Added lis3mdl header and mk.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9375 35acf78f-673a-0410-8e92-d51de3d6d3f4

2 files changed, 361 insertions, 0 deletions

diff --git a/os/ex/ST/lis3mdl.h b/os/ex/ST/lis3mdl.h
new file mode 100644
index 000000000..21a61e620
--- /dev/null
+++ b/os/ex/ST/lis3mdl.h
@@ -0,0 +1,355 @@
+/*
+    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    lis3mdl.h
+ * @brief   LIS3MDL MEMS interface module header.
+ *
+ * @{
+ */
+
+#ifndef _LIS3MDL_H_
+#define _LIS3MDL_H_
+
+#include "hal_compass.h"
+
+/*===========================================================================*/
+/* Driver constants.                                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   LIS3MDL number of axes.
+ */
+#define  LIS3MDL_NUMBER_OF_AXES             ((size_t)   3U)
+
+/*===========================================================================*/
+/* Driver pre-compile time settings.                                         */
+/*===========================================================================*/
+
+/**
+ * @name    Configuration options
+ * @{
+ */
+/**
+ * @brief   LIS3MDL SPI interface switch.
+ * @details If set to @p TRUE the support for SPI is included.
+ * @note    The default is @p FALSE.
+ */
+#if !defined(LIS3MDL_USE_SPI) || defined(__DOXYGEN__)
+#define LIS3MDL_USE_SPI                     FALSE
+#endif
+
+/**
+ * @brief   LIS3MDL I2C interface switch.
+ * @details If set to @p TRUE the support for I2C is included.
+ * @note    The default is @p TRUE.
+ */
+#if !defined(LIS3MDL_USE_I2C) || defined(__DOXYGEN__)
+#define LIS3MDL_USE_I2C                     TRUE
+#endif
+
+/**
+ * @brief   LIS3MDL shared I2C switch.
+ * @details If set to @p TRUE the device acquires I2C bus ownership
+ *          on each transaction.
+ * @note    The default is @p FALSE. Requires I2C_USE_MUTUAL_EXCLUSION
+ */
+#if !defined(LIS3MDL_SHARED_I2C) || defined(__DOXYGEN__)
+#define LIS3MDL_SHARED_I2C                  FALSE
+#endif
+/** @} */
+
+/*===========================================================================*/
+/* Derived constants and error checks.                                       */
+/*===========================================================================*/
+
+#if !(LIS3MDL_USE_SPI ^ LIS3MDL_USE_I2C)
+#error "LIS3MDL_USE_SPI and LIS3MDL_USE_I2C cannot be both true or both false"
+#endif
+
+#if LIS3MDL_USE_SPI && !HAL_USE_SPI
+#error "LIS3MDL_USE_SPI requires HAL_USE_SPI"
+#endif
+
+#if LIS3MDL_USE_I2C && !HAL_USE_I2C
+#error "LIS3MDL_USE_I2C requires HAL_USE_I2C"
+#endif
+
+#if LIS3MDL_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION
+#error "LIS3MDL_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION"
+#endif
+
+/*===========================================================================*/
+/* Driver data structures and types.                                         */
+/*===========================================================================*/
+
+/**
+ * @name    LIS3MDL data structures and types
+ * @{
+ */
+/**
+ * @brief  LIS3MDL slave address
+ */
+typedef enum {
+  LIS3MDL_SAD_GND = 0x1C,           /**< Slave Address when SA1 is to GND   */
+  LIS3MDL_SAD_VCC = 0x1E            /**< Slave Address when SA1 is to VCC   */
+}lis3mdl_sad_t;
+
+/**
+ * @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_t;
+
+/**
+ * @brief   LIS3MDL 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  LIS3MDL low power mode configuration
