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ChibiOS/os/ex/ST/lsm303dlhc.h

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git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9627 35acf78f-673a-0410-8e92-d51de3d6d3f4
2016-06-16 00:44:08 -07:00
/*
ChibiOS - Copyright (C) 2016 Rocco Marco Guglielmi
This file is part of ChibiOS.
ChibiOS is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 3 of the License, or
(at your option) any later version.
ChibiOS is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/**
* @file lsm303dlhc.h
* @brief LSM303DLHC MEMS interface module header.
*
* @{
*/
#ifndef _LSM303DLHC_H_
#define _LSM303DLHC_H_
#include "hal_accelerometer.h"
#include "hal_compass.h"
/*===========================================================================*/
/* Driver constants. */
/*===========================================================================*/
/**
* @brief LSM303DLHC accelerometer subsystem number of axes.
*/
#define LSM303DLHC_ACC_NUMBER_OF_AXES ((size_t) 3U)
/**
* @brief LSM303DLHC compass subsystem number of axes.
*/
#define LSM303DLHC_COMP_NUMBER_OF_AXES ((size_t) 3U)
/*===========================================================================*/
/* Driver pre-compile time settings. */
/*===========================================================================*/
/**
* @name Configuration options
* @{
*/
/**
* @brief LSM303DLHC SPI interface selector.
* @details If set to @p TRUE the support for SPI is included.
* @note The default is @p FALSE.
*/
#if !defined(LSM303DLHC_USE_SPI) || defined(__DOXYGEN__)
#define LSM303DLHC_USE_SPI FALSE
#endif
/**
* @brief LSM303DLHC I2C interface selector.
* @details If set to @p TRUE the support for I2C is included.
* @note The default is @p TRUE.
*/
#if !defined(LSM303DLHC_USE_I2C) || defined(__DOXYGEN__)
#define LSM303DLHC_USE_I2C TRUE
#endif
/**
* @brief LSM303DLHC shared I2C switch.
* @details If set to @p TRUE the device acquires I2C bus ownership
* on each transaction.
* @note The default is @p FALSE. Requires I2C_USE_MUTUAL_EXCLUSION.
*/
#if !defined(LSM303DLHC_SHARED_I2C) || defined(__DOXYGEN__)
#define LSM303DLHC_SHARED_I2C FALSE
#endif
/** @} */
/*===========================================================================*/
/* Derived constants and error checks. */
/*===========================================================================*/
#if LSM303DLHC_USE_SPI && LSM303DLHC_USE_I2C
#error "LSM303DLHC_USE_SPI and LSM303DLHC_USE_I2C cannot be both true"
#endif
#if LSM303DLHC_USE_SPI && !HAL_USE_SPI
#error "LSM303DLHC_USE_SPI requires HAL_USE_SPI"
#endif
#if LSM303DLHC_USE_I2C && !HAL_USE_I2C
#error "LSM303DLHC_USE_I2C requires HAL_USE_I2C"
#endif
#if LSM303DLHC_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION
#error "LSM303DLHC_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION"
#endif
/*===========================================================================*/
/* Driver data structures and types. */
/*===========================================================================*/
/**
* @name LSM303DLHC accelerometer subsystem data structures and types.
* @{
*/
/**
* @brief LSM303DLHC accelerometer subsystem full scale.
*/
typedef enum {
LSM303DLHC_ACC_FS_2G = 0x00, /**< Full scale <20>2g. */
LSM303DLHC_ACC_FS_4G = 0x10, /**< Full scale <20>4g. */
LSM303DLHC_ACC_FS_8G = 0x20, /**< Full scale <20>8g. */
LSM303DLHC_ACC_FS_16G = 0x30 /**< Full scale <20>16g. */
} lsm303dlhc_acc_fs_t;
/**
* @brief LSM303DLHC accelerometer subsystem output data rate.
