diff options
Diffstat (limited to 'os/ex/ST/lis3dsh.h')
-rw-r--r-- | os/ex/ST/lis3dsh.h | 652 |
1 files changed, 326 insertions, 326 deletions
diff --git a/os/ex/ST/lis3dsh.h b/os/ex/ST/lis3dsh.h index 1f0ebcd17..9cc202039 100644 --- a/os/ex/ST/lis3dsh.h +++ b/os/ex/ST/lis3dsh.h @@ -1,326 +1,326 @@ -/* - 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 lis3dsh.h - * @brief LIS3DSH MEMS interface module header. - * - * @{ - */ - -#ifndef _LIS3DSH_H_ -#define _LIS3DSH_H_ - -#include "hal_accelerometer.h" - -/*===========================================================================*/ -/* Driver constants. */ -/*===========================================================================*/ - -/** - * @brief LIS3DSH number of axes. - */ -#define LIS3DSH_NUMBER_OF_AXES ((size_t) 3U) - -/*===========================================================================*/ -/* Driver pre-compile time settings. */ -/*===========================================================================*/ - -/** - * @name Configuration options. - * @{ - */ -/** - * @brief LIS3DSH SPI interface switch. - * @details If set to @p TRUE the support for SPI is included. - * @note The default is @p TRUE. - */ -#if !defined(LIS3DSH_USE_SPI) || defined(__DOXYGEN__) -#define LIS3DSH_USE_SPI TRUE -#endif - -/** - * @brief LIS3DSH I2C interface switch. - * @details If set to @p TRUE the support for I2C is included. - * @note The default is @p FALSE. - */ -#if !defined(LIS3DSH_USE_I2C) || defined(__DOXYGEN__) -#define LIS3DSH_USE_I2C FALSE -#endif - -/** - * @brief LIS3DSH 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(LIS3DSH_SHARED_SPI) || defined(__DOXYGEN__) -#define LIS3DSH_SHARED_SPI FALSE -#endif -/** @} */ - -/*===========================================================================*/ -/* Derived constants and error checks. */ -/*===========================================================================*/ - -#if !(LIS3DSH_USE_SPI ^ LIS3DSH_USE_I2C) -#error "LIS3DSH_USE_SPI and LIS3DSH_USE_I2C cannot be both true or both false" -#endif - -#if LIS3DSH_USE_SPI && !HAL_USE_SPI -#error "LIS3DSH_USE_SPI requires HAL_USE_SPI" -#endif - -#if LIS3DSH_USE_I2C && !HAL_USE_I2C -#error "LIS3DSH_USE_I2C requires HAL_USE_I2C" -#endif - -#if LIS3DSH_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION -#error "LIS3DSH_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION" -#endif - -/*===========================================================================*/ -/* Driver data structures and types. */ -/*===========================================================================*/ - -/** - * @name LIS3DSH data structures and types - * @{ - */ -/** - * @brief LIS3DSH full scale. - */ -typedef enum { - LIS3DSH_FS_2G = 0x00, /**< Full scale ±2g. */ - LIS3DSH_FS_4G = 0x08, /**< Full scale ±4g. */ - LIS3DSH_FS_6G = 0x10, /**< Full scale ±6g. */ - LIS3DSH_FS_8G = 0x18, /**< Full scale ±8g. */ - LIS3DSH_FS_16G = 0x20 /**< Full scale ±16g. */ -}lis3dsh_fs_t; - -/** - * @brief LIS3DSH output data rate. - */ -typedef enum { - LIS3DSH_ODR_PD = 0x00, /**< ODR 100 Hz. */ - LIS3DSH_ODR_3_125HZ = 0x10, /**< ODR 3.125 Hz. */ - LIS3DSH_ODR_6_25HZ = 0x20, /**< ODR 6.25 Hz. */ - LIS3DSH_ODR_12_5HZ = 0x30, /**< ODR 12.5 Hz. */ - LIS3DSH_ODR_25HZ = 0x40, /**< ODR 25 Hz. */ - LIS3DSH_ODR_50HZ = 0x50, /**< ODR 50 Hz. */ - LIS3DSH_ODR_100HZ = 0x60, /**< ODR 100 Hz. */ - LIS3DSH_ODR_400HZ = 0x70, /**< ODR 400 Hz. */ - LIS3DSH_ODR_800HZ = 0x80, /**< ODR 800 Hz. */ - LIS3DSH_ODR_1600HZ = 0x90 /**< ODR 