/*
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 lsm303agr.h
* @brief LSM303AGR MEMS interface module header.
*
* @addtogroup LSM303AGR
* @ingroup EX_ST
* @{
*/
#ifndef _LSM303AGR_H_
#define _LSM303AGR_H_
#include "ex_accelerometer.h"
#include "ex_compass.h"
/*===========================================================================*/
/* Driver constants. */
/*===========================================================================*/
/**
* @name Version identification
* @{
*/
/**
* @brief LSM303AGR driver version string.
*/
#define EX_LSM303AGR_VERSION "1.0.1"
/**
* @brief LSM303AGR driver version major number.
*/
#define EX_LSM303AGR_MAJOR 1
/**
* @brief LSM303AGR driver version minor number.
*/
#define EX_LSM303AGR_MINOR 0
/**
* @brief LSM303AGR driver version patch number.
*/
#define EX_LSM303AGR_PATCH 1
/** @} */
/**
* @brief LSM303AGR 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 LSM303AGR_ACC_NUMBER_OF_AXES 3U
#define LSM303AGR_ACC_2G 2.0f
#define LSM303AGR_ACC_4G 4.0f
#define LSM303AGR_ACC_8G 8.0f
#define LSM303AGR_ACC_16G 16.0f
#define LSM303AGR_ACC_SENS_2G 0.060f
#define LSM303AGR_ACC_SENS_4G 0.120f
#define LSM303AGR_ACC_SENS_8G 0.240f
#define LSM303AGR_ACC_SENS_16G 0.750f
#define LSM303AGR_ACC_BIAS 0.0f
/** @} */
/**
* @brief LSM303AGR compass subsystem characteristics.
* @note Sensitivity is expressed as G/LSB whereas G stands for Gauss.
* @note Bias is expressed as G.
*
* @{
*/
#define LSM303AGR_COMP_NUMBER_OF_AXES 3U
#define LSM303AGR_COMP_50GA 50.0f
#define LSM303AGR_COMP_SENS_50GA 0.00015f
#define LSM303AGR_COMP_BIAS 0.0f
/** @} */
/**
* @name LSM303AGR communication interfaces related bit masks
* @{
*/
#define LSM303AGR_DI_MASK 0xFF
#define LSM303AGR_DI(n) (1 << n)
#define LSM303AGR_AD_MASK 0x7F
#define LSM303AGR_AD(n) (1 << n)
#define LSM303AGR_MS (1 << 7)
/** @} */
/**
* @name LSM303AGR register addresses
* @{
*/
#define LSM303AGR_AD_STATUS_REG_AUX_A 0x07
#define LSM303AGR_AD_OUT_TEMP_L_A 0x0C
#define LSM303AGR_AD_OUT_TEMP_H_A 0x0D
#define LSM303AGR_AD_INT_COUNTER_REG_A 0x0E
#define LSM303AGR_AD_WHO_AM_I_A 0x0F
#define LSM303AGR_AD_TEMP_CFG_REG_A 0x1F
#define LSM303AGR_AD_CTRL_REG1_A 0x20
#define LSM303AGR_AD_CTRL_REG2_A 0x21
#define LSM303AGR_AD_CTRL_REG3_A 0x22
#define LSM303AGR_AD_CTRL_REG4_A 0x23
#define LSM303AGR_AD_CTRL_REG5_A 0x24
#define LSM303AGR_AD_CTRL_REG6_A 0x25
#define LSM303AGR_AD_REFERENCE_A 0x26
#define LSM303AGR_AD_STATUS_REG_A 0x27
#define LSM303AGR_AD_OUT_X_L_A 0x28
#define LSM303AGR_AD_OUT_X_H_A 0x29
#define LSM303AGR_AD_OUT_Y_L_A 0x2A
