From 77a63206e770cb4a73abf3063ce381fa8de4705b Mon Sep 17 00:00:00 2001 From: Giovanni Di Sirio Date: Thu, 16 Jun 2016 07:44:08 +0000 Subject: git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9627 35acf78f-673a-0410-8e92-d51de3d6d3f4 --- os/ex/ST/l3gd20.h | 660 +++++++++++++++++++++++++++--------------------------- 1 file changed, 330 insertions(+), 330 deletions(-) (limited to 'os/ex/ST/l3gd20.h') diff --git a/os/ex/ST/l3gd20.h b/os/ex/ST/l3gd20.h index f798d0c25..5e7011a76 100644 --- a/os/ex/ST/l3gd20.h +++ b/os/ex/ST/l3gd20.h @@ -1,330 +1,330 @@ -/* - 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 . - -*/ - -/** - * @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 switch. - * @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 switch. - * @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 L3GD20 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(L3GD20_SHARED_SPI) || defined(__DOXYGEN__) -#define L3GD20_SHARED_SPI 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 or both false" -#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_I2C requires HAL_USE_I2C" -#endif - -#if L3GD20_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION -#error "L3GD20_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION" -#endif - -/*===========================================================================*/ -/* Driver data structures and types. */ -/*===========================================================================*/ - -/** - * @name L3GD20 data structures and types - * @{ - */ -/** - * @brief L3GD20 full scale - */ -typedef enum { - L3GD20_FS_250DPS = 0x00, /**< Full scale 250 degree per second. */ - L3GD20_FS_500DPS = 0x10, /**< Full scale 500 degree per second. */ - L3GD20_FS_2000DPS = 0x20 /**< Full scale 2000 degree per second. */ -}l3gd20_fs_t; - -/** - * @brief L3GD20 output data rate and bandwidth - */ -typedef enum { - L3GD20_ODR_95HZ_FC_12_5 = 0x00, /**< ODR 95 Hz, BW 12.5 Hz. */ - L3GD20_ODR_95HZ_FC_25 = 0x10, /**< ODR 95 Hz, BW 25Hz. */ - L3GD20_ODR_190HZ_FC_12_5 = 0x40, /**< ODR 190 Hz, BW 12.5 Hz. */ - L3GD20_ODR_190HZ_FC_25 = 0x50, /**< ODR 190 Hz, BW 25 Hz. */ - L3GD20_ODR_190HZ_FC_50 = 0x60, /**< ODR 190 Hz, BW 50 Hz. */ - L3GD20_ODR_190HZ_FC_70 = 0x70, /**< ODR 190 Hz, BW 70 Hz. */ - L3GD20_ODR_380HZ_FC_20 = 0x80, /**< ODR 380 Hz, BW 20 Hz. */ - L3GD20_ODR_380HZ_FC_25 = 0x90, /**< ODR 380 Hz, BW 25 Hz. */ - L3GD20_ODR_380HZ_FC_50 = 0xA0, /**< ODR 380 Hz, BW 50 Hz. */ - L3GD20_ODR_380HZ_FC_100 = 0xB0, /**< ODR 380 Hz, BW 100 Hz. */ - L3GD20_ODR_760HZ_FC_30 = 0xC0, /**< ODR 760 Hz, BW 30 Hz. */ - L3GD20_ODR_760HZ_FC_35 = 0xD0, /**< ODR 760 Hz, BW 35 Hz. */ - L3GD20_ODR_760HZ_FC_50 = 0xE0, /**< ODR 760 Hz, BW 50 Hz. */ - L3GD20_ODR_760HZ_FC_100 = 0xF0 /**< ODR 760 Hz, BW 100 Hz. */ -}l3gd20_odr_t; - -/** - * @brief L3GD20 axes enabling - */ -typedef enum { - L3GD20_AE_DISABLED = 0x00, /**< All axes disabled. */ - L3GD20_AE_X = 0x01, /**< Only X-axis enabled. */ - L3GD20_AE_Y = 0x02, /**< Only Y-axis enabled. */ - L3GD20_AE_XY = 0x03, /**< X and Y axes enabled. */ - L3GD20_AE_Z = 0x04, /**< Only Z-axis enabled. */ - L3GD20_AE_XZ = 