/* ChibiOS - Copyright (C) 2016..2018 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. * * @addtogroup L3GD20 * @ingroup EX_ST * @{ */ #ifndef _L3GD20_H_ #define _L3GD20_H_ #include "hal_gyroscope.h" /*===========================================================================*/ /* Driver constants. */ /*===========================================================================*/ /** * @name Version identification * @{ */ /** * @brief L3GD20 driver version string. */ #define EX_L3GD20_VERSION "1.1.1" /** * @brief L3GD20 driver version major number. */ #define EX_L3GD20_MAJOR 1 /** * @brief L3GD20 driver version minor number. */ #define EX_L3GD20_MINOR 1 /** * @brief L3GD20 driver version patch number. */ #define EX_L3GD20_PATCH 1 /** @} */ /** * @brief L3GD20 gyroscope system characteristics. * @note Sensitivity is expressed as DPS/LSB whereas DPS stand for Degree * per second [°/s]. * @note Bias is expressed as DPS. * * @{ */ #define L3GD20_GYRO_NUMBER_OF_AXES 3U #define L3GD20_250DPS 250.0f #define L3GD20_500DPS 500.0f #define L3GD20_2000DPS 2000.0f #define L3GD20_GYRO_SENS_250DPS 0.00875f #define L3GD20_GYRO_SENS_500DPS 0.01750f #define L3GD20_GYRO_SENS_2000DPS 0.07000f #define L3GD20_GYRO_BIAS 0.0f /** @} */ /** * @name L3GD20 communication interfaces related bit masks * @{ */ #define L3GD20_DI_MASK 0xFF #define L3GD20_DI(n) (1 << n) #define L3GD20_AD_MASK 0x3F #define L3GD20_AD(n) (1 << n) #define L3GD20_MS (1 << 6) #define L3GD20_RW (1 << 7) /** @} */ /** * @name L3GD20 register addresses * @{ */ #define L3GD20_AD_WHO_AM_I 0x0F #define L3GD20_AD_CTRL_REG1 0x20 #define L3GD20_AD_CTRL_REG2 0x21 #define L3GD20_AD_CTRL_REG3 0x22 #define L3GD20_AD_CTRL_REG4 0x23 #define L3GD20_AD_CTRL_REG5 0x24 #define L3GD20_AD_REFERENCE 0x25 #define L3GD20_AD_OUT_TEMP 0x26 #define L3GD20_AD_STATUS_REG 0x27 #define L3GD20_AD_OUT_X_L 0x28 #define L3GD20_AD_OUT_X_H 0x29 #define L3GD20_AD_OUT_Y_L 0x2A #define L3GD20_AD_OUT_Y_H 0x2B #define L3GD20_AD_OUT_Z_L 0x2C #define L3GD20_AD_OUT_Z_H 0x2D #define L3GD20_AD_FIFO_CTRL_REG 0x2E #define L3GD20_AD_FIFO_SRC_REG 0x2F #define L3GD20_AD_INT1_CFG 0x30 #define L3GD20_AD_INT1_SRC 0x31 #define L3GD20_AD_INT1_THS_XH 0x32 #define L3GD20_AD_INT1_THS_XL 0x33 #define L3GD20_AD_INT1_THS_YH 0x34 #define L3GD20_AD_INT1_THS_YL 0x35 #define L3GD20_AD_INT1_THS_ZH 0x36 #define L3GD20_AD_INT1_THS_ZL 0x37 #define L3GD20_AD_INT1_DURATION 0x38 /** @} */ /** * @name L3GD20_CTRL_REG1 register bits definitions * @{ */ #define L3GD20_CTRL_REG1_MASK 0xFF #define L3GD20_CTRL_REG1_XEN (1 << 0) #define L3GD20_CTRL_REG1_YEN (1 << 1) #define L3GD20_CTRL_REG1_ZEN (1 << 2) #define L3GD20_CTRL_REG1_PD (1 << 3) #define L3GD20_CTRL_REG1_BW0 (1 << 4) #define L3GD20_CTRL_REG1_BW1 (1 << 5) #define L3GD20_CTRL_REG1_DR0 (1 << 6) #define L3GD20_CTRL_REG1_DR1 (1 << 7) /** @} */ /** * @name L3GD20_CTRL_REG2 register bits definitions * @{ */ #define L3GD20_CTRL_REG2_MASK 0x3F #define L3GD20_CTRL_REG2_HPCF0 (1 << 0) #define L3GD20_CTRL_REG2_HPCF1 (1 << 1) #define L3GD20_CTRL_REG2_HPCF2 (1 << 2) #define