652 lines
22 KiB
C
652 lines
22 KiB
C
/*
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ChibiOS - Copyright (C) 2016..2019 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 adxl355.h
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* @brief ADXL355 MEMS interface module header.
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*
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* @addtogroup ADXL355
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* @ingroup EX_ADI
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* @{
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*/
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#ifndef _ADXL355_H_
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#define _ADXL355_H_
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#include "ex_accelerometer.h"
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/*===========================================================================*/
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/* Driver constants. */
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/*===========================================================================*/
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/**
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* @name Version identification
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* @{
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*/
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/**
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* @brief ADXL355 driver version string.
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*/
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#define EX_ADXL355_VERSION "1.0.0"
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/**
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* @brief ADXL355 driver version major number.
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*/
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#define EX_ADXL355_MAJOR 1
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/**
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* @brief ADXL355 driver version minor number.
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*/
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#define EX_ADXL355_MINOR 0
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/**
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* @brief ADXL355 driver version patch number.
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*/
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#define EX_ADXL355_PATCH 0
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/** @} */
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/**
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* @brief ADXL355 accelerometer subsystem characteristics.
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* @note Sensitivity is expressed as milli-G/LSB whereas
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* 1 milli-G = 0.00980665 m/s^2.
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* @note Bias is expressed as milli-G.
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*
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* @{
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*/
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#define ADXL355_ACC_NUMBER_OF_AXES 3U
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#define ADXL355_ACC_2G 2.048f
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#define ADXL355_ACC_4G 4.096f
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#define ADXL355_ACC_8G 8.0192f
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#define ADXL355_ACC_SENS_2G 0.003906f
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#define ADXL355_ACC_SENS_4G 0.007813f
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#define ADXL355_ACC_SENS_8G 0.015625f
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#define ADXL355_ACC_BIAS 0.0f
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/** @} */
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/**
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* @name ADXL355 communication interfaces related bit masks
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* @{
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*/
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#define ADXL355_DI_MASK 0xFF
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#define ADXL355_DI(n) (1 << n)
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#define ADXL355_AD_MASK 0xFE
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#define ADXL355_RW (1 << 0)
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#define ADXL355_AD(n) (1 << (n + 1))
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/** @} */
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/**
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* @name ADXL355 register addresses
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* @{
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*/
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#define ADXL355_AD_DEVID_AD 0x00
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#define ADXL355_AD_DEVID_MST 0x01
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#define ADXL355_AD_PARTID 0x02
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#define ADXL355_AD_REVID 0x03
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#define ADXL355_AD_STATUS 0x04
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#define ADXL355_AD_FIFO_ENTRIES 0x05
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#define ADXL355_AD_TEMP2 0x06
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#define ADXL355_AD_TEMP1 0x07
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#define ADXL355_AD_XDATA3 0x08
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#define ADXL355_AD_XDATA2 0x09
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#define ADXL355_AD_XDATA1 0x0A
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#define ADXL355_AD_YDATA3 0x0B
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#define ADXL355_AD_YDATA2 0x0C
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#define ADXL355_AD_YDATA1 0x0D
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#define ADXL355_AD_ZDATA3 0x0E
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#define ADXL355_AD_ZDATA2 0x0F
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#define ADXL355_AD_ZDATA1 0x10
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#define ADXL355_AD_FIFO_DATA 0x11
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#define ADXL355_AD_OFFSET_X_H 0x1E
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#define ADXL355_AD_OFFSET_X_L 0x1F
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#define ADXL355_AD_OFFSET_Y_H 0x20
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#define ADXL355_AD_OFFSET_Y_L 0x21
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#define ADXL355_AD_OFFSET_Z_H 0x22
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#define ADXL355_AD_OFFSET_Z_L 0x23
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#define ADXL355_AD_ACT_EN 0x24
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#define ADXL355_AD_ACT_THRES_L 0x25
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#define ADXL355_AD_ACT_THRES_H 0x26
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#define ADXL355_AD_ACT_COUNTER 0x27
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#define ADXL355_AD_FILTER 0x28