1600 Hz. */ -}lis3dsh_odr_t; - -/** - * @brief LIS3DSH anti-aliasing bandwidth. - */ -typedef enum { - LIS3DSH_BW_800HZ = 0x00, /**< AA filter BW 800Hz. */ - LIS3DSH_BW_200HZ = 0x40, /**< AA filter BW 200Hz. */ - LIS3DSH_BW_400HZ = 0x80, /**< AA filter BW 400Hz. */ - LIS3DSH_BW_50HZ = 0xC0 /**< AA filter BW 50Hz. */ -}lis3dsh_bw_t; - -/** - * @brief LIS3DSH axes enabling. - */ -typedef enum { - LIS3DSH_AE_DISABLED = 0x00, /**< All axes disabled. */ - LIS3DSH_AE_X = 0x01, /**< Only X-axis enabled. */ - LIS3DSH_AE_Y = 0x02, /**< Only Y-axis enabled. */ - LIS3DSH_AE_XY = 0x03, /**< X and Y axes enabled. */ - LIS3DSH_AE_Z = 0x04, /**< Only Z-axis enabled. */ - LIS3DSH_AE_XZ = 0x05, /**< X and Z axes enabled. */ - LIS3DSH_AE_YZ = 0x06, /**< Y and Z axes enabled. */ - LIS3DSH_AE_XYZ = 0x07 /**< All axes enabled. */ -}lis3dsh_ae_t; - -/** - * @brief LIS3DSH block data update. - */ -typedef enum { - LIS3DSH_BDU_CONTINUOUS = 0x00, /**< Block data continuously updated. */ - LIS3DSH_BDU_BLOCKED = 0x80 /**< Block data updated after reading. */ -} lis3dsh_bdu_t; - -/** - * @brief LIS3DSH accelerometer subsystem unit. - */ -typedef enum { - LIS3DSH_ACC_UNIT_G = 0x00, /**< Cooked data in g. */ - LIS3DSH_ACC_UNIT_MG = 0x01, /**< Cooked data in mg. */ - LIS3DSH_ACC_UNIT_SI = 0x02, /**< Cooked data in m/s^2. */ -} lis3dsh_acc_unit_t; - -/** - * @brief Driver state machine possible states. - */ -typedef enum { - LIS3DSH_UNINIT = 0, /**< Not initialized. */ - LIS3DSH_STOP = 1, /**< Stopped. */ - LIS3DSH_READY = 2, /**< Ready. */ -} lis3dsh_state_t; - -/** - * @brief LIS3DSH configuration structure. - */ -typedef struct { - -#if (LIS3DSH_USE_SPI) || defined(__DOXYGEN__) - /** - * @brief SPI driver associated to this LIS3DSH. - */ - SPIDriver *spip; - /** - * @brief SPI configuration associated to this LIS3DSH. - */ - const SPIConfig *spicfg; -#endif /* LIS3DSH_USE_SPI */ -#if (LIS3DSH_USE_I2C) || defined(__DOXYGEN__) - /** - * @brief I2C driver associated to this LIS3DSH. - */ - I2CDriver *i2cp; - /** - * @brief I2C configuration associated to this LIS3DSH. - */ - const I2CConfig *i2ccfg; -#endif /* LIS3DSH_USE_I2C */ - /** - * @brief LIS3DSH full scale value. - */ - lis3dsh_fs_t fullscale; - /** - * @brief LIS3DSH output data rate selection. - */ - lis3dsh_odr_t outputdatarate; - /** - * @brief LIS3DSH anti-aliasing bandwidth. - */ - lis3dsh_bw_t antialiasing; - /** - * @brief LIS3DSH axes enabling. - */ - lis3dsh_ae_t axesenabling; - /** - * @brief LIS3DSH block data update. - */ - lis3dsh_bdu_t blockdataupdate; - /** - * @brief LIS3DSH unit for cooked data. - */ - lis3dsh_acc_unit_t unit; -} LIS3DSHConfig; - -/** - * @brief Structure representing a LIS3DSH driver. - */ -typedef struct LIS3DSHDriver LIS3DSHDriver; - -/** - * @brief @p LIS3DSH specific methods. - */ -#define _lis3dsh_methods \ - _base_accelerometer_methods \ - /* Retrieve the temperature of L3GD20 chip.*/ \ - msg_t (*get_temperature)(void *instance, int8_t* temperature); - -/** - * @extends BaseAccelerometerVMT - * - * @brief @p LIS3DSH virtual methods table. - */ -struct LIS3DSHVMT { - _lis3dsh_methods -}; - -/** - * @brief @p LIS3DSHDriver specific data. - */ -#define _lis3dsh_data \ - _base_accelerometer_data \ - /* Driver state.*/ \ - lis3dsh_state_t state; \ - /* Current configuration data.*/ \ - const LIS3DSHConfig *config; \ - /* Current sensitivity.*/ \ - float sensitivity[LIS3DSH_NUMBER_OF_AXES]; \ - /* Bias data.