303 lines
9.7 KiB
C
303 lines
9.7 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 lis302dl.h
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* @brief LIS302DL MEMS interface module header.
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*
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* @{
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*/
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#ifndef _LIS302DL_H_
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#define _LIS302DL_H_
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#include "hal_accelerometer.h"
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/*===========================================================================*/
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/* Driver constants. */
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/*===========================================================================*/
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/**
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* @brief LIS302DL number of axes.
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*/
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#define LIS302DL_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 LIS302DL SPI interface switch.
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* @details If set to @p TRUE the support for SPI is included.
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* @note The default is @p TRUE.
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*/
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#if !defined(LIS302DL_USE_SPI) || defined(__DOXYGEN__)
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#define LIS302DL_USE_SPI TRUE
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#endif
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/**
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* @brief LIS302DL I2C interface switch.
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* @details If set to @p TRUE the support for I2C is included.
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* @note The default is @p FALSE.
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*/
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#if !defined(LIS302DL_USE_I2C) || defined(__DOXYGEN__)
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#define LIS302DL_USE_I2C FALSE
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#endif
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/**
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* @brief LIS302DL shared SPI switch.
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* @details If set to @p TRUE the device acquires SPI bus ownership
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* on each transaction.
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* @note The default is @p FALSE. Requires SPI_USE_MUTUAL_EXCLUSION.
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*/
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#if !defined(LIS302DL_SHARED_SPI) || defined(__DOXYGEN__)
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#define LIS302DL_SHARED_SPI FALSE
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#endif
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/** @} */
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/*===========================================================================*/
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/* Derived constants and error checks. */
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/*===========================================================================*/
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#if !(LIS302DL_USE_SPI ^ LIS302DL_USE_I2C)
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#error "LIS302DL_USE_SPI and LIS302DL_USE_I2C cannot be both true or both false"
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#endif
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#if LIS302DL_USE_SPI && !HAL_USE_SPI
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#error "LIS302DL_USE_SPI requires HAL_USE_SPI"
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#endif
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#if LIS302DL_USE_I2C && !HAL_USE_I2C
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#error "LIS302DL_USE_I2C requires HAL_USE_I2C"
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#endif
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#if LIS302DL_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION
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#error "LIS302DL_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION"
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#endif
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/*===========================================================================*/
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/* Driver data structures and types. */
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/*===========================================================================*/
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/**
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* @name LIS302DL data structures and types
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* @{
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*/
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/**
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* @brief LIS302DL full scale.
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*/
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typedef enum {
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LIS302DL_FS_2G = 0x00, /**< Full scale ±2g. */
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LIS302DL_FS_8G = 0x20 /**< Full scale ±8g. */
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}lis302dl_fs_t;
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/**
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* @brief LIS302DL output data rate and bandwidth.
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*/
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typedef enum {
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LIS302DL_ODR_100HZ = 0x00, /**< ODR 100 Hz. */
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LIS302DL_ODR_400HZ = 0x80 /**< ODR 400 Hz. */
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}lis302dl_odr_t;
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/**
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* @brief LIS302DL high pass filtering.
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*/
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typedef enum {
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LIS302DL_HP_DISABLED = 0x00, /**< HP bypassed. */
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LIS302DL_HP_0 = 0x10, /**< HP cutoff 2Hz (ODR 100Hz) or 8Hz */
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LIS302DL_HP_1 = 0x11, /**< HP cutoff 1Hz or 4Hz */
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LIS302DL_HP_2 = 0x12, /**< HP cutoff 0.5Hz or 2Hz */
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LIS302DL_HP_3 = 0x13 /**< HP cutoff 0.25Hz or 1Hz */
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}lis302dl_hp_t;
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/**
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* @brief LIS302DL axes enabling.
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*/
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typedef enum {
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LIS302DL_AE_DISABLED = 0x00, /**< All axes disabled. */
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LIS302DL_AE_X = 0x01, /**< Only X-axis enabled. */
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LIS302DL_AE_Y = 0x02, /**< Only Y-axis enabled. */
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LIS302DL_AE_XY = 0x03, /**< X and Y axes enabled. */
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LIS302DL_AE_Z = 0x04, /**< Only Z-axis enabled. */
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LIS302DL_AE_XZ = 0x05, /**< X and Z axes enabled. */
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LIS302DL_AE_YZ = 0x06, /**< Y and Z axes enabled. */
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LIS302DL_AE_XYZ = 0x07 /**< All axes enabled. */
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}lis302dl_ae_t;
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/**
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* @brief LIS302DL accelerometer subsystem unit.
