442 lines
15 KiB
C
442 lines
15 KiB
C
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/*
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ChibiOS - Copyright (C) 2016 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 lsm303dlhc.h
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* @brief LSM303DLHC MEMS interface module header.
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*
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* @{
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*/
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#ifndef _LSM303DLHC_H_
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#define _LSM303DLHC_H_
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#include "hal_accelerometer.h"
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#include "hal_compass.h"
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/*===========================================================================*/
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/* Driver constants. */
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/*===========================================================================*/
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/**
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* @brief LSM303DLHC accelerometer subsystem number of axes.
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*/
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#define LSM303DLHC_ACC_NUMBER_OF_AXES ((size_t) 3U)
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/**
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* @brief LSM303DLHC compass subsystem number of axes.
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*/
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#define LSM303DLHC_COMP_NUMBER_OF_AXES ((size_t) 3U)
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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 LSM303DLHC SPI interface selector.
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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 FALSE.
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*/
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#if !defined(LSM303DLHC_USE_SPI) || defined(__DOXYGEN__)
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#define LSM303DLHC_USE_SPI FALSE
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#endif
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/**
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* @brief LSM303DLHC I2C interface selector.
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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 TRUE.
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*/
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#if !defined(LSM303DLHC_USE_I2C) || defined(__DOXYGEN__)
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#define LSM303DLHC_USE_I2C TRUE
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#endif
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/**
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* @brief LSM303DLHC 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(LSM303DLHC_SHARED_I2C) || defined(__DOXYGEN__)
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#define LSM303DLHC_SHARED_I2C 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 LSM303DLHC_USE_SPI && LSM303DLHC_USE_I2C
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#error "LSM303DLHC_USE_SPI and LSM303DLHC_USE_I2C cannot be both true"
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#endif
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#if LSM303DLHC_USE_SPI && !HAL_USE_SPI
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#error "LSM303DLHC_USE_SPI requires HAL_USE_SPI"
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#endif
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#if LSM303DLHC_USE_I2C && !HAL_USE_I2C
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#error "LSM303DLHC_USE_I2C requires HAL_USE_I2C"
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#endif
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#if LSM303DLHC_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION
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#error "LSM303DLHC_SHARED_SPI requires I2C_USE_MUTUAL_EXCLUSION"
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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 LSM303DLHC accelerometer subsystem data structures and types.
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* @{
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*/
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/**
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* @brief LSM303DLHC accelerometer subsystem full scale.
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*/
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typedef enum {
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LSM303DLHC_ACC_FS_2G = 0x00, /**< Full scale <20>2g. */
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LSM303DLHC_ACC_FS_4G = 0x10, /**< Full scale <20>4g. */
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LSM303DLHC_ACC_FS_8G = 0x20, /**< Full scale <20>8g. */
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LSM303DLHC_ACC_FS_16G = 0x30 /**< Full scale <20>16g. */
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} lsm303dlhc_acc_fs_t;
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/**
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* @brief LSM303DLHC accelerometer subsystem output data rate.
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*/
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typedef enum {
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LSM303DLHC_ACC_ODR_PD = 0x00, /**< Power down */
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LSM303DLHC_ACC_ODR_1Hz = 0x10, /**< ODR 1 Hz */
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LSM303DLHC_ACC_ODR_10Hz = 0x20, /**< ODR 10 Hz */
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LSM303DLHC_ACC_ODR_25Hz = 0x30, /**< ODR 25 Hz */
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LSM303DLHC_ACC_ODR_50Hz = 0x40, /**< ODR 50 Hz */
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LSM303DLHC_ACC_ODR_100Hz = 0x50, /**< ODR 100 Hz */
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LSM303DLHC_ACC_ODR_200Hz = 0x60, /**< ODR 200 Hz */
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LSM303DLHC_ACC_ODR_400Hz = 0x70, /**< ODR 400 Hz */
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LSM303DLHC_ACC_ODR_1620Hz = 0x80, /**< ODR 1620 Hz (LP only) */
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LSM303DLHC_ACC_ODR_1344Hz = 0x90 /**< ODR 1344 Hz or 5376 Hz in LP */
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} lsm303dlhc_acc_odr_t;
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/**
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* @brief LSM303DLHC accelerometer subsystem axes enabling.
