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/lis3dsh.h | 708 ++++++++++++++++++++++++++++++ 1 file changed, 708 insertions(+) create mode 100644 ChibiOS_20.3.2/os/ex/devices/ST/lis3dsh.h (limited to 'ChibiOS_20.3.2/os/ex/devices/ST/lis3dsh.h') diff --git a/ChibiOS_20.3.2/os/ex/devices/ST/lis3dsh.h b/ChibiOS_20.3.2/os/ex/devices/ST/lis3dsh.h new file mode 100644 index 0000000..062f7b2 --- /dev/null +++ b/ChibiOS_20.3.2/os/ex/devices/ST/lis3dsh.h @@ -0,0 +1,708 @@ +/* + 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 lis3dsh.h + * @brief LIS3DSH MEMS interface module header. + * + * @addtogroup LIS3DSH + * @ingroup EX_ST + * @{ + */ + +#ifndef _LIS3DSH_H_ +#define _LIS3DSH_H_ + +#include "ex_accelerometer.h" + +/*===========================================================================*/ +/* Driver constants. */ +/*===========================================================================*/ + +/** + * @name Version identification + * @{ + */ +/** + * @brief LIS3DSH driver version string. + */ +#define EX_LIS3DSH_VERSION "1.1.2" + +/** + * @brief LIS3DSH driver version major number. + */ +#define EX_LIS3DSH_MAJOR 1 + +/** + * @brief LIS3DSH driver version minor number. + */ +#define EX_LIS3DSH_MINOR 1 + +/** + * @brief LIS3DSH driver version patch number. + */ +#define EX_LIS3DSH_PATCH 2 +/** @} */ + +/** + * @brief LIS3DSH 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 LIS3DSH_ACC_NUMBER_OF_AXES 3U + +#define LIS3DSH_ACC_2G 2.0f +#define LIS3DSH_ACC_4G 4.0f +#define LIS3DSH_ACC_6G 6.0f +#define LIS3DSH_ACC_8G 8.0f +#define LIS3DSH_ACC_16G 16.0f + +#define LIS3DSH_ACC_SENS_2G 0.06f +#define LIS3DSH_ACC_SENS_4G 0.12f +#define LIS3DSH_ACC_SENS_6G 0.18f +#define LIS3DSH_ACC_SENS_8G 0.24f +#define LIS3DSH_ACC_SENS_16G 0.73f + +#define LIS3DSH_ACC_BIAS 0.0f +/** @} */ + +/** + * @name LIS3DSH communication interfaces related bit masks + * @{ + */ +#define LIS3DSH_DI_MASK 0xFF +#define LIS3DSH_DI(n) (1 << n) +#define LIS3DSH_AD_MASK 0x3F +#define LIS3DSH_AD(n) (1 << n) +#define LIS3DSH_MS (1 << 6) +#define LIS3DSH_RW (1 << 7) +/** @} */ + +/** + * @name LIS3DSH register addresses + * @{ + */ +#define LIS3DSH_AD_OUT_T 0x0C +#define LIS3DSH_AD_INFO1 0x0D +#define LIS3DSH_AD_INFO2 0x0E +#define LIS3DSH_AD_WHO_AM_I 0x0F +#define LIS3DSH_AD_OFF_X 0x10 +#define LIS3DSH_AD_OFF_Y 0x11 +#define LIS3DSH_AD_OFF_Z 0x12 +#define LIS3DSH_AD_CS_X 0x13 +#define LIS3DSH_AD_CS_Y 0x14 +#define LIS3DSH_AD_CS_Z 0x15 +#define LIS3DSH_AD_LC_L 0x16 +#define LIS3DSH_AD_LC_H 0x17 +#define LIS3DSH_AD_STAT 0x18 +#define LIS3DSH_AD_PEAK1 0x19 +#define LIS3DSH_AD_PEAK2 0x1A +#define LIS3DSH_AD_VFC_1 0x1B +#define LIS3DSH_AD_VFC_2 0x1C +#define LIS3DSH_AD_VFC_3 0x1D +#define LIS3DSH_AD_VFC_4 0x1E +#define LIS3DSH_AD_THRS3 0x1F +#define LIS3DSH_AD_CTRL_REG4 0x20 +#define LIS3DSH_AD_CTRL_REG1 