EX: added support for LIS302DL

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9459 35acf78f-673a-0410-8e92-d51de3d6d3f4

1 files changed, 302 insertions, 0 deletions

diff --git a/os/ex/ST/lis302dl.h b/os/ex/ST/lis302dl.h
new file mode 100644
index 000000000..d372da15e
--- /dev/null
+++ b/os/ex/ST/lis302dl.h
@@ -0,0 +1,302 @@
+/*
+    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    lis302dl.h
+ * @brief   LIS302DL MEMS interface module header.
+ *
+ * @{
+ */
+
+#ifndef _LIS302DL_H_
+#define _LIS302DL_H_
+
+#include "hal_accelerometer.h"
+
+/*===========================================================================*/
+/* Driver constants.                                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   LIS302DL number of axes.
+ */
+#define  LIS302DL_NUMBER_OF_AXES            ((size_t)   3U)
+
+/*===========================================================================*/
+/* Driver pre-compile time settings.                                         */
+/*===========================================================================*/
+
+/**
+ * @name    Configuration options
+ * @{
+ */
+/**
+ * @brief   LIS302DL SPI interface switch.
+ * @details If set to @p TRUE the support for SPI is included.
+ * @note    The default is @p TRUE.
+ */
+#if !defined(LIS302DL_USE_SPI) || defined(__DOXYGEN__)
+#define LIS302DL_USE_SPI                    TRUE
+#endif
+
+/**
+ * @brief   LIS302DL I2C interface switch.
+ * @details If set to @p TRUE the support for I2C is included.
+ * @note    The default is @p FALSE.
+ */
+#if !defined(LIS302DL_USE_I2C) || defined(__DOXYGEN__)
+#define LIS302DL_USE_I2C                    FALSE
+#endif
+
+/**
+ * @brief   LIS302DL shared SPI switch.
+ * @details If set to @p TRUE the device acquires SPI bus ownership
+ *          on each transaction.
+ * @note    The default is @p FALSE. Requires SPI_USE_MUTUAL_EXCLUSION
+ */
+#if !defined(LIS302DL_SHARED_SPI) || defined(__DOXYGEN__)
+#define LIS302DL_SHARED_SPI                 FALSE
+#endif
+/** @} */
+
+/*===========================================================================*/
+/* Derived constants and error checks.                                       */
+/*===========================================================================*/
+
+#if !(LIS302DL_USE_SPI ^ LIS302DL_USE_I2C)
+#error "LIS302DL_USE_SPI and LIS302DL_USE_I2C cannot be both true or both false"
+#endif
+
+#if LIS302DL_USE_SPI && !HAL_USE_SPI
+#error "LIS302DL_USE_SPI requires HAL_USE_SPI"
+#endif
+
+#if LIS302DL_USE_I2C && !HAL_USE_I2C
+#error "LIS302DL_USE_I2C requires HAL_USE_I2C"
+#endif
+
+#if LIS302DL_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION
+#error "LIS302DL_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION"
+#endif
+
+/*===========================================================================*/
+/* Driver data structures and types.                                         */
+/*===========================================================================*/
+
+/**
+ * @name    LIS302DL data structures and types
+ * @{
+ */
+/**
+ * @brief   LIS302DL full scale
+ */
+typedef enum {
+  LIS302DL_FS_2G = 0x00,            /**< Full scale ±2g.                    */      
+  LIS302DL_FS_8G = 0x20             /**< Full scale ±8g.                    */       
+}lis302dl_fs_t;
+
+/**
+ * @brief   LIS302DL output data rate and bandwidth
+ */
+typedef enum {
+  LIS302DL_ODR_100HZ = 0x00,        /**< ODR 100 Hz.                        */       
+  LIS302DL_ODR_400HZ = 0x80         /**< ODR 400 Hz.                        */       
+}lis302dl_odr_t;
+
+/**
+ * @brief   LIS302DL high pass filtering
+ */
+typedef enum {
+  LIS302DL_HP_DISABLED = 0x00,      /**< HP bypassed.                       */        
+  LIS302DL_HP_0 = 0x10,             /**< HP cutoff 2Hz (ODR 100Hz) or 8Hz   */ 
+  LIS302DL_HP_1 = 0x11,             /**< HP cutoff 1Hz or 4Hz               */ 
+  LIS302DL_HP_2 = 0x12,             /**< HP cutoff 0.5Hz or 2Hz             */ 
+  LIS302DL_HP_3 = 0x13              /**< HP cutoff 0.25Hz or 1Hz            */
+}lis302dl_hp_t;
+
+/**
+ * @brief   LIS302DL axes enabling
+ */
+typedef enum {
+  LIS302DL_AE_DISABLED = 0x00,      /**< All axes disabled.                 */        
+  LIS302DL_AE_X = 0x01,             /**< Only X-axis enabled.               */ 
+  LIS302DL_AE_Y = 0x02,             /**< Only Y-axis enabled.               */ 
+  LIS302DL_AE_XY = 0x03,            /**< X and Y axes enabled.              */  
+  LIS302DL_AE_Z = 0x04,             /**< Only Z-axis enabled.               */  
+  LIS302DL_AE_XZ = 0x05,            /**< X and Z axes enabled.              */  
+  LIS302DL_AE_YZ = 0x06,            /**< Y and Z axes enabled.              */       
+  LIS302DL_AE_XYZ = 0x07            /**< All axes enabled.                  */            
+}lis302dl_ae_t;
+
+/**
+ * @brief   LIS302DL accelerometer subsystem unit
+ */