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*/
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typedef enum {
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LSM303DLHC_ACC_AE_DISABLED = 0x00,/**< All axes disabled. */
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LSM303DLHC_ACC_AE_X = 0x01, /**< Only X-axis enabled. */
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LSM303DLHC_ACC_AE_Y = 0x02, /**< Only Y-axis enabled. */
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LSM303DLHC_ACC_AE_XY = 0x03, /**< X and Y axes enabled. */
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LSM303DLHC_ACC_AE_Z = 0x04, /**< Only Z-axis enabled. */
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LSM303DLHC_ACC_AE_XZ = 0x05, /**< X and Z axes enabled. */
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LSM303DLHC_ACC_AE_YZ = 0x06, /**< Y and Z axes enabled. */
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LSM303DLHC_ACC_AE_XYZ = 0x07 /**< All axes enabled. */
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} lsm303dlhc_acc_ae_t;
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/**
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* @brief LSM303DLHC accelerometer subsystem low power mode.
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*/
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typedef enum {
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LSM303DLHC_ACC_LP_DISABLED = 0x00,/**< Low power mode disabled. */
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LSM303DLHC_ACC_LP_ENABLED = 0x40 /**< Low power mode enabled. */
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} lsm303dlhc_acc_lp_t;
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/**
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* @brief LSM303DLHC accelerometer subsystem high resolution mode.
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*/
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typedef enum {
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LSM303DLHC_ACC_HR_DISABLED = 0x00,/**< High resolution mode disabled. */
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LSM303DLHC_ACC_HR_ENABLED = 0x08 /**< High resolution mode enabled. */
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} lsm303dlhc_acc_hr_t;
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/**
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* @brief LSM303DLHC accelerometer subsystem block data update.
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*/
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typedef enum {
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LSM303DLHC_ACC_BDU_CONT = 0x00, /**< Continuous update */
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LSM303DLHC_ACC_BDU_BLOCK = 0x80 /**< Update blocked */
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} lsm303dlhc_acc_bdu_t;
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/**
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* @brief LSM303DLHC accelerometer endianness.
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*/
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typedef enum {
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LSM303DLHC_ACC_END_LITTLE = 0x00, /**< Little Endian */
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LSM303DLHC_ACC_END_BIG = 0x40 /**< Big Endian */
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} lsm303dlhc_acc_end_t;
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/**
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* @brief LSM303DLHC accelerometer subsystem unit.
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*/
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typedef enum {
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LSM303DLHC_ACC_UNIT_G = 0x00, /**< Cooked data in g. */
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LSM303DLHC_ACC_UNIT_MG = 0x01, /**< Cooked data in mg. */
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LSM303DLHC_ACC_UNIT_SI = 0x02, /**< Cooked data in m/s^2. */
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} lsm303dlhc_acc_unit_t;
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/**
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* @brief LSM303DLHC accelerometer subsystem configuration structure.
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*/
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typedef struct {
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/**
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* @brief LSM303DLHC accelerometer subsystem full scale.
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*/
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lsm303dlhc_acc_fs_t fullscale;
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/**
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* @brief LSM303DLHC accelerometer subsystem output data rate.
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*/
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lsm303dlhc_acc_odr_t outdatarate;
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/**
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* @brief LSM303DLHC accelerometer subsystem axes enabling.
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*/
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lsm303dlhc_acc_ae_t axesenabling;
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/**
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* @brief LSM303DLHC accelerometer subsystem low power mode.
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*/
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lsm303dlhc_acc_lp_t lowpower;
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/**
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* @brief LSM303DLHC accelerometer subsystem high resolution mode.
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*/
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lsm303dlhc_acc_hr_t highresmode;
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/**
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* @brief LSM303DLHC accelerometer subsystem block data update.
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*/
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lsm303dlhc_acc_bdu_t blockdataupdate;
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/**
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* @brief LSM303DLHC accelerometer endianness.
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*/
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lsm303dlhc_acc_end_t endianess;
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/**
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* @brief LSM303DLHC accelerometer subsystem unit.
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*/
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lsm303dlhc_acc_unit_t unit;
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} LSM303DLHCAccConfig;
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/** @} */
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/**
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* @name LSM303DLHC compass subsystem data structures and types.