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#define ADXL355_AD_FIFO_SAMPLES 0x29
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#define ADXL355_AD_INT_MAP 0x2A
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#define ADXL355_AD_SYNC 0x2B
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#define ADXL355_AD_RANGE 0x2C
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#define ADXL355_AD_POWER_CTL 0x2D
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#define ADXL355_AD_SELF_TEST 0x2E
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#define ADXL355_AD_RESET 0x2F
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/** @} */
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/**
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* @name ADXL355 Device Identifier
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* @{
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*/
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#define ADXL355_DEVID_MST 0x1D
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/** @} */
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/**
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* @name ADXL355_FILTER register bits definitions
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* @{
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*/
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#define ADXL355_FILTER_MASK 0x7F
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#define ADXL355_FILTER_ORD_LPF_0 (1 << 0)
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#define ADXL355_FILTER_ORD_LPF_1 (1 << 1)
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#define ADXL355_FILTER_ORD_LPF_2 (1 << 2)
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#define ADXL355_FILTER_ORD_LPF_3 (1 << 3)
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#define ADXL355_FILTER_HPF_CORNER_0 (1 << 4)
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#define ADXL355_FILTER_HPF_CORNER_1 (1 << 5)
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#define ADXL355_FILTER_HPF_CORNER_2 (1 << 6)
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/** @} */
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/**
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* @name ADXL355_FIFO_SAMPLES register bits definitions
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* @{
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*/
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#define ADXL355_FIFO_SAMPLES_MASK 0x7F
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#define ADXL355_FIFO_SAMPLES_BIT_0 (1 << 0)
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#define ADXL355_FIFO_SAMPLES_BIT_1 (1 << 1)
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#define ADXL355_FIFO_SAMPLES_BIT_2 (1 << 2)
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#define ADXL355_FIFO_SAMPLES_BIT_3 (1 << 3)
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#define ADXL355_FIFO_SAMPLES_BIT_4 (1 << 4)
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#define ADXL355_FIFO_SAMPLES_BIT_5 (1 << 5)
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#define ADXL355_FIFO_SAMPLES_BIT_6 (1 << 6)
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/** @} */
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/**
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* @name ADXL355_INT_MAP register bits definitions
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* @{
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*/
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#define ADXL355_INT_MAP_MASK 0xFF
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#define ADXL355_INT_MAP_RDY_EN1 (1 << 0)
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#define ADXL355_INT_MAP_FULL_EN1 (1 << 1)
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#define ADXL355_INT_MAP_OVR_EN1 (1 << 2)
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#define ADXL355_INT_MAP_ACT_EN1 (1 << 3)
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#define ADXL355_INT_MAP_RDY_EN2 (1 << 4)
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#define ADXL355_INT_MAP_FULL_EN2 (1 << 5)
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#define ADXL355_INT_MAP_OVR_EN2 (1 << 6)
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#define ADXL355_INT_MAP_ACT_EN2 (1 << 7)
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/** @} */
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/**
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* @name ADXL355_SYNC register bits definitions
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* @{
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*/
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#define ADXL355_SYNC_MASK 0x07
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#define ADXL355_SYNC_EXT_SYNC_0 (1 << 0)
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#define ADXL355_SYNC_EXT_SYNC_1 (1 << 1)
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#define ADXL355_SYNC_EXT_CLK (1 << 2)
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/** @} */
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/**
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* @name ADXL355_RANGE register bits definitions
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* @{
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*/
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#define ADXL355_RANGE_MASK 0xC3
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#define ADXL355_RANGE_RANGE_MASK 0x03
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#define ADXL355_RANGE_RANGE_1 (1 << 1)
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#define ADXL355_RANGE_RANGE_0 (1 << 0)
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#define ADXL355_RANGE_RANGE_1 (1 << 1)
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#define ADXL355_RANGE_INT_POL (1 << 6)
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#define ADXL355_RANGE_I2C_HS (1 << 7)
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/** @} */
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/**
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* @name ADXL355_POWER_CTL register bits definitions
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* @{
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*/
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#define ADXL355_POWER_CTL_MASK 0x07
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#define ADXL355_POWER_CTL_STANDBY (1 << 0)
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#define ADXL355_POWER_CTL_TEMP_OFF (1 << 1)
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#define ADXL355_POWER_CTL_DRDY_OFF (1 << 2)
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/** @} */
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/**
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* @name ADXL355_SELT_TEST register bits definitions
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* @{
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*/
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#define ADXL355_SELF_TEST_MASK 0x03
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#define ADXL355_SELF_TEST_ST1 (1 << 0)
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#define ADXL355_SELF_TEST_ST2 (1 << 1)
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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 ADXL355 SPI interface switch.
