516 lines
17 KiB
C
516 lines
17 KiB
C
/*
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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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* @name Version identification
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* @{
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*/
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/**
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* @brief LIS3MDL driver version string.
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*/
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#define EX_LIS3MDL_VERSION "1.0.4"
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/**
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* @brief LIS3MDL driver version major number.
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*/
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#define EX_LIS3MDL_MAJOR 1
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/**
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* @brief LIS3MDL driver version minor number.
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*/
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#define EX_LIS3MDL_MINOR 0
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/**
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* @brief LIS3MDL driver version patch number.
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*/
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#define EX_LIS3MDL_PATCH 4
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/** @} */
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/**
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* @brief LIS3MDL characteristics.
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*
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* @{
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*/
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#define LIS3MDL_NUMBER_OF_AXES 3U
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#define LIS3MDL_4GA 4.0f
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#define LIS3MDL_8GA 8.0f
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#define LIS3MDL_12GA 12.0f
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#define LIS3MDL_16GA 16.0f
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#define LIS3MDL_SENS_4GA 0.00014615f
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#define LIS3MDL_SENS_8GA 0.00029231f
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#define LIS3MDL_SENS_12GA 0.0004384f
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#define LIS3MDL_SENS_16GA 0.00058445f
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/** @} */
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/**
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* @name LIS3MDL communication interfaces related bit masks
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* @{
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*/
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#define LIS3MDL_DI_MASK 0xFF /**< Data In mask */
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#define LIS3MDL_DI(n) (1 << n) /**< Data In bit n */
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#define LIS3MDL_AD_MASK 0x3F /**< Address Data mask */
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#define LIS3MDL_AD(n) (1 << n) /**< Address Data bit n */
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#define LIS3MDL_MS (1 << 6) /**< Multiple selection */
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#define LIS3MDL_RW (1 << 7) /**< Read Write selector */
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#define LIS3MDL_SUB_MS (1 << 7) /**< Multiple RW in I2C mode*/
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/** @} */
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/**
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* @name LIS3MDL register addresses
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* @{
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*/
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#define LIS3MDL_AD_WHO_AM_I 0x0F
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#define LIS3MDL_AD_CTRL_REG1 0x20
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#define LIS3MDL_AD_CTRL_REG2 0x21
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#define LIS3MDL_AD_CTRL_REG3 0x22
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#define LIS3MDL_AD_CTRL_REG4 0x23
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#define LIS3MDL_AD_CTRL_REG5 0x24
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#define LIS3MDL_AD_STATUS_REG 0x27
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#define LIS3MDL_AD_OUT_X_L 0x28
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#define LIS3MDL_AD_OUT_X_H 0x29
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#define LIS3MDL_AD_OUT_Y_L 0x2A
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#define LIS3MDL_AD_OUT_Y_H 0x2B
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#define LIS3MDL_AD_OUT_Z_L 0x2C
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#define LIS3MDL_AD_OUT_Z_H 0x2D
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#define LIS3MDL_AD_TEMP_OUT_L 0x2E
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#define LIS3MDL_AD_TEMP_OUT_H 0x2F
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#define LIS3MDL_AD_INT_CFG 0x30
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#define LIS3MDL_AD_INT_SOURCE 0x31
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#define LIS3MDL_AD_INT_THS_L 0x32
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#define LIS3MDL_AD_INT_THS_H 0x33
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/** @} */
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/**
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* @name LIS3MDL_CTRL_REG1 register bits definitions
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* @{
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*/
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#define LIS3MDL_CTRL_REG1_MASK 0xFF /**< LIS3MDL_CTRL_REG1 mask */
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#define LIS3MDL_CTRL_REG1_ST (1 << 0) /**< Self test enable */
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#define LIS3MDL_CTRL_REG1_FAST_ODR (1 << 1) /**< Fast data rate */
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#define LIS3MDL_CTRL_REG1_DO0 (1 << 2) /**< Output data rate bit 0 */
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#define LIS3MDL_CTRL_REG1_DO1 (1 << 3) /**< Output data rate bit 1 */
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#define LIS3MDL_CTRL_REG1_DO2 (1 << 4) /**< Output data rate bit 2 */
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#define LIS3MDL_CTRL_REG1_OM0 (1 << 5) /**< X-Y mode bit 0 */
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#define LIS3MDL_CTRL_REG1_OM1 (1 << 6) /**< X-Y mode bit 1 */
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#define LIS3MDL_CTRL_REG1_TEMP_EN (1 << 7) /**< Temperature sensor */
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/** @} */
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/**
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* @name LIS3MDL_CTRL_REG2 register bits definitions
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* @{
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*/
