#define LSM303DLHC_AD_COMP_OUT_Z_H 0x05
+#define LSM303DLHC_AD_COMP_OUT_Z_L 0x06
+#define LSM303DLHC_AD_COMP_OUT_Y_H 0x07
+#define LSM303DLHC_AD_COMP_OUT_Y_L 0x08
+#define LSM303DLHC_AD_COMP_SR_REG 0x09
+#define LSM303DLHC_AD_COMP_IRA_REG 0x0A
+#define LSM303DLHC_AD_COMP_IRB_REG 0x0B
+#define LSM303DLHC_AD_COMP_IRC_REG 0x0C
+#define LSM303DLHC_AD_COMP_TEMP_OUT_H 0x31
+#define LSM303DLHC_AD_COMP_TEMP_OUT_L 0x32
+/** @} */
+
+/**
+ * @name LSM303DLHC_CTRL_REG1_A register bits definitions
+ * @{
+ */
+#define LSM303DLHC_CTRL_REG1_A_MASK 0xFF
+#define LSM303DLHC_CTRL_REG1_A_XEN (1 << 0)
+#define LSM303DLHC_CTRL_REG1_A_YEN (1 << 1)
+#define LSM303DLHC_CTRL_REG1_A_ZEN (1 << 2)
+#define LSM303DLHC_CTRL_REG1_A_LPEN (1 << 3)
+#define LSM303DLHC_CTRL_REG1_A_ODR0 (1 << 4)
+#define LSM303DLHC_CTRL_REG1_A_ODR1 (1 << 5)
+#define LSM303DLHC_CTRL_REG1_A_ODR2 (1 << 6)
+#define LSM303DLHC_CTRL_REG1_A_ODR3 (1 << 7)
+/** @} */
+
+/**
+ * @name LSM303DLHC_CTRL_REG2_A register bits definitions
+ * @{
+ */
+#define LSM303DLHC_CTRL_REG2_A_MASK 0xFF
+#define LSM303DLHC_CTRL_REG2_A_HPIS1 (1 << 0)
+#define LSM303DLHC_CTRL_REG2_A_HPIS2 (1 << 1)
+#define LSM303DLHC_CTRL_REG2_A_HPCLICK (1 << 2)
+#define LSM303DLHC_CTRL_REG2_A_FDS (1 << 3)
+#define LSM303DLHC_CTRL_REG2_A_HPCF1 (1 << 4)
+#define LSM303DLHC_CTRL_REG2_A_HPCF2 (1 << 5)
+#define LSM303DLHC_CTRL_REG2_A_HPM0 (1 << 6)
+#define LSM303DLHC_CTRL_REG2_A_HPM1 (1 << 7)
+/** @} */
+
+/**
+ * @name LSM303DLHC_CTRL_REG3_A register bits definitions
+ * @{
+ */
+#define LSM303DLHC_CTRL_REG3_A_MASK 0xFD
+#define LSM303DLHC_CTRL_REG3_A_I1_OVERRUN (1 << 1)
+#define LSM303DLHC_CTRL_REG3_A_I1_WTM (1 << 2)
+#define LSM303DLHC_CTRL_REG3_A_I1_DRDY2 (1 << 3)
+#define LSM303DLHC_CTRL_REG3_A_I1_DRDY1 (1 << 4)
+#define LSM303DLHC_CTRL_REG3_A_I1_AOI2 (1 << 5)
+#define LSM303DLHC_CTRL_REG3_A_I1_AOI1 (1 << 6)
+#define LSM303DLHC_CTRL_REG3_A_I1_CLICK (1 << 7)
+/** @} */
+
+/**
+ * @name LSM303DLHC_CTRL_REG4_A register bits definitions
+ * @{
+ */
+#define LSM303DLHC_CTRL_REG4_A_MASK 0xF9
+#define LSM303DLHC_CTRL_REG4_A_SIM (1 << 0)
+#define LSM303DLHC_CTRL_REG4_A_HR (1 << 3)
+#define LSM303DLHC_CTRL_REG4_A_FS_MASK 0x30
+#define LSM303DLHC_CTRL_REG4_A_FS0 (1 << 4)
+#define LSM303DLHC_CTRL_REG4_A_FS1 (1 << 5)
+#define LSM303DLHC_CTRL_REG4_A_BLE (1 << 6)