#define LSM303AGR_AD_OUT_Y_H_A 0x2B
#define LSM303AGR_AD_OUT_Z_L_A 0x2C
#define LSM303AGR_AD_OUT_Z_H_A 0x2D
#define LSM303AGR_AD_FIFO_CTRL_REG_A 0x2E
#define LSM303AGR_AD_FIFO_SRC_REG_A 0x2F
#define LSM303AGR_AD_INT1_CFG_A 0x30
#define LSM303AGR_AD_INT1_SRC_A 0x31
#define LSM303AGR_AD_INT1_THS_A 0x32
#define LSM303AGR_AD_INT1_DURATION_A 0x33
#define LSM303AGR_AD_INT2_CFG_A 0x34
#define LSM303AGR_AD_INT2_SRC_A 0x35
#define LSM303AGR_AD_INT2_THS_A 0x36
#define LSM303AGR_AD_INT2_DURATION_A 0x37
#define LSM303AGR_AD_CLICK_CFG_A 0x38
#define LSM303AGR_AD_CLICK_SRC_A 0x39
#define LSM303AGR_AD_CLICK_THS_A 0x3A
#define LSM303AGR_AD_TIME_LIMIT_A 0x3B
#define LSM303AGR_AD_TIME_LATENCY_A 0x3C
#define LSM303AGR_AD_TIME_WINDOW_A 0x3D
#define LSM303AGR_AD_ACT_THS_A 0x3E
#define LSM303AGR_AD_ACT_DUR_A 0x3F
#define LSM303AGR_AD_OFFSET_X_REG_L_M 0x45
#define LSM303AGR_AD_OFFSET_X_REG_H_M 0x46
#define LSM303AGR_AD_OFFSET_Y_REG_L_M 0x47
#define LSM303AGR_AD_OFFSET_Y_REG_H_M 0x48
#define LSM303AGR_AD_OFFSET_Z_REG_L_M 0x49
#define LSM303AGR_AD_OFFSET_Z_REG_H_M 0x4A
#define LSM303AGR_AD_WHO_AM_I_M 0x4F
#define LSM303AGR_AD_CFG_REG_A_M 0x60
#define LSM303AGR_AD_CFG_REG_B_M 0x61
#define LSM303AGR_AD_CFG_REG_C_M 0x62
#define LSM303AGR_AD_INT_CRTL_REG_M 0x63
#define LSM303AGR_AD_INT_SOURCE_REG_M 0x64
#define LSM303AGR_AD_INT_THS_L_REG_M 0x65
#define LSM303AGR_AD_INT_THS_H_REG_M 0x66
#define LSM303AGR_AD_STATUS_REG_M 0x67
#define LSM303AGR_AD_OUTX_L_REG_M 0x68
#define LSM303AGR_AD_OUTX_H_REG_M 0x69
#define LSM303AGR_AD_OUTY_L_REG_M 0x6A
#define LSM303AGR_AD_OUTY_H_REG_M 0x6B
#define LSM303AGR_AD_OUTZ_L_REG_M 0x6C
#define LSM303AGR_AD_OUTZ_H_REG_M 0x6D
/** @} */
/**
* @name LSM303AGR_TEMP_CFG_REG_A register bits definitions
* @{
*/
#define LSM303AGR_TEMP_CFG_REG_A_TEMP_EN0 (1 << 0)
#define LSM303AGR_TEMP_CFG_REG_A_TEMP_EN1 (1 << 0)
/** @} */
/**
* @name LSM303AGR_CTRL_REG1_A register bits definitions
* @{
*/
#define LSM303AGR_CTRL_REG1_A_XEN (1 << 0)
#define LSM303AGR_CTRL_REG1_A_YEN (1 << 1)
#define LSM303AGR_CTRL_REG1_A_ZEN (1 << 2)
#define LSM303AGR_CTRL_REG1_A_LPEN (1 << 3)
#define LSM303AGR_CTRL_REG1_A_ODR0 (1 << 4)
#define LSM303AGR_CTRL_REG1_A_ODR1 (1 << 5)
#define LSM303AGR_CTRL_REG1_A_ODR2 (1 << 6)
#define LSM303AGR_CTRL_REG1_A_ODR3 (1 << 7)
/** @} */
/**
* @name LSM303AGR_CTRL_REG2_A register bits definitions
* @{
*/
#define LSM303AGR_CTRL_REG2_A_HPIS1 (1 << 0)
#define LSM303AGR_CTRL_REG2_A_HPIS2 (1 << 1)
#define LSM303AGR_CTRL_REG2_A_HPCLICK (1 << 2)
#define LSM303AGR_CTRL_REG2_A_FDS (1 << 3)