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* @details If set to @p TRUE the support for SPI is included.
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* @note The default is @p TRUE.
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*/
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#if !defined(ADXL355_USE_SPI) || defined(__DOXYGEN__)
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#define ADXL355_USE_SPI TRUE
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#endif
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/**
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* @brief ADXL355 shared SPI switch.
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* @details If set to @p TRUE the device acquires SPI bus ownership
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* on each transaction.
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* @note The default is @p FALSE. Requires SPI_USE_MUTUAL_EXCLUSION.
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*/
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#if !defined(ADXL355_SHARED_SPI) || defined(__DOXYGEN__)
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#define ADXL355_SHARED_SPI FALSE
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#endif
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/**
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* @brief ADXL355 I2C interface switch.
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* @details If set to @p TRUE the support for I2C is included.
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* @note The default is @p FALSE.
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*/
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#if !defined(ADXL355_USE_I2C) || defined(__DOXYGEN__)
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#define ADXL355_USE_I2C FALSE
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#endif
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/**
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* @brief ADXL355 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(ADXL355_SHARED_I2C) || defined(__DOXYGEN__)
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#define ADXL355_SHARED_I2C FALSE
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#endif
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/**
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* @brief ADXL355 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(ADXL355_USE_ADVANCED) || defined(__DOXYGEN__)
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#define ADXL355_USE_ADVANCED FALSE
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#endif
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/**
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* @brief ADXL355 internal communication buffer sizes.
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*/
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#if !defined(ADXL355_COMM_BUFF_SIZE) || defined(__DOXYGEN__)
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#define ADXL355_COMM_BUFF_SIZE 32
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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 !(ADXL355_USE_SPI ^ ADXL355_USE_I2C)
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#error "ADXL355_USE_SPI and ADXL355_USE_I2C cannot be both true or both false"
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#endif
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#if ADXL355_USE_SPI && !HAL_USE_SPI
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#error "ADXL355_USE_SPI requires HAL_USE_SPI"
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#endif
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#if ADXL355_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION
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#error "ADXL355_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION"
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#endif
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#if ADXL355_USE_I2C && !HAL_USE_I2C
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#error "ADXL355_USE_I2C requires HAL_USE_I2C"
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#endif
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#if ADXL355_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION
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#error "ADXL355_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION"
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#endif
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/*
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* CHTODO: Add support for ADXL355 over I2C.
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*/
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#if ADXL355_USE_I2C
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#error "ADXL355 over I2C still not supported"
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#endif
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/*===========================================================================*/
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/* Driver data structures and types. */
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/*===========================================================================*/
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/**
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* @name ADXL355 data structures and types
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* @{
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*/
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/**
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* @brief Structure representing a ADXL355 driver.
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*/
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typedef struct ADXL355Driver ADXL355Driver;
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/**
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* @brief ADXL355 full scale.
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*/
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typedef enum {
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ADXL355_ACC_FS_2G = 0x01, /**< Full scale ±2g. */
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ADXL355_ACC_FS_4G = 0x02, /**< Full scale ±4g. */
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ADXL355_ACC_FS_8G = 0x03, /**< Full scale ±8g. */
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}adxl355_acc_fs_t;
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/**
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* @brief ADXL355 output data rate.
