567 lines
18 KiB
C
567 lines
18 KiB
C
/*
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ChibiOS - Copyright (C) 2016..2018 Rocco Marco Guglielmi
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This file is part of ChibiOS.
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ChibiOS is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 3 of the License, or
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(at your option) any later version.
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ChibiOS is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file lis302dl.h
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* @brief LIS302DL MEMS interface module header.
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*
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* @addtogroup LIS302DL
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* @ingroup EX_ST
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* @{
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*/
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#ifndef _LIS302DL_H_
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#define _LIS302DL_H_
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#include "hal_accelerometer.h"
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/*===========================================================================*/
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/* Driver constants. */
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/*===========================================================================*/
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/**
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* @name Version identification
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* @{
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*/
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/**
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* @brief LIS302DL driver version string.
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*/
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#define EX_LIS302DL_VERSION "1.1.1"
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/**
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* @brief LIS302DL driver version major number.
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*/
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#define EX_LIS302DL_MAJOR 1
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/**
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* @brief LIS302DL driver version minor number.
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*/
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#define EX_LIS302DL_MINOR 1
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/**
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* @brief LIS302DL driver version patch number.
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*/
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#define EX_LIS302DL_PATCH 1
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/** @} */
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/**
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* @brief LIS302DL accelerometer subsystem characteristics.
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* @note Sensitivity is expressed as milli-G/LSB whereas
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* 1 milli-G = 0.00980665 m/s^2.
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* @note Bias is expressed as milli-G.
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*
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* @{
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*/
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#define LIS302DL_ACC_NUMBER_OF_AXES 3U
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#define LIS302DL_ACC_2G 2.0f
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#define LIS302DL_ACC_8G 8.0f
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#define LIS302DL_ACC_SENS_2G 18.0f
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#define LIS302DL_ACC_SENS_8G 72.0f
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#define LIS302DL_ACC_BIAS 0.0f
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/** @} */
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/**
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* @name LIS302DL communication interfaces related bit masks
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* @{
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*/
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#define LIS302DL_DI_MASK 0xFF
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#define LIS302DL_DI(n) (1 << n)
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#define LIS302DL_AD_MASK 0x3F
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#define LIS302DL_AD(n) (1 << n)
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#define LIS302DL_MS (1 << 6)
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#define LIS302DL_RW (1 << 7)
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/** @} */
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/**
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* @name LIS302DL register addresses
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* @{
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*/
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#define LIS302DL_AD_WHO_AM_I 0x0F
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#define LIS302DL_AD_CTRL_REG1 0x20
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#define LIS302DL_AD_CTRL_REG2 0x21
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#define LIS302DL_AD_CTRL_REG3 0x22
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#define LIS302DL_AD_HP_FILER_RESET 0x23
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#define LIS302DL_AD_STATUS_REG 0x27
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#define LIS302DL_AD_OUT_X 0x29
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#define LIS302DL_AD_OUT_Y 0x2B
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#define LIS302DL_AD_OUT_Z 0x2D
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#define LIS302DL_AD_FF_WU_CFG_1 0x30
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#define LIS302DL_AD_FF_WU_SRC_1 0x31
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#define LIS302DL_AD_FF_WU_THS_1 0x32
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#define LIS302DL_AD_FF_WU_DURATION_1 0x33
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#define LIS302DL_AD_FF_WU_CFG_2 0x34
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#define LIS302DL_AD_FF_WU_SRC_2 0x35
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#define LIS302DL_AD_FF_WU_THS_2 0x36
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#define LIS302DL_AD_FF_WU_DURATION_2 0x37
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#define LIS302DL_AD_CLICK_CFG 0x38
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#define LIS302DL_AD_CLICK_SRC 0x39
