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Diffstat (limited to 'os/ex/ST/lsm303dlhc.h')
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1 files changed, 441 insertions, 0 deletions
diff --git a/os/ex/ST/lsm303dlhc.h b/os/ex/ST/lsm303dlhc.h new file mode 100644 index 000000000..86317a691 --- /dev/null +++ b/os/ex/ST/lsm303dlhc.h @@ -0,0 +1,441 @@ +/* + 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 lsm303dlhc.h + * @brief LSM303DLHC MEMS interface module header. + * + * @{ + */ +#ifndef _LSM303DLHC_H_ +#define _LSM303DLHC_H_ + +#include "hal_accelerometer.h" +#include "hal_compass.h" + +/*===========================================================================*/ +/* Driver constants. */ +/*===========================================================================*/ + +/** + * @brief LSM303DLHC accelerometer subsystem number of axes. + */ +#define LSM303DLHC_ACC_NUMBER_OF_AXES ((size_t) 3U) + +/** + * @brief LSM303DLHC compass subsystem number of axes. + */ +#define LSM303DLHC_COMP_NUMBER_OF_AXES ((size_t) 3U) + +/*===========================================================================*/ +/* Driver pre-compile time settings. */ +/*===========================================================================*/ + +/** + * @name Configuration options + * @{ + */ +/** + * @brief LSM303DLHC SPI interface selector. + * @details If set to @p TRUE the support for SPI is included. + * @note The default is @p FALSE. + */ +#if !defined(LSM303DLHC_USE_SPI) || defined(__DOXYGEN__) +#define LSM303DLHC_USE_SPI FALSE +#endif + +/** + * @brief LSM303DLHC I2C interface selector. + * @details If set to @p TRUE the support for I2C is included. + * @note The default is @p TRUE. + */ +#if !defined(LSM303DLHC_USE_I2C) || defined(__DOXYGEN__) +#define LSM303DLHC_USE_I2C TRUE +#endif + +/** + * @brief LSM303DLHC 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(LSM303DLHC_SHARED_I2C) || defined(__DOXYGEN__) +#define LSM303DLHC_SHARED_I2C FALSE +#endif +/** @} */ + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +#if LSM303DLHC_USE_SPI && LSM303DLHC_USE_I2C +#error "LSM303DLHC_USE_SPI and LSM303DLHC_USE_I2C cannot be both true" +#endif + +#if LSM303DLHC_USE_SPI && !HAL_USE_SPI +#error "LSM303DLHC_USE_SPI requires HAL_USE_SPI" +#endif + +#if LSM303DLHC_USE_I2C && !HAL_USE_I2C +#error "LSM303DLHC_USE_I2C requires HAL_USE_I2C" +#endif + +#if LSM303DLHC_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION +#error "LSM303DLHC_SHARED_SPI requires I2C_USE_MUTUAL_EXCLUSION" +#endif + +/*===========================================================================*/ +/* Driver data structures and types. */ +/*===========================================================================*/ + +/** + * @name LSM303DLHC accelerometer subsystem data structures and types. + * @{ + */ + +/** + * @brief LSM303DLHC accelerometer subsystem full scale. + */ +typedef enum { + LSM303DLHC_ACC_FS_2G = 0x00, /**< Full scale ±2g. */ + LSM303DLHC_ACC_FS_4G = 0x10, /**< Full scale ±4g. */ + LSM303DLHC_ACC_FS_8G = 0x20, /**< Full scale ±8g. */ + LSM303DLHC_ACC_FS_16G = 0x30 /**< Full scale ±16g. */ +} lsm303dlhc_acc_fs_t; + +/** + * @brief LSM303DLHC accelerometer subsystem output data rate. + */ +typedef enum { + LSM303DLHC_ACC_ODR_PD = 0x00, /**< Power down */ + LSM303DLHC_ACC_ODR_1Hz = 0x10, /**< ODR 1 Hz */ + LSM303DLHC_ACC_ODR_10Hz = 0x20, /**< ODR 10 Hz */ + LSM303DLHC_ACC_ODR_25Hz = 0x30, /**< ODR 25 Hz */ + LSM303DLHC_ACC_ODR_50Hz = 0x40, /**< ODR 50 Hz */ + LSM303DLHC_ACC_ODR_100Hz = 0x50, /**< ODR 100 Hz */ + LSM303DLHC_ACC_ODR_200Hz = 0x60, /**< ODR 200 Hz */ + LSM303DLHC_ACC_ODR_400Hz = 0x70, /**< ODR 400 Hz */ + LSM303DLHC_ACC_ODR_1620Hz = 0x80, /**< ODR 1620 Hz (LP only) */ + LSM303DLHC_ACC_ODR_1344Hz = 0x90 /**< ODR 1344 Hz or 5376 Hz in LP */ +} lsm303dlhc_acc_odr_t; + + +/** + * @brief LSM303DLHC accelerometer subsystem axes enabling. + */ +typedef enum { + LSM303DLHC_ACC_AE_DISABLED = 0x00,/**< All axes disabled. */ + LSM303DLHC_ACC_AE_X = 0x01, /**< Only X-axis enabled. */ + LSM303DLHC_ACC_AE_Y = 0x02, /**< Only Y-axis enabled. */ + LSM303DLHC_ACC_AE_XY = 0x03, /**< X and Y axes enabled. */ + LSM303DLHC_ACC_AE_Z = 0x04, /**< Only Z-axis enabled. */ + LSM303DLHC_ACC_AE_XZ = 0x05, /**< X and Z axes enabled. */ + LSM303DLHC_ACC_AE_YZ = 0x06, /**< Y and Z axes enabled. */ + LSM303DLHC_ACC_AE_XYZ = 0x07 /**< All axes enabled. */ +} lsm303dlhc_acc_ae_t; + +/** + * @brief LSM303DLHC accelerometer subsystem low power mode. + */ +typedef enum { + LSM303DLHC_ACC_LP_DISABLED = 0x00,/**< Low power mode disabled. */ + LSM303DLHC_ACC_LP_ENABLED = 0x40 /**< Low power mode enabled. */ +} lsm303dlhc_acc_lp_t; + +/** + * @brief LSM303DLHC accelerometer subsystem high resolution mode. + */ +typedef enum { + LSM303DLHC_ACC_HR_DISABLED = 0x00,/**< High resolution mode disabled. */ + LSM303DLHC_ACC_HR_ENABLED = 0x08 /**< High resolution mode enabled. */ +} lsm303dlhc_acc_hr_t; + +/** + * @brief LSM303DLHC accelerometer subsystem block data update. + */ +typedef enum { + LSM303DLHC_ACC_BDU_CONT = 0x00, /**< Continuous update */ + LSM303DLHC_ACC_BDU_BLOCK = 0x80 /**< Update blocked */ +} lsm303dlhc_acc_bdu_t; + +/** + * @brief LSM303DLHC accelerometer endianness. + */ +typedef enum { + LSM303DLHC_ACC_END_LITTLE = 0x00, /**< Little Endian */ + LSM303DLHC_ACC_END_BIG = 0x40 /**< Big Endian */ +} lsm303dlhc_acc_end_t; + + +/** + * @brief LSM303DLHC accelerometer subsystem unit. + */ +typedef enum { + LSM303DLHC_ACC_UNIT_G = 0x00, /**< Cooked data in g. */ + LSM303DLHC_ACC_UNIT_MG = 0x01, /**< Cooked data in mg. */ + LSM303DLHC_ACC_UNIT_SI = 0x02, /**< Cooked data in m/s^2. */ +} lsm303dlhc_acc_unit_t; + +/** + * @brief LSM303DLHC accelerometer subsystem configuration structure. + */ +typedef struct { + /** + * @brief LSM303DLHC accelerometer subsystem full scale. + */ + lsm303dlhc_acc_fs_t fullscale; + /** + * @brief LSM303DLHC accelerometer subsystem output data rate. + */ + lsm303dlhc_acc_odr_t outdatarate; + /** + * @brief LSM303DLHC accelerometer subsystem axes enabling. + */ + lsm303dlhc_acc_ae_t axesenabling; + /** + * @brief LSM303DLHC accelerometer subsystem low power mode. + */ + lsm303dlhc_acc_lp_t