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*/
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typedef enum {
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ADXL355_ACC_ODR_4000HZ = 0x00, /**< ODR 4000 Hz, LP cut-off ODR/4. */
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ADXL355_ACC_ODR_2000HZ = 0x01, /**< ODR 2000 Hz, LP cut-off ODR/4. */
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ADXL355_ACC_ODR_1000HZ = 0x02, /**< ODR 1000 Hz, LP cut-off ODR/4. */
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ADXL355_ACC_ODR_500HZ = 0x03, /**< ODR 500 Hz, LP cut-off ODR/4. */
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ADXL355_ACC_ODR_250HZ = 0x04, /**< ODR 250 Hz, LP cut-off ODR/4. */
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ADXL355_ACC_ODR_125HZ = 0x06, /**< ODR 125 Hz, LP cut-off ODR/4. */
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ADXL355_ACC_ODR_62P5HZ = 0x06, /**< ODR 62.5 Hz, LP cut-off ODR/4. */
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ADXL355_ACC_ODR_31P25HZ = 0x07, /**< ODR 31.25 Hz, LP cut-off ODR/4. */
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ADXL355_ACC_ODR_15P625HZ = 0x08, /**< ODR 15.625 Hz, LP cut-off ODR/4. */
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ADXL355_ACC_ODR_7P913HZ = 0x09, /**< ODR 7.913 Hz, LP cut-off ODR/4. */
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ADXL355_ACC_ODR_3P906HZ = 0x0A /**< ODR 3.906 Hz, LP cut-off ODR/4. */
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}adxl355_acc_odr_t;
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/**
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* @brief ADXL355 HP filter.
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*/
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typedef enum {
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ADXL355_ACC_HP_DISABLED = 0x00, /**< HP disabled. */
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ADXL355_ACC_HP_LEV_1 = 0x10, /**< HP cut-off 247 x 10^-3 x ODR. */
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ADXL355_ACC_HP_LEV_2 = 0x20, /**< HP cut-off 62.084 x 10^-3 x ODR. */
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ADXL355_ACC_HP_LEV_3 = 0x30, /**< HP cut-off 15.545 x 10^-3 x ODR. */
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ADXL355_ACC_HP_LEV_4 = 0x40, /**< HP cut-off 3.892 x 10^-3 x ODR. */
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ADXL355_ACC_HP_LEV_5 = 0x50, /**< HP cut-off 0.954 x 10^-3 x ODR. */
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ADXL355_ACC_HP_LEV_6 = 0x60, /**< HP cut-off 0.238 x 10^-3 x ODR. */
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}adxl355_acc_hp_t;
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/**
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* @brief Driver state machine possible states.
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*/
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typedef enum {
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ADXL355_UNINIT = 0, /**< Not initialized. */
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ADXL355_STOP = 1, /**< Stopped. */
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ADXL355_READY = 2, /**< Ready. */
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} adxl355_state_t;
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/**
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* @brief ADXL355 configuration structure.
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*/
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typedef struct {
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#if (ADXL355_USE_SPI) || defined(__DOXYGEN__)
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/**
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* @brief SPI driver associated to this ADXL355.
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*/
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SPIDriver *spip;
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/**
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* @brief SPI configuration associated to this ADXL355.
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*/
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const SPIConfig *spicfg;
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#endif /* ADXL355_USE_SPI */
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#if (ADXL355_USE_I2C) || defined(__DOXYGEN__)
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/**
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* @brief I2C driver associated to this ADXL355.
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*/
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I2CDriver *i2cp;
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/**
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* @brief I2C configuration associated to this ADXL355.
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*/
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const I2CConfig *i2ccfg;
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#endif /* ADXL355_USE_I2C */
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/**
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* @brief ADXL355 accelerometer subsystem initial sensitivity.
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*/
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float *accsensitivity;
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/**
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* @brief ADXL355 accelerometer subsystem initial bias.
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*/
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float *accbias;
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/**
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* @brief ADXL355 accelerometer subsystem initial full scale.
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*/
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adxl355_acc_fs_t accfullscale;
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/**
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* @brief ADXL355 output data rate selection.
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*/
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adxl355_acc_odr_t accoutputdatarate;
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#if ADXL355_USE_ADVANCED || defined(__DOXYGEN__)
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/**
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* @brief ADXL355 HP filter bandwidth.
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*/
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adxl355_acc_hp_t acchighpass;
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#endif
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} ADXL355Config;
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/**
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* @brief @p ADXL355 specific methods.