#define LSM303AGR_CTRL_REG2_A_HPCF1 (1 << 4)
#define LSM303AGR_CTRL_REG2_A_HPCF2 (1 << 5)
#define LSM303AGR_CTRL_REG2_A_HPM0 (1 << 6)
#define LSM303AGR_CTRL_REG2_A_HPM1 (1 << 7)
/** @} */
/**
* @name LSM303AGR_CTRL_REG3_A register bits definitions
* @{
*/
#define LSM303AGR_CTRL_REG3_A_I1_OVERRUN (1 << 1)
#define LSM303AGR_CTRL_REG3_A_I1_WTM (1 << 2)
#define LSM303AGR_CTRL_REG3_A_I1_DRDY2 (1 << 3)
#define LSM303AGR_CTRL_REG3_A_I1_DRDY1 (1 << 4)
#define LSM303AGR_CTRL_REG3_A_I1_AOI2 (1 << 5)
#define LSM303AGR_CTRL_REG3_A_I1_AOI1 (1 << 6)
#define LSM303AGR_CTRL_REG3_A_I1_CLICK (1 << 7)
/** @} */
/**
* @name LSM303AGR_CTRL_REG4_A register bits definitions
* @{
*/
#define LSM303AGR_CTRL_REG4_A_SPI_ENABLE (1 << 0)
#define LSM303AGR_CTRL_REG4_A_ST0 (1 << 1)
#define LSM303AGR_CTRL_REG4_A_ST1 (1 << 2)
#define LSM303AGR_CTRL_REG4_A_HR (1 << 3)
#define LSM303AGR_CTRL_REG4_A_FS_MASK 0x30
#define LSM303AGR_CTRL_REG4_A_FS0 (1 << 4)
#define LSM303AGR_CTRL_REG4_A_FS1 (1 << 5)
#define LSM303AGR_CTRL_REG4_A_BLE (1 << 6)
#define LSM303AGR_CTRL_REG4_A_BDU (1 << 7)
/** @} */
/**
* @name LSM303AGR_CTRL_REG5_A register bits definitions
* @{
*/
#define LSM303AGR_CTRL_REG5_A_D4D_INT2 (1 << 0)
#define LSM303AGR_CTRL_REG5_A_LIR_INT2 (1 << 1)
#define LSM303AGR_CTRL_REG5_A_D4D_INT1 (1 << 2)
#define LSM303AGR_CTRL_REG5_A_LIR_INT1 (1 << 3)
#define LSM303AGR_CTRL_REG5_A_FIFO_EN (1 << 6)
#define LSM303AGR_CTRL_REG5_A_BOOT (1 << 7)
/** @} */
/**
* @name LSM303AGR_CTRL_REG6_A register bits definitions
* @{
*/
#define LSM303AGR_CTRL_REG6_A_H_LACTIVE (1 << 1)
#define LSM303AGR_CTRL_REG6_A_P2_ACT (1 << 3)
#define LSM303AGR_CTRL_REG6_A_BOOT_I2 (1 << 4)
#define LSM303AGR_CTRL_REG6_A_I2_INT2 (1 << 5)
#define LSM303AGR_CTRL_REG6_A_I2_INT1 (1 << 6)
#define LSM303AGR_CTRL_REG6_A_I2_CLICKEN (1 << 7)
/** @} */
/**
* @name LSM303AGR_CFG_REG_A register bits definitions
* @{
*/
#define LSM303AGR_CFG_REG_A_M_MD0 (1 << 0)
#define LSM303AGR_CFG_REG_A_M_MD1 (1 << 1)
#define LSM303AGR_CFG_REG_A_M_ODR0 (1 << 2)
#define LSM303AGR_CFG_REG_A_M_ODR1 (1 << 3)
#define LSM303AGR_CFG_REG_A_M_LP (1 << 4)
#define LSM303AGR_CFG_REG_A_M_SOFT_RST (1 << 5)
#define LSM303AGR_CFG_REG_A_M_REBOOT (1 << 6)
#define LSM303AGR_CFG_REG_A_M_COMP_TEMP_EN (1 << 7)
/** @} */
/**
* @name LSM303AGR_CFG_REG_B register bits definitions
* @{
*/
#define LSM303AGR_CFG_REG_B_M_LPF (1 << 0)
#define LSM303AGR_CFG_REG_B_M_OFF_CANC (1 << 1)
#define LSM303AGR_CFG_REG_B_M_SET_FREQ (1 << 2)
#define LSM303AGR_CFG_REG_B_M_INT_ON (1 << 3)
#define LSM303AGR_CFG_REG_B_M_OFF_CANC_OS (1 << 4)
/** @} */
/**
