/* 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_ */ /** @} */