/* 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 lis3dsh.h * @brief LIS3DSH MEMS interface module header. * * @{ */ #ifndef _LIS3DSH_H_ #define _LIS3DSH_H_ #include "hal_accelerometer.h" /*===========================================================================*/ /* Driver constants. */ /*===========================================================================*/ /** * @brief LIS3DSH number of axes. */ #define LIS3DSH_NUMBER_OF_AXES ((size_t) 3U) /*===========================================================================*/ /* Driver pre-compile time settings. */ /*===========================================================================*/ /** * @name Configuration options. * @{ */ /** * @brief LIS3DSH SPI interface switch. * @details If set to @p TRUE the support for SPI is included. * @note The default is @p TRUE. */ #if !defined(LIS3DSH_USE_SPI) || defined(__DOXYGEN__) #define LIS3DSH_USE_SPI TRUE #endif /** * @brief LIS3DSH I2C interface switch. * @details If set to @p TRUE the support for I2C is included. * @note The default is @p FALSE. */ #if !defined(LIS3DSH_USE_I2C) || defined(__DOXYGEN__) #define LIS3DSH_USE_I2C FALSE #endif /** * @brief LIS3DSH 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(LIS3DSH_SHARED_SPI) || defined(__DOXYGEN__) #define LIS3DSH_SHARED_SPI FALSE #endif /** @} */ /*===========================================================================*/ /* Derived constants and error checks. */ /*===========================================================================*/ #if !(LIS3DSH_USE_SPI ^ LIS3DSH_USE_I2C) #error "LIS3DSH_USE_SPI and LIS3DSH_USE_I2C cannot be both true or both false" #endif #if LIS3DSH_USE_SPI && !HAL_USE_SPI #error "LIS3DSH_USE_SPI requires HAL_USE_SPI" #endif #if LIS3DSH_USE_I2C && !HAL_USE_I2C #error "LIS3DSH_USE_I2C requires HAL_USE_I2C" #endif #if LIS3DSH_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION #error "LIS3DSH_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION" #endif /*===========================================================================*/ /* Driver data structures and types. */ /*===========================================================================*/ /** * @name LIS3DSH data structures and types * @{ */ /** * @brief LIS3DSH full scale. */ typedef enum { LIS3DSH_FS_2G = 0x00, /**< Full scale ±2g. */ LIS3DSH_FS_4G = 0x08, /**< Full scale ±4g. */ LIS3DSH_FS_6G = 0x10, /**< Full scale ±6g. */ LIS3DSH_FS_8G = 0x18, /**< Full scale ±8g. */ LIS3DSH_FS_16G = 0x20 /**< Full scale ±16g. */ }lis3dsh_fs_t; /** * @brief LIS3DSH output data rate. */ typedef enum { LIS3DSH_ODR_PD = 0x00, /**< ODR 100 Hz. */ LIS3DSH_ODR_3_125HZ = 0x10, /**< ODR 3.125 Hz. */ LIS3DSH_ODR_6_25HZ = 0x20, /**< ODR 6.25 Hz. */ LIS3DSH_ODR_12_5HZ = 0x30, /**< ODR 12.5 Hz. */ LIS3DSH_ODR_25HZ = 0x40, /**< ODR 25 Hz. */ LIS3DSH_ODR_50HZ = 0x50, /**< ODR 50 Hz. */ LIS3DSH_ODR_100HZ = 0x60, /**< ODR 100 Hz. */ LIS3DSH_ODR_400HZ = 0x70, /**< ODR 400 Hz. */ LIS3DSH_ODR_800HZ = 0x80, /**< ODR 800 Hz. */ LIS3DSH_ODR_1600HZ = 0x90 /**< ODR 1600 Hz. */ }lis3dsh_odr_t; /** * @brief LIS3DSH anti-aliasing bandwidth. */ typedef enum { LIS3DSH_BW_800HZ = 0x00, /**< AA filter BW 800Hz. */ LIS3DSH_BW_200HZ = 0x40, /**< AA filter BW 200Hz. */ LIS3DSH_BW_400HZ = 0x80, /**< AA filter BW 400Hz. */ LIS3DSH_BW_50HZ = 0xC0 /**< AA filter BW 50Hz. */ }lis3dsh_bw_t; /** * @brief LIS3DSH axes enabling. */ typedef enum { LIS3DSH_AE_DISABLED = 0x00, /**< All axes disabled. */ LIS3DSH_AE_X = 0x01, /**< Only X-axis enabled. */ LIS3DSH_AE_Y = 0x02, /**< Only Y-axis enabled. */ LIS3DSH_AE_XY = 0x03, /**< X and Y axes enabled. */ LIS3DSH_AE_Z = 0x04, /**< Only Z-axis enabled. */ LIS3DSH_AE_XZ = 0x05, /**< X and Z axes enabled. */ LIS3DSH_AE_YZ = 0x06, /**< Y and Z axes enabled. */ LIS3DSH_AE_XYZ = 0x07 /**< All axes enabled. */ }lis3dsh_ae_t; /** * @brief LIS3DSH block data update. */ typedef enum { LIS3DSH_BDU_CONTINUOUS = 0x00, /**< Block data continuously updated. */ LIS3DSH_BDU_BLOCKED = 0x80 /**< Block data updated after reading. */ } lis3dsh_bdu_t; /** * @brief LIS3DSH accelerometer subsystem unit. */ typedef enum { LIS3DSH_ACC_UNIT_G = 0x00, /**< Cooked data in g. */ LIS3DSH_ACC_UNIT_MG = 0x01, /**< Cooked data in mg. */ LIS3DSH_ACC_UNIT_SI = 0x02, /**< Cooked data in m/s^2. */ } lis3dsh_acc_unit_t; /** * @brief Driver state machine possible states. */ typedef enum { LIS3DSH_UNINIT = 0, /**< Not initialized. */ LIS3DSH_STOP = 1, /**< Stopped. */ LIS3DSH_READY = 2, /**< Ready. */ } lis3dsh_state_t; /** * @brief LIS3DSH configuration structure. */ typedef struct { #if (LIS3DSH_USE_SPI) || defined(__DOXYGEN__) /** * @brief SPI driver associated to this LIS3DSH. */ SPIDriver *spip; /** * @brief SPI configuration associated to this LIS3DSH. */ const SPIConfig *spicfg; #endif /* LIS3DSH_USE_SPI */ #if (LIS3DSH_USE_I2C) || defined(__DOXYGEN__) /** * @brief I2C driver associated to this LIS3DSH. */ I2CDriver *i2cp; /** * @brief I2C configuration associated to this LIS3DSH. */ const I2CConfig *i2ccfg; #endif /* LIS3DSH_USE_I2C */ /** * @brief LIS3DSH full scale value. */ lis3dsh_fs_t fullscale; /** * @brief LIS3DSH output data rate selection. */ lis3dsh_odr_t outputdatarate; /** * @brief LIS3DSH anti-aliasing bandwidth. */ lis3dsh_bw_t antialiasing; /** * @brief LIS3DSH axes enabling. */ lis3dsh_ae_t axesenabling; /** * @brief LIS3DSH block data update. */ lis3dsh_bdu_t blockdataupdate; /** * @brief LIS3DSH unit for cooked data. */ lis3dsh_acc_unit_t unit; } LIS3DSHConfig; /** * @brief Structure representing a LIS3DSH driver. */ typedef struct LIS3DSHDriver LIS3DSHDriver; /** * @brief @p LIS3DSH specific methods. */ #define _lis3dsh_methods \ _base_accelerometer_methods \ /* Retrieve the temperature of L3GD20 chip.*/ \ msg_t (*get_temperature)(void *instance, int8_t* temperature); /** * @extends BaseAccelerometerVMT * * @brief @p LIS3DSH virtual methods table. */ struct LIS3DSHVMT { _lis3dsh_methods }; /** * @brief @p LIS3DSHDriver specific data. */ #define _lis3dsh_data \ _base_accelerometer_data \ /* Driver state.*/ \ lis3dsh_state_t state; \ /* Current configuration data.*/ \ const LIS3DSHConfig *config; \ /* Current sensitivity.*/ \ float sensitivity[LIS3DSH_NUMBER_OF_AXES]; \ /* Bias data.*/ \ int32_t bias[LIS3DSH_NUMBER_OF_AXES]; /** * @extends BaseAccelerometer * * @brief LIS3DSH 3-axis accelerometer class. * @details This class extends @p BaseAccelerometer by adding physical * driver implementation. */ struct LIS3DSHDriver { /** @brief BaseSensor Virtual Methods Table. */ const struct BaseSensorVMT *vmt_basesensor; /** @brief BaseAccelerometer Virtual Methods Table. */ const struct BaseAccelerometerVMT *vmt_baseaccelerometer; /** @brief LIS3DSH Virtual Methods Table. */ const struct LIS3DSHVMT *vmt_lis3dsh; _lis3dsh_data }; /** @} */ /*===========================================================================*/ /* Driver macros. */ /*===========================================================================*/ /** * @brief Get current MEMS temperature. * @detail This information is very useful especially for high accuracy IMU * @note Value is raw since there is a lack of information in datasheet. * * @param[in] ip pointer to a @p BaseAccelerometer class. * @param[out] temp the MEMS temperature as raw data. * * @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_lis3dsh->get_temperature(ip, tpp) /*===========================================================================*/ /* External declarations. */ /*===========================================================================*/ #ifdef __cplusplus extern "C" { #endif void lis3dshObjectInit(LIS3DSHDriver *devp); void lis3dshStart(LIS3DSHDriver *devp, const LIS3DSHConfig *config); void lis3dshStop(LIS3DSHDriver *devp); #ifdef __cplusplus } #endif #endif /* _LIS3DSH_H_ */ /** @} */