+#define LSM303DLHC_CTRL_REG4_A_BDU (1 << 7)
+/** @} */
+
+/**
+ * @name LSM303DLHC_CTRL_REG5_A register bits definitions
+ * @{
+ */
+#define LSM303DLHC_CTRL_REG5_A_MASK 0xCF
+#define LSM303DLHC_CTRL_REG5_A_D4D_INT2 (1 << 0)
+#define LSM303DLHC_CTRL_REG5_A_LIR_INT2 (1 << 1)
+#define LSM303DLHC_CTRL_REG5_A_D4D_INT1 (1 << 2)
+#define LSM303DLHC_CTRL_REG5_A_LIR_INT1 (1 << 3)
+#define LSM303DLHC_CTRL_REG5_A_FIFO_EN (1 << 6)
+#define LSM303DLHC_CTRL_REG5_A_BOOT (1 << 7)
+/** @} */
+
+/**
+ * @name LSM303DLHC_CTRL_REG6_A register bits definitions
+ * @{
+ */
+#define LSM303DLHC_CTRL_REG6_A_MASK 0xFA
+#define LSM303DLHC_CTRL_REG6_A_H_LACTIVE (1 << 1)
+#define LSM303DLHC_CTRL_REG6_A_P2_ACT (1 << 3)
+#define LSM303DLHC_CTRL_REG6_A_BOOT_I1 (1 << 4)
+#define LSM303DLHC_CTRL_REG6_A_I2_INT2 (1 << 5)
+#define LSM303DLHC_CTRL_REG6_A_I2_INT1 (1 << 6)
+#define LSM303DLHC_CTRL_REG6_A_I2_CLICKEN (1 << 7)
+/** @} */
+
+/**
+ * @name LSM303DLHC_CRA_REG_M register bits definitions
+ * @{
+ */
+#define LSM303DLHC_CRA_REG_M_MASK 0x9C
+#define LSM303DLHC_CRA_REG_M_DO0 (1 << 2)
+#define LSM303DLHC_CRA_REG_M_DO1 (1 << 3)
+#define LSM303DLHC_CRA_REG_M_DO2 (1 << 4)
+#define LSM303DLHC_CRA_REG_M_TEMP_EN (1 << 7)
+/** @} */
+
+/**
+ * @name LSM303DLHC_CRB_REG_M register bits definitions
+ * @{
+ */
+#define LSM303DLHC_CRB_REG_M_MASK 0xE0
+#define LSM303DLHC_CRB_REG_M_GN_MASK 0xE0
+#define LSM303DLHC_CRB_REG_M_GN0 (1 << 5)
+#define LSM303DLHC_CRB_REG_M_GN1 (1 << 6)
+#define LSM303DLHC_CRB_REG_M_GN2 (1 << 7)
+
+/**
+ * @name LSM303DLHC_CRB_REG_M register bits definitions
+ * @{
+ */
+#define LSM303DLHC_MR_REG_M_MASK 0x03
+#define LSM303DLHC_MR_REG_M_MD0 (1 << 0)
+#define LSM303DLHC_MR_REG_M_MD1 (1 << 1)
+/** @} */
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+/**
+ * @name Configuration options
+ * @{
+ */
+/**
+ * @brief LSM303DLHC SPI interface switch.
+ * @details If set to @p TRUE the support for SPI is included.
+ * @note The default is @p FALSE.
+ */
+#if !defined(LSM303DLHC_USE_SPI) || defined(__DOXYGEN__)
+#define LSM303DLHC_USE_SPI FALSE
+#endif
+
+/**
+ * @brief LSM303DLHC 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(LSM303DLHC_SHARED_SPI) || defined(__DOXYGEN__)
+#define LSM303DLHC_SHARED_SPI FALSE
+#endif
+
+/**
+ * @brief LSM303DLHC I2C interface switch.