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#define LIS302DL_AD_CLICK_THSY_X 0x3B
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#define LIS302DL_AD_CLICK_THSZ 0x3C
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#define LIS302DL_AD_CLICK_TIME_LIMIT 0x3D
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#define LIS302DL_AD_CLICK_LATENCY 0x3E
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#define LIS302DL_AD_CLICK_WINDOW 0x3F
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/** @} */
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/**
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* @name LIS302DL_CTRL_REG1 register bits definitions
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* @{
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*/
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#define LIS302DL_CTRL_REG1_MASK 0xFF
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#define LIS302DL_CTRL_REG1_XEN (1 << 0)
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#define LIS302DL_CTRL_REG1_YEN (1 << 1)
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#define LIS302DL_CTRL_REG1_ZEN (1 << 2)
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#define LIS302DL_CTRL_REG1_STM (1 << 3)
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#define LIS302DL_CTRL_REG1_STP (1 << 4)
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#define LIS302DL_CTRL_REG1_FS_MASK 0x20
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#define LIS302DL_CTRL_REG1_FS (1 << 5)
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#define LIS302DL_CTRL_REG1_PD (1 << 6)
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#define LIS302DL_CTRL_REG1_DR (1 << 7)
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/** @} */
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/**
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* @name LIS302DL_CTRL_REG2 register bits definitions
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* @{
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*/
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#define LIS302DL_CTRL_REG2_MASK 0xDF
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#define LIS302DL_CTRL_REG2_HPCF1 (1 << 0)
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#define LIS302DL_CTRL_REG2_HPCF2 (1 << 1)
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#define LIS302DL_CTRL_REG2_HPFFWU1 (1 << 2)
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#define LIS302DL_CTRL_REG2_HPFFWU2 (1 << 3)
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#define LIS302DL_CTRL_REG2_FDS (1 << 4)
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#define LIS302DL_CTRL_REG2_BOOT (1 << 6)
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#define LIS302DL_CTRL_REG2_SIM (1 << 7)
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/** @} */
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/**
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* @name LIS302DL_CTRL_REG3 register bits definitions
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* @{
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*/
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#define LIS302DL_CTRL_REG3_MASK 0xFF
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#define LIS302DL_CTRL_REG3_I1CFG0 (1 << 0)
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#define LIS302DL_CTRL_REG3_I1CFG1 (1 << 1)
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#define LIS302DL_CTRL_REG3_I1CFG2 (1 << 2)
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#define LIS302DL_CTRL_REG3_I2CFG0 (1 << 3)
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#define LIS302DL_CTRL_REG3_I2CFG1 (1 << 4)
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#define LIS302DL_CTRL_REG3_I2CFG2 (1 << 5)
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#define LIS302DL_CTRL_REG3_PP_OD (1 << 6)
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#define LIS302DL_CTRL_REG3_IHL (1 << 7)
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/** @} */
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/*===========================================================================*/
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/* Driver pre-compile time settings. */
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/*===========================================================================*/
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/**
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* @name Configuration options
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* @{
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*/
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/**
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* @brief LIS302DL SPI interface switch.
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* @details If set to @p TRUE the support for SPI is included.
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* @note The default is @p TRUE.
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*/
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#if !defined(LIS302DL_USE_SPI) || defined(__DOXYGEN__)
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#define LIS302DL_USE_SPI TRUE
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#endif
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/**
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* @brief LIS302DL shared SPI switch.
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* @details If set to @p TRUE the device acquires SPI bus ownership
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* on each transaction.
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* @note The default is @p FALSE. Requires SPI_USE_MUTUAL_EXCLUSION.
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*/
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#if !defined(LIS302DL_SHARED_SPI) || defined(__DOXYGEN__)
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#define LIS302DL_SHARED_SPI FALSE
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#endif
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/**
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* @brief LIS302DL I2C interface switch.
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* @details If set to @p TRUE the support for I2C is included.
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* @note The default is @p FALSE.
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*/
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#if !defined(LIS302DL_USE_I2C) || defined(__DOXYGEN__)
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#define LIS302DL_USE_I2C FALSE
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#endif
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/**
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* @brief LIS302DL shared I2C switch.
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* @details If set to @p TRUE the device acquires I2C bus ownership
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* on each transaction.