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*/
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#define _adxl355_methods_alone \
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/* Change full scale value of ADXL355 accelerometer subsystem.*/ \
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msg_t (*acc_set_full_scale)(ADXL355Driver *devp, adxl355_acc_fs_t fs);
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/**
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* @brief @p ADXL355 specific methods with inherited ones.
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*/
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#define _adxl355_methods \
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_base_object_methods \
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_adxl355_methods_alone
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/**
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* @extends BaseObjectVMT
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*
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* @brief @p ADXL355 virtual methods table.
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*/
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struct ADXL355VMT {
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_adxl355_methods
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};
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/**
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* @brief @p ADXL355Driver specific data.
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*/
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#define _adxl355_data \
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_base_sensor_data \
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/* Driver state.*/ \
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adxl355_state_t state; \
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/* Current configuration data.*/ \
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const ADXL355Config *config; \
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/* Accelerometer subsystem axes number.*/ \
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size_t accaxes; \
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/* Accelerometer subsystem current sensitivity.*/ \
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float accsensitivity[ADXL355_ACC_NUMBER_OF_AXES]; \
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/* Accelerometer subsystem current bias .*/ \
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float accbias[ADXL355_ACC_NUMBER_OF_AXES]; \
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/* Accelerometer subsystem current full scale value.*/ \
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float accfullscale; \
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/* Accelerometer communication tx buffer pointer.*/ \
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uint8_t* commtxp; \
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/* Accelerometer communication rx buffer pointer.*/ \
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uint8_t* commrxp;
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|
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/**
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* @brief ADXL355 3-axis accelerometer class.
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|
*/
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struct ADXL355Driver {
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/** @brief Virtual Methods Table.*/
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const struct ADXL355VMT *vmt;
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/** @brief Base accelerometer interface.*/
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BaseAccelerometer acc_if;
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_adxl355_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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/**
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|
* @brief Return the number of axes of the BaseAccelerometer.
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*
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* @param[in] devp pointer to @p ADXL355Driver.
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*
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|
* @return the number of axes.
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|
*
|
|
* @api
|
|
*/
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#define adxl355AccelerometerGetAxesNumber(devp) \
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accelerometerGetAxesNumber(&((devp)->acc_if))
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|
|
|
/**
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* @brief Retrieves raw data from the BaseAccelerometer.
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|
* @note This data is retrieved from MEMS register without any algebraical
|
|
* manipulation.
|
|
* @note The axes array must be at least the same size of the
|
|
* BaseAccelerometer axes number.
|
|
*
|
|
* @param[in] devp pointer to @p ADXL355Driver.
|
|
* @param[out] axes a buffer which would be filled with raw data.
|
|
*
|
|
* @return The operation status.
|
|
* @retval MSG_OK if the function succeeded.
|
|
* @retval MSG_RESET if one or more I2C errors occurred, the errors can
|
|
* be retrieved using @p i2cGetErrors().
|
|
* @retval MSG_TIMEOUT if a timeout occurred before operation end.
|
|
*
|
|
* @api
|
|
*/
|
|
#define adxl355AccelerometerReadRaw(devp, axes) \
|
|
accelerometerReadRaw(&((devp)->acc_if), axes)
|
|
|
|
/**
|
|
* @brief Retrieves cooked data from the BaseAccelerometer.
|
|
* @note This data is manipulated according to the formula
|
|
* cooked = (raw * sensitivity) - bias.
|
|
* @note Final data is expressed as milli-G.
|
|
* @note The axes array must be at least the same size of the
|
|
* BaseAccelerometer axes number.
|
|
*
|
|
* @param[in] devp pointer to @p ADXL355Driver.
|
|
* @param[out] axes a buffer which would be filled with cooked data.
|
|
*
|
|
* @return The operation status.
|
|
* @retval MSG_OK if the function succeeded.
|
|
* @retval MSG_RESET if one or more I2C errors occurred, the errors can
|
|
* be retrieved using @p i2cGetErrors().
|
|
* @retval MSG_TIMEOUT if a timeout occurred before operation end.