+ * @details If set to @p TRUE the support for I2C is included.
+ * @note The default is @p TRUE.
+ */
+#if !defined(LSM303DLHC_USE_I2C) || defined(__DOXYGEN__)
+#define LSM303DLHC_USE_I2C TRUE
+#endif
+
+/**
+ * @brief LSM303DLHC 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(LSM303DLHC_SHARED_I2C) || defined(__DOXYGEN__)
+#define LSM303DLHC_SHARED_I2C FALSE
+#endif
+
+/**
+ * @brief LSM303DLHC advanced configurations switch.
+ * @details If set to @p TRUE more configurations are available.
+ * @note The default is @p FALSE.
+ */
+#if !defined(LSM303DLHC_USE_ADVANCED) || defined(__DOXYGEN__)
+#define LSM303DLHC_USE_ADVANCED FALSE
+#endif
+/** @} */
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+#if !(LSM303DLHC_USE_SPI ^ LSM303DLHC_USE_I2C)
+#error "LSM303DLHC_USE_SPI and LSM303DLHC_USE_I2C cannot be both true or both false"
+#endif
+
+#if LSM303DLHC_USE_SPI && !HAL_USE_SPI
+#error "LSM303DLHC_USE_SPI requires HAL_USE_SPI"
+#endif
+
+#if LSM303DLHC_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION
+#error "LSM303DLHC_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION"
+#endif
+
+#if LSM303DLHC_USE_I2C && !HAL_USE_I2C
+#error "LSM303DLHC_USE_I2C requires HAL_USE_I2C"
+#endif
+
+#if LSM303DLHC_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION
+#error "LSM303DLHC_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION"
+#endif
+
+/*
+ * CHTODO: Add support for LSM303DLHC over SPI.
+ */
+#if LSM303DLHC_USE_SPI
+#error "LSM303DLHC over SPI still not supported"
+#endif
+
+/*===========================================================================*/
+/* Driver data structures and types. */
+/*===========================================================================*/
+
+/**
+ * @name LSM303DLHC accelerometer subsystem data structures and types.
+ * @{
+ */
+/**
+ * @brief Structure representing a LSM303DLHC driver.
+ */
+typedef struct LSM303DLHCDriver LSM303DLHCDriver;
+
+/**
+ * @brief LSM303DLHC accelerometer subsystem full scale.
+ */
+typedef enum {
+ LSM303DLHC_ACC_FS_2G = 0x00, /**< Full scale �2g. */
+ LSM303DLHC_ACC_FS_4G = 0x10, /**< Full scale �4g. */
+ LSM303DLHC_ACC_FS_8G = 0x20, /**< Full scale �8g. */
+ LSM303DLHC_ACC_FS_16G = 0x30 /**< Full scale �16g. */
+} lsm303dlhc_acc_fs_t;
+
+/**
+ * @brief LSM303DLHC accelerometer subsystem output data rate.
+ */
+typedef enum {
+ LSM303DLHC_ACC_ODR_PD = 0x00, /**< Power down */
+ LSM303DLHC_ACC_ODR_1Hz = 0x10, /**< ODR 1 Hz */
+ LSM303DLHC_ACC_ODR_10Hz = 0x20, /**< ODR 10 Hz */
+ LSM303DLHC_ACC_ODR_25Hz = 0x30, /**< ODR 25 Hz */
+ LSM303DLHC_ACC_ODR_50Hz = 0x40, /**< ODR 50 Hz */
+ LSM303DLHC_ACC_ODR_100Hz = 0x50, /**< ODR 100 Hz */
+ LSM303DLHC_ACC_ODR_200Hz = 0x60, /**< ODR 200 Hz */
+ LSM303DLHC_ACC_ODR_400Hz = 0x70, /**< ODR 400 Hz */
+ LSM303DLHC_ACC_ODR_1620Hz = 0x80, /**< ODR 1620 Hz (LP only) */
+ LSM303DLHC_ACC_ODR_1344Hz = 0x90 /**< ODR 1344 Hz or 5376 Hz in LP */
+} lsm303dlhc_acc_odr_t;
+
+/**
+ * @brief LSM303DLHC accelerometer subsystem axes enabling.