* @name LSM303AGR_CFG_REG_C register bits definitions
* @{
*/
#define LSM303AGR_CFG_REG_C_M_INT_MAG (1 << 0)
#define LSM303AGR_CFG_REG_C_M_SELF_TEST (1 << 1)
#define LSM303AGR_CFG_REG_C_M_BLE (1 << 3)
#define LSM303AGR_CFG_REG_C_M_BDU (1 << 4)
#define LSM303AGR_CFG_REG_C_M_I2C_DIS (1 << 5)
#define LSM303AGR_CFG_REG_C_M_INT_MAG_PIN (1 << 6)
/** @} */
/*===========================================================================*/
/* Driver pre-compile time settings. */
/*===========================================================================*/
/**
* @name Configuration options
* @{
*/
/**
* @brief LSM303AGR SPI interface switch.
* @details If set to @p TRUE the support for SPI is included.
* @note The default is @p FALSE.
*/
#if !defined(LSM303AGR_USE_SPI) || defined(__DOXYGEN__)
#define LSM303AGR_USE_SPI FALSE
#endif
/**
* @brief LSM303AGR 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(LSM303AGR_SHARED_SPI) || defined(__DOXYGEN__)
#define LSM303AGR_SHARED_SPI FALSE
#endif
/**
* @brief LSM303AGR I2C interface switch.
* @details If set to @p TRUE the support for I2C is included.
* @note The default is @p TRUE.
*/
#if !defined(LSM303AGR_USE_I2C) || defined(__DOXYGEN__)
#define LSM303AGR_USE_I2C TRUE
#endif
/**
* @brief LSM303AGR 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(LSM303AGR_SHARED_I2C) || defined(__DOXYGEN__)
#define LSM303AGR_SHARED_I2C FALSE
#endif
/**
* @brief LSM303AGR advanced configurations switch.
* @details If set to @p TRUE more configurations are available.
* @note The default is @p FALSE.
*/
#if !defined(LSM303AGR_USE_ADVANCED) || defined(__DOXYGEN__)
#define LSM303AGR_USE_ADVANCED FALSE
#endif
/** @} */
/*===========================================================================*/
/* Derived constants and error checks. */
/*===========================================================================*/
#if !(LSM303AGR_USE_SPI ^ LSM303AGR_USE_I2C)
#error "LSM303AGR_USE_SPI and LSM303AGR_USE_I2C cannot be both true or both false"
#endif
#if LSM303AGR_USE_SPI && !HAL_USE_SPI
#error "LSM303AGR_USE_SPI requires HAL_USE_SPI"
#endif
#if LSM303AGR_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION
#error "LSM303AGR_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION"
#endif
#if LSM303AGR_USE_I2C && !HAL_USE_I2C
#error "LSM303AGR_USE_I2C requires HAL_USE_I2C"
#endif
#if LSM303AGR_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION
#error "LSM303AGR_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION"
#endif
/*
* CHTODO: Add support for LSM303AGR over SPI.