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* @{
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*/
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/**
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* @brief LSM303DLHC compass subsystem full scale.
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*/
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typedef enum {
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LSM303DLHC_COMP_FS_1_3_GA = 0x20, /**< Full scale <20>1.3 Gauss */
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LSM303DLHC_COMP_FS_1_9_GA = 0x40, /**< Full scale <20>1.9 Gauss */
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LSM303DLHC_COMP_FS_2_5_GA = 0x60, /**< Full scale <20>2.5 Gauss */
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LSM303DLHC_COMP_FS_4_0_GA = 0x80, /**< Full scale <20>4.0 Gauss */
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LSM303DLHC_COMP_FS_4_7_GA = 0xA0, /**< Full scale <20>4.7 Gauss */
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LSM303DLHC_COMP_FS_5_6_GA = 0xC0, /**< Full scale <20>5.6 Gauss */
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LSM303DLHC_COMP_FS_8_1_GA = 0xE0 /**< Full scale <20>8.1 Gauss */
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} lsm303dlhc_comp_fs_t;
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/**
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* @brief LSM303DLHC compass subsystem output data rate.
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*/
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typedef enum {
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LSM303DLHC_COMP_ODR_0_75HZ = 0x00,/**< ODR 0.75 Hz */
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LSM303DLHC_COMP_ODR_1_5HZ = 0x04, /**< ODR 1.5 Hz */
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LSM303DLHC_COMP_ODR_3_0HZ = 0x08, /**< ODR 3 Hz */
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LSM303DLHC_COMP_ODR_7_5HZ = 0x0C, /**< ODR 7.5 Hz */
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LSM303DLHC_COMP_ODR_15HZ = 0x10, /**< ODR 15 Hz */
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LSM303DLHC_COMP_ODR_30HZ = 0x14, /**< ODR 30 Hz */
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LSM303DLHC_COMP_ODR_75HZ = 0x18, /**< ODR 75 Hz */
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LSM303DLHC_COMP_ODR_220HZ = 0x1C /**< ODR 220 Hz */
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} lsm303dlhc_comp_odr_t;
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/**
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* @brief LSM303DLHC compass subsystem working mode.
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*/
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typedef enum {
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LSM303DLHC_COMP_MD_CONT = 0x00, /**< Continuous-Conversion Mode */
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LSM303DLHC_COMP_MD_BLOCK = 0x01, /**< Single-Conversion Mode */
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LSM303DLHC_COMP_MD_SLEEP = 0x02 /**< Sleep Mode */
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} lsm303dlhc_comp_md_t;
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/**
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* @brief LSM303DLHC compass subsystem configuration structure.
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*/
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typedef struct {
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/**
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* @brief LSM303DLHC compass subsystem full scale.
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*/
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lsm303dlhc_comp_fs_t fullscale;
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/**
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* @brief LSM303DLHC compass subsystem output data rate.
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*/
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lsm303dlhc_comp_odr_t outputdatarate;
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/**
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* @brief LSM303DLHC compass subsystem working mode.
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*/
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lsm303dlhc_comp_md_t mode;
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} LSM303DLHCCompConfig;
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/** @} */
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/**
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* @name LSM303DLHC main system data structures and types.
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* @{
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*/
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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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LSM303DLHC_UNINIT = 0, /**< Not initialized. */
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LSM303DLHC_STOP = 1, /**< Stopped. */
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LSM303DLHC_READY = 2, /**< Ready. */
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} lsm303dlhc_state_t;
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/**
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* @brief LSM303DLHC configuration structure.
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*/
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typedef struct {
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#if (LSM303DLHC_USE_SPI) || defined(__DOXYGEN__)
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/**
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* @brief SPI driver associated to this LSM303DLHC.
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*/
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SPIDriver *spip;
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/**
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* @brief SPI configuration associated to this LSM303DLHC accelerometer
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* subsystem.
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*/
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const SPIConfig *accspicfg;
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/**
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* @brief SPI configuration associated to this LSM303DLHC compass
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* subsystem.
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*/
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const SPIConfig *compspicfg;
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#endif /* LSM303DLHC_USE_SPI */
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#if (LSM303DLHC_USE_I2C) || defined(__DOXYGEN__)
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/**
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* @brief I2C driver associated to this LSM303DLHC.
