327 lines
11 KiB
C
327 lines
11 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 lis3dsh.h
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* @brief LIS3DSH MEMS interface module header.
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*
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* @{
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*/
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#ifndef _LIS3DSH_H_
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#define _LIS3DSH_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 LIS3DSH number of axes.
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*/
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#define LIS3DSH_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 LIS3DSH 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(LIS3DSH_USE_SPI) || defined(__DOXYGEN__)
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#define LIS3DSH_USE_SPI TRUE
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#endif
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/**
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* @brief LIS3DSH 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(LIS3DSH_USE_I2C) || defined(__DOXYGEN__)
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#define LIS3DSH_USE_I2C FALSE
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#endif
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/**
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* @brief LIS3DSH 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(LIS3DSH_SHARED_SPI) || defined(__DOXYGEN__)
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#define LIS3DSH_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 !(LIS3DSH_USE_SPI ^ LIS3DSH_USE_I2C)
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#error "LIS3DSH_USE_SPI and LIS3DSH_USE_I2C cannot be both true or both false"
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#endif
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#if LIS3DSH_USE_SPI && !HAL_USE_SPI
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#error "LIS3DSH_USE_SPI requires HAL_USE_SPI"
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#endif
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#if LIS3DSH_USE_I2C && !HAL_USE_I2C
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#error "LIS3DSH_USE_I2C requires HAL_USE_I2C"
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#endif
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#if LIS3DSH_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION
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#error "LIS3DSH_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 LIS3DSH data structures and types
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* @{
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*/
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/**
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* @brief LIS3DSH full scale.
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*/
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typedef enum {
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LIS3DSH_FS_2G = 0x00, /**< Full scale <20>2g. */
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LIS3DSH_FS_4G = 0x08, /**< Full scale <20>4g. */
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LIS3DSH_FS_6G = 0x10, /**< Full scale <20>6g. */
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LIS3DSH_FS_8G = 0x18, /**< Full scale <20>8g. */
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LIS3DSH_FS_16G = 0x20 /**< Full scale <20>16g. */
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}lis3dsh_fs_t;
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/**
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* @brief LIS3DSH output data rate.
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*/
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typedef enum {
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LIS3DSH_ODR_PD = 0x00, /**< ODR 100 Hz. */
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LIS3DSH_ODR_3_125HZ = 0x10, /**< ODR 3.125 Hz. */
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LIS3DSH_ODR_6_25HZ = 0x20, /**< ODR 6.25 Hz. */
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LIS3DSH_ODR_12_5HZ = 0x30, /**< ODR 12.5 Hz. */
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LIS3DSH_ODR_25HZ = 0x40, /**< ODR 25 Hz. */
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LIS3DSH_ODR_50HZ = 0x50, /**< ODR 50 Hz. */
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LIS3DSH_ODR_100HZ = 0x60, /**< ODR 100 Hz. */
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LIS3DSH_ODR_400HZ = 0x70, /**< ODR 400 Hz. */
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LIS3DSH_ODR_800HZ = 0x80, /**< ODR 800 Hz. */
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LIS3DSH_ODR_1600HZ = 0x90 /**< ODR 1600 Hz. */
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}lis3dsh_odr_t;
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/**
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* @brief LIS3DSH anti-aliasing bandwidth.
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*/
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typedef enum {
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LIS3DSH_BW_800HZ = 0x00, /**< AA filter BW 800Hz. */
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LIS3DSH_BW_200HZ = 0x40, /**< AA filter BW 200Hz. */
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LIS3DSH_BW_400HZ = 0x80, /**< AA filter BW 400Hz. */
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LIS3DSH_BW_50HZ = 0xC0 /**< AA filter BW 50Hz. */
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}lis3dsh_bw_t;
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/**
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* @brief LIS3DSH axes enabling.
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*/
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typedef enum {
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LIS3DSH_AE_DISABLED = 0x00, /**< All axes disabled. */
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LIS3DSH_AE_X = 0x01, /**< Only X-axis enabled. */
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LIS3DSH_AE_Y = 0x02, /**< Only Y-axis enabled. */
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LIS3DSH_AE_XY = 0x03, /**< X and Y axes enabled. */
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LIS3DSH_AE_Z = 0x04, /**< Only Z-axis enabled. */
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LIS3DSH_AE_XZ = 0x05, /**< X and Z axes enabled. */
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LIS3DSH_AE_YZ = 0x06, /**< Y and Z axes enabled. */
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LIS3DSH_AE_XYZ = 0x07 /**< All axes enabled. */
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}lis3dsh_ae_t;
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/**
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* @brief LIS3DSH block data update.
