956 lines
34 KiB
C
956 lines
34 KiB
C
/*
|
||
ChibiOS - Copyright (C) 2016..2018 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 lsm303dlhc.h
|
||
* @brief LSM303DLHC MEMS interface module header.
|
||
*
|
||
* @addtogroup LSM303DLHC
|
||
* @ingroup EX_ST
|
||
* @{
|
||
*/
|
||
#ifndef _LSM303DLHC_H_
|
||
#define _LSM303DLHC_H_
|
||
|
||
#include "hal_accelerometer.h"
|
||
#include "hal_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
|
||
|
||
/**
|
||
* @todo 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 <20>2g. */
|
||
LSM303DLHC_ACC_FS_4G = 0x10, /**< Full scale <20>4g. */
|
||
LSM303DLHC_ACC_FS_8G = 0x20, /**< Full scale <20>8g. */
|
||
LSM303DLHC_ACC_FS_16G = 0x30 /**< Full scale <20>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 <20>1.3 Gauss */
|
||
LSM303DLHC_COMP_FS_1P9GA = 0x40, /**< Full scale <20>1.9 Gauss */
|
||
LSM303DLHC_COMP_FS_2P5GA = 0x60, /**< Full scale <20>2.5 Gauss */
|
||
LSM303DLHC_COMP_FS_4P0GA = 0x80, /**< Full scale <20>4.0 Gauss */
|
||
LSM303DLHC_COMP_FS_4P7GA = 0xA0, /**< Full scale <20>4.7 Gauss */
|
||
LSM303DLHC_COMP_FS_5P6GA = 0xC0, /**< Full scale <20>5.6 Gauss */
|
||
LSM303DLHC_COMP_FS_8P1GA = 0xE0 /**< Full scale <20>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_ACC_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_COMP_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_ */
|
||
|
||
/** @} */
|