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* @note The default is @p FALSE. Requires I2C_USE_MUTUAL_EXCLUSION.
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*/
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#if !defined(LIS302DL_SHARED_I2C) || defined(__DOXYGEN__)
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#define LIS302DL_SHARED_I2C FALSE
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#endif
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/**
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* @brief LIS302DL advanced configurations switch.
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* @details If set to @p TRUE more configurations are available.
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* @note The default is @p FALSE.
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*/
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#if !defined(LIS302DL_USE_ADVANCED) || defined(__DOXYGEN__)
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#define LIS302DL_USE_ADVANCED FALSE
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#endif
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/** @} */
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/*===========================================================================*/
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/* Derived constants and error checks. */
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/*===========================================================================*/
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#if !(LIS302DL_USE_SPI ^ LIS302DL_USE_I2C)
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#error "LIS302DL_USE_SPI and LIS302DL_USE_I2C cannot be both true or both false"
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#endif
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#if LIS302DL_USE_SPI && !HAL_USE_SPI
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#error "LIS302DL_USE_SPI requires HAL_USE_SPI"
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#endif
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#if LIS302DL_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION
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#error "LIS302DL_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION"
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#endif
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#if LIS302DL_USE_I2C && !HAL_USE_I2C
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#error "LIS302DL_USE_I2C requires HAL_USE_I2C"
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#endif
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#if LIS302DL_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION
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#error "LIS302DL_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION"
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#endif
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/**
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* @todo Add support for LIS302DL over I2C.
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*/
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#if LIS302DL_USE_I2C
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#error "LIS302DL over I2C still not supported"
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#endif
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/*===========================================================================*/
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/* Driver data structures and types. */
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/*===========================================================================*/
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/**
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* @name LIS302DL data structures and types
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* @{
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*/
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/**
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* @brief Structure representing a LIS302DL driver.
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*/
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typedef struct LIS302DLDriver LIS302DLDriver;
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/**
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* @brief LIS302DL full scale.
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*/
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typedef enum {
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LIS302DL_ACC_FS_2G = 0x00, /**< Full scale <20>2g. */
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LIS302DL_ACC_FS_8G = 0x20 /**< Full scale <20>8g. */
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}lis302dl_acc_fs_t;
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/**
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* @brief LIS302DL output data rate and bandwidth.
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*/
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typedef enum {
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LIS302DL_ACC_ODR_100HZ = 0x00, /**< ODR 100 Hz. */
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LIS302DL_ACC_ODR_400HZ = 0x80 /**< ODR 400 Hz. */
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}lis302dl_acc_odr_t;
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/**
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* @brief LIS302DL high pass filtering.
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*/
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typedef enum {
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LIS302DL_ACC_HP_DISABLED = 0x00, /**< HP bypassed. */
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LIS302DL_ACC_HP_0 = 0x10, /**< HP cutoff 2Hz (ODR 100Hz) or 8Hz */
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LIS302DL_ACC_HP_1 = 0x11, /**< HP cutoff 1Hz or 4Hz */
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LIS302DL_ACC_HP_2 = 0x12, /**< HP cutoff 0.5Hz or 2Hz */
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LIS302DL_ACC_HP_3 = 0x13 /**< HP cutoff 0.25Hz or 1Hz */
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}lis302dl_acc_hp_t;
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/**
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* @brief Driver state machine possible states.
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*/
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typedef enum {
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LIS302DL_UNINIT = 0, /**< Not initialized. */
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LIS302DL_STOP = 1, /**< Stopped. */
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LIS302DL_READY = 2, /**< Ready. */
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} lis302dl_state_t;
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/**
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* @brief LIS302DL configuration structure.
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*/
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typedef struct {
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#if (LIS302DL_USE_SPI) || defined(__DOXYGEN__)
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/**
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* @brief SPI driver associated to this LIS302DL.
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*/
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SPIDriver *spip;
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/**
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* @brief SPI configuration associated to this LIS302DL.
