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/lis3mdl.h | 670 ++++++++++++++++++++++++++++++ 1 file changed, 670 insertions(+) create mode 100644 ChibiOS_20.3.2/os/ex/devices/ST/lis3mdl.h (limited to 'ChibiOS_20.3.2/os/ex/devices/ST/lis3mdl.h') diff --git a/ChibiOS_20.3.2/os/ex/devices/ST/lis3mdl.h b/ChibiOS_20.3.2/os/ex/devices/ST/lis3mdl.h new file mode 100644 index 0000000..59f30f8 --- /dev/null +++ b/ChibiOS_20.3.2/os/ex/devices/ST/lis3mdl.h @@ -0,0 +1,670 @@ +/* + 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 lis3mdl.h + * @brief LIS3MDL MEMS interface module header. + * + * @addtogroup LIS3MDL + * @ingroup EX_ST + * @{ + */ +#ifndef _LIS3MDL_H_ +#define _LIS3MDL_H_ + +#include "ex_compass.h" + +/*===========================================================================*/ +/* Driver constants. */ +/*===========================================================================*/ + +/** + * @name Version identification + * @{ + */ +/** + * @brief LIS3MDL driver version string. + */ +#define EX_LIS3MDL_VERSION "1.1.2" + +/** + * @brief LIS3MDL driver version major number. + */ +#define EX_LIS3MDL_MAJOR 1 + +/** + * @brief LIS3MDL driver version minor number. + */ +#define EX_LIS3MDL_MINOR 1 + +/** + * @brief LIS3MDL driver version patch number. + */ +#define EX_LIS3MDL_PATCH 2 +/** @} */ + +/** + * @brief LIS3MDL compass subsystem characteristics. + * @note Sensitivity is expressed as G/LSB whereas G stands for Gauss. + * @note Bias is expressed as G. + * + * @{ + */ +#define LIS3MDL_COMP_NUMBER_OF_AXES 3U + +#define LIS3MDL_COMP_4GA 4.0f +#define LIS3MDL_COMP_8GA 8.0f +#define LIS3MDL_COMP_12GA 12.0f +#define LIS3MDL_COMP_16GA 16.0f + +#define LIS3MDL_COMP_SENS_4GA 0.00014615f +#define LIS3MDL_COMP_SENS_8GA 0.00029231f +#define LIS3MDL_COMP_SENS_12GA 0.0004384f +#define LIS3MDL_COMP_SENS_16GA 0.00058445f + +#define LIS3MDL_COMP_BIAS 0.0f +/** @} */ + +/** + * @name LIS3MDL communication interfaces related bit masks + * @{ + */ +#define LIS3MDL_DI_MASK 0xFF +#define LIS3MDL_DI(n) (1 << n) +#define LIS3MDL_AD_MASK 0x3F +#define LIS3MDL_AD(n) (1 << n) +#define LIS3MDL_MS (1 << 6) +#define LIS3MDL_RW (1 << 7) + +#define LIS3MDL_SUB_MS (1 << 7) +/** @} */ + +/** + * @name LIS3MDL register addresses + * @{ + */ +#define LIS3MDL_AD_WHO_AM_I 0x0F +#define LIS3MDL_AD_CTRL_REG1 0x20 +#define LIS3MDL_AD_CTRL_REG2 0x21 +#define LIS3MDL_AD_CTRL_REG3 0x22 +#define LIS3MDL_AD_CTRL_REG4 0x23 +#define LIS3MDL_AD_CTRL_REG5 0x24 +#define LIS3MDL_AD_STATUS_REG 0x27 +#define LIS3MDL_AD_OUT_X_L 0x28 +#define LIS3MDL_AD_OUT_X_H 0x29 +#define LIS3MDL_AD_OUT_Y_L 0x2A +#define LIS3MDL_AD_OUT_Y_H 0x2B +#define LIS3MDL_AD_OUT_Z_L 0x2C +#define LIS3MDL_AD_OUT_Z_H 0x2D +#define LIS3MDL_AD_TEMP_OUT_L 0x2E +#define LIS3MDL_AD_TEMP_OUT_H 0x2F +#define LIS3MDL_AD_INT_CFG 0x30 +#define LIS3MDL_AD_INT_SOURCE 0x31 +#define LIS3MDL_AD_INT_THS_L 0x32 +#define LIS3MDL_AD_INT_THS_H 0x33 +/** @} */ + +/** + * @name LIS3MDL_CTRL_REG1 register bits definitions + * @{ + */ +#define LIS3MDL_CTRL_REG1_MASK 0xFF +#define