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*/
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typedef enum {
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LIS3DSH_BDU_CONTINUOUS = 0x00, /**< Block data continuously updated. */
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LIS3DSH_BDU_BLOCKED = 0x80 /**< Block data updated after reading. */
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} lis3dsh_bdu_t;
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/**
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* @brief LIS3DSH accelerometer subsystem unit.
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*/
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typedef enum {
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LIS3DSH_ACC_UNIT_G = 0x00, /**< Cooked data in g. */
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LIS3DSH_ACC_UNIT_MG = 0x01, /**< Cooked data in mg. */
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LIS3DSH_ACC_UNIT_SI = 0x02, /**< Cooked data in m/s^2. */
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} lis3dsh_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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LIS3DSH_UNINIT = 0, /**< Not initialized. */
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LIS3DSH_STOP = 1, /**< Stopped. */
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LIS3DSH_READY = 2, /**< Ready. */
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} lis3dsh_state_t;
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/**
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* @brief LIS3DSH configuration structure.
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*/
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typedef struct {
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#if (LIS3DSH_USE_SPI) || defined(__DOXYGEN__)
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/**
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* @brief SPI driver associated to this LIS3DSH.
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*/
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SPIDriver *spip;
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/**
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* @brief SPI configuration associated to this LIS3DSH.
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*/
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const SPIConfig *spicfg;
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#endif /* LIS3DSH_USE_SPI */
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#if (LIS3DSH_USE_I2C) || defined(__DOXYGEN__)
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/**
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* @brief I2C driver associated to this LIS3DSH.
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*/
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I2CDriver *i2cp;
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/**
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* @brief I2C configuration associated to this LIS3DSH.
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*/
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const I2CConfig *i2ccfg;
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#endif /* LIS3DSH_USE_I2C */
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/**
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* @brief LIS3DSH full scale value.
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*/
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lis3dsh_fs_t fullscale;
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/**
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* @brief LIS3DSH output data rate selection.
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*/
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lis3dsh_odr_t outputdatarate;
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/**
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* @brief LIS3DSH anti-aliasing bandwidth.
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*/
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lis3dsh_bw_t antialiasing;
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/**
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* @brief LIS3DSH axes enabling.
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*/
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lis3dsh_ae_t axesenabling;
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/**
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* @brief LIS3DSH block data update.
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*/
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lis3dsh_bdu_t blockdataupdate;
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/**
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* @brief LIS3DSH unit for cooked data.
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*/
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lis3dsh_acc_unit_t unit;
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} LIS3DSHConfig;
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/**
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* @brief Structure representing a LIS3DSH driver.
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*/
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typedef struct LIS3DSHDriver LIS3DSHDriver;
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/**
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* @brief @p LIS3DSH specific methods.
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*/
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#define _lis3dsh_methods \
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_base_accelerometer_methods \
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/* Retrieve the temperature of L3GD20 chip.*/ \
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msg_t (*get_temperature)(void *instance, int8_t* temperature);
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/**
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* @extends BaseAccelerometerVMT
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*
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* @brief @p LIS3DSH virtual methods table.
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*/
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struct LIS3DSHVMT {
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_lis3dsh_methods
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};
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/**
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* @brief @p LIS3DSHDriver specific data.
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*/
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#define _lis3dsh_data \
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_base_accelerometer_data \
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/* Driver state.*/ \
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lis3dsh_state_t state; \
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/* Current configuration data.*/ \
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const LIS3DSHConfig *config; \
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/* Current sensitivity.*/ \
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float sensitivity[LIS3DSH_NUMBER_OF_AXES]; \
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/* Bias data.*/ \
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int32_t bias[LIS3DSH_NUMBER_OF_AXES];
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/**
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* @extends BaseAccelerometer
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*
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* @brief LIS3DSH 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 LIS3DSHDriver {
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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 LIS3DSH Virtual Methods Table. */
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const struct LIS3DSHVMT *vmt_lis3dsh;
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_lis3dsh_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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* @note Value is raw since there is a lack of information in datasheet.
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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 raw data.
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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_lis3dsh->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 lis3dshObjectInit(LIS3DSHDriver *devp);
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void lis3dshStart(LIS3DSHDriver *devp, const LIS3DSHConfig *config);
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void lis3dshStop(LIS3DSHDriver *devp);
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#ifdef __cplusplus
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}
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#endif
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#endif /* _LIS3DSH_H_ */
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/** @} */
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