|
|
*
|
|
* @api
|
|
*/
|
|
#define adxl355AccelerometerReadCooked(devp, axes) \
|
|
accelerometerReadCooked(&((devp)->acc_if), axes)
|
|
|
|
/**
|
|
* @brief Set bias values for the BaseAccelerometer.
|
|
* @note Bias must be expressed as milli-G.
|
|
* @note The bias buffer must be at least the same size of the
|
|
* BaseAccelerometer axes number.
|
|
*
|
|
* @param[in] devp pointer to @p ADXL355Driver.
|
|
* @param[in] bp a buffer which contains biases.
|
|
*
|
|
* @return The operation status.
|
|
* @retval MSG_OK if the function succeeded.
|
|
*
|
|
* @api
|
|
*/
|
|
#define adxl355AccelerometerSetBias(devp, bp) \
|
|
accelerometerSetBias(&((devp)->acc_if), bp)
|
|
|
|
/**
|
|
* @brief Reset bias values for the BaseAccelerometer.
|
|
* @note Default biases value are obtained from device datasheet when
|
|
* available otherwise they are considered zero.
|
|
*
|
|
* @param[in] devp pointer to @p ADXL355Driver.
|
|
*
|
|
* @return The operation status.
|
|
* @retval MSG_OK if the function succeeded.
|
|
*
|
|
* @api
|
|
*/
|
|
#define adxl355AccelerometerResetBias(devp) \
|
|
accelerometerResetBias(&((devp)->acc_if))
|
|
|
|
/**
|
|
* @brief Set sensitivity values for the BaseAccelerometer.
|
|
* @note Sensitivity must be expressed as milli-G/LSB.
|
|
* @note The sensitivity buffer must be at least the same size of the
|
|
* BaseAccelerometer axes number.
|
|
*
|
|
* @param[in] devp pointer to @p ADXL355Driver.
|
|
* @param[in] sp a buffer which contains sensitivities.
|
|
*
|
|
* @return The operation status.
|
|
* @retval MSG_OK if the function succeeded.
|
|
*
|
|
* @api
|
|
*/
|
|
#define adxl355AccelerometerSetSensitivity(devp, sp) \
|
|
accelerometerSetSensitivity(&((devp)->acc_if), sp)
|
|
|
|
/**
|
|
* @brief Reset sensitivity values for the BaseAccelerometer.
|
|
* @note Default sensitivities value are obtained from device datasheet.
|
|
*
|
|
* @param[in] devp pointer to @p ADXL355Driver.
|
|
*
|
|
* @return The operation status.
|
|
* @retval MSG_OK if the function succeeded.
|
|
* @retval MSG_RESET otherwise.
|
|
*
|
|
* @api
|
|
*/
|
|
#define adxl355AccelerometerResetSensitivity(devp) \
|
|
accelerometerResetSensitivity(&((devp)->acc_if))
|
|
|
|
/**
|
|
* @brief Changes the ADXL355Driver accelerometer fullscale value.
|
|
* @note This function also rescale sensitivities and biases based on
|
|
* previous and next fullscale value.
|
|
* @note A recalibration is highly suggested after calling this function.
|
|
*
|
|
* @param[in] devp pointer to @p ADXL355Driver.
|
|
* @param[in] fs new fullscale value.
|
|
*
|
|
* @return The operation status.
|
|
* @retval MSG_OK if the function succeeded.
|
|
* @retval MSG_RESET otherwise.
|
|
*
|
|
* @api
|
|
*/
|
|
#define adxl355AccelerometerSetFullScale(devp, fs) \
|
|
(devp)->vmt->acc_set_full_scale(devp, fs)
|
|
|
|
/*===========================================================================*/
|
|
/* External declarations. */
|
|
/*===========================================================================*/
|
|
|
|
#ifdef __cplusplus
|
|
extern "C" {
|
|
#endif
|
|
void adxl355ObjectInit(ADXL355Driver *devp, uint8_t* txbp, uint8_t* rxbp);
|
|
void adxl355Start(ADXL355Driver *devp, const ADXL355Config *config);
|
|
void adxl355Stop(ADXL355Driver *devp);
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|
|
|
|
#endif /* _ADXL355_H_ */
|
|
|
|
/** @} */
|
|
|