*/ \ - int32_t bias[LIS3DSH_NUMBER_OF_AXES]; - -/** - * @extends BaseAccelerometer - * - * @brief LIS3DSH 3-axis accelerometer class. - * @details This class extends @p BaseAccelerometer by adding physical - * driver implementation. - */ -struct LIS3DSHDriver { - /** @brief BaseSensor Virtual Methods Table. */ - const struct BaseSensorVMT *vmt_basesensor; - /** @brief BaseAccelerometer Virtual Methods Table. */ - const struct BaseAccelerometerVMT *vmt_baseaccelerometer; - /** @brief LIS3DSH Virtual Methods Table. */ - const struct LIS3DSHVMT *vmt_lis3dsh; - _lis3dsh_data -}; -/** @} */ - -/*===========================================================================*/ -/* Driver macros. */ -/*===========================================================================*/ - -/** - * @brief Get current MEMS temperature. - * @detail This information is very useful especially for high accuracy IMU - * @note Value is raw since there is a lack of information in datasheet. - * - * @param[in] ip pointer to a @p BaseAccelerometer class. - * @param[out] temp the MEMS temperature as raw data. - * - * @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_lis3dsh->get_temperature(ip, tpp) - -/*===========================================================================*/ -/* External declarations. */ -/*===========================================================================*/ - -#ifdef __cplusplus -extern "C" { -#endif - void lis3dshObjectInit(LIS3DSHDriver *devp); - void lis3dshStart(LIS3DSHDriver *devp, const LIS3DSHConfig *config); - void lis3dshStop(LIS3DSHDriver *devp); -#ifdef __cplusplus -} -#endif - -#endif /* _LIS3DSH_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 lis3dsh.h
+ * @brief LIS3DSH MEMS interface module header.
+ *
+ * @{
+ */
+
+#ifndef _LIS3DSH_H_
+#define _LIS3DSH_H_
+
+#include "hal_accelerometer.h"
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+/**
+ * @brief LIS3DSH number of axes.
+ */
+#define LIS3DSH_NUMBER_OF_AXES ((size_t) 3U)
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+/**
+ * @name Configuration options.
+ * @{
+ */
+/**
+ * @brief LIS3DSH SPI interface switch.
+ * @details If set to @p TRUE the support for SPI is included.
+ * @note The default is @p TRUE.
+ */
+#if !defined(LIS3DSH_USE_SPI) || defined(__DOXYGEN__)
+#define LIS3DSH_USE_SPI TRUE
+#endif
+
+/**
+ * @brief LIS3DSH I2C interface switch.
+ * @details If set to @p TRUE the support for I2C is included.
+ * @note The default is @p FALSE.
+ */
+#if !defined(LIS3DSH_USE_I2C) || defined(__DOXYGEN__)
+#define LIS3DSH_USE_I2C FALSE
+#endif
+
+/**
+ * @brief LIS3DSH 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(LIS3DSH_SHARED_SPI) || defined(__DOXYGEN__)
+#define LIS3DSH_SHARED_SPI FALSE
+#endif
+/** @} */
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+#if !(LIS3DSH_USE_SPI ^ LIS3DSH_USE_I2C)
+#error "LIS3DSH_USE_SPI and LIS3DSH_USE_I2C cannot be both true or both false"
+#endif
+
+#if LIS3DSH_USE_SPI && !HAL_USE_SPI
+#error "LIS3DSH_USE_SPI requires HAL_USE_SPI"
+#endif
+
+#if LIS3DSH_USE_I2C && !HAL_USE_I2C
+#error "LIS3DSH_USE_I2C requires HAL_USE_I2C"
+#endif
+
+#if LIS3DSH_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION
+#error "LIS3DSH_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION"
+#endif
+
+/*===========================================================================*/
+/* Driver data structures and types. */
+/*===========================================================================*/
+
+/**
+ * @name LIS3DSH data structures and types
+ * @{
+ */
+/**
+ * @brief LIS3DSH full scale.