*/
typedef enum {
LSM303DLHC_ACC_ODR_PD = 0x00, /**< Power down */
LSM303DLHC_ACC_ODR_1Hz = 0x10, /**< ODR 1 Hz */
LSM303DLHC_ACC_ODR_10Hz = 0x20, /**< ODR 10 Hz */
LSM303DLHC_ACC_ODR_25Hz = 0x30, /**< ODR 25 Hz */
LSM303DLHC_ACC_ODR_50Hz = 0x40, /**< ODR 50 Hz */
LSM303DLHC_ACC_ODR_100Hz = 0x50, /**< ODR 100 Hz */
LSM303DLHC_ACC_ODR_200Hz = 0x60, /**< ODR 200 Hz */
LSM303DLHC_ACC_ODR_400Hz = 0x70, /**< ODR 400 Hz */
LSM303DLHC_ACC_ODR_1620Hz = 0x80, /**< ODR 1620 Hz (LP only) */
LSM303DLHC_ACC_ODR_1344Hz = 0x90 /**< ODR 1344 Hz or 5376 Hz in LP */
} lsm303dlhc_acc_odr_t;
/**
* @brief LSM303DLHC accelerometer subsystem axes enabling.
*/
typedef enum {
LSM303DLHC_ACC_AE_DISABLED = 0x00,/**< All axes disabled. */
LSM303DLHC_ACC_AE_X = 0x01, /**< Only X-axis enabled. */
LSM303DLHC_ACC_AE_Y = 0x02, /**< Only Y-axis enabled. */
LSM303DLHC_ACC_AE_XY = 0x03, /**< X and Y axes enabled. */
LSM303DLHC_ACC_AE_Z = 0x04, /**< Only Z-axis enabled. */
LSM303DLHC_ACC_AE_XZ = 0x05, /**< X and Z axes enabled. */
LSM303DLHC_ACC_AE_YZ = 0x06, /**< Y and Z axes enabled. */
LSM303DLHC_ACC_AE_XYZ = 0x07 /**< All axes enabled. */
} lsm303dlhc_acc_ae_t;
/**
* @brief LSM303DLHC accelerometer subsystem low power mode.
*/
typedef enum {
LSM303DLHC_ACC_LP_DISABLED = 0x00,/**< Low power mode disabled. */
LSM303DLHC_ACC_LP_ENABLED = 0x40 /**< Low power mode enabled. */
} lsm303dlhc_acc_lp_t;
/**
* @brief LSM303DLHC accelerometer subsystem high resolution mode.
*/
typedef enum {
LSM303DLHC_ACC_HR_DISABLED = 0x00,/**< High resolution mode disabled. */
LSM303DLHC_ACC_HR_ENABLED = 0x08 /**< High resolution mode enabled. */
} lsm303dlhc_acc_hr_t;
/**
* @brief LSM303DLHC accelerometer subsystem block data update.
*/
typedef enum {
LSM303DLHC_ACC_BDU_CONT = 0x00, /**< Continuous update */
LSM303DLHC_ACC_BDU_BLOCK = 0x80 /**< Update blocked */
} lsm303dlhc_acc_bdu_t;
/**
* @brief LSM303DLHC accelerometer endianness.
*/
typedef enum {
LSM303DLHC_ACC_END_LITTLE = 0x00, /**< Little Endian */
LSM303DLHC_ACC_END_BIG = 0x40 /**< Big Endian */
} lsm303dlhc_acc_end_t;
/**
* @brief LSM303DLHC accelerometer subsystem unit.
*/
typedef enum {
LSM303DLHC_ACC_UNIT_G = 0x00, /**< Cooked data in g. */
LSM303DLHC_ACC_UNIT_MG = 0x01, /**< Cooked data in mg. */
LSM303DLHC_ACC_UNIT_SI = 0x02, /**< Cooked data in m/s^2. */
} lsm303dlhc_acc_unit_t;
/**
* @brief LSM303DLHC accelerometer subsystem configuration structure.
*/
typedef struct {
/**
* @brief LSM303DLHC accelerometer subsystem full scale.
*/
lsm303dlhc_acc_fs_t fullscale;
/**
* @brief LSM303DLHC accelerometer subsystem output data rate.
*/
lsm303dlhc_acc_odr_t outdatarate;
/**
* @brief LSM303DLHC accelerometer subsystem axes enabling.
*/
lsm303dlhc_acc_ae_t axesenabling;
/**
* @brief LSM303DLHC accelerometer subsystem low power mode.
*/
lsm303dlhc_acc_lp_t lowpower;
/**
* @brief LSM303DLHC accelerometer subsystem high resolution mode.
