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Diffstat (limited to 'os/various/devices_lib/mems/lis3mdl.h')
| -rw-r--r-- | os/various/devices_lib/mems/lis3mdl.h | 258 |
1 files changed, 258 insertions, 0 deletions
diff --git a/os/various/devices_lib/mems/lis3mdl.h b/os/various/devices_lib/mems/lis3mdl.h new file mode 100644 index 0000000..e55978e --- /dev/null +++ b/os/various/devices_lib/mems/lis3mdl.h @@ -0,0 +1,258 @@ +/* + Pretty LAYer for ChibiOS/RT - Copyright (C) 2015 Rocco Marco Guglielmi + + This file is part of PLAY for ChibiOS/RT. + + PLAY 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. + + PLAY 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/>. +*/ + +/* + Special thanks to Giovanni Di Sirio for teachings, his moral support and + friendship. Note that some or every piece of this file could be part of + the ChibiOS project that is intellectual property of Giovanni Di Sirio. + Please refer to ChibiOS/RT license before use this file. + + For suggestion or Bug report - roccomarco.guglielmi@playembedded.org + */ + +/** + * @file lis3mdl.h + * @brief LIS3MDL MEMS interface module header. + * + * @{ + */ + +#ifndef _LIS3MDL_H_ +#define _LIS3MDL_H_ + +/*===========================================================================*/ +/* Driver constants. */ +/*===========================================================================*/ + +#define LIS3MDL_COMP_SENS_4GA ((float)6842.0f) /*!< compass sensitivity with 4 GA full scale [LSB / Ga] */ +#define LIS3MDL_COMP_SENS_8GA ((float)3421.0f) /*!< compass sensitivity with 8 GA full scale [LSB / Ga] */ +#define LIS3MDL_COMP_SENS_12GA ((float)2281.0f) /*!< compass sensitivity with 12 GA full scale [LSB / Ga] */ +#define LIS3MDL_COMP_SENS_16GA ((float)1711.0f) /*!< compass sensitivity with 16 GA full scale [LSB / Ga] */ +/** + * @name LIS3MDL register names + * @{ + */ +/******************************************************************************/ +/* */ +/* LIS3MDL on board MEMS */ +/* */ +/******************************************************************************/ +/***************** Bit definition for I2C/SPI communication *****************/ +#define LIS3MDL_SUB ((uint8_t)0x7F) /*!< SUB[6:0] Sub-registers address Mask */ +#define LIS3MDL_SUB_0 ((uint8_t)0x01) /*!< bit 0 */ +#define LIS3MDL_SUB_1 ((uint8_t)0x02) /*!< bit 1 */ +#define LIS3MDL_SUB_2 ((uint8_t)0x08) /*!< bit 3 */ +#define LIS3MDL_SUB_4 ((uint8_t)0x10) /*!< bit 4 */ +#define LIS3MDL_SUB_5 ((uint8_t)0x20) /*!< bit 5 */ +#define LIS3MDL_SUB_6 ((uint8_t)0x40) /*!< bit 6 */ + +#define LIS3MDL_SUB_MSB ((uint8_t)0x80) /*!< Multiple data read\write bit */ + +/**************** Bit definition SUB-Registers Addresses ********************/ +#define LIS3MDL_SUB_WHO_AM_I ((uint8_t)0x0F) /*!