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#define LIS3MDL_CTRL_REG2_MASK 0x6C /**< LIS3MDL_CTRL_REG2 mask */
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#define LIS3MDL_CTRL_REG2_SOFT_RST (1 << 2) /**< Soft reset */
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#define LIS3MDL_CTRL_REG2_REBOOT (1 << 3) /**< Reboot memory */
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#define LIS3MDL_CTRL_REG2_FS_MASK 0x60 /**< Full scale mask */
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#define LIS3MDL_CTRL_REG2_FS0 (1 << 5) /**< Full scale bit 0 */
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#define LIS3MDL_CTRL_REG2_FS1 (1 << 6) /**< Full scale bit 1 */
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/** @} */
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/**
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* @name LIS3MDL_CTRL_REG3 register bits definitions
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* @{
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*/
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#define LIS3MDL_CTRL_REG3_MASK 0x27 /**< LIS3MDL_CTRL_REG3 mask */
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#define LIS3MDL_CTRL_REG3_MD0 (1 << 0) /**< Operating mode bit 0 */
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#define LIS3MDL_CTRL_REG3_MD1 (1 << 1) /**< Operating mode bit 1 */
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#define LIS3MDL_CTRL_REG3_SIM (1 << 2) /**< SPI interface mode */
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#define LIS3MDL_CTRL_REG3_LP (1 << 5) /**< Low power */
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/** @} */
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/**
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* @name LIS3MDL_CTRL_REG4 register bits definitions
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* @{
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*/
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#define LIS3MDL_CTRL_REG4_MASK 0x0E /**< LIS3MDL_CTRL_REG4 mask */
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#define LIS3MDL_CTRL_REG4_BLE (1 << 1) /**< Endianess */
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#define LIS3MDL_CTRL_REG4_OMZ0 (1 << 2) /**< Z mode bit 0 */
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#define LIS3MDL_CTRL_REG4_OMZ1 (1 << 3) /**< Z mode bit 1 */
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/** @} */
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/**
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* @name LIS3MDL_CTRL_REG5 register bits definitions
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* @{
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*/
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#define LIS3MDL_CTRL_REG5_MASK 0xC0 /**< LIS3MDL_CTRL_REG5 mask */
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#define LIS3MDL_CTRL_REG5_BDU (1 << 6) /**< Block data update */
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#define LIS3MDL_CTRL_REG5_FAST_READ (1 << 7) /**< Fast read mode */
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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 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 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(LIS3MDL_USE_ADVANCED) || defined(__DOXYGEN__)
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#define LIS3MDL_USE_ADVANCED FALSE
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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_I2C && !I2C_USE_MUTUAL_EXCLUSION
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#error "LIS3MDL_SHARED_I2C 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 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, /**< <20>4 Gauss */
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LIS3MDL_FS_8GA = 0x20, /**< <20>8 Gauss */
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LIS3MDL_FS_12GA = 0x40, /**< <20>12 Gauss */
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LIS3MDL_FS_16GA = 0x60 /**< <20>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 temperature sensor enabling
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*/
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typedef enum {
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LIS3MDL_TEMP_DISABLED = 0x00, /**< Temperature sensor disabled. */
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LIS3MDL_TEMP_ENABLED = 0x80 /**< Temperature sensor enabled. */
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}lis3mdl_temp_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 initial sensitivity.
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*/
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float *sensitivity;
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/**
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* @brief LIS3MDL initial bias.
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*/
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float *bias;
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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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#if LIS3MDL_USE_ADVANCED || defined(__DOXYGEN__)
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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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#endif
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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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/* Change full scale value of LIS3MDL.*/ \
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msg_t (*set_full_scale)(void *instance, lis3mdl_fs_t fs);
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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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float bias[LIS3MDL_NUMBER_OF_AXES]; \
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/* Current full scale value.*/ \
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float fullscale;
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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. */
|
||
const struct BaseCompassVMT *vmt_basecompass;
|
||
/** @brief LIS3MDL Virtual Methods Table. */
|
||
const struct LIS3MDLVMT *vmt_lis3mdl;
|
||
_lis3mdl_data
|
||
};
|
||
/** @} */
|
||
|
||
/*===========================================================================*/
|
||
/* Driver macros. */
|
||
/*===========================================================================*/
|
||
|
||
/**
|
||
* @brief Change compass full scale value.
|
||
*
|
||
* @param[in] ip pointer to a @p BaseCompass class.
|
||
* @param[in] fs the new full scale value.
|
||
*
|
||
* @return The operation status.
|
||
* @retval MSG_OK if the function succeeded.
|
||
* @retval MSG_RESET if one or more errors occurred.
|
||
* @api
|
||
*/
|
||
#define compassSetFullScale(ip, fs) \
|
||
(ip)->vmt_lis3mdl->set_full_scale(ip, fs)
|
||
|
||
/*===========================================================================*/
|
||
/* External declarations. */
|
||
/*===========================================================================*/
|
||
|
||
#ifdef __cplusplus
|
||
extern "C" {
|
||
#endif
|
||
void lis3mdlObjectInit(LIS3MDLDriver *devp);
|
||
void lis3mdlStart(LIS3MDLDriver *devp, const LIS3MDLConfig *config);
|
||
void lis3mdlStop(LIS3MDLDriver *devp);
|
||
#ifdef __cplusplus
|
||
}
|
||
#endif
|
||
|
||
#endif /* _LIS3MDL_H_ */
|
||
|
||
/** @} */
|
||
|