diff options
Diffstat (limited to 'os/ex/ST')
-rw-r--r-- | os/ex/ST/lis3mdl.h | 355 | ||||
-rw-r--r-- | os/ex/ST/lis3mdl.mk | 6 |
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
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