+ */
+typedef enum {
+ LSM303DLHC_ACC_AE_DISABLED = 0x00,/**< All axes disabled. */
+ LSM303DLHC_ACC_AE_X = 0x01, /**< Only X-axis enabled. */
+ LSM303DLHC_ACC_AE_Y = 0x02, /**< Only Y-axis enabled. */
+ LSM303DLHC_ACC_AE_XY = 0x03, /**< X and Y axes enabled. */
+ LSM303DLHC_ACC_AE_Z = 0x04, /**< Only Z-axis enabled. */
+ LSM303DLHC_ACC_AE_XZ = 0x05, /**< X and Z axes enabled. */
+ LSM303DLHC_ACC_AE_YZ = 0x06, /**< Y and Z axes enabled. */
+ LSM303DLHC_ACC_AE_XYZ = 0x07 /**< All axes enabled. */
+} lsm303dlhc_acc_ae_t;
+
+/**
+ * @brief LSM303DLHC accelerometer subsystem low power mode.
+ */
+typedef enum {
+ LSM303DLHC_ACC_LP_DISABLED = 0x00,/**< Low power mode disabled. */
+ LSM303DLHC_ACC_LP_ENABLED = 0x40 /**< Low power mode enabled. */
+} lsm303dlhc_acc_lp_t;
+
+/**
+ * @brief LSM303DLHC accelerometer subsystem high resolution mode.
+ */
+typedef enum {
+ LSM303DLHC_ACC_HR_DISABLED = 0x00,/**< High resolution mode disabled. */
+ LSM303DLHC_ACC_HR_ENABLED = 0x08 /**< High resolution mode enabled. */
+} lsm303dlhc_acc_hr_t;
+
+/**
+ * @brief LSM303DLHC accelerometer subsystem block data update.
+ */
+typedef enum {
+ LSM303DLHC_ACC_BDU_CONT = 0x00, /**< Continuous update */
+ LSM303DLHC_ACC_BDU_BLOCK = 0x80 /**< Update blocked */
+} lsm303dlhc_acc_bdu_t;
+
+/**
+ * @brief LSM303DLHC accelerometer endianness.
+ */
+typedef enum {
+ LSM303DLHC_ACC_END_LITTLE = 0x00, /**< Little Endian */
+ LSM303DLHC_ACC_END_BIG = 0x40 /**< Big Endian */
+} lsm303dlhc_acc_end_t;
+
+/**
+ * @name LSM303DLHC compass subsystem data structures and types.
+ * @{
+ */
+/**
+ * @brief LSM303DLHC compass subsystem full scale.
+ */
+typedef enum {
+ LSM303DLHC_COMP_FS_1P3GA = 0x20, /**< Full scale �1.3 Gauss */
+ LSM303DLHC_COMP_FS_1P9GA = 0x40, /**< Full scale �1.9 Gauss */
+ LSM303DLHC_COMP_FS_2P5GA = 0x60, /**< Full scale �2.5 Gauss */
+ LSM303DLHC_COMP_FS_4P0GA = 0x80, /**< Full scale �4.0 Gauss */
+ LSM303DLHC_COMP_FS_4P7GA = 0xA0, /**< Full scale �4.7 Gauss */
+ LSM303DLHC_COMP_FS_5P6GA = 0xC0, /**< Full scale �5.6 Gauss */
+ LSM303DLHC_COMP_FS_8P1GA = 0xE0 /**< Full scale �8.1 Gauss */
+} lsm303dlhc_comp_fs_t;
+
+/**
+ * @brief LSM303DLHC compass subsystem output data rate.