0x21 +#define LIS3DSH_AD_CTRL_REG2 0x22 +#define LIS3DSH_AD_CTRL_REG3 0x23 +#define LIS3DSH_AD_CTRL_REG5 0x24 +#define LIS3DSH_AD_CTRL_REG6 0x25 +#define LIS3DSH_AD_STATUS 0x27 +#define LIS3DSH_AD_OUT_X_L 0x28 +#define LIS3DSH_AD_OUT_X_H 0x29 +#define LIS3DSH_AD_OUT_Y_L 0x2A +#define LIS3DSH_AD_OUT_Y_H 0x2B +#define LIS3DSH_AD_OUT_Z_L 0x2C +#define LIS3DSH_AD_OUT_Z_H 0x2D +#define LIS3DSH_AD_FIFO_CTRL 0x2E +#define LIS3DSH_AD_FIFO_SRC 0x2F +#define LIS3DSH_AD_ST1_0 0x40 +#define LIS3DSH_AD_ST1_1 0x41 +#define LIS3DSH_AD_ST1_2 0x42 +#define LIS3DSH_AD_ST1_3 0x43 +#define LIS3DSH_AD_ST1_4 0x44 +#define LIS3DSH_AD_ST1_5 0x45 +#define LIS3DSH_AD_ST1_6 0x46 +#define LIS3DSH_AD_ST1_7 0x47 +#define LIS3DSH_AD_ST1_8 0x48 +#define LIS3DSH_AD_ST1_9 0x49 +#define LIS3DSH_AD_ST1_A 0x4A +#define LIS3DSH_AD_ST1_B 0x4B +#define LIS3DSH_AD_ST1_C 0x4C +#define LIS3DSH_AD_ST1_D 0x4D +#define LIS3DSH_AD_ST1_E 0x4E +#define LIS3DSH_AD_ST1_F 0x4F +#define LIS3DSH_AD_TIM4_1 0x50 +#define LIS3DSH_AD_TIM3_1 0x51 +#define LIS3DSH_AD_TIM2_1_L 0x52 +#define LIS3DSH_AD_TIM2_1_H 0x53 +#define LIS3DSH_AD_TIM1_1_L 0x54 +#define LIS3DSH_AD_TIM1_1_H 0x55 +#define LIS3DSH_AD_THRS2_1 0x56 +#define LIS3DSH_AD_THRS1_1 0x57 +#define LIS3DSH_AD_MASK1_B 0x59 +#define LIS3DSH_AD_MASK1_A 0x5A +#define LIS3DSH_AD_SETT1 0x5B +#define LIS3DSH_AD_PR1 0x5C +#define LIS3DSH_AD_TC1_L 0x5D +#define LIS3DSH_AD_TC1_H 0x5E +#define LIS3DSH_AD_OUTS1 0x5F +#define LIS3DSH_AD_ST2_0 0x60 +#define LIS3DSH_AD_ST2_1 0x61 +#define LIS3DSH_AD_ST2_2 0x62 +#define LIS3DSH_AD_ST2_3 0x63 +#define LIS3DSH_AD_ST2_4 0x64 +#define LIS3DSH_AD_ST2_5 0x65 +#define LIS3DSH_AD_ST2_6 0x66 +#define LIS3DSH_AD_ST2_7 0x67 +#define LIS3DSH_AD_ST2_8 0x68 +#define LIS3DSH_AD_ST2_9 0x69 +#define LIS3DSH_AD_ST2_A 0x6A +#define LIS3DSH_AD_ST2_B 0x6B +#define LIS3DSH_AD_ST2_C 0x6C +#define LIS3DSH_AD_ST2_D 0x6D +#define LIS3DSH_AD_ST2_E 0x6E +#define LIS3DSH_AD_ST2_F 0x6F +#define LIS3DSH_AD_TIM4_2 0x70 +#define LIS3DSH_AD_TIM3_2 0x71 +#define LIS3DSH_AD_TIM2_2_L 0x72 +#define LIS3DSH_AD_TIM2_2_H 0x73 +#define LIS3DSH_AD_TIM1_2_L 0x74 +#define LIS3DSH_AD_TIM1_2_H 0x75 +#define LIS3DSH_AD_THRS2_2 0x76 +#define LIS3DSH_AD_THRS1_2 0x77 +#define LIS3DSH_AD_DES2 0x78 +#define LIS3DSH_AD_MASK2_B 0x79 +#define LIS3DSH_AD_MASK2_A 0x7A +#define LIS3DSH_AD_SETT2 0x7B +#define LIS3DSH_AD_PR2 0x7C +#define LIS3DSH_AD_TC2_L 0x7D +#define LIS3DSH_AD_TC2_H 0x7E +#define LIS3DSH_AD_OUTS2 0x7F +/** @} */ + +/** + * @name LIS3DSH_CTRL_REG1 register bits definitions + * @{ + */ +#define LIS3DSH_CTRL_REG1_MASK 0xE9 +#define LIS3DSH_CTRL_REG1_SM1_EN (1 << 0) +#define LIS3DSH_CTRL_REG1_SM1_PIN (1 << 3) +#define LIS3DSH_CTRL_REG1_HYST0_1 (1 << 5) +#define LIS3DSH_CTRL_REG1_HYST1_1 (1 << 6) +#define LIS3DSH_CTRL_REG1_HYST2_1 (1 << 7) +/** @} */ + +/** + * @name LIS3DSH_CTRL_REG2 