+ */
+typedef enum {
+  LIS3MDL_LP_DISABLED = 0x00,       /**< Low Power mode disabled            */
+  LIS3MDL_LP_ENABLED = 0x20         /**< Low Power mode enabled             */
+}lis3mdl_lp_t;
+
+/**
+ * @brief  LIS3MDL conversion mode
+ */
+typedef enum {
+  LIS3MDL_MD_CONTINUOUS = 0x00,     /**< Continuous conversion mode         */
+  LIS3MDL_MD_SINGLE = 0x01,         /**< Single conversion mode             */
+  LIS3MDL_MD_POWER_DOWN = 0x02      /**< Power down mode                    */
+}lis3mdl_md_t;
+
+/**
+ * @brief  LIS3MDL operation mode for X and Y axes
+ */
+typedef enum {
+  LIS3MDL_OMXY_LOW_POWER  = 0x00,   /**< X-Y axes low power mode            */
+  LIS3MDL_OMXY_MEDIUM = 0x20,       /**< X-Y axes medium performance mode   */
+  LIS3MDL_OMXY_HIGH = 0x40,         /**< X-Y axes high performance mode     */
+  LIS3MDL_OMXY_ULTRA = 0x60         /**< X-Y axes ultra performance mode    */
+}lis3mdl_omxy_t;
+
+/**
+ * @brief  LIS3MDL operation mode for Z axis
+ */
+typedef enum {
+  LIS3MDL_OMZ_LOW_POWER  = 0x00,    /**< Z axis low power mode              */
+  LIS3MDL_OMZ_MEDIUM = 0x04,        /**< Z axis medium performance mode     */
+  LIS3MDL_OMZ_HIGH = 0x08,          /**< Z axis high performance mode       */
+  LIS3MDL_OMZ_ULTRA = 0x0C          /**< Z axis ultra performance mode      */
+}lis3mdl_omz_t;
+
+/**
+ * @brief  LIS3MDL block data update
+ */
+typedef enum {
+  LIS3MDL_BDU_CONTINUOUS = 0x00,    /**< Continuous Update                  */
+  LIS3MDL_BDU_BLOCKED = 0x40        /**< Block data updated after reading.  */
+}lis3mdl_bdu_t;
+
+/**
+ * @brief   LIS3MDL endianness
+ */
+typedef enum {
+  LIS3MDL_END_LITTLE = 0x00,        /**< Little endian.                     */ 
+  LIS3MDL_END_BIG = 0x02            /**< Big endian.                        */
+}lis3mdl_end_t;
+
+/**
+ * @brief   Driver state machine possible states.
+ */
+typedef enum {
+  LIS3MDL_UNINIT = 0,               /**< Not initialized.                   */
+  LIS3MDL_STOP = 1,                 /**< Stopped.                           */
+  LIS3MDL_READY = 2,                /**< Ready.                             */
+} lis3mdl_state_t;
+
+/**
+ * @brief   LIS3MDL configuration structure.
+ */
+typedef struct {
+
+#if (LIS3MDL_USE_SPI) || defined(__DOXYGEN__)
+  /**
+   * @brief SPI driver associated to this LIS3MDL.
+   */
+  SPIDriver                 *spip;
+  /**
+   * @brief SPI configuration associated to this LIS3MDL.
+   */
+  const SPIConfig           *spicfg;
+#endif /* LIS3MDL_USE_SPI */
+#if (LIS3MDL_USE_I2C) || defined(__DOXYGEN__)
+  /**
+   * @brief I2C driver associated to this LIS3MDL.
+   */
+  I2CDriver                 *i2cp;
+  /**
+   * @brief I2C configuration associated to this LIS3MDL.
+   */
+  const I2CConfig           *i2ccfg;
+#endif /* LIS3MDL_USE_I2C */
+  /**
+   * @brief  LIS3MDL slave address
+   */
+  lis3mdl_sad_t              slaveaddress;
+  /**
+   * @brief   LIS3MDL full scale
+   */
+  lis3mdl_fs_t               fullscale;
+  /**
+   * @brief   LIS3MDL output data rate
+   */
+  lis3mdl_odr_t              outputdatarate;
+  /**
+   * @brief  LIS3MDL low power mode configuration
+   */
+  lis3mdl_lp_t               lowpowermode;
+  /**
+   * @brief  LIS3MDL conversion mode
+   */
+  lis3mdl_md_t               conversionmode;
+  /**
+   * @brief  LIS3MDL operation mode for X and Y axes