+ */
+typedef enum {
+ LSM303DLHC_COMP_ODR_0P75HZ = 0x00,/**< ODR 0.75 Hz */
+ LSM303DLHC_COMP_ODR_1P5HZ = 0x04, /**< ODR 1.5 Hz */
+ LSM303DLHC_COMP_ODR_3P0HZ = 0x08, /**< ODR 3 Hz */
+ LSM303DLHC_COMP_ODR_7P5HZ = 0x0C, /**< ODR 7.5 Hz */
+ LSM303DLHC_COMP_ODR_15HZ = 0x10, /**< ODR 15 Hz */
+ LSM303DLHC_COMP_ODR_30HZ = 0x14, /**< ODR 30 Hz */
+ LSM303DLHC_COMP_ODR_75HZ = 0x18, /**< ODR 75 Hz */
+ LSM303DLHC_COMP_ODR_220HZ = 0x1C /**< ODR 220 Hz */
+} lsm303dlhc_comp_odr_t;
+
+/**
+ * @brief LSM303DLHC compass subsystem working mode.
+ */
+typedef enum {
+ LSM303DLHC_COMP_MD_CONT = 0x00, /**< Continuous-Conversion Mode */
+ LSM303DLHC_COMP_MD_BLOCK = 0x01, /**< Single-Conversion Mode */
+ LSM303DLHC_COMP_MD_SLEEP = 0x02 /**< Sleep Mode */
+} lsm303dlhc_comp_md_t;
+
+/**
+ * @name LSM303DLHC main system data structures and types.
+ * @{
+ */
+/**
+ * @brief Driver state machine possible states.
+ */
+typedef enum {
+ LSM303DLHC_UNINIT = 0, /**< Not initialized. */
+ LSM303DLHC_STOP = 1, /**< Stopped. */
+ LSM303DLHC_READY = 2, /**< Ready. */
+} lsm303dlhc_state_t;
+
+/**
+ * @brief LSM303DLHC configuration structure.
+ */
+typedef struct {
+ /**
+ * @brief I2C driver associated to this LSM303DLHC.
+ */
+ I2CDriver *i2cp;
+ /**
+ * @brief I2C configuration associated to this LSM303DLHC.
+ */
+ const I2CConfig *i2ccfg;
+ /**
+ * @brief LSM303DLHC accelerometer subsystem initial sensitivity.
+ */
+ float *accsensitivity;
+ /**
+ * @brief LSM303DLHC accelerometer subsystem initial bias.
+ */
+ float *accbias;
+ /**
+ * @brief LSM303DLHC accelerometer subsystem initial full scale.
+ */
+ lsm303dlhc_acc_fs_t accfullscale;
+ /**
+ * @brief LSM303DLHC accelerometer subsystem output data rate.
+ */
+ lsm303dlhc_acc_odr_t accoutdatarate;
+#if LSM303DLHC_USE_ADVANCED || defined(__DOXYGEN__)
+ /**
+ * @brief LSM303DLHC accelerometer subsystem low power mode.
+ */
+ lsm303dlhc_acc_lp_t acclowpower;
+ /**
+ * @brief LSM303DLHC accelerometer subsystem high resolution mode.
+ */
+ lsm303dlhc_acc_hr_t acchighresmode;
+ /**
+ * @brief LSM303DLHC accelerometer subsystem block data update.
+ */
+ lsm303dlhc_acc_bdu_t accblockdataupdate;
+ /**
+ * @brief LSM303DLHC accelerometer endianness.
+ */
+ lsm303dlhc_acc_end_t accendianess;
+#endif
+ /**
+ * @brief LSM303DLHC compass initial sensitivity.
+ */
+ float *compsensitivity;
+ /**
+ * @brief LSM303DLHC compass initial bias.
+ */
+ float *compbias;
+ /**
+ * @brief LSM303DLHC compass subsystem initial full scale.
+ */
+ lsm303dlhc_comp_fs_t compfullscale;
+ /**
+ * @brief LSM303DLHC compass subsystem output data rate.
+ */
+ lsm303dlhc_comp_odr_t compoutputdatarate;
+#if LSM303DLHC_USE_ADVANCED || defined(__DOXYGEN__)
+ /**
+ * @brief LSM303DLHC compass subsystem working mode.
+ */
+ lsm303dlhc_comp_md_t compmode;
+#endif
+} LSM303DLHCConfig;
+
+/**
+ * @brief @p LSM303DLHC specific methods.