0x05, /**< X and Z axes enabled. */ - L3GD20_AE_YZ = 0x06, /**< Y and Z axes enabled. */ - L3GD20_AE_XYZ = 0x07 /**< All axes enabled. */ -}l3gd20_ae_t; - -/** - * @brief L3GD20 block data update - */ -typedef enum { - L3GD20_BDU_CONTINUOUS = 0x00, /**< Block data continuously updated. */ - L3GD20_BDU_BLOCKED = 0x80 /**< Block data updated after reading. */ -}l3gd20_bdu_t; - -/** - * @brief L3GD20 endianness - */ -typedef enum { - L3GD20_END_LITTLE = 0x00, /**< Little endian. */ - L3GD20_END_BIG = 0x40 /**< Big endian. */ -}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 block data update. - */ - l3gd20_bdu_t blockdataupdate; - /** - * @brief L3GD20 endianness. - */ - l3gd20_end_t endianness; -} L3GD20Config; - -/** - * @brief Structure representing a L3GD20 driver. - */ -typedef struct L3GD20Driver L3GD20Driver; - -/** - * @brief @p L3GD20 specific methods. - */ -#define _l3gd20_methods \ - _base_gyroscope_methods \ - /* Retrieve the temperature of L3GD20 chip.*/ \ - msg_t (*get_temperature)(void *instance, float* temperature); - - -/** - * @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[L3GD20_NUMBER_OF_AXES]; \ - /* 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 BaseSensor Virtual Methods Table. */ - const struct BaseSensorVMT *vmt_basesensor; - /** @brief BaseGyroscope Virtual Methods Table. */ - const struct BaseGyroscopeVMT *vmt_basegyroscope; - /** @brief L3GD20 Virtual Methods Table. */ - const struct L3GD20VMT *vmt_l3gd20; - _l3gd20_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 BaseGyroscope 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 gyroscopeGetTemp(ip, tpp) \ - (ip)->vmt_l3gd20->get_temperature(ip, tpp) - -/*===========================================================================*/ -/* 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_ */ - -/** @} */ - +/* + 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 . + +*/ + +/** + * @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 switch. + * @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 switch. + * @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 L3GD20 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(L3GD20_SHARED_SPI) || defined(__DOXYGEN__) +#define L3GD20_SHARED_SPI 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 or both false" +#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_I2C requires HAL_USE_I2C" +#endif + +#if L3GD20_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION +#error "L3GD20_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION" +#endif + +/*===========================================================================*/ +/* Driver data structures and types. */ +/*===========================================================================*/ + +/** + * @name L3GD20 data structures and types + * @{ + */ +/** + * @brief L3GD20 full scale + */ +typedef enum { + L3GD20_FS_250DPS = 0x00, /**< Full scale 250 degree per second. */ + L3GD20_FS_500DPS = 0x10, /**< Full scale 500 degree per second. */ + L3GD20_FS_2000DPS = 0x20 /**< Full scale 2000 degree per second. */ +}l3gd20_fs_t; + +/** + * @brief L3GD20 output data