+   */
+  lis3mdl_omxy_t             operationmodexy;
+  /**
+   * @brief  LIS3MDL operation mode for Z axis
+   */
+  lis3mdl_omz_t              operationmodez;
+  /**
+   * @brief  LIS3MDL block data update
+   */
+  lis3mdl_bdu_t              blockdataupdate;
+  /**
+   * @brief   LIS3MDL endianness
+   */
+  lis3mdl_end_t              endianness;
+} LIS3MDLConfig;
+
+/**
+ * @brief   Structure representing a LIS3MDL driver.
+ */
+typedef struct LIS3MDLDriver LIS3MDLDriver;
+
+/**
+ * @brief   @p LIS3MDL specific methods.
+ */
+#define _lis3mdl_methods                                                    \
+  _base_compass_methods                                                     \
+  /* Retrieve the temperature of LIS3MDL chip.*/                            \
+  msg_t (*get_temperature)(void *instance, float* temperature);
+
+
+/**
+ * @extends BaseCompassVMT
+ *
+ * @brief   @p LIS3MDL virtual methods table.
+ */
+struct LIS3MDLVMT {
+  _lis3mdl_methods
+};
+
+/**
+ * @brief   @p LIS3MDLDriver specific data.
+ */
+#define _lis3mdl_data                                                       \
+  _base_compass_data                                                        \
+  /* Driver state.*/                                                        \
+  lis3mdl_state_t           state;                                          \
+  /* Current configuration data.*/                                          \
+  const LIS3MDLConfig       *config;                                        \
+  /* Current sensitivity.*/                                                 \
+  float                     sensitivity[LIS3MDL_NUMBER_OF_AXES];            \
+  /* Bias data.*/                                                           \
+  int32_t                   bias[LIS3MDL_NUMBER_OF_AXES];
+
+/**
+ * @extends BaseCompass
+ *
+ * @brief   LIS3MDL 3-axis compass class.
+ * @details This class extends @p BaseCompass by adding physical
+ *          driver implementation.
+ */
+struct LIS3MDLDriver {
+  /** @brief BaseSensor Virtual Methods Table. */
+  const struct BaseSensorVMT *vmt_basesensor;
+  /** @brief BaseCompass Virtual Methods Table. */
+  const struct BaseCompassVMT *vmt_basecompass;
+  /** @brief LIS3MDL Virtual Methods Table. */
+  const struct LIS3MDLVMT *vmt_lis3mdl;
+  _lis3mdl_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 BaseCompass 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 compassGetTemp(ip, tpp)                                             \
+        (ip)->vmt_lis3mdl->get_temperature(ip, tpp)
+
+/*===========================================================================*/
+/* External declarations.                                                    */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  void lis3mdlObjectInit(LIS3MDLDriver *devp);
+  void lis3mdlStart(LIS3MDLDriver *devp, const LIS3MDLConfig *config);
+  void lis3mdlStop(LIS3MDLDriver *devp);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _LIS3MDL_H_ */
+
+/** @} */
+
diff --git a/os/ex/ST/lis3mdl.mk b/os/ex/ST/lis3mdl.mk
new file mode 100644
index 000000000..a5f916a28
--- /dev/null
+++ b/os/ex/ST/lis3mdl.mk
@@ -0,0 +1,6 @@
+# List of all the LIS3MDL device files.

+LIS3MDLSRC := $(CHIBIOS)/os/ex/ST/lis3mdl.c

+

+# Required include directories

+LIS3MDLINC := $(CHIBIOS)/os/hal/lib/peripherals/sensors \

+              $(CHIBIOS)/os/ex/ST
\ No newline at end of file