*/
lsm303dlhc_acc_hr_t highresmode;
/**
* @brief LSM303DLHC accelerometer subsystem block data update.
*/
lsm303dlhc_acc_bdu_t blockdataupdate;
/**
* @brief LSM303DLHC accelerometer endianness.
*/
lsm303dlhc_acc_end_t endianess;
/**
* @brief LSM303DLHC accelerometer subsystem unit.
*/
lsm303dlhc_acc_unit_t unit;
} LSM303DLHCAccConfig;
/** @} */
/**
* @name LSM303DLHC compass subsystem data structures and types.
* @{
*/
/**
* @brief LSM303DLHC compass subsystem full scale.
*/
typedef enum {
LSM303DLHC_COMP_FS_1_3_GA = 0x20, /**< Full scale <20>1.3 Gauss */
LSM303DLHC_COMP_FS_1_9_GA = 0x40, /**< Full scale <20>1.9 Gauss */
LSM303DLHC_COMP_FS_2_5_GA = 0x60, /**< Full scale <20>2.5 Gauss */
LSM303DLHC_COMP_FS_4_0_GA = 0x80, /**< Full scale <20>4.0 Gauss */
LSM303DLHC_COMP_FS_4_7_GA = 0xA0, /**< Full scale <20>4.7 Gauss */
LSM303DLHC_COMP_FS_5_6_GA = 0xC0, /**< Full scale <20>5.6 Gauss */
LSM303DLHC_COMP_FS_8_1_GA = 0xE0 /**< Full scale <20>8.1 Gauss */
} lsm303dlhc_comp_fs_t;
/**
* @brief LSM303DLHC compass subsystem output data rate.
*/
typedef enum {
LSM303DLHC_COMP_ODR_0_75HZ = 0x00,/**< ODR 0.75 Hz */
LSM303DLHC_COMP_ODR_1_5HZ = 0x04, /**< ODR 1.5 Hz */
LSM303DLHC_COMP_ODR_3_0HZ = 0x08, /**< ODR 3 Hz */
LSM303DLHC_COMP_ODR_7_5HZ = 0x0C, /**< ODR 7.5 Hz */
LSM303DLHC_COMP_ODR_15HZ = 0x10, /**< ODR 15 Hz */
LSM303DLHC_COMP_ODR_30HZ = 0x14, /**< ODR 30 Hz */
LSM303DLHC_COMP_ODR_75HZ = 0x18, /**< ODR 75 Hz */
LSM303DLHC_COMP_ODR_220HZ = 0x1C /**< ODR 220 Hz */
} lsm303dlhc_comp_odr_t;
/**
* @brief LSM303DLHC compass subsystem working mode.
*/
typedef enum {
LSM303DLHC_COMP_MD_CONT = 0x00, /**< Continuous-Conversion Mode */
LSM303DLHC_COMP_MD_BLOCK = 0x01, /**< Single-Conversion Mode */
LSM303DLHC_COMP_MD_SLEEP = 0x02 /**< Sleep Mode */
} lsm303dlhc_comp_md_t;
/**
* @brief LSM303DLHC compass subsystem configuration structure.
*/
typedef struct {
/**
* @brief LSM303DLHC compass subsystem full scale.
*/
lsm303dlhc_comp_fs_t fullscale;
/**
* @brief LSM303DLHC compass subsystem output data rate.
*/
lsm303dlhc_comp_odr_t outputdatarate;
/**
* @brief LSM303DLHC compass subsystem working mode.
*/
lsm303dlhc_comp_md_t mode;
} LSM303DLHCCompConfig;
/** @} */
/**
* @name LSM303DLHC main system data structures and types.
* @{
*/
/**
* @brief Driver state machine possible states.
*/
typedef enum {
LSM303DLHC_UNINIT = 0, /**< Not initialized. */
LSM303DLHC_STOP = 1, /**< Stopped. */
LSM303DLHC_READY = 2, /**< Ready. */
} lsm303dlhc_state_t;
/**
* @brief LSM303DLHC configuration structure.
*/
typedef struct {
#if (LSM303DLHC_USE_SPI) || defined(__DOXYGEN__)
/**
* @brief SPI driver associated to this LSM303DLHC.
