Added lis3mdl header and mk.
git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9375 35acf78f-673a-0410-8e92-d51de3d6d3f4
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Rocco Marco Guglielmi
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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 lis3mdl.h
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* @brief LIS3MDL MEMS interface module header.
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*
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* @{
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*/
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#ifndef _LIS3MDL_H_
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#define _LIS3MDL_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 LIS3MDL number of axes.
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*/
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#define LIS3MDL_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 LIS3MDL 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 FALSE.
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*/
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#if !defined(LIS3MDL_USE_SPI) || defined(__DOXYGEN__)
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#define LIS3MDL_USE_SPI FALSE
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#endif
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/**
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* @brief LIS3MDL 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 TRUE.
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*/
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#if !defined(LIS3MDL_USE_I2C) || defined(__DOXYGEN__)
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#define LIS3MDL_USE_I2C TRUE
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#endif
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/**
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* @brief LIS3MDL 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(LIS3MDL_SHARED_I2C) || defined(__DOXYGEN__)
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#define LIS3MDL_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 !(LIS3MDL_USE_SPI ^ LIS3MDL_USE_I2C)
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#error "LIS3MDL_USE_SPI and LIS3MDL_USE_I2C cannot be both true or both false"
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#endif
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#if LIS3MDL_USE_SPI && !HAL_USE_SPI
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#error "LIS3MDL_USE_SPI requires HAL_USE_SPI"
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#endif
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#if LIS3MDL_USE_I2C && !HAL_USE_I2C
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#error "LIS3MDL_USE_I2C requires HAL_USE_I2C"
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#endif
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#if LIS3MDL_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION
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#error "LIS3MDL_SHARED_SPI requires SPI_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 LIS3MDL data structures and types
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* @{
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*/
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/**
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* @brief LIS3MDL slave address
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*/
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typedef enum {
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LIS3MDL_SAD_GND = 0x1C, /**< Slave Address when SA1 is to GND */
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LIS3MDL_SAD_VCC = 0x1E /**< Slave Address when SA1 is to VCC */
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}lis3mdl_sad_t;
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/**
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* @brief LIS3MDL full scale
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*/
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typedef enum {
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LIS3MDL_FS_4GA = 0x00, /**< ±4 Gauss */
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LIS3MDL_FS_8GA = 0x02, /**< ±8 Gauss */
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LIS3MDL_FS_12GA = 0x04, /**< ±12 Gauss */
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LIS3MDL_FS_16GA = 0x0C /**< ±16 Gauss */
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}lis3mdl_fs_t;
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/**
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* @brief LIS3MDL output data rate
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*/
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typedef enum {
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LIS3MDL_ODR_0_625HZ = 0x00, /**< Output Data Rate = 0.625 Hz */
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LIS3MDL_ODR_1_25HZ = 0x04, /**< Output Data Rate = 1.25 Hz */
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LIS3MDL_ODR_2_5HZ = 0x08, /**< Output Data Rate = 2.5 Hz */
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LIS3MDL_ODR_5HZ = 0x0C, /**< Output Data Rate = 5 Hz */
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LIS3MDL_ODR_10HZ = 0x10, /**< Output Data Rate = 10 Hz */
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LIS3MDL_ODR_20HZ = 0x14, /**< Output Data Rate = 20 Hz */
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LIS3MDL_ODR_40HZ = 0x18, /**< Output Data Rate = 40 Hz */
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LIS3MDL_ODR_80HZ = 0x1C /**< Output Data Rate = 80 Hz */
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}lis3mdl_odr_t;
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/**
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* @brief LIS3MDL low power mode configuration
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*/
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typedef enum {
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LIS3MDL_LP_DISABLED = 0x00, /**< Low Power mode disabled */
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LIS3MDL_LP_ENABLED = 0x20 /**< Low Power mode enabled */
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}lis3mdl_lp_t;
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/**
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* @brief LIS3MDL conversion mode
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*/
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typedef enum {
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LIS3MDL_MD_CONTINUOUS = 0x00, /**< Continuous conversion mode */
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LIS3MDL_MD_SINGLE = 0x01, /**< Single conversion mode */
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LIS3MDL_MD_POWER_DOWN = 0x02 /**< Power down mode */
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}lis3mdl_md_t;
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/**
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* @brief LIS3MDL operation mode for X and Y axes
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*/
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typedef enum {
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LIS3MDL_OMXY_LOW_POWER = 0x00, /**< X-Y axes low power mode */
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LIS3MDL_OMXY_MEDIUM = 0x20, /**< X-Y axes medium performance mode */
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LIS3MDL_OMXY_HIGH = 0x40, /**< X-Y axes high performance mode */
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LIS3MDL_OMXY_ULTRA = 0x60 /**< X-Y axes ultra performance mode */
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}lis3mdl_omxy_t;
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/**
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* @brief LIS3MDL operation mode for Z axis
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*/
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typedef enum {
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LIS3MDL_OMZ_LOW_POWER = 0x00, /**< Z axis low power mode */
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LIS3MDL_OMZ_MEDIUM = 0x04, /**< Z axis medium performance mode */
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LIS3MDL_OMZ_HIGH = 0x08, /**< Z axis high performance mode */
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LIS3MDL_OMZ_ULTRA = 0x0C /**< Z axis ultra performance mode */
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}lis3mdl_omz_t;
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/**
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* @brief LIS3MDL block data update
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*/
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typedef enum {
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LIS3MDL_BDU_CONTINUOUS = 0x00, /**< Continuous Update */
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LIS3MDL_BDU_BLOCKED = 0x40 /**< Block data updated after reading. */
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}lis3mdl_bdu_t;
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/**
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* @brief LIS3MDL endianness
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*/
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typedef enum {
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LIS3MDL_END_LITTLE = 0x00, /**< Little endian. */
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LIS3MDL_END_BIG = 0x02 /**< Big endian. */
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}lis3mdl_end_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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LIS3MDL_UNINIT = 0, /**< Not initialized. */
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LIS3MDL_STOP = 1, /**< Stopped. */
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LIS3MDL_READY = 2, /**< Ready. */
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} lis3mdl_state_t;
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/**
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* @brief LIS3MDL configuration structure.
