mirror of https://github.com/rusefi/ChibiOS.git
313 lines
10 KiB
C
313 lines
10 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 l3gd20.h
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* @brief L3GD20 MEMS interface module header.
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*
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* @{
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*/
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#ifndef _L3GD20_H_
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#define _L3GD20_H_
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#include "hal_gyroscope.h"
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/*===========================================================================*/
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/* Driver constants. */
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/*===========================================================================*/
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/**
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* @brief L3GD20 number of axes.
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*/
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#define L3GD20_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 L3GD20 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(L3GD20_USE_SPI) || defined(__DOXYGEN__)
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#define L3GD20_USE_SPI TRUE
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#endif
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/**
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* @brief L3GD20 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(L3GD20_USE_I2C) || defined(__DOXYGEN__)
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#define L3GD20_USE_I2C FALSE
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#endif
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/**
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* @brief L3GD20 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(L3GD20_SHARED_SPI) || defined(__DOXYGEN__)
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#define L3GD20_SHARED_SPI FALSE
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#endif
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/**
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* @brief Number of acquisitions for bias removal
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* @details This is the number of acquisitions performed to compute the
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* bias. A repetition is required in order to remove noise.
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*/
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#if !defined(L3GD20_BIAS_ACQ_TIMES) || defined(__DOXYGEN__)
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#define L3GD20_BIAS_ACQ_TIMES 50
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#endif
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/**
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* @brief Settling time for bias removal
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* @details This is the time between each bias acquisition.
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*/
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#if !defined(L3GD20_BIAS_SETTLING_uS) || defined(__DOXYGEN__)
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#define L3GD20_BIAS_SETTLING_uS 5000
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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 !(L3GD20_USE_SPI ^ L3GD20_USE_I2C)
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#error "L3GD20_USE_SPI and L3GD20_USE_I2C cannot be both true or both false"
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#endif
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#if L3GD20_USE_SPI && !HAL_USE_SPI
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#error "L3GD20_USE_SPI requires HAL_USE_SPI"
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#endif
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#if L3GD20_USE_I2C && !HAL_USE_I2C
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#error "L3GD20_USE_I2C requires HAL_USE_I2C"
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#endif
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#if L3GD20_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION
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#error "L3GD20_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 L3GD20 data structures and types
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* @{
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*/
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/**
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* @brief L3GD20 full scale
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*/
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typedef enum {
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L3GD20_FS_250DPS = 0x00, /**< Full scale 250 degree per second. */
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L3GD20_FS_500DPS = 0x10, /**< Full scale 500 degree per second. */
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L3GD20_FS_2000DPS = 0x20 /**< Full scale 2000 degree per second. */
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}l3gd20_fs_t;
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/**
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* @brief L3GD20 output data rate and bandwidth
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*/
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typedef enum {
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L3GD20_ODR_95HZ_FC_12_5 = 0x00, /**< ODR 95 Hz, BW 12.5 Hz. */
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L3GD20_ODR_95HZ_FC_25 = 0x10, /**< ODR 95 Hz, BW 25Hz. */
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L3GD20_ODR_190HZ_FC_12_5 = 0x40, /**< ODR 190 Hz, BW 12.5 Hz. */
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L3GD20_ODR_190HZ_FC_25 = 0x50, /**< ODR 190 Hz, BW 25 Hz. */
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L3GD20_ODR_190HZ_FC_50 = 0x60, /**< ODR 190 Hz, BW 50 Hz. */
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L3GD20_ODR_190HZ_FC_70 = 0x70, /**< ODR 190 Hz, BW 70 Hz. */
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L3GD20_ODR_380HZ_FC_20 = 0x80, /**< ODR 380 Hz, BW 20 Hz. */
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L3GD20_ODR_380HZ_FC_25 = 0x90, /**< ODR 380 Hz, BW 25 Hz. */
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L3GD20_ODR_380HZ_FC_50 = 0xA0, /**< ODR 380 Hz, BW 50 Hz. */
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L3GD20_ODR_380HZ_FC_100 = 0xB0, /**< ODR 380 Hz, BW 100 Hz. */
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L3GD20_ODR_760HZ_FC_30 = 0xC0, /**< ODR 760 Hz, BW 30 Hz. */
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L3GD20_ODR_760HZ_FC_35 = 0xD0, /**< ODR 760 Hz, BW 35 Hz. */
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L3GD20_ODR_760HZ_FC_50 = 0xE0, /**< ODR 760 Hz, BW 50 Hz. */
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L3GD20_ODR_760HZ_FC_100 = 0xF0 /**< ODR 760 Hz, BW 100 Hz. */
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}l3gd20_odr_t;
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/**
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* @brief L3GD20 axes enabling
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*/
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typedef enum {
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L3GD20_AE_DISABLED = 0x00, /**< All axes disabled. */
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L3GD20_AE_X = 0x01, /**< Only X-axis enabled. */
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L3GD20_AE_Y = 0x02, /**< Only Y-axis enabled. */
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L3GD20_AE_XY = 0x03, /**< X and Y axes enabled. */
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L3GD20_AE_Z = 0x04, /**< Only Z-axis enabled. */
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L3GD20_AE_XZ = 0x05, /**< X and Z axes enabled. */
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L3GD20_AE_YZ = 0x06, /**< Y and Z axes enabled. */
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L3GD20_AE_XYZ = 0x07 /**< All axes enabled. */
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}l3gd20_ae_t;
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/**
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* @brief L3GD20 block data update
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*/
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typedef enum {
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L3GD20_BDU_CONTINOUS = 0x00, /**< Block data continuously updated. */
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L3GD20_BDU_BLOCKED = 0x80 /**< Block data updated after reading. */
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}l3gd20_bdu_t;
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/**
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* @brief L3GD20 endianness
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*/
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typedef enum {
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L3GD20_END_LITTLE = 0x00, /**< Little endian. */
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L3GD20_END_BIG = 0x40 /**< Big endian. */
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}l3gd20_end_t;
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/**
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* @brief Driver state machine possible states.