+ */
+typedef enum {
+ LIS3DSH_FS_2G = 0x00, /**< Full scale ±2g. */
+ LIS3DSH_FS_4G = 0x08, /**< Full scale ±4g. */
+ LIS3DSH_FS_6G = 0x10, /**< Full scale ±6g. */
+ LIS3DSH_FS_8G = 0x18, /**< Full scale ±8g. */
+ LIS3DSH_FS_16G = 0x20 /**< Full scale ±16g. */
+}lis3dsh_fs_t;
+
+/**
+ * @brief LIS3DSH output data rate.
+ */
+typedef enum {
+ LIS3DSH_ODR_PD = 0x00, /**< ODR 100 Hz. */
+ LIS3DSH_ODR_3_125HZ = 0x10, /**< ODR 3.125 Hz. */
+ LIS3DSH_ODR_6_25HZ = 0x20, /**< ODR 6.25 Hz. */
+ LIS3DSH_ODR_12_5HZ = 0x30, /**< ODR 12.5 Hz. */
+ LIS3DSH_ODR_25HZ = 0x40, /**< ODR 25 Hz. */
+ LIS3DSH_ODR_50HZ = 0x50, /**< ODR 50 Hz. */
+ LIS3DSH_ODR_100HZ = 0x60, /**< ODR 100 Hz. */
+ LIS3DSH_ODR_400HZ = 0x70, /**< ODR 400 Hz. */
+ LIS3DSH_ODR_800HZ = 0x80, /**< ODR 800 Hz. */
+ LIS3DSH_ODR_1600HZ = 0x90 /**< ODR 1600 Hz. */
+}lis3dsh_odr_t;
+
+/**
+ * @brief LIS3DSH anti-aliasing bandwidth.
+ */
+typedef enum {
+ LIS3DSH_BW_800HZ = 0x00, /**< AA filter BW 800Hz. */
+ LIS3DSH_BW_200HZ = 0x40, /**< AA filter BW 200Hz. */
+ LIS3DSH_BW_400HZ = 0x80, /**< AA filter BW 400Hz. */
+ LIS3DSH_BW_50HZ = 0xC0 /**< AA filter BW 50Hz. */
+}lis3dsh_bw_t;
+
+/**
+ * @brief LIS3DSH axes enabling.
+ */
+typedef enum {
+ LIS3DSH_AE_DISABLED = 0x00, /**< All axes disabled. */
+ LIS3DSH_AE_X = 0x01, /**< Only X-axis enabled. */
+ LIS3DSH_AE_Y = 0x02, /**< Only Y-axis enabled. */
+ LIS3DSH_AE_XY = 0x03, /**< X and Y axes enabled. */
+ LIS3DSH_AE_Z = 0x04, /**< Only Z-axis enabled. */
+ LIS3DSH_AE_XZ = 0x05, /**< X and Z axes enabled. */
+ LIS3DSH_AE_YZ = 0x06, /**< Y and Z axes enabled. */
+ LIS3DSH_AE_XYZ = 0x07 /**< All axes enabled. */
+}lis3dsh_ae_t;
+
+/**
+ * @brief LIS3DSH block data update.
+ */
+typedef enum {
+ LIS3DSH_BDU_CONTINUOUS = 0x00, /**< Block data continuously updated. */
+ LIS3DSH_BDU_BLOCKED = 0x80 /**< Block data updated after reading. */
+} lis3dsh_bdu_t;
+
+/**
+ * @brief LIS3DSH accelerometer subsystem unit.
+ */
+typedef enum {
+ LIS3DSH_ACC_UNIT_G = 0x00, /**< Cooked data in g. */
+ LIS3DSH_ACC_UNIT_MG = 0x01, /**< Cooked data in mg. */
+ LIS3DSH_ACC_UNIT_SI = 0x02, /**< Cooked data in m/s^2. */
+} lis3dsh_acc_unit_t;
+
+/**
+ * @brief Driver state machine possible states.
+ */
+typedef enum {
+ LIS3DSH_UNINIT = 0, /**< Not initialized. */
+ LIS3DSH_STOP = 1, /**< Stopped. */
+ LIS3DSH_READY = 2, /**< Ready. */
+} lis3dsh_state_t;
+
+/**
+ * @brief LIS3DSH configuration structure.