*/
#if LSM303AGR_USE_SPI
#error "LSM303AGR over SPI still not supported"
#endif
/*===========================================================================*/
/* Driver data structures and types. */
/*===========================================================================*/
/**
* @name LSM303AGR accelerometer subsystem data structures and types.
* @{
*/
/**
* @brief Structure representing a LSM303AGR driver.
*/
typedef struct LSM303AGRDriver LSM303AGRDriver;
/**
* @brief LSM303AGR accelerometer subsystem full scale.
*/
typedef enum {
LSM303AGR_ACC_FS_2G = 0x00, /**< Full scale �2g. */
LSM303AGR_ACC_FS_4G = 0x10, /**< Full scale �4g. */
LSM303AGR_ACC_FS_8G = 0x20, /**< Full scale �8g. */
LSM303AGR_ACC_FS_16G = 0x30 /**< Full scale �16g. */
} lsm303agr_acc_fs_t;
/**
* @brief LSM303AGR accelerometer subsystem output data rate.
*/
typedef enum {
LSM303AGR_ACC_ODR_PD = 0x00, /**< Power down */
LSM303AGR_ACC_ODR_1Hz = 0x10, /**< ODR 1 Hz */
LSM303AGR_ACC_ODR_10Hz = 0x20, /**< ODR 10 Hz */
LSM303AGR_ACC_ODR_25Hz = 0x30, /**< ODR 25 Hz */
LSM303AGR_ACC_ODR_50Hz = 0x40, /**< ODR 50 Hz */
LSM303AGR_ACC_ODR_100Hz = 0x50, /**< ODR 100 Hz */
LSM303AGR_ACC_ODR_200Hz = 0x60, /**< ODR 200 Hz */
LSM303AGR_ACC_ODR_400Hz = 0x70, /**< ODR 400 Hz */
LSM303AGR_ACC_ODR_1620Hz = 0x80, /**< ODR 1620 Hz (LP only) */
LSM303AGR_ACC_ODR_1344Hz = 0x90 /**< ODR 1344 Hz or 5376 Hz in LP */
} lsm303agr_acc_odr_t;
/**
* @brief LSM303AGR accelerometer subsystem axes enabling.
*/
typedef enum {
LSM303AGR_ACC_AE_DISABLED = 0x00,/**< All axes disabled. */
LSM303AGR_ACC_AE_X = 0x01, /**< Only X-axis enabled. */
LSM303AGR_ACC_AE_Y = 0x02, /**< Only Y-axis enabled. */
LSM303AGR_ACC_AE_XY = 0x03, /**< X and Y axes enabled. */
LSM303AGR_ACC_AE_Z = 0x04, /**< Only Z-axis enabled. */
LSM303AGR_ACC_AE_XZ = 0x05, /**< X and Z axes enabled. */
LSM303AGR_ACC_AE_YZ = 0x06, /**< Y and Z axes enabled. */
LSM303AGR_ACC_AE_XYZ = 0x07 /**< All axes enabled. */
} lsm303agr_acc_ae_t;
/**
* @brief LSM303AGR accelerometer subsystem operation mode.
*/
typedef enum {
LSM303AGR_ACC_MODE_NORM = 0, /**< Normal mode. */
LSM303AGR_ACC_MODE_LPOW = 1, /**< Low power mode. */
LSM303AGR_ACC_MODE_HRES = 2 /**< High resolution mode. */
} lsm303agr_acc_mode_t;
/**
* @brief LSM303AGR accelerometer subsystem block data update.
*/
typedef enum {
LSM303AGR_ACC_BDU_CONT = 0x00, /**< Continuous update */
LSM303AGR_ACC_BDU_BLOCK = 0x80 /**< Update blocked */
} lsm303agr_acc_bdu_t;
/**
* @brief LSM303AGR accelerometer endianness.
*/
typedef enum {
LSM303AGR_ACC_END_LITTLE = 0x00, /**< Little Endian */
LSM303AGR_ACC_END_BIG = 0x40 /**< Big Endian */
} lsm303agr_acc_end_t;
/**
* @name LSM303AGR compass subsystem data structures and types.