register bits definitions + * @{ + */ +#define LIS3DSH_CTRL_REG2_MASK 0xE9 +#define LIS3DSH_CTRL_REG2_SM2_EN (1 << 0) +#define LIS3DSH_CTRL_REG2_SM2_PIN (1 << 3) +#define LIS3DSH_CTRL_REG2_HYST0_2 (1 << 5) +#define LIS3DSH_CTRL_REG2_HYST1_2 (1 << 6) +#define LIS3DSH_CTRL_REG2_HYST2_2 (1 << 7) +/** @} */ + +/** + * @name LIS3DSH_CTRL_REG3 register bits definitions + * @{ + */ +#define LIS3DSH_CTRL_REG3_MASK 0xFF +#define LIS3DSH_CTRL_REG3_STRT (1 << 0) +#define LIS3DSH_CTRL_REG3_VFILT (1 << 2) +#define LIS3DSH_CTRL_REG3_INT1_EN (1 << 3) +#define LIS3DSH_CTRL_REG3_INT2_EN (1 << 4) +#define LIS3DSH_CTRL_REG3_IEL (1 << 5) +#define LIS3DSH_CTRL_REG3_IEA (1 << 6) +#define LIS3DSH_CTRL_REG3_DR_EN (1 << 7) +/** @} */ + +/** + * @name LIS3DSH_CTRL_REG4 register bits definitions + * @{ + */ +#define LIS3DSH_CTRL_REG4_MASK 0xFF +#define LIS3DSH_CTRL_REG4_XEN (1 << 0) +#define LIS3DSH_CTRL_REG4_YEN (1 << 1) +#define LIS3DSH_CTRL_REG4_ZEN (1 << 2) +#define LIS3DSH_CTRL_REG4_BDU (1 << 3) +#define LIS3DSH_CTRL_REG4_ODR_0 (1 << 4) +#define LIS3DSH_CTRL_REG4_ODR_1 (1 << 5) +#define LIS3DSH_CTRL_REG4_ODR_2 (1 << 6) +#define LIS3DSH_CTRL_REG4_ODR_3 (1 << 7) +/** @} */ + +/** + * @name LIS3DSH_CTRL_REG5 register bits definitions + * @{ + */ +#define LIS3DSH_CTRL_REG5_MASK 0xFF +#define LIS3DSH_CTRL_REG5_SIM (1 << 0) +#define LIS3DSH_CTRL_REG5_ST1 (1 << 1) +#define LIS3DSH_CTRL_REG5_ST2 (1 << 2) +#define LIS3DSH_CTRL_REG5_FS_MASK 0x38 +#define LIS3DSH_CTRL_REG5_FS0 (1 << 3) +#define LIS3DSH_CTRL_REG5_FS1 (1 << 4) +#define LIS3DSH_CTRL_REG5_FS2 (1 << 5) +#define LIS3DSH_CTRL_REG5_BW1 (1 << 6) +#define LIS3DSH_CTRL_REG5_BW2 (1 << 7) +/** @} */ + +/** + * @name LIS3DSH_CTRL_REG6 register bits definitions + * @{ + */ +#define LIS3DSH_CTRL_REG6_MASK 0xFF +#define LIS3DSH_CTRL_REG6_P2_BOOT (1 << 0) +#define LIS3DSH_CTRL_REG6_P1_OVRUN (1 << 1) +#define LIS3DSH_CTRL_REG6_P1_WTM (1 << 2) +#define LIS3DSH_CTRL_REG6_P1_EMPTY (1 << 3) +#define LIS3DSH_CTRL_REG6_ADD_INC (1 << 4) +#define LIS3DSH_CTRL_REG6_WTM_EN (1 << 5) +#define LIS3DSH_CTRL_REG6_FIFO_EN (1 << 6) +#define LIS3DSH_CTRL_REG6_BOOT (1 << 7) +/** @} */ + +/*===========================================================================*/ +/* Driver pre-compile time settings. */ +/*===========================================================================*/ + +/** + * @name Configuration options + * @{ + */ +/** + * @brief LIS3DSH SPI interface switch. + * @details If set to @p TRUE the support for SPI is included. + * @note The default is @p TRUE. + */ +#if !defined(LIS3DSH_USE_SPI) || defined(__DOXYGEN__) +#define LIS3DSH_USE_SPI TRUE +#endif + +/** + * @brief LIS3DSH 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(LIS3DSH_SHARED_SPI) || defined(__DOXYGEN__) +#define LIS3DSH_SHARED_SPI FALSE +#endif + +/** + * @brief LIS3DSH I2C interface