LIS3MDL_CTRL_REG1_ST (1 << 0) +#define LIS3MDL_CTRL_REG1_FAST_ODR (1 << 1) +#define LIS3MDL_CTRL_REG1_DO0 (1 << 2) +#define LIS3MDL_CTRL_REG1_DO1 (1 << 3) +#define LIS3MDL_CTRL_REG1_DO2 (1 << 4) +#define LIS3MDL_CTRL_REG1_OM0 (1 << 5) +#define LIS3MDL_CTRL_REG1_OM1 (1 << 6) +#define LIS3MDL_CTRL_REG1_TEMP_EN (1 << 7) +/** @} */ + +/** + * @name LIS3MDL_CTRL_REG2 register bits definitions + * @{ + */ +#define LIS3MDL_CTRL_REG2_MASK 0x6C +#define LIS3MDL_CTRL_REG2_SOFT_RST (1 << 2) +#define LIS3MDL_CTRL_REG2_REBOOT (1 << 3) +#define LIS3MDL_CTRL_REG2_FS_MASK 0x60 +#define LIS3MDL_CTRL_REG2_FS0 (1 << 5) +#define LIS3MDL_CTRL_REG2_FS1 (1 << 6) +/** @} */ + +/** + * @name LIS3MDL_CTRL_REG3 register bits definitions + * @{ + */ +#define LIS3MDL_CTRL_REG3_MASK 0x27 +#define LIS3MDL_CTRL_REG3_MD0 (1 << 0) +#define LIS3MDL_CTRL_REG3_MD1 (1 << 1) +#define LIS3MDL_CTRL_REG3_SIM (1 << 2) +#define LIS3MDL_CTRL_REG3_LP (1 << 5) +/** @} */ + +/** + * @name LIS3MDL_CTRL_REG4 register bits definitions + * @{ + */ +#define LIS3MDL_CTRL_REG4_MASK 0x0E +#define LIS3MDL_CTRL_REG4_BLE (1 << 1) +#define LIS3MDL_CTRL_REG4_OMZ0 (1 << 2) +#define LIS3MDL_CTRL_REG4_OMZ1 (1 << 3) +/** @} */ + +/** + * @name LIS3MDL_CTRL_REG5 register bits definitions + * @{ + */ +#define LIS3MDL_CTRL_REG5_MASK 0xC0 +#define LIS3MDL_CTRL_REG5_BDU (1 << 6) +#define LIS3MDL_CTRL_REG5_FAST_READ (1 << 7) +/** @} */ + +/*===========================================================================*/ +/* Driver pre-compile time settings. */ +/*===========================================================================*/ + +/** + * @name Configuration options + * @{ + */ +/** + * @brief LIS3MDL SPI interface switch. + * @details If set to @p TRUE the support for SPI is included. + * @note The default is @p FALSE. + */ +#if !defined(LIS3MDL_USE_SPI) || defined(__DOXYGEN__) +#define LIS3MDL_USE_SPI FALSE +#endif + +/** + * @brief LIS3MDL 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(LIS3MDL_SHARED_SPI) || defined(__DOXYGEN__) +#define LIS3MDL_SHARED_SPI FALSE +#endif + +/** + * @brief LIS3MDL I2C interface switch. + * @details If set to @p TRUE the support for I2C is included. + * @note The default is @p TRUE. + */ +#if !defined(LIS3MDL_USE_I2C) || defined(__DOXYGEN__) +#define LIS3MDL_USE_I2C TRUE +#endif + +/** + * @brief LIS3MDL 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(LIS3MDL_SHARED_I2C) || defined(__DOXYGEN__) +#define LIS3MDL_SHARED_I2C FALSE +#endif + +/** + * @brief LIS3MDL advanced configurations switch. + * @details If set to @p TRUE more configurations are available. + * @note The default is @p FALSE. + */ +#if !defined(LIS3MDL_USE_ADVANCED) || defined(__DOXYGEN__) +#define LIS3MDL_USE_ADVANCED FALSE +#endif +/** @} */ + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +#if !