< CONTROL REGISTER 1 */ +#define LIS3MDL_SUB_CTRL_REG1 ((uint8_t)0x20) /*!< CONTROL REGISTER 1 */ +#define LIS3MDL_SUB_CTRL_REG2 ((uint8_t)0x21) /*!< CONTROL REGISTER 2 */ +#define LIS3MDL_SUB_CTRL_REG3 ((uint8_t)0x22) /*!< CONTROL REGISTER 3 */ +#define LIS3MDL_SUB_CTRL_REG4 ((uint8_t)0x23) /*!< CONTROL REGISTER 4 */ +#define LIS3MDL_SUB_CTRL_REG5 ((uint8_t)0x24) /*!< CONTROL REGISTER 5 */ +#define LIS3MDL_SUB_STATUS_REG ((uint8_t)0x27) /*!< STATUS REGISTER */ +#define LIS3MDL_SUB_OUT_X_L ((uint8_t)0x28) /*!< OUTPUT X-AXIS LOW */ +#define LIS3MDL_SUB_OUT_X_H ((uint8_t)0x29) /*!< OUTPUT X-AXIS HIGH */ +#define LIS3MDL_SUB_OUT_Y_L ((uint8_t)0x2A) /*!< OUTPUT Y-AXIS LOW */ +#define LIS3MDL_SUB_OUT_Y_H ((uint8_t)0x2B) /*!< OUTPUT Y-AXIS HIGH */ +#define LIS3MDL_SUB_OUT_Z_L ((uint8_t)0x2C) /*!< OUTPUT Z-AXIS LOW */ +#define LIS3MDL_SUB_OUT_Z_H ((uint8_t)0x2D) /*!< OUTPUT Z-AXIS HIGH */ +#define LIS3MDL_SUB_INT_CFG ((uint8_t)0x30) /*!< INTERRUPT1 CONFIG */ +#define LIS3MDL_SUB_INT_SOURCE ((uint8_t)0x31) /*!< INTERRUPT1 SOURCE */ +#define LIS3MDL_SUB_INT_THS_L ((uint8_t)0x32) /*!< INTERRUPT1 THRESHOLD */ +#define LIS3MDL_SUB_INT_THS_H ((uint8_t)0x33) /*!< INTERRUPT1 DURATION */ + +/** @} */ + +/*===========================================================================*/ +/* Driver pre-compile time settings. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver data structures and types. */ +/*===========================================================================*/ + +/** + * @name Compass data structures and types + * @{ + */ + +/** + * @brief Compass Slave Address + */ +typedef enum { + LIS3MDL_SAD_GND = 0x1C, /*!< COMPASS Slave Address when SA1 is to GND */ + LIS3MDL_SAD_VCC = 0x1E /*!< COMPASS Slave Address when SA1 is to VCC */ +}LIS3MDL_SAD_t; + +/** + * @brief Compass Operation Mode for X and Y axes + */ +typedef enum { + LIS3MDL_OMXY_LOW_POWER = 0x00, /*!< Operation Mode XY low power */ + LIS3MDL_OMXY_MEDIUM_PERFORMANCE = 0x20, /*!< Operation Mode XY medium performance */ + LIS3MDL_OMXY_HIGH_PERFORMANCE = 0x40, /*!< Operation Mode XY high performance */ + LIS3MDL_OMXY_ULTRA_PERFORMANCE = 0x60 /*!< Operation Mode XY ultra performance */ +}LIS3MDL_OMXY_t; + +/** + * @brief Compass Output Data Rate + */ +typedef enum { + LIS3MDL_ODR_0_625Hz = 0x00, /*!< Output Data Rate = 0.625 Hz */ + LIS3MDL_ODR_1_25Hz = 0x04, /*!< Output Data Rate = 1.25 Hz */ + LIS3MDL_ODR_2_5Hz = 0x08, /*!< Output Data Rate = 2.5 Hz */ + LIS3MDL_ODR_5Hz = 0x0C, /*!< Output Data Rate = 5 Hz */ + LIS3MDL_ODR_10Hz = 0x10, /*!< Output Data Rate = 10 Hz */ + LIS3MDL_ODR_20Hz = 0x14, /*!< Output Data Rate = 20 Hz */ + LIS3MDL_ODR_40Hz = 0x18, /*!< Output Data Rate = 40 Hz */ + LIS3MDL_ODR_80Hz = 0x1C /*!< Output Data Rate = 80 Hz */ +}LIS3MDL_ODR_t; + +/** + * @brief Compass Full Scale + */ +typedef enum { + LIS3MDL_FS_4GA = 0x00, /*!