switch. + * @details If set to @p TRUE the support for I2C is included. + * @note The default is @p FALSE. + */ +#if !defined(LIS3DSH_USE_I2C) || defined(__DOXYGEN__) +#define LIS3DSH_USE_I2C FALSE +#endif + +/** + * @brief LIS3DSH 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(LIS3DSH_SHARED_I2C) || defined(__DOXYGEN__) +#define LIS3DSH_SHARED_I2C FALSE +#endif + +/** + * @brief LIS3DSH advanced configurations switch. + * @details If set to @p TRUE more configurations are available. + * @note The default is @p FALSE. + */ +#if !defined(LIS3DSH_USE_ADVANCED) || defined(__DOXYGEN__) +#define LIS3DSH_USE_ADVANCED FALSE +#endif +/** @} */ + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +#if !(LIS3DSH_USE_SPI ^ LIS3DSH_USE_I2C) +#error "LIS3DSH_USE_SPI and LIS3DSH_USE_I2C cannot be both true or both false" +#endif + +#if LIS3DSH_USE_SPI && !HAL_USE_SPI +#error "LIS3DSH_USE_SPI requires HAL_USE_SPI" +#endif + +#if LIS3DSH_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION +#error "LIS3DSH_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION" +#endif + +#if LIS3DSH_USE_I2C && !HAL_USE_I2C +#error "LIS3DSH_USE_I2C requires HAL_USE_I2C" +#endif + +#if LIS3DSH_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION +#error "LIS3DSH_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION" +#endif + +/* + * CHTODO: Add support for LIS3DSH over I2C. + */ +#if LIS3DSH_USE_I2C +#error "LIS3DSH over I2C still not supported" +#endif + +/*===========================================================================*/ +/* Driver data structures and types. */ +/*===========================================================================*/ + +/** + * @name LIS3DSH data structures and types + * @{ + */ +/** + * @brief Structure representing a LIS3DSH driver. + */ +typedef struct LIS3DSHDriver LIS3DSHDriver; + +/** + * @brief LIS3DSH full scale. + */ +typedef enum { + LIS3DSH_ACC_FS_2G = 0x00, /**< Full scale �2g. */ + LIS3DSH_ACC_FS_4G = 0x08, /**< Full scale �4g. */ + LIS3DSH_ACC_FS_6G = 0x10, /**< Full scale �6g. */ + LIS3DSH_ACC_FS_8G = 0x18, /**< Full scale �8g. */ + LIS3DSH_ACC_FS_16G = 0x20 /**< Full scale �16g. */ +}lis3dsh_acc_fs_t; + +/** + * @brief LIS3DSH output data rate. + */ +typedef enum { + LIS3DSH_ACC_ODR_PD = 0x00, /**< ODR 100 Hz. */ + LIS3DSH_ACC_ODR_3_125HZ = 0x10, /**< ODR 3.125 Hz. */ + LIS3DSH_ACC_ODR_6_25HZ = 0x20, /**< ODR 6.25 Hz. */ + LIS3DSH_ACC_ODR_12_5HZ = 0x30, /**< ODR 12.5 Hz. */ + LIS3DSH_ACC_ODR_25HZ = 0x40, /**< ODR 25 Hz. */ + LIS3DSH_ACC_ODR_50HZ = 0x50, /**< ODR 50 Hz. */ + LIS3DSH_ACC_ODR_100HZ = 0x60, /**< ODR 100 Hz. */ + LIS3DSH_ACC_ODR_400HZ = 0x70, /**< ODR 400 Hz. */ + LIS3DSH_ACC_ODR_800HZ = 0x80, /**< ODR 800 Hz. */ + LIS3DSH_ACC_ODR_1600HZ = 0x90 /**< ODR 1600 Hz. */ +}lis3dsh_acc_odr_t; + +/** + * @brief LIS3DSH