(LIS3MDL_USE_SPI ^ LIS3MDL_USE_I2C) +#error "LIS3MDL_USE_SPI and LIS3MDL_USE_I2C cannot be both true or both false" +#endif + +#if LIS3MDL_USE_SPI && !HAL_USE_SPI +#error "LIS3MDL_USE_SPI requires HAL_USE_SPI" +#endif + +#if LIS3MDL_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION +#error "LIS3MDL_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION" +#endif + +#if LIS3MDL_USE_I2C && !HAL_USE_I2C +#error "LIS3MDL_USE_I2C requires HAL_USE_I2C" +#endif + +#if LIS3MDL_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION +#error "LIS3MDL_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION" +#endif + +/* + * CHTODO: Add support for LIS3MDL over SPI. + */ +#if LIS3MDL_USE_SPI +#error "LIS3MDL over SPI still not supported" +#endif + +/*===========================================================================*/ +/* Driver data structures and types. */ +/*===========================================================================*/ + +/** + * @name LIS3MDL data structures and types + * @{ + */ + +/** + * @brief LIS3MDL slave address + */ +/** + * @brief Structure representing a LIS3MDL driver. + */ +typedef struct LIS3MDLDriver LIS3MDLDriver; + +/** + * @brief LIS3MDL slave address + */ +typedef enum { + LIS3MDL_SAD_GND = 0x1C, /**< Slave Address when SA1 is to GND */ + LIS3MDL_SAD_VCC = 0x1E /**< Slave Address when SA1 is to VCC */ +}lis3mdl_sad_t; + +/** + * @brief LIS3MDL full scale + */ +typedef enum { + LIS3MDL_COMP_FS_4GA = 0x00, /**< �4 Gauss */ + LIS3MDL_COMP_FS_8GA = 0x20, /**< �8 Gauss */ + LIS3MDL_COMP_FS_12GA = 0x40, /**< �12 Gauss */ + LIS3MDL_COMP_FS_16GA = 0x60 /**< �16 Gauss */ +}lis3mdl_comp_fs_t; + +/** + * @brief LIS3MDL output data rate + */ +typedef enum { + LIS3MDL_COMP_ODR_0_625HZ = 0x00, /**< Output Data Rate = 0.625 Hz */ + LIS3MDL_COMP_ODR_1_25HZ = 0x04, /**< Output Data Rate = 1.25 Hz */ + LIS3MDL_COMP_ODR_2_5HZ = 0x08, /**< Output Data Rate = 2.5 Hz */ + LIS3MDL_COMP_ODR_5HZ = 0x0C, /**< Output Data Rate = 5 Hz */ + LIS3MDL_COMP_ODR_10HZ = 0x10, /**< Output Data Rate = 10 Hz */ + LIS3MDL_COMP_ODR_20HZ = 0x14, /**< Output Data Rate = 20 Hz */ + LIS3MDL_COMP_ODR_40HZ = 0x18, /**< Output Data Rate = 40 Hz */ + LIS3MDL_COMP_ODR_80HZ = 0x1C /**< Output Data Rate = 80 Hz */ +}lis3mdl_comp_odr_t; + +/** + * @brief LIS3MDL low power mode configuration + */ +typedef enum { + LIS3MDL_COMP_LP_DISABLED = 0x00, /**< Low Power mode disabled */ + LIS3MDL_COMP_LP_ENABLED = 0x20 /**< Low Power mode enabled */ +}lis3mdl_comp_lp_t; + +/** + * @brief LIS3MDL conversion mode + */ +typedef enum { + LIS3MDL_COMP_MD_CONTINUOUS = 0x00,/**< Continuous conversion mode */ + LIS3MDL_COMP_MD_SINGLE = 0x01, /**< Single conversion mode */ + LIS3MDL_COMP_MD_POWER_DOWN = 0x02 /**< Power down mode */ +}lis3mdl_comp_md_t; + +/** + * @brief LIS3MDL operation mode for X and Y axes + */ +typedef enum { + LIS3MDL_COMP_OMXY_LP = 0x00, /**< X-Y axes low power mode */ + LIS3MDL_COMP_OMXY_MEDIUM = 0x20, /**< X-Y axes medium performance mode */ + LIS3MDL_COMP_OMXY_HIGH = 0x40, /**< X-Y axes high performance mode */ + LIS3MDL_COMP_OMXY_ULTRA = 0x60 /**< X-Y axes ultra performance mode */ +}lis3mdl_comp_omxy_t; + +/** + * @brief LIS3MDL operation mode for Z axis + */ +typedef enum { + LIS3MDL_COMP_OMZ_LP = 0x00, /**< Z axis low power mode */ + LIS3MDL_COMP_OMZ_MEDIUM = 0x04, /**< Z axis medium performance mode */ + LIS3MDL_COMP_OMZ_HIGH = 0x08, /**< Z axis high performance mode */ + LIS3MDL_COMP_OMZ_ULTRA = 0x0C /**< Z axis ultra performance mode */ +}lis3mdl_comp_omz_t; + +/** + * @brief LIS3MDL temperature sensor enabling + */ +typedef enum { + LIS3MDL_TEMP_DISABLED = 0x00, /**< Temperature sensor disabled. */ + LIS3MDL_TEMP_ENABLED = 0x80 /**< Temperature sensor enabled. */ +}lis3mdl_temp_t; + +/** + * @brief LIS3MDL block data update + */ +typedef enum { + LIS3MDL_BDU_CONTINUOUS = 0x00, /**< Continuous Update */ + LIS3MDL_BDU_BLOCKED = 0x40 /**< Block data updated after reading. */ +}lis3mdl_bdu_t; + +/** + * @brief LIS3MDL endianness + */ +typedef enum { + LIS3MDL_END_LITTLE = 0x00, /**< Little endian. */ + LIS3MDL_END_BIG = 0x02 /**< Big endian. */ +}lis3mdl_end_t; + +/** + * @brief Driver state machine possible states. + */ +typedef enum { + LIS3MDL_UNINIT = 0, /**< Not initialized. */ + LIS3MDL_STOP = 1, /**< Stopped. */ + LIS3MDL_READY = 2, /**< Ready. */ +} lis3mdl_state_t; + +/** + * @brief LIS3MDL configuration structure. + */ +typedef struct { +#if (LIS3MDL_USE_SPI) || defined(__DOXYGEN__) + /** + * @brief SPI driver associated to this LIS3MDL. + */ + SPIDriver *spip; + /** + * @brief SPI configuration associated to this LIS3MDL. + */ + const SPIConfig *spicfg; +#endif /* LIS3MDL_USE_SPI */ +#if (LIS3MDL_USE_I2C) || defined(__DOXYGEN__) + /** + * @brief I2C driver associated to this LIS3MDL. + */ + I2CDriver *i2cp; + /** + * @brief I2C configuration associated to this LIS3MDL. + */ + const I2CConfig *i2ccfg; + /** + * @brief LIS3MDL slave address + */ + lis3mdl_sad_t slaveaddress; +#endif /* LIS3MDL_USE_I2C */ + /** + * @brief LIS3MDL compass subsystem initial sensitivity. + */ + float *compsensitivity; + /** + * @brief LIS3MDL compass subsystem initial bias. + */ + float *compbias; + /** + * @brief LIS3MDL compass subsystem full scale. + */ + lis3mdl_comp_fs_t compfullscale; + /** + * @brief LIS3MDL compass subsystem output data rate. + */ + lis3mdl_comp_odr_t compoutputdatarate; +#if LIS3MDL_USE_ADVANCED || defined(__DOXYGEN__) + /** + * @brief LIS3MDL compass subsystem low power mode configuration. + */ + lis3mdl_comp_lp_t complowpowermode; + /** + * @brief LIS3MDL compass subsystem conversion mode. + */ + lis3mdl_comp_md_t compconversionmode; + /** + * @brief LIS3MDL compass subsystem operation mode for X and Y axes. + */ + lis3mdl_comp_omxy_t compoperationmodexy; + /** + * @brief LIS3MDL compass subsystem operation mode for Z axis. + */ + lis3mdl_comp_omz_t compoperationmodez; + /** + * @brief LIS3MDL block data update. + */ + lis3mdl_bdu_t blockdataupdate; + /** + * @brief LIS3MDL endianness. + */ + lis3mdl_end_t endianness; +#endif +} LIS3MDLConfig; + +/** + * @brief @p LIS3MDL specific methods. + */ +#define _lis3msl_methods_alone \ + /* Change full scale value of LIS3MDL compass subsystem.