+ */
+#define _lsm303dlhc_methods_alone \
+ /* Change full scale value of LSM303DLHC accelerometer subsystem.*/ \
+ msg_t (*acc_set_full_scale)(LSM303DLHCDriver *devp, \
+ lsm303dlhc_acc_fs_t fs); \
+ /* Change full scale value of LSM303DLHC compass subsystem.*/ \
+ msg_t (*comp_set_full_scale)(LSM303DLHCDriver *devp, \
+ lsm303dlhc_comp_fs_t fs); \
+
+/**
+ * @brief @p LSM303DLHC specific methods with inherited ones.
+ */
+#define _lsm303dlhc_methods \
+ _base_object_methods \
+ _lsm303dlhc_methods_alone
+
+/**
+ * @extends BaseObjectVMT
+ *
+ * @brief @p LSM303DLHC virtual methods table.
+ */
+struct LSM303DLHCVMT {
+ _lsm303dlhc_methods
+};
+
+/**
+ * @brief @p LSM303DLHCDriver specific data.
+ */
+#define _lsm303dlhc_data \
+ _base_sensor_data \
+ /* Driver state.*/ \
+ lsm303dlhc_state_t state; \
+ /* Current configuration data.*/ \
+ const LSM303DLHCConfig *config; \
+ /* Accelerometer subsystem axes number.*/ \
+ size_t accaxes; \
+ /* Accelerometer subsystem current sensitivity.*/ \
+ float accsensitivity[LSM303DLHC_ACC_NUMBER_OF_AXES]; \
+ /* Accelerometer subsystem current bias .*/ \
+ float accbias[LSM303DLHC_ACC_NUMBER_OF_AXES]; \
+ /* Accelerometer subsystem current full scale value.*/ \
+ float accfullscale; \
+ /* Compass subsystem axes number.*/ \
+ size_t compaxes; \
+ /* Compass subsystem current sensitivity.*/ \
+ float compsensitivity[LSM303DLHC_COMP_NUMBER_OF_AXES];\
+ /* Compass subsystem current bias.*/ \
+ float compbias[LSM303DLHC_COMP_NUMBER_OF_AXES]; \
+ /* Compass subsystem current full scale value.*/ \
+ float compfullscale;
+
+/**
+ * @brief LSM303DLHC 6-axis accelerometer/compass class.
+ */
+struct LSM303DLHCDriver {
+ /** @brief Virtual Methods Table.*/
+ const struct LSM303DLHCVMT *vmt;
+ /** @brief Base accelerometer interface.*/
+ BaseAccelerometer acc_if;
+ /** @brief Base compass interface.*/
+ BaseCompass comp_if;
+ _lsm303dlhc_data
+};
+/** @} */
+
+/*===========================================================================*/
+/* Driver macros. */
+/*===========================================================================*/
+
+/**
+ * @brief Return the number of axes of the BaseAccelerometer.
+ *
+ * @param[in] devp pointer to @p LSM303DLHCDriver.
+ *
+ * @return the number of axes.
+ *
+ * @api
+ */
+#define lsm303dlhcAccelerometerGetAxesNumber(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 LSM303DLHCDriver.
+ * @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 lsm303dlhcAccelerometerReadRaw(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 LSM303DLHCDriver.
+ * @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 lsm303dlhcAccelerometerReadCooked(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 LSM303DLHCDriver.
+ * @param[in] bp a buffer which contains biases.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ *
+ * @api
+ */
+#define lsm303dlhcAccelerometerSetBias(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 LSM303DLHCDriver.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ *
+ * @api
+ */
+#define lsm303dlhcAccelerometerResetBias(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 LSM303DLHCDriver.
+ * @param[in] sp a buffer which contains sensitivities.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ *
+ * @api
+ */
+#define lsm303dlhcAccelerometerSetSensitivity(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 LSM303DLHCDriver.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET otherwise.
+ *
+ * @api
+ */
+#define lsm303dlhcAccelerometerResetSensitivity(devp) \
+ accelerometerResetSensitivity(&((devp)->acc_if))
+
+/**
+ * @brief Changes the LSM303DLHCDriver 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 LSM303DLHCDriver.
