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Diffstat (limited to 'os/ex/gyroscope/ST/l3gd20.h')
| -rw-r--r-- | os/ex/gyroscope/ST/l3gd20.h | 294 |
1 files changed, 294 insertions, 0 deletions
diff --git a/os/ex/gyroscope/ST/l3gd20.h b/os/ex/gyroscope/ST/l3gd20.h new file mode 100644 index 000000000..9951d5041 --- /dev/null +++ b/os/ex/gyroscope/ST/l3gd20.h @@ -0,0 +1,294 @@ +/* + 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 l3gd20.h + * @brief L3GD20 MEMS interface module header. + * + * @{ + */ + +#ifndef _L3GD20_H_ +#define _L3GD20_H_ + +#include "hal_gyroscope.h" + +/*===========================================================================*/ +/* Driver constants. */ +/*===========================================================================*/ + +/** + * @brief L3GD20 number of axes. + */ +#define L3GD20_NUMBER_OF_AXES ((size_t) 3U) + +/*===========================================================================*/ +/* Driver pre-compile time settings. */ +/*===========================================================================*/ + +/** + * @name Configuration options + * @{ + */ +/** + * @brief L3GD20 SPI interface selector. + * @details If set to @p TRUE the support for SPI is included. + * @note The default is @p TRUE. + */ +#if !defined(L3GD20_USE_SPI) || defined(__DOXYGEN__) +#define L3GD20_USE_SPI TRUE +#endif + +/** + * @brief L3GD20 I2C interface selector. + * @details If set to @p TRUE the support for I2C is included. + * @note The default is @p FALSE. + */ +#if !defined(L3GD20_USE_I2C) || defined(__DOXYGEN__) +#define L3GD20_USE_I2C FALSE +#endif + +/** + * @brief Number of acquisitions for bias removal + * @details This is the number of acquisitions performed to compute the + * bias. A repetition is required in order to remove noise. + */ +#if !defined(L3GD20_BIAS_ACQ_TIMES) || defined(__DOXYGEN__) +#define L3GD20_BIAS_ACQ_TIMES 50 +#endif + +/** + * @brief Settling time for bias removal + * @details This is the time between each bias acquisition. + */ +#if !defined(L3GD20_BIAS_SETTLING_uS) || defined(__DOXYGEN__) +#define L3GD20_BIAS_SETTLING_uS 5000 +#endif +/** @} */ + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +#if L3GD20_USE_SPI && L3GD20_USE_I2C +#error "L3GD20_USE_SPI and L3GD20_USE_I2C cannot be both true" +#endif + +#if L3GD20_USE_SPI && !HAL_USE_SPI +#error "L3GD20_USE_SPI requires HAL_USE_SPI" +#endif + +#if L3GD20_USE_I2C && !HAL_USE_I2C +#error "L3GD20_USE_SPI requires HAL_USE_I2C" +#endif +/*===========================================================================*/ +/* Driver data structures and types. */ +/*===========================================================================*/ + +/** + * @name L3GD20 data structures and types + * @{ + */ + +/** + * @brief L3GD20 Output Data Rate + */ +typedef enum { + L3GD20_ODR_95HZ_FC_12_5 = 0x00, + L3GD20_ODR_95HZ_FC_25 = 0x10, + L3GD20_ODR_190HZ_FC_12_5 = 0x40, + L3GD20_ODR_190HZ_FC_25 = 0x50, + L3GD20_ODR_190HZ_FC_50 = 0x60, + L3GD20_ODR_190HZ_FC_70 = 0x70, + L3GD20_ODR_380HZ_FC_20 = 0x80, + L3GD20_ODR_380HZ_FC_25 = 0x90, + L3GD20_ODR_380HZ_FC_50 = 0xA0, + L3GD20_ODR_380HZ_FC_100 = 0xB0, + L3GD20_ODR_760HZ_FC_30 = 0xC0, + L3GD20_ODR_760HZ_FC_35 = 0xD0, + L3GD20_ODR_760HZ_FC_50 = 0xE0, + L3GD20_ODR_760HZ_FC_100 = 0xF0 +}l3gd20_odr_t; + +/** + * @brief L3GD20 Full Scale + */ +typedef enum { + L3GD20_FS_250DPS = 0x00, + L3GD20_FS_500DPS = 0x10, + L3GD20_FS_2000DPS = 0x20 +}l3gd20_fs_t; + +/** + * @brief L3GD20 Axes Enabling + */ +typedef enum { + L3GD20_AE_DISABLED = 0x00, + L3GD20_AE_X = 0x01, + L3GD20_AE_Y = 0x02, + L3GD20_AE_XY = 0x03, + L3GD20_AE_Z = 0x04, + L3GD20_AE_XZ = 0x05, + L3GD20_AE_YZ = 0x06, + L3GD20_AE_XYZ = 0x07 +}l3gd20_ae_t; + +/** + * @brief L3GD20 Block Data Update + */ +typedef enum { + L3GD20_BDU_CONTINOUS = 0x00, + L3GD20_BDU_BLOCKED = 0x80 +}l3gd20_bdu_t; + +/** + * @brief L3GD20 Endianness + */ +typedef enum { + L3GD20_END_LITTLE = 0x00, + L3GD20_END_BIG = 0x40 +}l3gd20_end_t; + +/** + * @brief Driver state machine possible states. + */ +typedef enum { + L3GD20_UNINIT = 0, /**< Not initialized. */ + L3GD20_STOP = 1, /**< Stopped. */ + L3GD20_READY = 2, /**< Ready. */ +} l3gd20_state_t; + +/** + * @brief L3GD20 configuration structure. + */ +typedef struct { + +#if (L3GD20_USE_SPI) || defined(__DOXYGEN__) + /** + * @brief SPI driver associated to this L3GD20. + */ + SPIDriver *spip; + /** + * @brief SPI configuration associated to this L3GD20. + */ + const SPIConfig *spicfg; +#endif /* L3GD20_USE_SPI */ +#if (L3GD20_USE_I2C) || defined(__DOXYGEN__) + /** + * @brief I2C driver associated to this L3GD20. + */ + I2CDriver *i2cp; + /** + * @brief I2C configuration associated to this L3GD20. + */ + const I2CConfig *i2ccfg; +#endif /* L3GD20_USE_I2C */ + /** + * @brief L3GD20 full scale value. + */ + l3gd20_fs_t fullscale; + /** + * @brief L3GD20 output data rate selection. + */ + l3gd20_odr_t outputdatarate; + /** + * @brief L3GD20 axes enabling. + */ + l3gd20_ae_t axesenabling; + /** + * @brief L3GD20 endianness. + */ + l3gd20_end_t endianness; + /** + * @brief L3GD20 block data update. + */ + l3gd20_bdu_t blockdataupdate; +} L3GD20Config; + +/** + * @brief Structure representing a L3GD20 driver. + */ +typedef struct L3GD20Driver L3GD20Driver; + +/** + * @brief @p L3GD20 specific methods. + */ +#define _l3gd20_methods \ + _base_gyroscope_methods + +/** + * @extends BaseGyroscopeVMT + * + * @brief @p L3GD20 virtual methods table. + */ +struct L3GD20VMT { + _l3gd20_methods +}; + +/** + * @brief @p L3GD20Driver specific data. + */ +#define _l3gd20_data \ + _base_gyroscope_data \ + /* Driver state.*/ \ + l3gd20_state_t state; \ + /* Current configuration data.*/ \ + const L3GD20Config *config; \ + /* Current sensitivity.*/ \ + float sensitivity; \ + /* Bias data.*/ \ + int32_t bias[L3GD20_NUMBER_OF_AXES]; + +/** + * @extends BaseGyroscope + * + * @brief L3GD20 3-axis gyroscope class. + * @details This class extends @p BaseGyroscope by adding physical + * driver implementation. + */ +struct L3GD20Driver { + /** @brief Virtual Methods Table.*/ + const struct L3GD20VMT *vmt; + _l3gd20_data +}; +/** @} */ + +/*===========================================================================*/ +/* Driver macros. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +#ifdef __cplusplus +extern "C" { +#endif + void l3gd20ObjectInit(L3GD20Driver *devp); + void l3gd20Start(L3GD20Driver *devp, const L3GD20Config *config); + void l3gd20Stop(L3GD20Driver *devp); +#ifdef __cplusplus +} +#endif + +#endif /* _L3GD20_H_ */ + +/** @} */ + |