Updated EX: LIS3MDL driver updated to v1.0.0

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9736 35acf78f-673a-0410-8e92-d51de3d6d3f4

1 files changed, 167 insertions, 22 deletions

diff --git a/os/ex/ST/lis3mdl.h b/os/ex/ST/lis3mdl.h
index 3a641b575..0351ffdde 100644
--- a/os/ex/ST/lis3mdl.h
+++ b/os/ex/ST/lis3mdl.h
@@ -24,7 +24,6 @@
  *

  * @{

  */

-

 #ifndef _LIS3MDL_H_

 #define _LIS3MDL_H_

 

@@ -35,9 +34,141 @@
 /*===========================================================================*/

 

 /**

- * @brief   LIS3MDL number of axes.

+ * @name    Version identification

+ * @{

+ */

+/**

+ * @brief   LIS3MDL driver version string.

+ */

+#define EX_LIS3MDL_VERSION          "1.0.0"

+

+/**

+ * @brief   LIS3MDL driver version major number.

+ */

+#define EX_LIS3MDL_MAJOR            1

+

+/**

+ * @brief   LIS3MDL driver version minor number.

+ */

+#define EX_LIS3MDL_MINOR            0

+

+/**

+ * @brief   LIS3MDL driver version patch number.

+ */

+#define EX_LIS3MDL_PATCH            0

+/** @} */

+

+/**

+ * @brief   LIS3MDL characteristics.