+ */
+typedef struct {
+
+#if (LIS3DSH_USE_SPI) || defined(__DOXYGEN__)
+ /**
+ * @brief SPI driver associated to this LIS3DSH.
+ */
+ SPIDriver *spip;
+ /**
+ * @brief SPI configuration associated to this LIS3DSH.
+ */
+ const SPIConfig *spicfg;
+#endif /* LIS3DSH_USE_SPI */
+#if (LIS3DSH_USE_I2C) || defined(__DOXYGEN__)
+ /**
+ * @brief I2C driver associated to this LIS3DSH.
+ */
+ I2CDriver *i2cp;
+ /**
+ * @brief I2C configuration associated to this LIS3DSH.
+ */
+ const I2CConfig *i2ccfg;
+#endif /* LIS3DSH_USE_I2C */
+ /**
+ * @brief LIS3DSH full scale value.
+ */
+ lis3dsh_fs_t fullscale;
+ /**
+ * @brief LIS3DSH output data rate selection.
+ */
+ lis3dsh_odr_t outputdatarate;
+ /**
+ * @brief LIS3DSH anti-aliasing bandwidth.
+ */
+ lis3dsh_bw_t antialiasing;
+ /**
+ * @brief LIS3DSH axes enabling.
+ */
+ lis3dsh_ae_t axesenabling;
+ /**
+ * @brief LIS3DSH block data update.
+ */
+ lis3dsh_bdu_t blockdataupdate;
+ /**
+ * @brief LIS3DSH unit for cooked data.
+ */
+ lis3dsh_acc_unit_t unit;
+} LIS3DSHConfig;
+
+/**
+ * @brief Structure representing a LIS3DSH driver.
+ */
+typedef struct LIS3DSHDriver LIS3DSHDriver;
+
+/**
+ * @brief @p LIS3DSH specific methods.
+ */
+#define _lis3dsh_methods \
+ _base_accelerometer_methods \
+ /* Retrieve the temperature of L3GD20 chip.*/ \
+ msg_t (*get_temperature)(void *instance, int8_t* temperature);
+
+/**
+ * @extends BaseAccelerometerVMT
+ *
+ * @brief @p LIS3DSH virtual methods table.
+ */
+struct LIS3DSHVMT {
+ _lis3dsh_methods
+};
+
+/**
+ * @brief @p LIS3DSHDriver specific data.
+ */
+#define _lis3dsh_data \
+ _base_accelerometer_data \
+ /* Driver state.*/ \
+ lis3dsh_state_t state; \
+ /* Current configuration data.*/ \
+ const LIS3DSHConfig *config; \
+ /* Current sensitivity.*/ \
+ float sensitivity[LIS3DSH_NUMBER_OF_AXES]; \
+ /* Bias data.*/ \
+ int32_t bias[LIS3DSH_NUMBER_OF_AXES];
+
+/**
+ * @extends BaseAccelerometer
+ *
+ * @brief LIS3DSH 3-axis accelerometer class.
+ * @details This class extends @p BaseAccelerometer by adding physical
+ * driver implementation.
+ */
+struct LIS3DSHDriver {
+ /** @brief BaseSensor Virtual Methods Table. */
+ const struct BaseSensorVMT *vmt_basesensor;
+ /** @brief BaseAccelerometer Virtual Methods Table. */
+ const struct BaseAccelerometerVMT *vmt_baseaccelerometer;
+ /** @brief LIS3DSH Virtual Methods Table. */
+ const struct LIS3DSHVMT *vmt_lis3dsh;
+ _lis3dsh_data
+};
+/** @} */
+
+/*===========================================================================*/
+/* Driver macros. */
+/*===========================================================================*/
+
+/**
+ * @brief Get current MEMS temperature.
+ * @detail This information is very useful especially for high accuracy IMU
+ * @note Value is raw since there is a lack of information in datasheet.
+ *
+ * @param[in] ip pointer to a @p BaseAccelerometer class.
+ * @param[out] temp the MEMS temperature as raw data.
+ *
+ * @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_lis3dsh->get_temperature(ip, tpp)
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void lis3dshObjectInit(LIS3DSHDriver *devp);
+ void lis3dshStart(LIS3DSHDriver *devp, const LIS3DSHConfig *config);
+ void lis3dshStop(LIS3DSHDriver *devp);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _LIS3DSH_H_ */
+
+/** @} */
+
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