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*/
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typedef struct {
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#if (LIS3MDL_USE_SPI) || defined(__DOXYGEN__)
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/**
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* @brief SPI driver associated to this LIS3MDL.
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*/
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SPIDriver *spip;
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/**
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* @brief SPI configuration associated to this LIS3MDL.
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*/
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const SPIConfig *spicfg;
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#endif /* LIS3MDL_USE_SPI */
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#if (LIS3MDL_USE_I2C) || defined(__DOXYGEN__)
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/**
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* @brief I2C driver associated to this LIS3MDL.
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*/
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I2CDriver *i2cp;
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/**
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* @brief I2C configuration associated to this LIS3MDL.
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*/
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const I2CConfig *i2ccfg;
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#endif /* LIS3MDL_USE_I2C */
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/**
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* @brief LIS3MDL slave address
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*/
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lis3mdl_sad_t slaveaddress;
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/**
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* @brief LIS3MDL full scale
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*/
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lis3mdl_fs_t fullscale;
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/**
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* @brief LIS3MDL output data rate
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*/
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lis3mdl_odr_t outputdatarate;
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/**
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* @brief LIS3MDL low power mode configuration
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*/
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lis3mdl_lp_t lowpowermode;
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/**
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* @brief LIS3MDL conversion mode
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*/
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lis3mdl_md_t conversionmode;
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/**
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* @brief LIS3MDL operation mode for X and Y axes
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*/
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lis3mdl_omxy_t operationmodexy;
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/**
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* @brief LIS3MDL operation mode for Z axis
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*/
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lis3mdl_omz_t operationmodez;
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/**
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* @brief LIS3MDL block data update
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*/
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lis3mdl_bdu_t blockdataupdate;
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/**
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* @brief LIS3MDL endianness
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*/
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lis3mdl_end_t endianness;
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} LIS3MDLConfig;
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/**
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* @brief Structure representing a LIS3MDL driver.
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*/
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typedef struct LIS3MDLDriver LIS3MDLDriver;
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/**
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* @brief @p LIS3MDL specific methods.
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*/
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#define _lis3mdl_methods \
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_base_compass_methods \
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/* Retrieve the temperature of LIS3MDL chip.*/ \
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msg_t (*get_temperature)(void *instance, float* temperature);
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/**
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* @extends BaseCompassVMT
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*
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* @brief @p LIS3MDL virtual methods table.
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*/
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struct LIS3MDLVMT {
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_lis3mdl_methods
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};
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/**
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* @brief @p LIS3MDLDriver specific data.
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*/
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#define _lis3mdl_data \
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_base_compass_data \
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/* Driver state.*/ \
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lis3mdl_state_t state; \
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/* Current configuration data.*/ \
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const LIS3MDLConfig *config; \
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/* Current sensitivity.*/ \
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float sensitivity[LIS3MDL_NUMBER_OF_AXES]; \
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/* Bias data.*/ \
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int32_t bias[LIS3MDL_NUMBER_OF_AXES];
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/**
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* @extends BaseCompass
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*
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* @brief LIS3MDL 3-axis compass class.
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* @details This class extends @p BaseCompass by adding physical
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* driver implementation.
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*/
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struct LIS3MDLDriver {
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/** @brief BaseSensor Virtual Methods Table. */
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const struct BaseSensorVMT *vmt_basesensor;
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/** @brief BaseCompass Virtual Methods Table. */
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const struct BaseCompassVMT *vmt_basecompass;
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/** @brief LIS3MDL Virtual Methods Table. */
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const struct LIS3MDLVMT *vmt_lis3mdl;
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_lis3mdl_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 Get current MEMS temperature.
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* @detail This information is very useful especially for high accuracy IMU
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*
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* @param[in] ip pointer to a @p BaseCompass class.
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* @param[out] temp the MEMS temperature as single precision floating.
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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 errors occurred.
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* @api
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*/
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#define compassGetTemp(ip, tpp) \
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(ip)->vmt_lis3mdl->get_temperature(ip, tpp)
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/*===========================================================================*/
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/* External declarations. */
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/*===========================================================================*/
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#ifdef __cplusplus
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extern "C" {
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#endif
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void lis3mdlObjectInit(LIS3MDLDriver *devp);
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void lis3mdlStart(LIS3MDLDriver *devp, const LIS3MDLConfig *config);
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void lis3mdlStop(LIS3MDLDriver *devp);
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#ifdef __cplusplus
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}
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#endif
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#endif /* _LIS3MDL_H_ */
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/** @} */
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@ -0,0 +1,6 @@
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# List of all the LIS3MDL device files.
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LIS3MDLSRC := $(CHIBIOS)/os/ex/ST/lis3mdl.c
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# Required include directories
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LIS3MDLINC := $(CHIBIOS)/os/hal/lib/peripherals/sensors \
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$(CHIBIOS)/os/ex/ST
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