+ *

+ * @{

+ */

+#define LIS3MDL_NUMBER_OF_AXES      3U

+

+#define LIS3MDL_4GA                 4.0f

+#define LIS3MDL_8GA                 8.0f

+#define LIS3MDL_12GA                12.0f

+#define LIS3MDL_16GA                16.0f

+

+#define LIS3MDL_SENS_4GA            6842.0f

+#define LIS3MDL_SENS_8GA            3421.0f

+#define LIS3MDL_SENS_12GA           2281.0f

+#define LIS3MDL_SENS_16GA           1711.0f

+/** @} */

+

+/**

+ * @name    LIS3MDL communication interfaces related bit masks

+ * @{

+ */

+#define LIS3MDL_DI_MASK             0xFF        /**< Data In mask           */

+#define LIS3MDL_DI(n)               (1 << n)    /**< Data In bit n          */

+#define LIS3MDL_AD_MASK             0x3F        /**< Address Data mask      */

+#define LIS3MDL_AD(n)               (1 << n)    /**< Address Data bit n     */

+#define LIS3MDL_MS                  (1 << 6)    /**< Multiple selection     */

+#define LIS3MDL_RW                  (1 << 7)    /**< Read Write selector    */

+/** @} */

+

+/**

+ * @name    LIS3MDL register addresses

+ * @{

+ */

+#define  LIS3MDL_AD_WHO_AM_I        0x0F

+#define  LIS3MDL_AD_CTRL_REG1       0x20

+#define  LIS3MDL_AD_CTRL_REG2       0x21

+#define  LIS3MDL_AD_CTRL_REG3       0x22

+#define  LIS3MDL_AD_CTRL_REG4       0x23

+#define  LIS3MDL_AD_CTRL_REG5       0x24

+#define  LIS3MDL_AD_STATUS_REG      0x27

+#define  LIS3MDL_AD_OUT_X_L         0x28

+#define  LIS3MDL_AD_OUT_X_H         0x29

+#define  LIS3MDL_AD_OUT_Y_L         0x2A

+#define  LIS3MDL_AD_OUT_Y_H         0x2B

+#define  LIS3MDL_AD_OUT_Z_L         0x2C

+#define  LIS3MDL_AD_OUT_Z_H         0x2D

+#define  LIS3MDL_AD_TEMP_OUT_L      0x2E

+#define  LIS3MDL_AD_TEMP_OUT_H      0x2F

+#define  LIS3MDL_AD_INT_CFG         0x30

+#define  LIS3MDL_AD_INT_SOURCE      0x31

+#define  LIS3MDL_AD_INT_THS_L       0x32

+#define  LIS3MDL_AD_INT_THS_H       0x33

+/** @} */

+

+/**

+ * @name    LIS3MDL_CTRL_REG1 register bits definitions

+ * @{

+ */

+#define LIS3MDL_CTRL_REG1_MASK      0xFF        /**< LIS3MDL_CTRL_REG1 mask  */

+#define LIS3MDL_CTRL_REG1_ST        (1 << 0)    /**< Self test enable        */

+#define LIS3MDL_CTRL_REG1_FAST_ODR  (1 << 1)    /**< Fast data rate          */

+#define LIS3MDL_CTRL_REG1_DO0       (1 << 2)    /**< Output data rate bit 0  */

+#define LIS3MDL_CTRL_REG1_DO1       (1 << 3)    /**< Output data rate bit 1  */

+#define LIS3MDL_CTRL_REG1_DO2       (1 << 4)    /**< Output data rate bit 2  */

+#define LIS3MDL_CTRL_REG1_OM0       (1 << 5)    /**< X-Y mode bit 0          */

+#define LIS3MDL_CTRL_REG1_OM1       (1 << 6)    /**< X-Y mode bit 1          */

+#define LIS3MDL_CTRL_REG1_TEMP_EN   (1 << 7)    /**< Temperature sensor      */

+/** @} */

+

+/**

+ * @name    LIS3MDL_CTRL_REG2 register bits definitions

+ * @{

+ */

+#define LIS3MDL_CTRL_REG2_MASK      0x6C        /**< LIS3MDL_CTRL_REG2 mask  */

+#define LIS3MDL_CTRL_REG2_SOFT_RST  (1 << 2)    /**< Soft reset              */

+#define LIS3MDL_CTRL_REG2_REBOOT    (1 << 3)    /**< Reboot memory           */

+#define LIS3MDL_CTRL_REG2_FS_MASK   0x60        /**< Full scale mask         */

+#define LIS3MDL_CTRL_REG2_FS0       (1 << 5)    /**< Full scale bit 0        */

+#define LIS3MDL_CTRL_REG2_FS1       (1 << 6)    /**< Full scale bit 1        */

+/** @} */

+

+/**

+ * @name    LIS3MDL_CTRL_REG3 register bits definitions

+ * @{

+ */

+#define LIS3MDL_CTRL_REG3_MASK      0x27        /**< LIS3MDL_CTRL_REG3 mask  */

+#define LIS3MDL_CTRL_REG3_MD0       (1 << 0)    /**< Operating mode bit 0    */

+#define LIS3MDL_CTRL_REG3_MD1       (1 << 1)    /**< Operating mode bit 1    */

+#define LIS3MDL_CTRL_REG3_SIM       (1 << 2)    /**< SPI interface mode      */

+#define LIS3MDL_CTRL_REG3_LP        (1 << 5)    /**< Low power               */

+/** @} */

+

+/**

+ * @name    LIS3MDL_CTRL_REG4 register bits definitions

+ * @{

+ */

+#define LIS3MDL_CTRL_REG4_MASK      0x0E        /**< LIS3MDL_CTRL_REG4 mask  */

+#define LIS3MDL_CTRL_REG4_BLE       (1 << 1)    /**< Endianess               */

+#define LIS3MDL_CTRL_REG4_OMZ0      (1 << 2)    /**< Z mode bit 0            */

+#define LIS3MDL_CTRL_REG4_OMZ1      (1 << 3)    /**< Z mode bit 1            */

+/** @} */

+

+/**

+ * @name    LIS3MDL_CTRL_REG5 register bits definitions

+ * @{

  */

-#define  LIS3MDL_NUMBER_OF_AXES             ((size_t)   3U)

+#define LIS3MDL_CTRL_REG5_MASK      0xC0        /**< LIS3MDL_CTRL_REG5 mask  */

+#define LIS3MDL_CTRL_REG5_BDU       (1 << 6)    /**< Block data update       */

+#define LIS3MDL_CTRL_REG5_FAST_READ (1 << 7)    /**< Fast read mode          */

+/** @} */

 

 /*===========================================================================*/

 /* Driver pre-compile time settings.                                         */

@@ -66,6 +197,15 @@
 #endif

 

 /**

+ * @brief   LIS3MDL advanced configurations switch.

+ * @details If set to @p TRUE more configurations are available.

+ * @note    The default is @p FALSE.

+ */

+#if !defined(LIS3MDL_USE_ADVANCED) || defined(__DOXYGEN__)

+#define LIS3MDL_USE_ADVANCED                FALSE

+#endif

+

+/**

  * @brief   LIS3MDL shared I2C switch.

  * @details If set to @p TRUE the device acquires I2C bus ownership

  *          on each transaction.