* @{
*/
/**
* @brief LSM303AGR compass subsystem output data rate.
*/
typedef enum {
LSM303AGR_COMP_ODR_10HZ = 0x00, /**< ODR 10 Hz */
LSM303AGR_COMP_ODR_20HZ = 0x04, /**< ODR 20 Hz */
LSM303AGR_COMP_ODR_50HZ = 0x08, /**< ODR 50 Hz */
LSM303AGR_COMP_ODR_100HZ = 0x0C /**< ODR 100 Hz */
} lsm303agr_comp_odr_t;
/**
* @brief LSM303AGR compass subsystem working mode.
*/
typedef enum {
LSM303AGR_COMP_MODE_NORM = 0x00, /**< Continuous-Conversion Mode */
LSM303AGR_COMP_MODE_SINGLE = 0x01,/**< Single-Conversion Mode */
LSM303AGR_COMP_MODE_IDLE = 0x02 /**< Sleep Mode */
} lsm303agr_comp_mode_t;
/**
* @brief LSM303AGR compass subsystem working mode.
*/
typedef enum {
LSM303AGR_COMP_LPOW_DIS = 0x00, /**< High Resolution Mode */
LSM303AGR_COMP_LPOW_EN = 0x10 /**< Low Power Mode */
} lsm303agr_comp_lpow_t;
/**
* @name LSM303AGR main system data structures and types.
* @{
*/
/**
* @brief Driver state machine possible states.
*/
typedef enum {
LSM303AGR_UNINIT = 0, /**< Not initialized. */
LSM303AGR_STOP = 1, /**< Stopped. */
LSM303AGR_READY = 2, /**< Ready. */
} lsm303agr_state_t;
/**
* @brief LSM303AGR configuration structure.
*/
typedef struct {
/**
* @brief I2C driver associated to this LSM303AGR.
*/
I2CDriver *i2cp;
/**
* @brief I2C configuration associated to this LSM303AGR.
*/
const I2CConfig *i2ccfg;
/**
* @brief LSM303AGR accelerometer subsystem initial sensitivity.
*/
float *accsensitivity;
/**
* @brief LSM303AGR accelerometer subsystem initial bias.
*/
float *accbias;
/**
* @brief LSM303AGR accelerometer subsystem initial full scale.
*/
lsm303agr_acc_fs_t accfullscale;
/**
* @brief LSM303AGR accelerometer subsystem output data rate.
*/
lsm303agr_acc_odr_t accoutdatarate;
#if LSM303AGR_USE_ADVANCED || defined(__DOXYGEN__)
/**
* @brief LSM303AGR accelerometer subsystem mode.
*/
lsm303agr_acc_mode_t accmode;
/**
* @brief LSM303AGR accelerometer subsystem block data update.
*/
lsm303agr_acc_bdu_t accblockdataupdate;
/**
* @brief LSM303AGR accelerometer endianness.
*/
lsm303agr_acc_end_t accendianess;
#endif
/**
* @brief LSM303AGR compass initial sensitivity.
*/
float *compsensitivity;
/**
* @brief LSM303AGR compass initial bias.
*/
float *compbias;
/**
* @brief LSM303AGR compass subsystem output data rate.
*/
lsm303agr_comp_odr_t compoutputdatarate;
#if LSM303AGR_USE_ADVANCED || defined(__DOXYGEN__)
/**
* @brief LSM303AGR compass subsystem working mode.
*/
lsm303agr_comp_mode_t compmode;
/**
* @brief LSM303AGR compass subsystem lowpower mode.
*/
lsm303agr_comp_lpow_t complp;
#endif
} LSM303AGRConfig;
/**
* @brief @p LSM303AGR specific methods.
*/
#define _lsm303agr_methods_alone \
/* Change full scale value of LSM303AGR accelerometer subsystem.*/ \
msg_t (*acc_set_full_scale)(LSM303AGRDriver *devp, \
lsm303agr_acc_fs_t fs);
/**
* @brief @p LSM303AGR specific methods with inherited ones.