lowpower; + /** + * @brief LSM303DLHC accelerometer subsystem high resolution mode. + */ + lsm303dlhc_acc_hr_t highresmode; + /** + * @brief LSM303DLHC accelerometer subsystem block data update. + */ + lsm303dlhc_acc_bdu_t blockdataupdate; + /** + * @brief LSM303DLHC accelerometer endianness. + */ + lsm303dlhc_acc_end_t endianess; + /** + * @brief LSM303DLHC accelerometer subsystem unit. + */ + lsm303dlhc_acc_unit_t unit; +} LSM303DLHCAccConfig; +/** @} */ + +/** + * @name LSM303DLHC compass subsystem data structures and types. + * @{ + */ +/** + * @brief LSM303DLHC compass subsystem full scale. + */ +typedef enum { + LSM303DLHC_COMP_FS_1_3_GA = 0x20, /**< Full scale ±1.3 Gauss */ + LSM303DLHC_COMP_FS_1_9_GA = 0x40, /**< Full scale ±1.9 Gauss */ + LSM303DLHC_COMP_FS_2_5_GA = 0x60, /**< Full scale ±2.5 Gauss */ + LSM303DLHC_COMP_FS_4_0_GA = 0x80, /**< Full scale ±4.0 Gauss */ + LSM303DLHC_COMP_FS_4_7_GA = 0xA0, /**< Full scale ±4.7 Gauss */ + LSM303DLHC_COMP_FS_5_6_GA = 0xC0, /**< Full scale ±5.6 Gauss */ + LSM303DLHC_COMP_FS_8_1_GA = 0xE0 /**< Full scale ±8.1 Gauss */ +} lsm303dlhc_comp_fs_t; + +/** + * @brief LSM303DLHC compass subsystem output data rate. + */ +typedef enum { + LSM303DLHC_COMP_ODR_0_75HZ = 0x00,/**< ODR 0.75 Hz */ + LSM303DLHC_COMP_ODR_1_5HZ = 0x04, /**< ODR 1.5 Hz */ + LSM303DLHC_COMP_ODR_3_0HZ = 0x08, /**< ODR 3 Hz */ + LSM303DLHC_COMP_ODR_7_5HZ = 0x0C, /**< ODR 7.5 Hz */ + LSM303DLHC_COMP_ODR_15HZ = 0x10, /**< ODR 15 Hz */ + LSM303DLHC_COMP_ODR_30HZ = 0x14, /**< ODR 30 Hz */ + LSM303DLHC_COMP_ODR_75HZ = 0x18, /**< ODR 75 Hz */ + LSM303DLHC_COMP_ODR_220HZ = 0x1C /**< ODR 220 Hz */ +} lsm303dlhc_comp_odr_t; + +/** + * @brief LSM303DLHC compass subsystem working mode. + */ +typedef enum { + LSM303DLHC_COMP_MD_CONT = 0x00, /**< Continuous-Conversion Mode */ + LSM303DLHC_COMP_MD_BLOCK = 0x01, /**< Single-Conversion Mode */ + LSM303DLHC_COMP_MD_SLEEP = 0x02 /**< Sleep Mode */ +} lsm303dlhc_comp_md_t; + +/** + * @brief LSM303DLHC compass subsystem configuration structure. + */ +typedef struct { + /** + * @brief LSM303DLHC compass subsystem full scale. + */ + lsm303dlhc_comp_fs_t fullscale; + /** + * @brief LSM303DLHC compass subsystem output data rate. + */ + lsm303dlhc_comp_odr_t outputdatarate; + /** + * @brief LSM303DLHC compass subsystem working mode. + */ + lsm303dlhc_comp_md_t mode; +} LSM303DLHCCompConfig; +/** @} */ + +/** + * @name LSM303DLHC main system data structures and types. + * @{ + */ + +/** + * @brief Driver state machine possible states. + */ +typedef enum { + LSM303DLHC_UNINIT = 0, /**< Not initialized. */ + LSM303DLHC_STOP = 1, /**< Stopped. */ + LSM303DLHC_READY = 2, /**< Ready. */ +} lsm303dlhc_state_t; + +/** + * @brief LSM303DLHC configuration structure. + */ +typedef struct { +#if (LSM303DLHC_USE_SPI) || defined(__DOXYGEN__) + /** + * @brief SPI driver associated to this LSM303DLHC. + */ + SPIDriver *spip; + /** + * @brief SPI configuration associated to this LSM303DLHC accelerometer + * subsystem. + */ + const SPIConfig *accspicfg; + /** + * @brief SPI configuration associated to this LSM303DLHC compass + * subsystem. + */ + const SPIConfig *compspicfg; +#endif /* LSM303DLHC_USE_SPI */ +#if (LSM303DLHC_USE_I2C) || defined(__DOXYGEN__) + /** + * @brief I2C driver associated to this LSM303DLHC. + */ + I2CDriver *i2cp; + /** + * @brief I2C configuration associated to this LSM303DLHC accelerometer + * subsystem. + */ + const I2CConfig *i2ccfg; +#endif /* LSM303DLHC_USE_I2C */ + /** + * @brief LSM303DLHC accelerometer subsystem configuration structure + */ + const LSM303DLHCAccConfig *acccfg; + /** + * @brief LSM303DLHC compass subsystem configuration structure + */ + const LSM303DLHCCompConfig *compcfg; +} LSM303DLHCConfig; + +/** + * @brief Structure representing a LSM303DLHC driver. + */ +typedef struct LSM303DLHCDriver LSM303DLHCDriver; + +/** + * @brief @p LSM303DLHC accelerometer subsystem specific methods. + */ +#define _lsm303dlhc_acc_methods \ + _base_accelerometer_methods + +/** + * @brief @p LSM303DLHC compass subsystem specific methods. + */ +#define _lsm303dlhc_comp_methods \ + _base_compass_methods + +/** + * @extends BaseAccelerometerVMT + * + * @brief @p LSM303DLHC accelerometer virtual methods table. + */ +struct LSM303DLHCACCVMT { + _lsm303dlhc_acc_methods +}; + +/** + * @extends BaseCompassVMT + * + * @brief @p LSM303DLHC compass virtual methods table. + */ +struct LSM303DLHCCOMPVMT { + _lsm303dlhc_comp_methods +}; + +/** + * @brief @p LSM303DLHCDriver specific data. + */ +#define _lsm303dlhc_data \ + _base_accelerometer_data \ + _base_compass_data \ + /* Driver state.*/ \ + lsm303dlhc_state_t state; \ + /* Current configuration data.*/ \ + const LSM303DLHCConfig *config; \ + /* Current accelerometer sensitivity.*/ \ + float accsensitivity[LSM303DLHC_ACC_NUMBER_OF_AXES]; \ + /* Accelerometer bias data.*/ \ + int32_t accbias[LSM303DLHC_ACC_NUMBER_OF_AXES]; \ + /* Current compass sensitivity.*/ \ + float compsensitivity[LSM303DLHC_COMP_NUMBER_OF_AXES];\ + /* Bias data.*/ \ + int32_t compbias[LSM303DLHC_COMP_NUMBER_OF_AXES]; + +/** + * @brief LSM303DLHC 6-axis accelerometer/compass class. + */ +struct LSM303DLHCDriver { + /** @brief BaseSensor Virtual Methods Table. */ + const struct BaseSensorVMT *vmt_basesensor; + /** @brief BaseAccelerometer Virtual Methods Table. */ + const struct BaseAccelerometerVMT *vmt_baseaccelerometer; + /** @brief BaseCompass Virtual Methods Table. */ + const struct BaseCompassVMT *vmt_basecompass; + /** @brief LSM303DLHC Accelerometer Virtual Methods Table. */ + const struct LSM303DLHCACCVMT *vmt_lsm303dlhcacc; + /** @brief LSM303DLHC Compass Virtual Methods Table. */ + const struct LSM303DLHCCOMPVMT *vmt_lsm303dlhccomp; + _lsm303dlhc_data +}; +/** @} */ + +/*===========================================================================*/ +/* Driver macros. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +#ifdef __cplusplus +extern "C" { +#endif + void lsm303dlhcObjectInit(LSM303DLHCDriver *devp); + void lsm303dlhcStart(LSM303DLHCDriver *devp, const LSM303DLHCConfig *config); + void lsm303dlhcStop(LSM303DLHCDriver *devp); +#ifdef __cplusplus +} +#endif + +#endif /* _LSM303DLHC_H_ */ + +/** @} */ |