*/
SPIDriver *spip;
/**
* @brief SPI configuration associated to this LSM303DLHC accelerometer
* subsystem.
*/
const SPIConfig *accspicfg;
/**
* @brief SPI configuration associated to this LSM303DLHC compass
* subsystem.
*/
const SPIConfig *compspicfg;
#endif /* LSM303DLHC_USE_SPI */
#if (LSM303DLHC_USE_I2C) || defined(__DOXYGEN__)
/**
* @brief I2C driver associated to this LSM303DLHC.
*/
I2CDriver *i2cp;
/**
* @brief I2C configuration associated to this LSM303DLHC accelerometer
* subsystem.
*/
const I2CConfig *i2ccfg;
#endif /* LSM303DLHC_USE_I2C */
/**
* @brief LSM303DLHC accelerometer subsystem configuration structure
*/
const LSM303DLHCAccConfig *acccfg;
/**
* @brief LSM303DLHC compass subsystem configuration structure
*/
const LSM303DLHCCompConfig *compcfg;
} LSM303DLHCConfig;
/**
* @brief Structure representing a LSM303DLHC driver.
*/
typedef struct LSM303DLHCDriver LSM303DLHCDriver;
/**
* @brief @p LSM303DLHC accelerometer subsystem specific methods.
*/
#define _lsm303dlhc_acc_methods \
_base_accelerometer_methods
/**
* @brief @p LSM303DLHC compass subsystem specific methods.
*/
#define _lsm303dlhc_comp_methods \
_base_compass_methods
/**
* @extends BaseAccelerometerVMT
*
* @brief @p LSM303DLHC accelerometer virtual methods table.
*/
struct LSM303DLHCACCVMT {
_lsm303dlhc_acc_methods
};
/**
* @extends BaseCompassVMT
*
* @brief @p LSM303DLHC compass virtual methods table.
*/
struct LSM303DLHCCOMPVMT {
_lsm303dlhc_comp_methods
};
/**
* @brief @p LSM303DLHCDriver specific data.
*/
#define _lsm303dlhc_data \
_base_accelerometer_data \
_base_compass_data \
/* Driver state.*/ \
lsm303dlhc_state_t state; \
/* Current configuration data.*/ \
const LSM303DLHCConfig *config; \
/* Current accelerometer sensitivity.*/ \
float accsensitivity[LSM303DLHC_ACC_NUMBER_OF_AXES]; \
/* Accelerometer bias data.*/ \
int32_t accbias[LSM303DLHC_ACC_NUMBER_OF_AXES]; \
/* Current compass sensitivity.*/ \
float compsensitivity[LSM303DLHC_COMP_NUMBER_OF_AXES];\
/* Bias data.*/ \
int32_t compbias[LSM303DLHC_COMP_NUMBER_OF_AXES];
/**
* @brief LSM303DLHC 6-axis accelerometer/compass class.
*/
struct LSM303DLHCDriver {
/** @brief BaseSensor Virtual Methods Table. */
const struct BaseSensorVMT *vmt_basesensor;
/** @brief BaseAccelerometer Virtual Methods Table. */
const struct BaseAccelerometerVMT *vmt_baseaccelerometer;
/** @brief BaseCompass Virtual Methods Table. */
const struct BaseCompassVMT *vmt_basecompass;
/** @brief LSM303DLHC Accelerometer Virtual Methods Table. */
const struct LSM303DLHCACCVMT *vmt_lsm303dlhcacc;
/** @brief LSM303DLHC Compass Virtual Methods Table. */
const struct LSM303DLHCCOMPVMT *vmt_lsm303dlhccomp;
_lsm303dlhc_data
};
/** @} */
/*===========================================================================*/
/* Driver macros. */
/*===========================================================================*/
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
#ifdef __cplusplus
extern "C" {
#endif
void lsm303dlhcObjectInit(LSM303DLHCDriver *devp);
void lsm303dlhcStart(LSM303DLHCDriver *devp, const LSM303DLHCConfig *config);
void lsm303dlhcStop(LSM303DLHCDriver *devp);
#ifdef __cplusplus
}
#endif
#endif /* _LSM303DLHC_H_ */
/** @} */