+ * @param[in] fs new fullscale value.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET otherwise.
+ *
+ * @api
+ */
+#define lsm303dlhcAccelerometerSetFullScale(devp, fs) \
+ (devp)->vmt->acc_set_full_scale(devp, fs)
+
+/**
+ * @brief Return the number of axes of the BaseCompass.
+ *
+ * @param[in] devp pointer to @p LSM303DLHCDriver.
+ *
+ * @return the number of axes.
+ *
+ * @api
+ */
+#define lsm303dlhcCompassGetAxesNumber(devp) \
+ compassGetAxesNumber(&((devp)->comp_if))
+
+/**
+ * @brief Retrieves raw data from the BaseCompass.
+ * @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
+ * BaseCompass axes number.
+ *
+ * @param[in] devp pointer to @p BaseCompass interface.
+ * @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 lsm303dlhcCompassReadRaw(devp, axes) \
+ compassReadRaw(&((devp)->comp_if), axes)
+
+/**
+ * @brief Retrieves cooked data from the BaseCompass.
+ * @note This data is manipulated according to the formula
+ * cooked = (raw * sensitivity) - bias.
+ * @note Final data is expressed as G.
+ * @note The axes array must be at least the same size of the
+ * BaseCompass axes number.
+ *
+ * @param[in] devp pointer to @p BaseCompass interface.
+ * @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 lsm303dlhcCompassReadCooked(devp, axes) \
+ compassReadCooked(&((devp)->comp_if), axes)
+
+/**
+ * @brief Set bias values for the BaseCompass.
+ * @note Bias must be expressed as G.
+ * @note The bias buffer must be at least the same size of the
+ * BaseCompass axes number.
+ *
+ * @param[in] devp pointer to @p BaseCompass interface.
+ * @param[in] bp a buffer which contains biases.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ *
+ * @api
+ */
+#define lsm303dlhcCompassSetBias(devp, bp) \
+ compassSetBias(&((devp)->comp_if), bp)
+
+/**
+ * @brief Reset bias values for the BaseCompass.
+ * @note Default biases value are obtained from device datasheet when
+ * available otherwise they are considered zero.
+ *
+ * @param[in] devp pointer to @p LSM303DLHCDriver.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ *
+ * @api
+ */
+#define lsm303dlhcCompassResetBias(devp) \
+ compassResetBias(&((devp)->comp_if))
+
+/**
+ * @brief Set sensitivity values for the BaseCompass.
+ * @note Sensitivity must be expressed as G/LSB.
+ * @note The sensitivity buffer must be at least the same size of the
+ * BaseCompass axes number.
+ *
+ * @param[in] devp pointer to @p LSM303DLHCDriver.
+ * @param[in] sp a buffer which contains sensitivities.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ *
+ * @api
+ */
+#define lsm303dlhcCompassSetSensitivity(devp, sp) \
+ compassSetSensitivity(&((devp)->comp_if), sp)
+
+/**
+ * @brief Reset sensitivity values for the BaseCompass.
+ * @note Default sensitivities value are obtained from device datasheet.
+ *
+ * @param[in] devp pointer to @p LSM303DLHCDriver.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET otherwise.
+ *
+ * @api
+ */
+#define lsm303dlhcCompassResetSensitivity(devp) \
+ compassResetSensitivity(&((devp)->comp_if))
+
+/**
+ * @brief Changes the LSM303DLHCDriver compass 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 LSM303DLHCDriver.
+ * @param[in] fs new fullscale value.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET otherwise.
+ *
+ * @api
+ */
+#define lsm303dlhcCompassSetFullScale(devp, fs) \
+ (devp)->vmt->comp_set_full_scale(devp, fs)
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void lsm303dlhcObjectInit(LSM303DLHCDriver *devp);
+ void lsm303dlhcStart(LSM303DLHCDriver *devp, const LSM303DLHCConfig *config);
+ void lsm303dlhcStop(LSM303DLHCDriver *devp);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _LSM303DLHC_H_ */
+
+/** @} */
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