*/ \ + msg_t (*comp_set_full_scale)(LIS3MDLDriver *devp, lis3mdl_comp_fs_t fs); + +/** + * @brief @p LIS3MDL specific methods with inherited ones. + */ +#define _lis3mdl_methods \ + _base_object_methods \ + _lis3msl_methods_alone + +/** + * @extends BaseCompassVMT + * + * @brief @p LIS3MDL virtual methods table. + */ +struct LIS3MDLVMT { + _lis3mdl_methods +}; + +/** + * @brief @p LIS3MDLDriver specific data. + */ +#define _lis3mdl_data \ + _base_compass_data \ + /* Driver state.*/ \ + lis3mdl_state_t state; \ + /* Current configuration data.*/ \ + const LIS3MDLConfig *config; \ + /* Compass subsystem axes number.*/ \ + size_t compaxes; \ + /* Compass subsystem current sensitivity.*/ \ + float compsensitivity[LIS3MDL_COMP_NUMBER_OF_AXES]; \ + /* Compass subsystem current bias.*/ \ + float compbias[LIS3MDL_COMP_NUMBER_OF_AXES]; \ + /* Compass subsystem current full scale value.*/ \ + float compfullscale; + +/** + * @brief LIS3MDL 3-axis compass class. + */ +struct LIS3MDLDriver { + /** @brief Virtual Methods Table.*/ + const struct LIS3MDLVMT *vmt; + /** @brief Base compass interface.*/ + BaseCompass comp_if; + _lis3mdl_data +}; +/** @} */ + +/*===========================================================================*/ +/* Driver macros. */ +/*===========================================================================*/ + +/** + * @brief Return the number of axes of the BaseCompass. + * + * @param[in] devp pointer to @p LIS3MDLDriver. + * + * @return the number of axes. + * + * @api + */ +#define lis3mdlCompassGetAxesNumber(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 lis3mdlCompassReadRaw(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 lis3mdlCompassReadCooked(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 lis3mdlCompassSetBias(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 LIS3MDLDriver. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * + * @api + */ +#define lis3mdlCompassResetBias(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 LIS3MDLDriver. + * @param[in] sp a buffer which contains sensitivities. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * + * @api + */ +#define lis3mdlCompassSetSensitivity(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 LIS3MDLDriver. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * @retval MSG_RESET otherwise. + * + * @api + */ +#define lis3mdlCompassResetSensitivity(devp) \ + compassResetSensitivity(&((devp)->comp_if)) + +/** + * @brief Changes the LIS3MDLDriver 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 LIS3MDLDriver. + * @param[in] fs new fullscale value. + * + * @return The operation status. + * @retval MSG_OK if the function succeeded. + * @retval MSG_RESET otherwise. + * + * @api + */ +#define lis3mdlCompassSetFullScale(devp, fs) \ + (devp)->vmt->comp_set_full_scale(devp, fs) + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +#ifdef __cplusplus +extern "C" { +#endif + void lis3mdlObjectInit(LIS3MDLDriver *devp); + void lis3mdlStart(LIS3MDLDriver *devp, const LIS3MDLConfig *config); + void lis3mdlStop(LIS3MDLDriver *devp); +#ifdef __cplusplus +} +#endif + +#endif /* _LIS3MDL_H_ */ + +/** @} */ + -- cgit v1.2.3