+typedef enum {
+  LIS302DL_ACC_UNIT_G = 0x00,       /**< Cooked data in g.                  */
+  LIS302DL_ACC_UNIT_MG = 0x01,      /**< Cooked data in mg.                 */
+  LIS302DL_ACC_UNIT_SI = 0x02,      /**< Cooked data in m/s^2.              */
+} lis302dl_acc_unit_t;
+
+/**
+ * @brief   Driver state machine possible states.
+ */
+typedef enum {
+  LIS302DL_UNINIT = 0,              /**< Not initialized.                   */
+  LIS302DL_STOP = 1,                /**< Stopped.                           */
+  LIS302DL_READY = 2,               /**< Ready.                             */
+} lis302dl_state_t;
+
+/**
+ * @brief   LIS302DL configuration structure.
+ */
+typedef struct {
+
+#if (LIS302DL_USE_SPI) || defined(__DOXYGEN__)
+  /**
+   * @brief SPI driver associated to this LIS302DL.
+   */
+  SPIDriver                 *spip;
+  /**
+   * @brief SPI configuration associated to this LIS302DL.
+   */
+  const SPIConfig           *spicfg;
+#endif /* LIS302DL_USE_SPI */
+#if (LIS302DL_USE_I2C) || defined(__DOXYGEN__)
+  /**
+   * @brief I2C driver associated to this LIS302DL.
+   */
+  I2CDriver                 *i2cp;
+  /**
+   * @brief I2C configuration associated to this LIS302DL.
+   */
+  const I2CConfig           *i2ccfg;
+#endif /* LIS302DL_USE_I2C */
+  /**
+   * @brief LIS302DL full scale value.
+   */
+  lis302dl_fs_t               fullscale;
+  /**
+   * @brief LIS302DL output data rate selection.
+   */
+  lis302dl_odr_t              outputdatarate;
+  /**
+   * @brief   LIS302DL high pass filtering
+   */
+  lis302dl_hp_t               highpass;
+  /**
+   * @brief LIS302DL axes enabling.
+   */
+  lis302dl_ae_t               axesenabling;
+  /**
+   * @brief LIS302DL unit for cooked data.
+   */
+  lis302dl_acc_unit_t         unit;
+} LIS302DLConfig;
+
+/**
+ * @brief   Structure representing a LIS302DL driver.
+ */
+typedef struct LIS302DLDriver LIS302DLDriver;
+
+/**
+ * @brief   @p LIS302DL specific methods.
+ */
+#define _lis302dl_methods                                                   \
+  _base_accelerometer_methods
+
+
+/**
+ * @extends BaseAccelerometerVMT
+ *
+ * @brief   @p LIS302DL virtual methods table.
+ */
+struct LIS302DLVMT {
+  _lis302dl_methods
+};
+
+/**
+ * @brief   @p LIS302DLDriver specific data.
+ */
+#define _lis302dl_data                                                      \
+  _base_accelerometer_data                                                  \
+  /* Driver state.*/                                                        \
+  lis302dl_state_t            state;                                        \
+  /* Current configuration data.*/                                          \
+  const LIS302DLConfig        *config;                                      \
+  /* Current sensitivity.*/                                                 \
+  float                     sensitivity[LIS302DL_NUMBER_OF_AXES];           \
+  /* Bias data.*/                                                           \
+  int32_t                   bias[LIS302DL_NUMBER_OF_AXES];
+
+/**
+ * @extends BaseAccelerometer
+ *
+ * @brief   LIS302DL 3-axis accelerometer class.
+ * @details This class extends @p BaseAccelerometer by adding physical
+ *          driver implementation.
+ */
+struct LIS302DLDriver {
+  /** @brief BaseSensor Virtual Methods Table. */
+  const struct BaseSensorVMT *vmt_basesensor;
+  /** @brief BaseAccelerometer Virtual Methods Table. */
+  const struct BaseAccelerometerVMT *vmt_baseaccelerometer;
+  /** @brief LIS302DL Virtual Methods Table. */
+  const struct LIS302DLVMT *vmt_lis302dl;
+  _lis302dl_data
+};
+/** @} */
+
+/*===========================================================================*/
+/* Driver macros.                                                            */
+/*===========================================================================*/
+
+/**
+ * @brief   Get current MEMS temperature.
+ * @detail  This information is very useful especially for high accuracy IMU
+ *
+ * @param[in] ip        pointer to a @p BaseAccelerometer class.
+ * @param[out] temp     the MEMS temperature as single precision floating.
+ *
+ * @return              The operation status.
+ * @retval MSG_OK       if the function succeeded.
+ * @retval MSG_RESET    if one or more errors occurred.
+ * @api
+ */
+#define accelerometerGetTemp(ip, tpp)                                           \
+        (ip)->vmt_lis302dl->get_temperature(ip, tpp)
+
+/*===========================================================================*/
+/* External declarations.                                                    */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  void lis302dlObjectInit(LIS302DLDriver *devp);
+  void lis302dlStart(LIS302DLDriver *devp, const LIS302DLConfig *config);
+  void lis302dlStop(LIS302DLDriver *devp);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _LIS302DL_H_ */
+
+/** @} */
+