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*/
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I2CDriver *i2cp;
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/**
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* @brief I2C configuration associated to this LSM303DLHC accelerometer
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* subsystem.
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*/
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const I2CConfig *i2ccfg;
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#endif /* LSM303DLHC_USE_I2C */
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/**
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* @brief LSM303DLHC accelerometer subsystem configuration structure
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*/
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const LSM303DLHCAccConfig *acccfg;
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/**
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* @brief LSM303DLHC compass subsystem configuration structure
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*/
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const LSM303DLHCCompConfig *compcfg;
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} LSM303DLHCConfig;
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/**
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* @brief Structure representing a LSM303DLHC driver.
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*/
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typedef struct LSM303DLHCDriver LSM303DLHCDriver;
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/**
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* @brief @p LSM303DLHC accelerometer subsystem specific methods.
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*/
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#define _lsm303dlhc_acc_methods \
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_base_accelerometer_methods
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/**
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* @brief @p LSM303DLHC compass subsystem specific methods.
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*/
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#define _lsm303dlhc_comp_methods \
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_base_compass_methods
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/**
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* @extends BaseAccelerometerVMT
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*
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* @brief @p LSM303DLHC accelerometer virtual methods table.
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*/
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struct LSM303DLHCACCVMT {
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_lsm303dlhc_acc_methods
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};
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/**
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* @extends BaseCompassVMT
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*
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* @brief @p LSM303DLHC compass virtual methods table.
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*/
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struct LSM303DLHCCOMPVMT {
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_lsm303dlhc_comp_methods
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};
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/**
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* @brief @p LSM303DLHCDriver specific data.
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*/
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#define _lsm303dlhc_data \
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_base_accelerometer_data \
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_base_compass_data \
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|
/* Driver state.*/ \
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|||
|
lsm303dlhc_state_t state; \
|
|||
|
/* Current configuration data.*/ \
|
|||
|
const LSM303DLHCConfig *config; \
|
|||
|
/* Current accelerometer sensitivity.*/ \
|
|||
|
float accsensitivity[LSM303DLHC_ACC_NUMBER_OF_AXES]; \
|
|||
|
/* Accelerometer bias data.*/ \
|
|||
|
int32_t accbias[LSM303DLHC_ACC_NUMBER_OF_AXES]; \
|
|||
|
/* Current compass sensitivity.*/ \
|
|||
|
float compsensitivity[LSM303DLHC_COMP_NUMBER_OF_AXES];\
|
|||
|
/* Bias data.*/ \
|
|||
|
int32_t compbias[LSM303DLHC_COMP_NUMBER_OF_AXES];
|
|||
|
|
|||
|
/**
|
|||
|
* @brief LSM303DLHC 6-axis accelerometer/compass class.
|
|||
|
*/
|
|||
|
struct LSM303DLHCDriver {
|
|||
|
/** @brief BaseSensor Virtual Methods Table. */
|
|||
|
const struct BaseSensorVMT *vmt_basesensor;
|
|||
|
/** @brief BaseAccelerometer Virtual Methods Table. */
|
|||
|
const struct BaseAccelerometerVMT *vmt_baseaccelerometer;
|
|||
|
/** @brief BaseCompass Virtual Methods Table. */
|
|||
|
const struct BaseCompassVMT *vmt_basecompass;
|
|||
|
/** @brief LSM303DLHC Accelerometer Virtual Methods Table. */
|
|||
|
const struct LSM303DLHCACCVMT *vmt_lsm303dlhcacc;
|
|||
|
/** @brief LSM303DLHC Compass Virtual Methods Table. */
|
|||
|
const struct LSM303DLHCCOMPVMT *vmt_lsm303dlhccomp;
|
|||
|
_lsm303dlhc_data
|
|||
|
};
|
|||
|
/** @} */
|
|||
|
|
|||
|
/*===========================================================================*/
|
|||
|
/* Driver macros. */
|
|||
|
/*===========================================================================*/
|
|||
|
|
|||
|
/*===========================================================================*/
|
|||
|
/* 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_ */
|
|||
|
|
|||
|
/** @} */
|