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/lsm303dlhc.h | 955 +++++++++++++++++++++++++++ 1 file changed, 955 insertions(+) create mode 100644 ChibiOS_20.3.2/os/ex/devices/ST/lsm303dlhc.h (limited to 'ChibiOS_20.3.2/os/ex/devices/ST/lsm303dlhc.h') 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 . + +*/ + +/** + * @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_ */ + +/** @} */ -- cgit v1.2.3