*/
#define _lsm303agr_methods \
_base_object_methods \
_lsm303agr_methods_alone
/**
* @extends BaseObjectVMT
*
* @brief @p LSM303AGR virtual methods table.
*/
struct LSM303AGRVMT {
_lsm303agr_methods
};
/**
* @brief @p LSM303AGRDriver specific data.
*/
#define _lsm303agr_data \
_base_sensor_data \
/* Driver state.*/ \
lsm303agr_state_t state; \
/* Current configuration data.*/ \
const LSM303AGRConfig *config; \
/* Accelerometer subsystem axes number.*/ \
size_t accaxes; \
/* Accelerometer subsystem current sensitivity.*/ \
float accsensitivity[LSM303AGR_ACC_NUMBER_OF_AXES]; \
/* Accelerometer subsystem current bias .*/ \
float accbias[LSM303AGR_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[LSM303AGR_COMP_NUMBER_OF_AXES]; \
/* Compass subsystem current bias.*/ \
float compbias[LSM303AGR_COMP_NUMBER_OF_AXES]; \
/* Compass subsystem current full scale value.*/ \
float compfullscale;
/**
* @brief LSM303AGR 6-axis accelerometer/compass class.
*/
struct LSM303AGRDriver {
/** @brief Virtual Methods Table.*/
const struct LSM303AGRVMT *vmt;
/** @brief Base accelerometer interface.*/
BaseAccelerometer acc_if;
/** @brief Base compass interface.*/
BaseCompass comp_if;
_lsm303agr_data
};
/** @} */
/*===========================================================================*/
/* Driver macros. */
/*===========================================================================*/
/**
* @brief Return the number of axes of the BaseAccelerometer.
*
* @param[in] devp pointer to @p LSM303AGRDriver.
*
* @return the number of axes.
*
* @api
*/
#define lsm303agrAccelerometerGetAxesNumber(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 LSM303AGRDriver.
* @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 lsm303agrAccelerometerReadRaw(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 LSM303AGRDriver.
* @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 lsm303agrAccelerometerReadCooked(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 LSM303AGRDriver.
* @param[in] bp a buffer which contains biases.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*
* @api
*/
#define lsm303agrAccelerometerSetBias(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 LSM303AGRDriver.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*
* @api
*/
#define lsm303agrAccelerometerResetBias(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 LSM303AGRDriver.
* @param[in] sp a buffer which contains sensitivities.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*
* @api
*/
#define lsm303agrAccelerometerSetSensitivity(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 LSM303AGRDriver.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
* @retval MSG_RESET otherwise.
*
* @api
*/
#define lsm303agrAccelerometerResetSensitivity(devp) \
accelerometerResetSensitivity(&((devp)->acc_if))
/**
* @brief Changes the LSM303AGRDriver 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 LSM303AGRDriver.
* @param[in] fs new fullscale value.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
* @retval MSG_RESET otherwise.
*
* @api
*/
#define lsm303agrAccelerometerSetFullScale(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 LSM303AGRDriver.
*
* @return the number of axes.
*
* @api
*/
#define lsm303agrCompassGetAxesNumber(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 lsm303agrCompassReadRaw(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 lsm303agrCompassReadCooked(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 lsm303agrCompassSetBias(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 LSM303AGRDriver.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*
* @api
*/
#define lsm303agrCompassResetBias(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 LSM303AGRDriver.
* @param[in] sp a buffer which contains sensitivities.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*
* @api
*/
#define lsm303agrCompassSetSensitivity(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 LSM303AGRDriver.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
* @retval MSG_RESET otherwise.
*
* @api
*/
#define lsm303agrCompassResetSensitivity(devp) \
compassResetSensitivity(&((devp)->comp_if))
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
#ifdef __cplusplus
extern "C" {
#endif
void lsm303agrObjectInit(LSM303AGRDriver *devp);
void lsm303agrStart(LSM303AGRDriver *devp, const LSM303AGRConfig *config);
void lsm303agrStop(LSM303AGRDriver *devp);
#ifdef __cplusplus
}
#endif
#endif /* _LSM303AGR_H_ */
/** @} */