@@ -104,6 +244,7 @@
  * @name    LIS3MDL data structures and types

  * @{

  */

+

 /**

  * @brief  LIS3MDL slave address

  */

@@ -116,10 +257,10 @@ typedef enum {
  * @brief   LIS3MDL 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_4GA = 0x00,            /**< ±4 Gauss                           */

+  LIS3MDL_FS_8GA = 0x20,            /**< ±8 Gauss                           */

+  LIS3MDL_FS_12GA = 0x40,           /**< ±12 Gauss                          */

+  LIS3MDL_FS_16GA = 0x60            /**< ±16 Gauss                          */

 }lis3mdl_fs_t;

 

 /**

@@ -210,7 +351,6 @@ typedef enum {
  * @brief   LIS3MDL configuration structure.

  */

 typedef struct {

-

 #if (LIS3MDL_USE_SPI) || defined(__DOXYGEN__)

   /**

    * @brief SPI driver associated to this LIS3MDL.

@@ -232,6 +372,14 @@ typedef struct {
   const I2CConfig           *i2ccfg;

 #endif /* LIS3MDL_USE_I2C */

   /**

+   * @brief LIS3MDL initial sensitivity.

+   */

+  float                     sensitivity[LIS3MDL_NUMBER_OF_AXES];

+  /**

+   * @brief LIS3MDL initial bias.

+   */

+  float                     bias[LIS3MDL_NUMBER_OF_AXES];

+  /**

    * @brief  LIS3MDL slave address

    */

   lis3mdl_sad_t              slaveaddress;

@@ -243,6 +391,7 @@ typedef struct {
    * @brief   LIS3MDL output data rate

    */

   lis3mdl_odr_t              outputdatarate;

+#if LIS3MDL_USE_ADVANCED || defined(__DOXYGEN__)

   /**

    * @brief  LIS3MDL low power mode configuration

    */

@@ -260,10 +409,6 @@ typedef struct {
    */

   lis3mdl_omz_t              operationmodez;

   /**

-   * @brief   LIS3MDL temperature sensor enabling

-   */

-  lis3mdl_temp_t             temperature;

-  /**

    * @brief  LIS3MDL block data update

    */

   lis3mdl_bdu_t              blockdataupdate;

@@ -271,6 +416,7 @@ typedef struct {
    * @brief   LIS3MDL endianness

    */

   lis3mdl_end_t              endianness;

+#endif

 } LIS3MDLConfig;

 

 /**

@@ -283,9 +429,8 @@ typedef struct LIS3MDLDriver LIS3MDLDriver;
  */

 #define _lis3mdl_methods                                                    \

   _base_compass_methods                                                     \

-  /* Retrieve the temperature of LIS3MDL chip.*/                            \

-  msg_t (*get_temperature)(void *instance, float* temperature);

-

+  /* Change full scale value of LIS3MDL.*/                                  \

+  msg_t (*set_full_scale)(void *instance, lis3mdl_fs_t fs);

 

 /**

  * @extends BaseCompassVMT

@@ -308,7 +453,9 @@ struct LIS3MDLVMT {
   /* Current sensitivity.*/                                                 \

   float                     sensitivity[LIS3MDL_NUMBER_OF_AXES];            \

   /* Bias data.*/                                                           \

-  int32_t                   bias[LIS3MDL_NUMBER_OF_AXES];

+  int32_t                   bias[LIS3MDL_NUMBER_OF_AXES];                   \

+  /* Current full scale value.*/                                            \

+  float                     fullscale;

 

 /**

  * @extends BaseCompass

@@ -333,20 +480,18 @@ struct LIS3MDLDriver {
 /*===========================================================================*/

 

 /**

- * @brief   Get current MEMS temperature.

- * @detail  This information is very useful especially for high accuracy IMU.

- * @note    Temperature sensor must be enabled using a proper configuration.

+ * @brief   Change compass full scale value.

  *

  * @param[in] ip        pointer to a @p BaseCompass class.

- * @param[out] temp     the MEMS temperature as single precision floating.

+ * @param[in] fs        the new full scale value.

  *

  * @return              The operation status.

  * @retval MSG_OK       if the function succeeded.

  * @retval MSG_RESET    if one or more errors occurred.

  * @api

  */

-#define compassGetTemp(ip, tpp)                                             \

-        (ip)->vmt_lis3mdl->get_temperature(ip, tpp)

+#define compassSetFullScale(ip, fs)                                       \

+        (ip)->vmt_lis3mdl->set_full_scale(ip, fs)

 

 /*===========================================================================*/

 /* External declarations.                                                    */