1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
|
/*
Pretty LAYer for ChibiOS/RT - Copyright (C) 2015 Rocco Marco Guglielmi
This file is part of PLAY for ChibiOS/RT.
PLAY 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.
PLAY 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/>.
*/
/*
Special thanks to Giovanni Di Sirio for teachings, his moral support and
friendship. Note that some or every piece of this file could be part of
the ChibiOS project that is intellectual property of Giovanni Di Sirio.
Please refer to ChibiOS/RT license before use this file.
For suggestion or Bug report - roccomarco.guglielmi@playembedded.org
*/
/**
* @file lis3mdl.h
* @brief LIS3MDL MEMS interface module header.
*
* @{
*/
#ifndef _LIS3MDL_H_
#define _LIS3MDL_H_
/*===========================================================================*/
/* Driver constants. */
/*===========================================================================*/
#define LIS3MDL_COMP_SENS_4GA ((float)6842.0f) /*!< compass sensitivity with 4 GA full scale [LSB / Ga] */
#define LIS3MDL_COMP_SENS_8GA ((float)3421.0f) /*!< compass sensitivity with 8 GA full scale [LSB / Ga] */
#define LIS3MDL_COMP_SENS_12GA ((float)2281.0f) /*!< compass sensitivity with 12 GA full scale [LSB / Ga] */
#define LIS3MDL_COMP_SENS_16GA ((float)1711.0f) /*!< compass sensitivity with 16 GA full scale [LSB / Ga] */
/**
* @name LIS3MDL register names
* @{
*/
/******************************************************************************/
/* */
/* LIS3MDL on board MEMS */
/* */
/******************************************************************************/
/***************** Bit definition for I2C/SPI communication *****************/
#define LIS3MDL_SUB ((uint8_t)0x7F) /*!< SUB[6:0] Sub-registers address Mask */
#define LIS3MDL_SUB_0 ((uint8_t)0x01) /*!< bit 0 */
#define LIS3MDL_SUB_1 ((uint8_t)0x02) /*!< bit 1 */
#define LIS3MDL_SUB_2 ((uint8_t)0x08) /*!< bit 3 */
#define LIS3MDL_SUB_4 ((uint8_t)0x10) /*!< bit 4 */
#define LIS3MDL_SUB_5 ((uint8_t)0x20) /*!< bit 5 */
#define LIS3MDL_SUB_6 ((uint8_t)0x40) /*!< bit 6 */
#define LIS3MDL_SUB_MSB ((uint8_t)0x80) /*!< Multiple data read\write bit */
/**************** Bit definition SUB-Registers Addresses ********************/
#define LIS3MDL_SUB_WHO_AM_I ((uint8_t)0x0F) /*!< CONTROL REGISTER 1 */
#define LIS3MDL_SUB_CTRL_REG1 ((uint8_t)0x20) /*!< CONTROL REGISTER 1 */
#define LIS3MDL_SUB_CTRL_REG2 ((uint8_t)0x21) /*!< CONTROL REGISTER 2 */
#define LIS3MDL_SUB_CTRL_REG3 ((uint8_t)0x22) /*!< CONTROL REGISTER 3 */
#define LIS3MDL_SUB_CTRL_REG4 ((uint8_t)0x23) /*!< CONTROL REGISTER 4 */
#define LIS3MDL_SUB_CTRL_REG5 ((uint8_t)0x24) /*!< CONTROL REGISTER 5 */
#define LIS3MDL_SUB_STATUS_REG ((uint8_t)0x27) /*!< STATUS REGISTER */
#define LIS3MDL_SUB_OUT_X_L ((uint8_t)0x28) /*!< OUTPUT X-AXIS LOW */
#define LIS3MDL_SUB_OUT_X_H ((uint8_t)0x29) /*!< OUTPUT X-AXIS HIGH */
#define LIS3MDL_SUB_OUT_Y_L ((uint8_t)0x2A) /*!< OUTPUT Y-AXIS LOW */
#define LIS3MDL_SUB_OUT_Y_H ((uint8_t)0x2B) /*!< OUTPUT Y-AXIS HIGH */
#define LIS3MDL_SUB_OUT_Z_L ((uint8_t)0x2C) /*!< OUTPUT Z-AXIS LOW */
#define LIS3MDL_SUB_OUT_Z_H ((uint8_t)0x2D) /*!< OUTPUT Z-AXIS HIGH */
#define LIS3MDL_SUB_INT_CFG ((uint8_t)0x30) /*!< INTERRUPT1 CONFIG */
#define LIS3MDL_SUB_INT_SOURCE ((uint8_t)0x31) /*!< INTERRUPT1 SOURCE */
#define LIS3MDL_SUB_INT_THS_L ((uint8_t)0x32) /*!< INTERRUPT1 THRESHOLD */
#define LIS3MDL_SUB_INT_THS_H ((uint8_t)0x33) /*!< INTERRUPT1 DURATION */
/** @} */
/*===========================================================================*/
/* Driver pre-compile time settings. */
/*===========================================================================*/
/*===========================================================================*/
/* Derived constants and error checks. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver data structures and types. */
/*===========================================================================*/
