git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9627 35acf78f-673a-0410-8e92-d51de3d6d3f4

1 files changed, 302 insertions, 302 deletions

diff --git a/os/ex/ST/lis302dl.h b/os/ex/ST/lis302dl.h
index baa513205..e4c175029 100644
--- a/os/ex/ST/lis302dl.h
+++ b/os/ex/ST/lis302dl.h
@@ -1,302 +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_ */
-
-/** @} */
-
+/*

+    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_ */

+

+/** @} */

+