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*/
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const SPIConfig *spicfg;
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#endif /* LIS302DL_USE_SPI */
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#if (LIS302DL_USE_I2C) || defined(__DOXYGEN__)
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/**
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* @brief I2C driver associated to this LIS302DL.
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*/
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I2CDriver *i2cp;
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/**
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* @brief I2C configuration associated to this LIS302DL.
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*/
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const I2CConfig *i2ccfg;
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#endif /* LIS302DL_USE_I2C */
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/**
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* @brief LIS302DL accelerometer subsystem initial sensitivity.
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*/
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float *accsensitivity;
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/**
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* @brief LIS302DL accelerometer subsystem initial bias.
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*/
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float *accbias;
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/**
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* @brief LIS302DL accelerometer subsystem initial full scale.
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*/
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lis302dl_acc_fs_t accfullscale;
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/**
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* @brief LIS302DL output data rate selection.
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*/
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lis302dl_acc_odr_t accoutputdatarate;
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#if LIS302DL_USE_ADVANCED || defined(__DOXYGEN__)
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/**
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* @brief LIS302DL high pass filtering.
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*/
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lis302dl_acc_hp_t acchighpass;
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#endif
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} LIS302DLConfig;
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/**
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* @brief @p LIS302DL specific methods.
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*/
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#define _lis302dl_methods_alone \
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/* Change full scale value of LIS302DL .*/ \
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msg_t (*set_full_scale)(LIS302DLDriver *devp, lis302dl_acc_fs_t fs);
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/**
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* @brief @p LIS302DL specific methods with inherited ones.
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*/
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#define _lis302dl_methods \
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_base_object_methods \
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_lis302dl_methods_alone
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/**
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* @extends BaseObjectVMT
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*
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* @brief @p LIS302DL accelerometer virtual methods table.
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*/
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struct LIS302DLVMT {
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_lis302dl_methods
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};
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/**
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* @brief @p LIS302DLDriver specific data.
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*/
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#define _lis302dl_data \
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/* Driver state.*/ \
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lis302dl_state_t state; \
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/* Current configuration data.*/ \
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const LIS302DLConfig *config; \
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/* Accelerometer subsystem axes number.*/ \
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size_t accaxes; \
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/* Current sensitivity.*/ \
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float accsensitivity[LIS302DL_ACC_NUMBER_OF_AXES]; \
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/* Bias data.*/ \
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int32_t accbias[LIS302DL_ACC_NUMBER_OF_AXES]; \
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/* Current full scale value.*/ \
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float accfullscale;
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/**
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* @brief LIS302DL 3-axis accelerometer class.
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*/
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struct LIS302DLDriver {
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/** @brief Virtual Methods Table.*/
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const struct LIS302DLVMT *vmt;
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/** @brief Base accelerometer interface.*/
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BaseAccelerometer acc_if;
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_lis302dl_data
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};
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/** @} */
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/*===========================================================================*/
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/* Driver macros. */
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/*===========================================================================*/
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/**
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* @brief Return the number of axes of the BaseAccelerometer.
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*
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* @param[in] devp pointer to @p LIS302DLDriver.
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*
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* @return the number of axes.
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*
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* @api
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*/
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#define lis302dlAccelerometerGetAxesNumber(devp) \
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accelerometerGetAxesNumber(&((devp)->acc_if))
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/**
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* @brief Retrieves raw data from the BaseAccelerometer.
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* @note This data is retrieved from MEMS register without any algebraical
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* manipulation.
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* @note The axes array must be at least the same size of the
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* BaseAccelerometer axes number.
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*
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* @param[in] devp pointer to @p LIS302DLDriver.
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* @param[out] axes a buffer which would be filled with raw data.
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*
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* @return The operation status.
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* @retval MSG_OK if the function succeeded.
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* @retval MSG_RESET if one or more I2C errors occurred, the errors can
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* be retrieved using @p i2cGetErrors().
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* @retval MSG_TIMEOUT if a timeout occurred before operation end.