rate and bandwidth + */ +typedef enum { + L3GD20_ODR_95HZ_FC_12_5 = 0x00, /**< ODR 95 Hz, BW 12.5 Hz. */ + L3GD20_ODR_95HZ_FC_25 = 0x10, /**< ODR 95 Hz, BW 25Hz. */ + L3GD20_ODR_190HZ_FC_12_5 = 0x40, /**< ODR 190 Hz, BW 12.5 Hz. */ + L3GD20_ODR_190HZ_FC_25 = 0x50, /**< ODR 190 Hz, BW 25 Hz. */ + L3GD20_ODR_190HZ_FC_50 = 0x60, /**< ODR 190 Hz, BW 50 Hz. */ + L3GD20_ODR_190HZ_FC_70 = 0x70, /**< ODR 190 Hz, BW 70 Hz. */ + L3GD20_ODR_380HZ_FC_20 = 0x80, /**< ODR 380 Hz, BW 20 Hz. */ + L3GD20_ODR_380HZ_FC_25 = 0x90, /**< ODR 380 Hz, BW 25 Hz. */ + L3GD20_ODR_380HZ_FC_50 = 0xA0, /**< ODR 380 Hz, BW 50 Hz. */ + L3GD20_ODR_380HZ_FC_100 = 0xB0, /**< ODR 380 Hz, BW 100 Hz. */ + L3GD20_ODR_760HZ_FC_30 = 0xC0, /**< ODR 760 Hz, BW 30 Hz. */ + L3GD20_ODR_760HZ_FC_35 = 0xD0, /**< ODR 760 Hz, BW 35 Hz. */ + L3GD20_ODR_760HZ_FC_50 = 0xE0, /**< ODR 760 Hz, BW 50 Hz. */ + L3GD20_ODR_760HZ_FC_100 = 0xF0 /**< ODR 760 Hz, BW 100 Hz. */ +}l3gd20_odr_t; + +/** + * @brief L3GD20 axes enabling + */ +typedef enum { + L3GD20_AE_DISABLED = 0x00, /**< All axes disabled. */ + L3GD20_AE_X = 0x01, /**< Only X-axis enabled. */ + L3GD20_AE_Y = 0x02, /**< Only Y-axis enabled. */ + L3GD20_AE_XY = 0x03, /**< X and Y axes enabled. */ + L3GD20_AE_Z = 0x04, /**< Only Z-axis enabled. */ + L3GD20_AE_XZ = 0x05, /**< X and Z axes enabled. */ + L3GD20_AE_YZ = 0x06, /**< Y and Z axes enabled. */ + L3GD20_AE_XYZ = 0x07 /**< All axes enabled. */ +}l3gd20_ae_t; + +/** + * @brief L3GD20 block data update + */ +typedef enum { + L3GD20_BDU_CONTINUOUS = 0x00, /**< Block data continuously updated. */ + L3GD20_BDU_BLOCKED = 0x80 /**< Block data updated after reading. */ +}l3gd20_bdu_t; + +/** + * @brief L3GD20 endianness + */ +typedef enum { + L3GD20_END_LITTLE = 0x00, /**< Little endian. */ + L3GD20_END_BIG = 0x40 /**< Big endian. */ +}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 block data update. + */ + l3gd20_bdu_t blockdataupdate; + /** + * @brief L3GD20 endianness. + */ + l3gd20_end_t endianness; +} L3GD20Config; + +/** + * @brief Structure representing a L3GD20 driver. + */ +typedef struct L3GD20Driver L3GD20Driver; + +/** + * @brief @p L3GD20 specific methods. + */ +#define _l3gd20_methods \ + _base_gyroscope_methods \ + /* Retrieve the temperature of L3GD20 chip.*/ \ + msg_t (*get_temperature)(void *instance, float* temperature); + + +/** + * @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[L3GD20_NUMBER_OF_AXES]; \ + /* 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 BaseSensor Virtual Methods Table. */ + const struct BaseSensorVMT *vmt_basesensor; + /** @brief BaseGyroscope Virtual Methods Table. */ + const struct BaseGyroscopeVMT *vmt_basegyroscope; + /** @brief L3GD20 Virtual Methods Table. */ + const struct L3GD20VMT *vmt_l3gd20; + _l3gd20_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 BaseGyroscope 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 gyroscopeGetTemp(ip, tpp) \ + (ip)->vmt_l3gd20->get_temperature(ip, tpp) + +/*===========================================================================*/ +/* 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_ */ + +/** @} */ + -- cgit v1.2.3