anti-aliasing bandwidth. + */ +typedef enum { + LIS3DSH_ACC_BW_800HZ = 0x00, /**< AA filter BW 800Hz. */ + LIS3DSH_ACC_BW_200HZ = 0x40, /**< AA filter BW 200Hz. */ + LIS3DSH_ACC_BW_400HZ = 0x80, /**< AA filter BW 400Hz. */ + LIS3DSH_ACC_BW_50HZ = 0xC0 /**< AA filter BW 50Hz. */ +}lis3dsh_acc_bw_t; + +/** + * @brief LIS3DSH block data update. + */ +typedef enum { + LIS3DSH_ACC_BDU_CONTINUOUS = 0x00,/**< Block data continuously updated. */ + LIS3DSH_ACC_BDU_BLOCKED = 0x80 /**< Block data updated after reading. */ +} lis3dsh_acc_bdu_t; + +/** + * @brief Driver state machine possible states. + */ +typedef enum { + LIS3DSH_UNINIT = 0, /**< Not initialized. */ + LIS3DSH_STOP = 1, /**< Stopped. */ + LIS3DSH_READY = 2, /**< Ready. */ +} lis3dsh_state_t; + +/** + * @brief LIS3DSH configuration structure. + */ +typedef struct { + +#if (LIS3DSH_USE_SPI) || defined(__DOXYGEN__) + /** + * @brief SPI driver associated to this LIS3DSH. + */ + SPIDriver *spip; + /** + * @brief SPI configuration associated to this LIS3DSH. + */ + const SPIConfig *spicfg; +#endif /* LIS3DSH_USE_SPI */ +#if (LIS3DSH_USE_I2C) || defined(__DOXYGEN__) + /** + * @brief I2C driver associated to this LIS3DSH. + */ + I2CDriver *i2cp; + /** + * @brief I2C configuration associated to this LIS3DSH. + */ + const I2CConfig *i2ccfg; +#endif /* LIS3DSH_USE_I2C */ + /** + * @brief LIS3DSH accelerometer subsystem initial sensitivity. + */ + float *accsensitivity; + /** + * @brief LIS3DSH accelerometer subsystem initial bias. + */ + float *accbias; + /** + * @brief LIS3DSH accelerometer subsystem initial full scale. + */ + lis3dsh_acc_fs_t accfullscale; + /** + * @brief LIS3DSH output data rate selection. + */ + lis3dsh_acc_odr_t accoutputdatarate; +#if LIS3DSH_USE_ADVANCED || defined(__DOXYGEN__) + /** + * @brief LIS3DSH anti-aliasing bandwidth. + */ + lis3dsh_acc_bw_t accantialiasing; + /** + * @brief LIS3DSH block data update. + */ + lis3dsh_acc_bdu_t accblockdataupdate; +#endif +} LIS3DSHConfig; + +/** + * @brief @p LIS3DSH specific methods. + */ +#define _lis3dsh_methods_alone \ + /* Change full scale value of LIS3DSH accelerometer subsystem.*/ \ + msg_t (*acc_set_full_scale)(LIS3DSHDriver *devp, lis3dsh_acc_fs_t fs); + + +/** + * @brief @p LIS3DSH specific methods with inherited ones. + */ +#define _lis3dsh_methods \ + _base_object_methods \ + _lis3dsh_methods_alone + +/** + * @extends BaseObjectVMT + * + * @brief @p LIS3DSH virtual methods table. + */ +struct LIS3DSHVMT { + _lis3dsh_methods +}; + +/** + * @brief @p LIS3DSHDriver specific data. + */ +#define _lis3dsh_data \ + _base_sensor_data \ + /* Driver state.*/ \ + lis3dsh_state_t state; \ + /* Current configuration data.*/ \ + const LIS3DSHConfig *config; \ + /* Accelerometer subsystem axes number.*/ \ + size_t accaxes; \ + /* Accelerometer subsystem current sensitivity.