< ±4 Gauss */ + LIS3MDL_FS_8GA = 0x02, /*!< ±8 Gauss */ + LIS3MDL_FS_12GA = 0x04, /*!< ±12 Gauss */ + LIS3MDL_FS_16GA = 0x0C /*!< ±16 Gauss */ +}LIS3MDL_FS_t; + +/** + * @brief Compass Low Mode configuration + */ +typedef enum { + LIS3MDL_LOW_POWER_DISABLED = 0x00, /*!< Low Power mode disabled */ + LIS3MDL_LOW_POWER_ENABLED = 0x20 /*!< Low Power mode enabled */ +}LIS3MDL_PM_t; + +/** + * @brief Compass Mode + */ +typedef enum { + LIS3MDL_MD_CONTINOUS_CONVERSION = 0x00, /*!< Continous conversion mode */ + LIS3MDL_MD_SINGLE_CONVERSION = 0x01, /*!< Single conversion mode */ + LIS3MDL_MD_POWER_DOWN = 0x02 /*!< Power down mode */ +}LIS3MDL_MD_t; + + +/** + * @brief Compass Operation Mode for Z axis + */ +typedef enum { + LIS3MDL_OMZ_LOW_POWER = 0x00, /*!< Operation Mode Z low power */ + LIS3MDL_OMZ_MEDIUM_PERFORMANCE = 0x04, /*!< Operation Mode Z medium performance */ + LIS3MDL_OMZ_HIGH_PERFORMANCE = 0x08, /*!< Operation Mode Z high performance */ + LIS3MDL_OMZ_ULTRA_PERFORMANCE = 0x0C /*!< Operation Mode Z ultra performance */ +}LIS3MDL_OMZ_t; + +/** + * @brief Compass Endianness + */ +typedef enum { + LIS3MDL_End_LITTLE = 0x00, /*!< Little Endian: data LSB @ lower address */ + LIS3MDL_End_BIG = 0x02 /*!< Big Endian: data MSB @ lower address */ +}LIS3MDL_End_t; + +/** + * @brief Compass Block Data Update + */ +typedef enum { + LIS3MDL_BDU_CONTINOUS = 0x00, /*!< Continuos Update */ + LIS3MDL_BDU_BLOCKED = 0x40 /*!< Single Update: output registers not updated until MSB and LSB reading */ +}LIS3MDL_BDU_t; + + + + +/** + * @brief Gyroscope configuration structure. + */ +typedef struct { + /** + * @brief Compass Slave Address + */ + LIS3MDL_SAD_t slaveaddress; + /** + * @brief Compass Operation Mode for X and Y axes + */ + LIS3MDL_OMXY_t opmodexy; + /** + * @brief Compass Output Data Rate + */ + LIS3MDL_ODR_t outputdatarate; + /** + * @brief Compass Full Scale + */ + LIS3MDL_FS_t fullscale; + /** + * @brief Compass Low Mode configuration + */ + LIS3MDL_PM_t lowpowermode; + /** + * @brief Compass Mode + */ + LIS3MDL_MD_t mode; + /** + * @brief Compass Operation Mode for Z axis + */ + LIS3MDL_OMZ_t opmodez; + /** + * @brief Compass Endianness + */ + LIS3MDL_End_t endianess; + /** + * @brief Compass Block Data Update + */ + LIS3MDL_BDU_t blockdataupdate; +} LIS3MDL_Config; +/** @} */ +/*===========================================================================*/ +/* Driver macros. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +#ifdef __cplusplus +extern "C" { +#endif + + uint8_t lis3mdlReadRegister(I2CDriver *i2cp, uint8_t sad, uint8_t sub, + msg_t* message); + void lis3mdlWriteRegister(I2CDriver *i2cp, uint8_t sad, uint8_t sub, + uint8_t value, msg_t* message); +#ifdef __cplusplus +} +#endif + +#endif /* _LIS3MDL_H_ */ + +/** @} */ |