From 48026bb824fd2d9cfb00ecd040db6ef3a416bae9 Mon Sep 17 00:00:00 2001 From: Clyne Sullivan Date: Fri, 22 Jan 2021 21:43:36 -0500 Subject: upload initial port --- ChibiOS_20.3.2/os/ex/devices/ST/lis302dl.h | 566 +++++++++++++++++++++++++++++ 1 file changed, 566 insertions(+) create mode 100644 ChibiOS_20.3.2/os/ex/devices/ST/lis302dl.h (limited to 'ChibiOS_20.3.2/os/ex/devices/ST/lis302dl.h') 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 . + +*/ + +/** + * @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_ */ + +/** @} */ + -- cgit v1.2.3