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*
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* @api
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*/
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#define lis302dlAccelerometerReadRaw(devp, axes) \
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accelerometerReadRaw(&((devp)->acc_if), axes)
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/**
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* @brief Retrieves cooked data from the BaseAccelerometer.
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* @note This data is manipulated according to the formula
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* cooked = (raw * sensitivity) - bias.
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* @note Final data is expressed as milli-G.
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* @note The axes array must be at least the same size of the
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* BaseAccelerometer axes number.
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*
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* @param[in] devp pointer to @p LIS302DLDriver.
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* @param[out] axes a buffer which would be filled with cooked data.
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*
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* @return The operation status.
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* @retval MSG_OK if the function succeeded.
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* @retval MSG_RESET if one or more I2C errors occurred, the errors can
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* be retrieved using @p i2cGetErrors().
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* @retval MSG_TIMEOUT if a timeout occurred before operation end.
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*
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* @api
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*/
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#define lis302dlAccelerometerReadCooked(devp, axes) \
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accelerometerReadCooked(&((devp)->acc_if), axes)
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/**
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* @brief Set bias values for the BaseAccelerometer.
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* @note Bias must be expressed as milli-G.
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* @note The bias buffer must be at least the same size of the
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* BaseAccelerometer axes number.
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*
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* @param[in] devp pointer to @p LIS302DLDriver.
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* @param[in] bp a buffer which contains biases.
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*
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* @return The operation status.
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* @retval MSG_OK if the function succeeded.
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*
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* @api
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*/
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#define lis302dlAccelerometerSetBias(devp, bp) \
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accelerometerSetBias(&((devp)->acc_if), bp)
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/**
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* @brief Reset bias values for the BaseAccelerometer.
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* @note Default biases value are obtained from device datasheet when
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* available otherwise they are considered zero.
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*
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* @param[in] devp pointer to @p LIS302DLDriver.
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*
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* @return The operation status.
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* @retval MSG_OK if the function succeeded.
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*
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* @api
|
||
*/
|
||
#define lis302dlAccelerometerResetBias(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 LIS302DLDriver.
|
||
* @param[in] sp a buffer which contains sensitivities.
|
||
*
|
||
* @return The operation status.
|
||
* @retval MSG_OK if the function succeeded.
|
||
*
|
||
* @api
|
||
*/
|
||
#define lis302dlAccelerometerSetSensitivity(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 LIS302DLDriver.
|
||
*
|
||
* @return The operation status.
|
||
* @retval MSG_OK if the function succeeded.
|
||
* @retval MSG_RESET otherwise.
|
||
*
|
||
* @api
|
||
*/
|
||
#define lis302dlAccelerometerResetSensitivity(devp) \
|
||
accelerometerResetSensitivity(&((devp)->acc_if))
|
||
|
||
/**
|
||
* @brief Changes the LIS302DLDriver 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 LIS302DLDriver.
|
||
* @param[in] fs new fullscale value.
|
||
*
|
||
* @return The operation status.
|
||
* @retval MSG_OK if the function succeeded.
|
||
* @retval MSG_RESET otherwise.
|
||
*
|
||
* @api
|
||
*/
|
||
#define lis302dlAccelerometerSetFullScale(devp, fs) \
|
||
(devp)->vmt->acc_set_full_scale(devp, fs)
|
||
|
||
/*===========================================================================*/
|
||
/* External declarations. */
|
||
/*===========================================================================*/
|
||
|
||
#ifdef __cplusplus
|
||
extern "C" {
|
||
#endif
|
||
void lis302dlObjectInit(LIS302DLDriver *devp);
|
||
void lis302dlStart(LIS302DLDriver *devp, const LIS302DLConfig *config);
|
||
void lis302dlStop(LIS302DLDriver *devp);
|
||
#ifdef __cplusplus
|
||
}
|
||
#endif
|
||
|
||
#endif /* _LIS302DL_H_ */
|
||
|
||
/** @} */
|
||
|