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*/
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typedef enum {
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L3GD20_UNINIT = 0, /**< Not initialized. */
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L3GD20_STOP = 1, /**< Stopped. */
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L3GD20_READY = 2, /**< Ready. */
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} l3gd20_state_t;
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/**
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* @brief L3GD20 configuration structure.
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*/
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typedef struct {
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#if (L3GD20_USE_SPI) || defined(__DOXYGEN__)
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/**
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* @brief SPI driver associated to this L3GD20.
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*/
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SPIDriver *spip;
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/**
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* @brief SPI configuration associated to this L3GD20.
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*/
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const SPIConfig *spicfg;
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#endif /* L3GD20_USE_SPI */
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#if (L3GD20_USE_I2C) || defined(__DOXYGEN__)
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/**
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* @brief I2C driver associated to this L3GD20.
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*/
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I2CDriver *i2cp;
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/**
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* @brief I2C configuration associated to this L3GD20.
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*/
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const I2CConfig *i2ccfg;
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#endif /* L3GD20_USE_I2C */
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/**
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* @brief L3GD20 full scale value.
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*/
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l3gd20_fs_t fullscale;
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/**
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* @brief L3GD20 output data rate selection.
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*/
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l3gd20_odr_t outputdatarate;
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/**
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* @brief L3GD20 axes enabling.
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*/
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l3gd20_ae_t axesenabling;
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/**
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* @brief L3GD20 block data update.
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*/
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l3gd20_bdu_t blockdataupdate;
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/**
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* @brief L3GD20 endianness.
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*/
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l3gd20_end_t endianness;
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} L3GD20Config;
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/**
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* @brief Structure representing a L3GD20 driver.
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*/
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typedef struct L3GD20Driver L3GD20Driver;
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/**
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* @brief @p L3GD20 specific methods.
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*/
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#define _l3gd20_methods \
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_base_gyroscope_methods
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/**
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* @extends BaseGyroscopeVMT
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*
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* @brief @p L3GD20 virtual methods table.
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*/
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struct L3GD20VMT {
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_l3gd20_methods
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};
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/**
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* @brief @p L3GD20Driver specific data.
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*/
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#define _l3gd20_data \
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_base_gyroscope_data \
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/* Driver state.*/ \
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l3gd20_state_t state; \
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/* Current configuration data.*/ \
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const L3GD20Config *config; \
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/* Current sensitivity.*/ \
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float sensitivity; \
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/* Bias data.*/ \
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int32_t bias[L3GD20_NUMBER_OF_AXES];
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/**
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* @extends BaseGyroscope
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*
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* @brief L3GD20 3-axis gyroscope class.
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* @details This class extends @p BaseGyroscope by adding physical
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* driver implementation.
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*/
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struct L3GD20Driver {
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/** @brief Virtual Methods Table.*/
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const struct BaseSensorVMT *vmtse;
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/** @brief Virtual Methods Table.*/
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const struct BaseGyroscopeVMT *vmtgy;
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/** @brief Virtual Methods Table.*/
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const struct L3GD20VMT *vmt;
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_l3gd20_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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/* 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 l3gd20ObjectInit(L3GD20Driver *devp);
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void l3gd20Start(L3GD20Driver *devp, const L3GD20Config *config);
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void l3gd20Stop(L3GD20Driver *devp);
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#ifdef __cplusplus
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}
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#endif
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#endif /* _L3GD20_H_ */
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/** @} */
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