*/ \ + float accsensitivity[LIS3DSH_ACC_NUMBER_OF_AXES]; \ + /* Accelerometer subsystem current bias .*/ \ + float accbias[LIS3DSH_ACC_NUMBER_OF_AXES]; \ + /* Accelerometer subsystem current full scale value.*/ \ + float accfullscale; + +/** + * @brief LIS3DSH 3-axis accelerometer class. + */ +struct LIS3DSHDriver { + /** @brief Virtual Methods Table.*/ + const struct LIS3DSHVMT *vmt; + /** @brief Base accelerometer interface.*/ + BaseAccelerometer acc_if; + _lis3dsh_data +}; +/** @} */ + +/*===========================================================================*/ +/* Driver macros. */ +/*===========================================================================*/ + +/** + * @brief Return the number of axes of the BaseAccelerometer. + * + * @param[in] devp pointer to @p LIS3DSHDriver. + * + * @return the number of axes. + * + * @api + */ +#define lis3dshAccelerometerGetAxesNumber(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 LIS3DSHDriver. + * @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 lis3dshAccelerometerReadRaw(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 LIS3DSHDriver. + * @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 lis3dshAccelerometerReadCooked(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 LIS3DSHDriver. + * @param[in] bp a buffer which contains biases. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * + * @api + */ +#define lis3dshAccelerometerSetBias(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 LIS3DSHDriver. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * + * @api + */ +#define lis3dshAccelerometerResetBias(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 LIS3DSHDriver. + * @param[in] sp a buffer which contains sensitivities. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * + * @api + */ +#define lis3dshAccelerometerSetSensitivity(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 LIS3DSHDriver. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * @retval MSG_RESET otherwise. + * + * @api + */ +#define lis3dshAccelerometerResetSensitivity(devp) \ + accelerometerResetSensitivity(&((devp)->acc_if)) + +/** + * @brief Changes the LIS3DSHDriver 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 LIS3DSHDriver. + * @param[in] fs new fullscale value. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * @retval MSG_RESET otherwise. + * + * @api + */ +#define lis3dshAccelerometerSetFullScale(devp, fs) \ + (devp)->vmt->acc_set_full_scale(devp, fs) + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +#ifdef __cplusplus +extern "C" { +#endif + void lis3dshObjectInit(LIS3DSHDriver *devp); + void lis3dshStart(LIS3DSHDriver *devp, const LIS3DSHConfig *config); + void lis3dshStop(LIS3DSHDriver *devp); +#ifdef __cplusplus +} +#endif + +#endif /* _LIS3DSH_H_ */ + +/** @} */ + -- cgit v1.2.3