/* 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 lis302dl.h * @brief LIS302DL MEMS interface module header. * * @{ */ #ifndef _LIS302DL_H_ #define _LIS302DL_H_ #include "hal_accelerometer.h" /*===========================================================================*/ /* Driver constants. */ /*===========================================================================*/ /** * @brief LIS302DL number of axes. */ #define LIS302DL_NUMBER_OF_AXES ((size_t) 3U) /*===========================================================================*/ /* Driver pre-compile time settings. */ /*===========================================================================*/ /** * @name Configuration options * @{ */ /** * @brief LIS302DL SPI interface switch. * @details If set to @p TRUE the support for SPI is included. * @note The default is @p TRUE. */ #if !defined(LIS302DL_USE_SPI) || defined(__DOXYGEN__) #define LIS302DL_USE_SPI TRUE #endif /** * @brief LIS302DL I2C interface switch. * @details If set to @p TRUE the support for I2C is included. * @note The default is @p FALSE. */ #if !defined(LIS302DL_USE_I2C) || defined(__DOXYGEN__) #define LIS302DL_USE_I2C FALSE #endif /** * @brief LIS302DL 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(LIS302DL_SHARED_SPI) || defined(__DOXYGEN__) #define LIS302DL_SHARED_SPI FALSE #endif /** @} */ /*===========================================================================*/ /* Derived constants and error checks. */ /*===========================================================================*/ #if !(LIS302DL_USE_SPI ^ LIS302DL_USE_I2C) #error "LIS302DL_USE_SPI and LIS302DL_USE_I2C cannot be both true or both false" #endif #if LIS302DL_USE_SPI && !HAL_USE_SPI #error "LIS302DL_USE_SPI requires HAL_USE_SPI" #endif #if LIS302DL_USE_I2C && !HAL_USE_I2C #error "LIS302DL_USE_I2C requires HAL_USE_I2C" #endif #if LIS302DL_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION #error "LIS302DL_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION" #endif /*===========================================================================*/ /* Driver data structures and types. */ /*===========================================================================*/ /** * @name LIS302DL data structures and types * @{ */ /** * @brief LIS302DL full scale. */ typedef enum { LIS302DL_FS_2G = 0x00, /**< Full scale ±2g. */ LIS302DL_FS_8G = 0x20 /**< Full scale ±8g. */ }lis302dl_fs_t; /** * @brief LIS302DL output data rate and bandwidth. */ typedef enum { LIS302DL_ODR_100HZ = 0x00, /**< ODR 100 Hz. */ LIS302DL_ODR_400HZ = 0x80 /**< ODR 400 Hz. */ }lis302dl_odr_t; /** * @brief LIS302DL high pass filtering. */ typedef enum { LIS302DL_HP_DISABLED = 0x00, /**< HP bypassed. */ LIS302DL_HP_0 = 0x10, /**< HP cutoff 2Hz (ODR 100Hz) or 8Hz */ LIS302DL_HP_1 = 0x11, /**< HP cutoff 1Hz or 4Hz */ LIS302DL_HP_2 = 0x12, /**< HP cutoff 0.5Hz or 2Hz */ LIS302DL_HP_3 = 0x13 /**< HP cutoff 0.25Hz or 1Hz */ }lis302dl_hp_t; /** * @brief LIS302DL axes enabling. */ typedef enum { LIS302DL_AE_DISABLED = 0x00, /**< All axes disabled. */ LIS302DL_AE_X = 0x01, /**< Only X-axis enabled. */ LIS302DL_AE_Y = 0x02, /**< Only Y-axis enabled. */ LIS302DL_AE_XY = 0x03, /**< X and Y axes enabled. */ LIS302DL_AE_Z = 0x04, /**< Only Z-axis enabled. */ LIS302DL_AE_XZ = 0x05, /**< X and Z axes enabled. */ LIS302DL_AE_YZ = 0x06, /**< Y and Z axes enabled. */ LIS302DL_AE_XYZ = 0x07 /**< All axes enabled. */ }lis302dl_ae_t; /** * @brief LIS302DL accelerometer subsystem unit. */ typedef enum { LIS302DL_ACC_UNIT_G = 0x00, /**< Cooked data in g. */ LIS302DL_ACC_UNIT_MG = 0x01, /**< Cooked data in mg. */ LIS302DL_ACC_UNIT_SI = 0x02, /**< Cooked data in m/s^2. */ } lis302dl_acc_unit_t; /** * @brief Driver state machine possible states. */ typedef enum { LIS302DL_UNINIT = 0, /**< Not initialized. */ LIS302DL_STOP = 1, /**< Stopped. */ LIS302DL_READY = 2, /**< Ready. */ } lis302dl_state_t; /** * @brief LIS302DL configuration structure. */ typedef struct { #if (LIS302DL_USE_SPI) || defined(__DOXYGEN__) /** * @brief SPI driver associated to this LIS302DL. */ SPIDriver *spip; /** * @brief SPI configuration associated to this LIS302DL. */ const SPIConfig *spicfg; #endif /* LIS302DL_USE_SPI */ #if (LIS302DL_USE_I2C) || defined(__DOXYGEN__) /** * @brief I2C driver associated to this LIS302DL. */ I2CDriver *i2cp; /** * @brief I2C configuration associated to this LIS302DL. */ const I2CConfig *i2ccfg; #endif /* LIS302DL_USE_I2C */ /** * @brief LIS302DL full scale value. */ lis302dl_fs_t fullscale; /** * @brief LIS302DL output data rate selection. */ lis302dl_odr_t outputdatarate; /** * @brief LIS302DL high pass filtering */ lis302dl_hp_t highpass; /** * @brief LIS302DL axes enabling. */ lis302dl_ae_t axesenabling; /** * @brief LIS302DL unit for cooked data. */ lis302dl_acc_unit_t unit; } LIS302DLConfig; /** * @brief Structure representing a LIS302DL driver. */ typedef struct LIS302DLDriver LIS302DLDriver; /** * @brief @p LIS302DL specific methods. */ #define _lis302dl_methods \ _base_accelerometer_methods /** * @extends BaseAccelerometerVMT. * * @brief @p LIS302DL virtual methods table. */ struct LIS302DLVMT { _lis302dl_methods }; /** * @brief @p LIS302DLDriver specific data. */ #define _lis302dl_data \ _base_accelerometer_data \ /* Driver state.*/ \ lis302dl_state_t state; \ /* Current configuration data.*/ \ const LIS302DLConfig *config; \ /* Current sensitivity.*/ \ float sensitivity[LIS302DL_NUMBER_OF_AXES]; \ /* Bias data.*/ \ int32_t bias[LIS302DL_NUMBER_OF_AXES]; /** * @extends BaseAccelerometer. * * @brief LIS302DL 3-axis accelerometer class. * @details This class extends @p BaseAccelerometer by adding physical * driver implementation. */ struct LIS302DLDriver { /** @brief BaseSensor Virtual Methods Table. */ const struct BaseSensorVMT *vmt_basesensor; /** @brief BaseAccelerometer Virtual Methods Table. */ const struct BaseAccelerometerVMT *vmt_baseaccelerometer; /** @brief LIS302DL Virtual Methods Table. */ const struct LIS302DLVMT *vmt_lis302dl; _lis302dl_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 BaseAccelerometer 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 accelerometerGetTemp(ip, tpp) \ (ip)->vmt_lis302dl->get_temperature(ip, tpp) /*===========================================================================*/ /* External declarations. */ /*===========================================================================*/ #ifdef __cplusplus extern "C" { #endif void lis302dlObjectInit(LIS302DLDriver *devp); void lis302dlStart(LIS302DLDriver *devp, const LIS302DLConfig *config); void lis302dlStop(LIS302DLDriver *devp); #ifdef __cplusplus } #endif #endif /* _LIS302DL_H_ */ /** @} */