/**
* @name Compass data structures and types
* @{
*/
/**
* @brief Compass Slave Address
*/
typedef enum {
LIS3MDL_SAD_GND = 0x1C, /*!< COMPASS Slave Address when SA1 is to GND */
LIS3MDL_SAD_VCC = 0x1E /*!< COMPASS Slave Address when SA1 is to VCC */
}LIS3MDL_SAD_t;
/**
* @brief Compass Operation Mode for X and Y axes
*/
typedef enum {
LIS3MDL_OMXY_LOW_POWER = 0x00, /*!< Operation Mode XY low power */
LIS3MDL_OMXY_MEDIUM_PERFORMANCE = 0x20, /*!< Operation Mode XY medium performance */
LIS3MDL_OMXY_HIGH_PERFORMANCE = 0x40, /*!< Operation Mode XY high performance */
LIS3MDL_OMXY_ULTRA_PERFORMANCE = 0x60 /*!< Operation Mode XY ultra performance */
}LIS3MDL_OMXY_t;
/**
* @brief Compass Output Data Rate
*/
typedef enum {
LIS3MDL_ODR_0_625Hz = 0x00, /*!< Output Data Rate = 0.625 Hz */
LIS3MDL_ODR_1_25Hz = 0x04, /*!< Output Data Rate = 1.25 Hz */
LIS3MDL_ODR_2_5Hz = 0x08, /*!< Output Data Rate = 2.5 Hz */
LIS3MDL_ODR_5Hz = 0x0C, /*!< Output Data Rate = 5 Hz */
LIS3MDL_ODR_10Hz = 0x10, /*!< Output Data Rate = 10 Hz */
LIS3MDL_ODR_20Hz = 0x14, /*!< Output Data Rate = 20 Hz */
LIS3MDL_ODR_40Hz = 0x18, /*!< Output Data Rate = 40 Hz */
LIS3MDL_ODR_80Hz = 0x1C /*!< Output Data Rate = 80 Hz */
}LIS3MDL_ODR_t;
/**
* @brief Compass Full Scale
*/
typedef enum {
LIS3MDL_FS_4GA = 0x00, /*!< ±4 Gauss */
LIS3MDL_FS_8GA = 0x02, /*!< ±8 Gauss */
LIS3MDL_FS_12GA = 0x04, /*!< ±12 Gauss */
LIS3MDL_FS_16GA = 0x0C /*!< ±16 Gauss */
}LIS3MDL_FS_t;
/**
* @brief Compass Low Mode configuration
*/
typedef enum {
LIS3MDL_LOW_POWER_DISABLED = 0x00, /*!< Low Power mode disabled */
LIS3MDL_LOW_POWER_ENABLED = 0x20 /*!< Low Power mode enabled */
}LIS3MDL_PM_t;
/**
* @brief Compass Mode
*/
typedef enum {
LIS3MDL_MD_CONTINOUS_CONVERSION = 0x00, /*!< Continous conversion mode */
LIS3MDL_MD_SINGLE_CONVERSION = 0x01, /*!< Single conversion mode */
LIS3MDL_MD_POWER_DOWN = 0x02 /*!< Power down mode */
}LIS3MDL_MD_t;
/**
* @brief Compass Operation Mode for Z axis
*/
typedef enum {
LIS3MDL_OMZ_LOW_POWER = 0x00, /*!< Operation Mode Z low power */
LIS3MDL_OMZ_MEDIUM_PERFORMANCE = 0x04, /*!< Operation Mode Z medium performance */
LIS3MDL_OMZ_HIGH_PERFORMANCE = 0x08, /*!< Operation Mode Z high performance */
LIS3MDL_OMZ_ULTRA_PERFORMANCE = 0x0C /*!< Operation Mode Z ultra performance */
}LIS3MDL_OMZ_t;
/**
* @brief Compass Endianness
*/
typedef enum {
LIS3MDL_End_LITTLE = 0x00, /*!< Little Endian: data LSB @ lower address */
LIS3MDL_End_BIG = 0x02 /*!< Big Endian: data MSB @ lower address */
}LIS3MDL_End_t;
/**
* @brief Compass Block Data Update
*/
typedef enum {
LIS3MDL_BDU_CONTINOUS = 0x00, /*!< Continuos Update */
LIS3MDL_BDU_BLOCKED = 0x40 /*!< Single Update: output registers not updated until MSB and LSB reading */
}LIS3MDL_BDU_t;
/**
* @brief Gyroscope configuration structure.
*/
typedef struct {
/**
* @brief Compass Slave Address
*/
LIS3MDL_SAD_t slaveaddress;
/**
* @brief Compass Operation Mode for X and Y axes
*/
LIS3MDL_OMXY_t opmodexy;
/**
* @brief Compass Output Data Rate
*/
LIS3MDL_ODR_t outputdatarate;
/**
* @brief Compass Full Scale
*/
LIS3MDL_FS_t fullscale;
/**
* @brief Compass Low Mode configuration
*/
LIS3MDL_PM_t lowpowermode;
/**
* @brief Compass Mode
*/
LIS3MDL_MD_t mode;
/**
* @brief Compass Operation Mode for Z axis
*/
LIS3MDL_OMZ_t opmodez;
/**
* @brief Compass Endianness
*/
LIS3MDL_End_t endianess;
/**
* @brief Compass Block Data Update
*/
LIS3MDL_BDU_t blockdataupdate;
} LIS3MDL_Config;
/** @} */
/*===========================================================================*/
/* Driver macros. */
/*===========================================================================*/
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
#ifdef __cplusplus
extern "C" {
#endif
uint8_t lis3mdlReadRegister(I2CDriver *i2cp, uint8_t sad, uint8_t sub,
msg_t* message);
void lis3mdlWriteRegister(I2CDriver *i2cp, uint8_t sad, uint8_t sub,
uint8_t value, msg_t* message);
#ifdef __cplusplus
}
#endif
#endif /* _LIS3MDL_H_ */
/** @} */
|