L3GD20_CTRL_REG2_HPCF3 (1 << 3) #define L3GD20_CTRL_REG2_HPM0 (1 << 4) #define L3GD20_CTRL_REG2_HPM1 (1 << 5) /** @} */ /** * @name L3GD20_CTRL_REG3 register bits definitions * @{ */ #define L3GD20_CTRL_REG3_MASK 0xFF #define L3GD20_CTRL_REG3_I2_EMPTY (1 << 0) #define L3GD20_CTRL_REG3_I2_ORUN (1 << 1) #define L3GD20_CTRL_REG3_I2_WTM (1 << 2) #define L3GD20_CTRL_REG3_I2_DRDY (1 << 3) #define L3GD20_CTRL_REG3_PP_OD (1 << 4) #define L3GD20_CTRL_REG3_H_LACTIVE (1 << 5) #define L3GD20_CTRL_REG3_I1_BOOT (1 << 6) #define L3GD20_CTRL_REG3_I1_INT1 (1 << 7) /** @} */ /** * @name L3GD20_CTRL_REG4 register bits definitions * @{ */ #define L3GD20_CTRL_REG4_MASK 0xF1 #define L3GD20_CTRL_REG4_SIM (1 << 0) #define L3GD20_CTRL_REG4_FS_MASK 0x30 #define L3GD20_CTRL_REG4_FS0 (1 << 4) #define L3GD20_CTRL_REG4_FS1 (1 << 5) #define L3GD20_CTRL_REG4_BLE (1 << 6) #define L3GD20_CTRL_REG4_BDU (1 << 7) /** @} */ /** * @name L3GD20_CTRL_REG5 register bits definitions * @{ */ #define L3GD20_CTRL_REG5_MASK 0xDF #define L3GD20_CTRL_REG5_OUT_SEL0 (1 << 0) #define L3GD20_CTRL_REG5_OUT_SEL1 (1 << 1) #define L3GD20_CTRL_REG5_INT1_SEL0 (1 << 2) #define L3GD20_CTRL_REG5_INT1_SEL1 (1 << 3) #define L3GD20_CTRL_REG5_HPEN (1 << 4) #define L3GD20_CTRL_REG5_FIFO_EN (1 << 6) #define L3GD20_CTRL_REG5_BOOT (1 << 7) /** @} */ /** * @name L3GD20_INT1_CFG register bits definitions * @{ */ #define L3GD20_INT1_CFG_MASK 0xFF #define L3GD20_INT1_CFG_XLIE (1 << 0) #define L3GD20_INT1_CFG_XHIE (1 << 1) #define L3GD20_INT1_CFG_YLIE (1 << 2) #define L3GD20_INT1_CFG_YHIE (1 << 3) #define L3GD20_INT1_CFG_ZLIE (1 << 4) #define L3GD20_INT1_CFG_ZHIE (1 << 5) #define L3GD20_INT1_CFG_LIR (1 << 6) #define L3GD20_INT1_CFG_AND_OR (1 << 7) /** @} */ /** * @name L3GD20_INT1_SRC register bits definitions * @{ */ #define L3GD20_INT1_SRC_MASK 0x7F #define L3GD20_INT1_SRC_XL (1 << 0) #define L3GD20_INT1_SRC_XH (1 << 1) #define L3GD20_INT1_SRC_YL (1 << 2) #define L3GD20_INT1_SRC_YH (1 << 3) #define L3GD20_INT1_SRC_ZL (1 << 4) #define L3GD20_INT1_SRC_ZH (1 << 5) #define L3GD20_INT1_SRC_IA (1 << 6) /** @} */ /*===========================================================================*/ /* 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 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 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 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(L3GD20_SHARED_I2C) || defined(__DOXYGEN__) #define L3GD20_SHARED_I2C FALSE #endif /** * @brief L3GD20 accelerometer subsystem advanced configurations * switch. * @details If set to @p TRUE more configurations are available. * @note The default is @p FALSE. */ #if !defined(L3GD20_GYRO_USE_ADVANCED) || defined(__DOXYGEN__) #define L3GD20_GYRO_USE_ADVANCED 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_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION #error "L3GD20_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION" #endif #if L3GD20_USE_I2C && !HAL_USE_I2C #error "L3GD20_USE_I2C requires HAL_USE_I2C" #endif #if L3GD20_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION #error "L3GD20_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION" #endif /** * @todo Add support for L3GD20 over I2C. */ #if L3GD20_USE_I2C #error "L3GD20 over I2C still not supported" #endif /*===========================================================================*/ /* Driver data structures and types. */ /*===========================================================================*/ /** * @name L3GD20 data structures and types. * @{ */ /** * @brief Structure representing a L3GD20 driver. */ typedef struct L3GD20Driver L3GD20Driver; /** * @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 = 0x00, /**< Output data rate 95 Hz. */ L3GD20_ODR_190HZ = 0x40, /**< Output data rate 190 Hz. */ L3GD20_ODR_380HZ = 0x80, /**< Output data rate 380 Hz. */ L3GD20_ODR_760HZ = 0xC0 /**< Output data rate 760 Hz. */ } l3gd20_odr_t; /** * @brief L3GD20 low pass filter 1 bandwidth. */ typedef enum { L3GD20_BW0 = 0x00, /**< LPF1 bandwidth. Depends on ODR. */ L3GD20_BW1 = 0x40, /**< LPF1 bandwidth. Depends on ODR. */ L3GD20_BW2 = 0x80, /**< LPF1 bandwidth. Depends on ODR. */ L3GD20_BW3 = 0xC0 /**< LPF1 bandwidth. Depends on ODR. */ } l3gd20_bw_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 HP filter mode. */ typedef enum { L3GD20_HPM_NORMAL = 0x00, /**< Normal mode. */ L3GD20_HPM_REFERENCE = 0x10, /**< Reference signal for filtering. */ L3GD20_HPM_AUTORESET = 0x30, /**< Autoreset on interrupt event. */ L3GD20_HPM_BYPASSED = 0xFF /**< HP filter bypassed */ } l3gd20_hpm_t; /** * @brief L3GD20 HP configuration. */ typedef enum { L3GD20_HPCF_0 = 0x00, /**< Depends on ODR (Table 26 for more).*/ L3GD20_HPCF_1 = 0x01, /**< Depends on ODR (Table 26 for more).*/ L3GD20_HPCF_2 = 0x02, /**< Depends on ODR (Table 26 for more).*/ L3GD20_HPCF_3 = 0x03, /**< Depends on ODR (Table 26 for more).*/ L3GD20_HPCF_4 = 0x04, /**< Depends on ODR (Table 26 for more).*/ L3GD20_HPCF_5 = 0x05, /**< Depends on ODR (Table 26 for more).*/ L3GD20_HPCF_6 = 0x06, /**< Depends on ODR (Table 26 for more).*/ L3GD20_HPCF_7 = 0x07, /**< Depends on ODR (Table 26 for more).*/ L3GD20_HPCF_8 = 0x08, /**< Depends on ODR (Table 26 for more).*/ L3GD20_HPCF_9 = 0x09 /**< Depends on ODR (Table 26 for more).*/ } l3gd20_hpcf_t; /** * @brief L3GD20 LP2 filter mode. * @details To activate LP2 HP should be active */ typedef enum { L3GD20_LP2M_ON = 0x00, /**< LP2 filter activated. */ L3GD20_LP2M_BYPASSED = 0xFF, /**< LP2 filter bypassed. */ } l3gd20_lp2m_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 gyroscope system initial sensitivity. */ float *gyrosensitivity; /** * @brief L3GD20 gyroscope system initial bias. */ float *gyrobias; /** * @brief L3GD20 gyroscope system initial full scale value. */ l3gd20_fs_t gyrofullscale; /** * @brief L3GD20 gyroscope system output data rate selection. */ l3gd20_odr_t gyrooutputdatarate; #if L3GD20_GYRO_USE_ADVANCED || defined(__DOXYGEN__) /** * @brief L3GD20 gyroscope system block data update. */ l3gd20_bdu_t gyroblockdataupdate; /** * @brief L3GD20 gyroscope system endianness. */ l3gd20_end_t gyroendianness; /** * @brief L3GD20 gyroscope system LP1 filter bandwidth. */ l3gd20_bw_t gyrobandwidth; /** * @brief L3GD20 gyroscope system HP filter mode. */ l3gd20_hpm_t gyrohpmode; /** * @brief L3GD20 gyroscope system HP configuration. */ l3gd20_hpcf_t gyrohpconfiguration; /** * @brief L3GD20 gyroscope system LP2 filter mode. * @details To activate LP2 HP should be active */ l3gd20_lp2m_t gyrolp2mode; #endif } L3GD20Config; /** * @brief @p L3GD20 specific methods. */ #define _l3gd20_methods_alone \ /* Change full scale value of L3GD20.*/ \ msg_t (*gyro_set_full_scale)(L3GD20Driver *devp, l3gd20_fs_t fs); /** * @brief @p L3GD20 specific methods with inherited ones. */ #define _l3gd20_methods \ _base_object_methods \ _l3gd20_methods_alone /** * @extends BaseObjectVMT * * @brief @p L3GD20 virtual methods table. */ struct L3GD20VMT { _l3gd20_methods }; /** * @brief @p L3GD20Driver specific data. */ #define _l3gd20_data \ _base_sensor_data \ /* Driver state.*/ \ l3gd20_state_t state; \ /* Current configuration data.*/ \ const L3GD20Config *config; \ /* Gyroscope subsystem axes number.*/ \ size_t gyroaxes; \ /* Gyroscope subsystem current sensitivity.*/ \ float gyrosensitivity[L3GD20_GYRO_NUMBER_OF_AXES]; \ /* Gyroscope subsystem current Bias.*/ \ float gyrobias[L3GD20_GYRO_NUMBER_OF_AXES]; \ /* Gyroscope subsystem current full scale value.*/ \ float gyrofullscale; /** * @brief L3GD20 3-axis gyroscope class. */ struct L3GD20Driver { /** @brief Virtual Methods Table. */ const struct L3GD20VMT *vmt; /** @brief Base gyroscope interface.*/ BaseGyroscope gyro_if; _l3gd20_data }; /** @} */ /*===========================================================================*/ /* Driver macros. */ /*===========================================================================*/ /** * @brief Return the number of axes of the BaseGyroscope. * * @param[in] devp pointer to @p L3GD20Driver. * * @return the number of axes. * * @api */ #define l3gd20GyroscopeGetAxesNumber(devp) \ gyroscopeGetAxesNumber(&((devp)->gyro_if)) /** * @brief Retrieves raw data from the BaseGyroscope. * @note This data is retrieved from MEMS register without any algebraical * manipulation. * @note The axes array must be at least the same size of the * BaseGyroscope axes number. * * @param[in] devp pointer to @p L3GD20Driver. * @param[out] axes a buffer which would be filled with raw data. * * @return The operation status. * @retval MSG_OK if the function succeeded. * * @api */ #define l3gd20GyroscopeReadRaw(devp, axes) \ gyroscopeReadRaw(&((devp)->gyro_if), axes) /** * @brief Retrieves cooked data from the BaseGyroscope. * @note This data is manipulated according to the formula * cooked = (raw * sensitivity) - bias. * @note Final data is expressed as DPS. * @note The axes array must be at least the same size of the * BaseGyroscope axes number. * * @param[in] devp pointer to @p L3GD20Driver. * @param[out] axes a buffer which would be filled with cooked data. * * @return The operation status. * @retval MSG_OK if the function succeeded. * * @api */ #define l3gd20GyroscopeReadCooked(devp, axes) \ gyroscopeReadCooked(&((devp)->gyro_if), axes) /** * @brief Samples bias values for the BaseGyroscope. * @note The L3GD20 shall not be moved during the whole procedure. * @note After this function internal bias is automatically updated. * @note The behavior of this function depends on @p L3GD20_BIAS_ACQ_TIMES * and @p L3GD20_BIAS_SETTLING_US. * * @param[in] devp pointer to @p L3GD20Driver. * * @return The operation status. * @retval MSG_OK if the function succeeded. * * @api */ #define l3gd20GyroscopeSampleBias(devp) \ gyroscopeSampleBias(&((devp)->gyro_if)) /** * @brief Set bias values for the BaseGyroscope. * @note Bias must be expressed as DPS. * @note The bias buffer must be at least the same size of the BaseGyroscope * axes number. * * @param[in] devp pointer to @p L3GD20Driver. * @param[in] bp a buffer which contains biases. * * @return The operation status. * @retval MSG_OK if the function succeeded. * * @api */ #define l3gd20GyroscopeSetBias(devp, bp) \ gyroscopeSetBias(&((devp)->gyro_if), bp) /** * @brief Reset bias values for the BaseGyroscope. * @note Default biases value are obtained from device datasheet when * available otherwise they are considered zero. * * @param[in] devp pointer to @p L3GD20Driver. * * @return The operation status. * @retval MSG_OK if the function succeeded. * * @api */ #define l3gd20GyroscopeResetBias(devp) \ gyroscopeResetBias(&((devp)->gyro_if)) /** * @brief Set sensitivity values for the BaseGyroscope. * @note Sensitivity must be expressed as DPS/LSB. * @note The sensitivity buffer must be at least the same size of the * BaseGyroscope axes number. * * @param[in] devp pointer to @p L3GD20Driver. * @param[in] sp a buffer which contains sensitivities. * * @return The operation status. * @retval MSG_OK if the function succeeded. * * @api */ #define l3gd20GyroscopeSetSensitivity(devp, sp) \ gyroscopeSetSensitivity(&((devp)->gyro_if), sp) /** * @brief Reset sensitivity values for the BaseGyroscope. * @note Default sensitivities value are obtained from device datasheet. * * @param[in] devp pointer to @p L3GD20Driver. * * @return The operation status. * @retval MSG_OK if the function succeeded. * @retval MSG_RESET otherwise. * * @api */ #define l3gd20GyroscopeResetSensitivity(devp) \ gyroscopeResetSensitivity(&((devp)->gyro_if)) /** * @brief Changes the L3GD20Driver gyroscope fullscale value. * @note This function also rescale sensitivities and biases based on * previous and next fullscale value. * @note A recalibration is highly suggested after calling this function. * * @param[in] devp pointer to @p L3GD20Driver. * @param[in] fs new fullscale value. * * @return The operation status. * @retval MSG_OK if the function succeeded. * @retval MSG_RESET otherwise. * * @api */ #define l3gd20GyroscopeSetFullScale(devp, fs) \ (devp)->vmt->acc_set_full_scale(devp, fs) /*===========================================================================*/ /* 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_ */ /** @} */