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*/
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typedef enum {
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LIS302DL_ACC_UNIT_G = 0x00, /**< Cooked data in g. */
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LIS302DL_ACC_UNIT_MG = 0x01, /**< Cooked data in mg. */
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LIS302DL_ACC_UNIT_SI = 0x02, /**< Cooked data in m/s^2. */
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} lis302dl_acc_unit_t;
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/**
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* @brief Driver state machine possible states.
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*/
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typedef enum {
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LIS302DL_UNINIT = 0, /**< Not initialized. */
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LIS302DL_STOP = 1, /**< Stopped. */
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LIS302DL_READY = 2, /**< Ready. */
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} lis302dl_state_t;
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/**
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* @brief LIS302DL configuration structure.
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*/
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typedef struct {
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#if (LIS302DL_USE_SPI) || defined(__DOXYGEN__)
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/**
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* @brief SPI driver associated to this LIS302DL.
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*/
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SPIDriver *spip;
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/**
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* @brief SPI configuration associated to this LIS302DL.
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*/
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const SPIConfig *spicfg;
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#endif /* LIS302DL_USE_SPI */
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#if (LIS302DL_USE_I2C) || defined(__DOXYGEN__)
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/**
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* @brief I2C driver associated to this LIS302DL.
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*/
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I2CDriver *i2cp;
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/**
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* @brief I2C configuration associated to this LIS302DL.
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*/
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const I2CConfig *i2ccfg;
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#endif /* LIS302DL_USE_I2C */
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/**
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* @brief LIS302DL full scale value.
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*/
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lis302dl_fs_t fullscale;
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/**
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* @brief LIS302DL output data rate selection.
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*/
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lis302dl_odr_t outputdatarate;
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/**
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* @brief LIS302DL high pass filtering
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*/
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lis302dl_hp_t highpass;
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/**
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* @brief LIS302DL axes enabling.
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*/
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lis302dl_ae_t axesenabling;
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/**
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* @brief LIS302DL unit for cooked data.
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*/
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lis302dl_acc_unit_t unit;
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} LIS302DLConfig;
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/**
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* @brief Structure representing a LIS302DL driver.
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*/
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typedef struct LIS302DLDriver LIS302DLDriver;
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/**
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* @brief @p LIS302DL specific methods.
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*/
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#define _lis302dl_methods \
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_base_accelerometer_methods
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/**
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* @extends BaseAccelerometerVMT.
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*
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* @brief @p LIS302DL virtual methods table.
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*/
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struct LIS302DLVMT {
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_lis302dl_methods
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};
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/**
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* @brief @p LIS302DLDriver specific data.
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*/
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#define _lis302dl_data \
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_base_accelerometer_data \
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/* Driver state.*/ \
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lis302dl_state_t state; \
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/* Current configuration data.*/ \
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const LIS302DLConfig *config; \
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/* Current sensitivity.*/ \
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float sensitivity[LIS302DL_NUMBER_OF_AXES]; \
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/* Bias data.*/ \
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int32_t bias[LIS302DL_NUMBER_OF_AXES];
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/**
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* @extends BaseAccelerometer.
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*
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* @brief LIS302DL 3-axis accelerometer class.
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* @details This class extends @p BaseAccelerometer by adding physical
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* driver implementation.
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*/
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struct LIS302DLDriver {
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/** @brief BaseSensor Virtual Methods Table. */
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const struct BaseSensorVMT *vmt_basesensor;
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/** @brief BaseAccelerometer Virtual Methods Table. */
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const struct BaseAccelerometerVMT *vmt_baseaccelerometer;
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/** @brief LIS302DL Virtual Methods Table. */
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const struct LIS302DLVMT *vmt_lis302dl;
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_lis302dl_data
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};
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/** @} */
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/*===========================================================================*/
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/* Driver macros. */
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/*===========================================================================*/
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/**
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* @brief 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 BaseAccelerometer 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 accelerometerGetTemp(ip, tpp) \
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(ip)->vmt_lis302dl->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 lis302dlObjectInit(LIS302DLDriver *devp);
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void lis302dlStart(LIS302DLDriver *devp, const LIS302DLConfig *config);
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void lis302dlStop(LIS302DLDriver *devp);
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#ifdef __cplusplus
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}
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#endif
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#endif /* _LIS302DL_H_ */
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/** @} */
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