/* 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 lis3mdl.h * @brief LIS3MDL MEMS interface module header. * * @{ */ #ifndef _LIS3MDL_H_ #define _LIS3MDL_H_ #include "hal_compass.h" /*===========================================================================*/ /* Driver constants. */ /*===========================================================================*/ /** * @name Version identification * @{ */ /** * @brief LIS3MDL driver version string. */ #define EX_LIS3MDL_VERSION "1.0.3" /** * @brief LIS3MDL driver version major number. */ #define EX_LIS3MDL_MAJOR 1 /** * @brief LIS3MDL driver version minor number. */ #define EX_LIS3MDL_MINOR 0 /** * @brief LIS3MDL driver version patch number. */ #define EX_LIS3MDL_PATCH 3 /** @} */ /** * @brief LIS3MDL characteristics. * * @{ */ #define LIS3MDL_NUMBER_OF_AXES 3U #define LIS3MDL_4GA 4.0f #define LIS3MDL_8GA 8.0f #define LIS3MDL_12GA 12.0f #define LIS3MDL_16GA 16.0f #define LIS3MDL_SENS_4GA 0.00014615f #define LIS3MDL_SENS_8GA 0.00029231f #define LIS3MDL_SENS_12GA 0.0004384f #define LIS3MDL_SENS_16GA 0.00058445f /** @} */ /** * @name LIS3MDL communication interfaces related bit masks * @{ */ #define LIS3MDL_DI_MASK 0xFF /**< Data In mask */ #define LIS3MDL_DI(n) (1 << n) /**< Data In bit n */ #define LIS3MDL_AD_MASK 0x3F /**< Address Data mask */ #define LIS3MDL_AD(n) (1 << n) /**< Address Data bit n */ #define LIS3MDL_MS (1 << 6) /**< Multiple selection */ #define LIS3MDL_RW (1 << 7) /**< Read Write selector */ #define LIS3MDL_SUB_MS (1 << 7) /**< Multiple RW in I2C mode*/ /** @} */ /** * @name LIS3MDL register addresses * @{ */ #define LIS3MDL_AD_WHO_AM_I 0x0F #define LIS3MDL_AD_CTRL_REG1 0x20 #define LIS3MDL_AD_CTRL_REG2 0x21 #define LIS3MDL_AD_CTRL_REG3 0x22 #define LIS3MDL_AD_CTRL_REG4 0x23 #define LIS3MDL_AD_CTRL_REG5 0x24 #define LIS3MDL_AD_STATUS_REG 0x27 #define LIS3MDL_AD_OUT_X_L 0x28 #define LIS3MDL_AD_OUT_X_H 0x29 #define LIS3MDL_AD_OUT_Y_L 0x2A #define LIS3MDL_AD_OUT_Y_H 0x2B #define LIS3MDL_AD_OUT_Z_L 0x2C #define LIS3MDL_AD_OUT_Z_H 0x2D #define LIS3MDL_AD_TEMP_OUT_L 0x2E #define LIS3MDL_AD_TEMP_OUT_H 0x2F #define LIS3MDL_AD_INT_CFG 0x30 #define LIS3MDL_AD_INT_SOURCE 0x31 #define LIS3MDL_AD_INT_THS_L 0x32 #define LIS3MDL_AD_INT_THS_H 0x33 /** @} */ /** * @name LIS3MDL_CTRL_REG1 register bits definitions * @{ */ #define LIS3MDL_CTRL_REG1_MASK 0xFF /**< LIS3MDL_CTRL_REG1 mask */ #define LIS3MDL_CTRL_REG1_ST (1 << 0) /**< Self test enable */ #define LIS3MDL_CTRL_REG1_FAST_ODR (1 << 1) /**< Fast data rate */ #define LIS3MDL_CTRL_REG1_DO0 (1 << 2) /**< Output data rate bit 0 */ #define LIS3MDL_CTRL_REG1_DO1 (1 << 3) /**< Output data rate bit 1 */ #define LIS3MDL_CTRL_REG1_DO2 (1 << 4) /**< Output data rate bit 2 */ #define LIS3MDL_CTRL_REG1_OM0 (1 << 5) /**< X-Y mode bit 0 */ #define LIS3MDL_CTRL_REG1_OM1 (1 << 6) /**< X-Y mode bit 1 */ #define LIS3MDL_CTRL_REG1_TEMP_EN (1 << 7) /**< Temperature sensor */ /** @} */ /** * @name LIS3MDL_CTRL_REG2 register bits definitions * @{ */ #define LIS3MDL_CTRL_REG2_MASK 0x6C /**< LIS3MDL_CTRL_REG2 mask */ #define LIS3MDL_CTRL_REG2_SOFT_RST (1 << 2) /**< Soft reset */ #define LIS3MDL_CTRL_REG2_REBOOT (1 << 3) /**< Reboot memory */ #define LIS3MDL_CTRL_REG2_FS_MASK 0x60 /**< Full scale mask */ #define LIS3MDL_CTRL_REG2_FS0 (1 << 5) /**< Full scale bit 0 */ #define LIS3MDL_CTRL_REG2_FS1 (1 << 6) /**< Full scale bit 1 */ /** @} */ /** * @name LIS3MDL_CTRL_REG3 register bits definitions * @{ */ #define LIS3MDL_CTRL_REG3_MASK 0x27 /**< LIS3MDL_CTRL_REG3 mask */ #define LIS3MDL_CTRL_REG3_MD0 (1 << 0) /**< Operating mode bit 0 */ #define LIS3MDL_CTRL_REG3_MD1 (1 << 1) /**< Operating mode bit 1 */ #define LIS3MDL_CTRL_REG3_SIM (1 << 2) /**< SPI interface mode */ #define LIS3MDL_CTRL_REG3_LP (1 << 5) /**< Low power */ /** @} */ /** * @name LIS3MDL_CTRL_REG4 register bits definitions * @{ */ #define LIS3MDL_CTRL_REG4_MASK 0x0E /**< LIS3MDL_CTRL_REG4 mask */ #define LIS3MDL_CTRL_REG4_BLE (1 << 1) /**< Endianess */ #define LIS3MDL_CTRL_REG4_OMZ0 (1 << 2) /**< Z mode bit 0 */ #define LIS3MDL_CTRL_REG4_OMZ1 (1 << 3) /**< Z mode bit 1 */ /** @} */ /** * @name LIS3MDL_CTRL_REG5 register bits definitions * @{ */ #define LIS3MDL_CTRL_REG5_MASK 0xC0 /**< LIS3MDL_CTRL_REG5 mask */ #define LIS3MDL_CTRL_REG5_BDU (1 << 6) /**< Block data update */ #define LIS3MDL_CTRL_REG5_FAST_READ (1 << 7) /**< Fast read mode */ /** @} */ /*===========================================================================*/ /* Driver pre-compile time settings. */ /*===========================================================================*/ /** * @name Configuration options * @{ */ /** * @brief LIS3MDL SPI interface switch. * @details If set to @p TRUE the support for SPI is included. * @note The default is @p FALSE. */ #if !defined(LIS3MDL_USE_SPI) || defined(__DOXYGEN__) #define LIS3MDL_USE_SPI FALSE #endif /** * @brief LIS3MDL I2C interface switch. * @details If set to @p TRUE the support for I2C is included. * @note The default is @p TRUE. */ #if !defined(LIS3MDL_USE_I2C) || defined(__DOXYGEN__) #define LIS3MDL_USE_I2C TRUE #endif /** * @brief LIS3MDL advanced configurations switch. * @details If set to @p TRUE more configurations are available. * @note The default is @p FALSE. */ #if !defined(LIS3MDL_USE_ADVANCED) || defined(__DOXYGEN__) #define LIS3MDL_USE_ADVANCED FALSE #endif /** * @brief LIS3MDL 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(LIS3MDL_SHARED_I2C) || defined(__DOXYGEN__) #define LIS3MDL_SHARED_I2C FALSE #endif /** @} */ /*===========================================================================*/ /* Derived constants and error checks. */ /*===========================================================================*/ #if !(LIS3MDL_USE_SPI ^ LIS3MDL_USE_I2C) #error "LIS3MDL_USE_SPI and LIS3MDL_USE_I2C cannot be both true or both false" #endif #if LIS3MDL_USE_SPI && !HAL_USE_SPI #error "LIS3MDL_USE_SPI requires HAL_USE_SPI" #endif #if LIS3MDL_USE_I2C && !HAL_USE_I2C #error "LIS3MDL_USE_I2C requires HAL_USE_I2C" #endif #if LIS3MDL_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION #error "LIS3MDL_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION" #endif /*===========================================================================*/ /* Driver data structures and types. */ /*===========================================================================*/ /** * @name LIS3MDL data structures and types * @{ */ /** * @brief LIS3MDL slave address */ typedef enum { LIS3MDL_SAD_GND = 0x1C, /**< Slave Address when SA1 is to GND */ LIS3MDL_SAD_VCC = 0x1E /**< Slave Address when SA1 is to VCC */ }lis3mdl_sad_t; /** * @brief LIS3MDL full scale */ typedef enum { LIS3MDL_FS_4GA = 0x00, /**< ±4 Gauss */ LIS3MDL_FS_8GA = 0x20, /**< ±8 Gauss */ LIS3MDL_FS_12GA = 0x40, /**< ±12 Gauss */ LIS3MDL_FS_16GA = 0x60 /**< ±16 Gauss */ }lis3mdl_fs_t; /** * @brief LIS3MDL output data rate */ typedef enum { LIS3MDL_ODR_0_625HZ = 0x00, /**< Output Data Rate = 0.625 Hz */ LIS3MDL_ODR_1_25HZ = 0x04, /**< Output Data Rate = 1.25 Hz */ LIS3MDL_ODR_2_5HZ = 0x08, /**< Output Data Rate = 2.5 Hz */ LIS3MDL_ODR_5HZ = 0x0C, /**< Output Data Rate = 5 Hz */ LIS3MDL_ODR_10HZ = 0x10, /**< Output Data Rate = 10 Hz */ LIS3MDL_ODR_20HZ = 0x14, /**< Output Data Rate = 20 Hz */ LIS3MDL_ODR_40HZ = 0x18, /**< Output Data Rate = 40 Hz */ LIS3MDL_ODR_80HZ = 0x1C /**< Output Data Rate = 80 Hz */ }lis3mdl_odr_t; /** * @brief LIS3MDL low power mode configuration */ typedef enum { LIS3MDL_LP_DISABLED = 0x00, /**< Low Power mode disabled */ LIS3MDL_LP_ENABLED = 0x20 /**< Low Power mode enabled */ }lis3mdl_lp_t; /** * @brief LIS3MDL conversion mode */ typedef enum { LIS3MDL_MD_CONTINUOUS = 0x00, /**< Continuous conversion mode */ LIS3MDL_MD_SINGLE = 0x01, /**< Single conversion mode */ LIS3MDL_MD_POWER_DOWN = 0x02 /**< Power down mode */ }lis3mdl_md_t; /** * @brief LIS3MDL operation mode for X and Y axes */ typedef enum { LIS3MDL_OMXY_LOW_POWER = 0x00, /**< X-Y axes low power mode */ LIS3MDL_OMXY_MEDIUM = 0x20, /**< X-Y axes medium performance mode */ LIS3MDL_OMXY_HIGH = 0x40, /**< X-Y axes high performance mode */ LIS3MDL_OMXY_ULTRA = 0x60 /**< X-Y axes ultra performance mode */ }lis3mdl_omxy_t; /** * @brief LIS3MDL operation mode for Z axis */ typedef enum { LIS3MDL_OMZ_LOW_POWER = 0x00, /**< Z axis low power mode */ LIS3MDL_OMZ_MEDIUM = 0x04, /**< Z axis medium performance mode */ LIS3MDL_OMZ_HIGH = 0x08, /**< Z axis high performance mode */ LIS3MDL_OMZ_ULTRA = 0x0C /**< Z axis ultra performance mode */ }lis3mdl_omz_t; /** * @brief LIS3MDL temperature sensor enabling */ typedef enum { LIS3MDL_TEMP_DISABLED = 0x00, /**< Temperature sensor disabled. */ LIS3MDL_TEMP_ENABLED = 0x80 /**< Temperature sensor enabled. */ }lis3mdl_temp_t; /** * @brief LIS3MDL block data update */ typedef enum { LIS3MDL_BDU_CONTINUOUS = 0x00, /**< Continuous Update */ LIS3MDL_BDU_BLOCKED = 0x40 /**< Block data updated after reading. */ }lis3mdl_bdu_t; /** * @brief LIS3MDL endianness */ typedef enum { LIS3MDL_END_LITTLE = 0x00, /**< Little endian. */ LIS3MDL_END_BIG = 0x02 /**< Big endian. */ }lis3mdl_end_t; /** * @brief Driver state machine possible states. */ typedef enum { LIS3MDL_UNINIT = 0, /**< Not initialized. */ LIS3MDL_STOP = 1, /**< Stopped. */ LIS3MDL_READY = 2, /**< Ready. */ } lis3mdl_state_t; /** * @brief LIS3MDL configuration structure. */ typedef struct { #if (LIS3MDL_USE_SPI) || defined(__DOXYGEN__) /** * @brief SPI driver associated to this LIS3MDL. */ SPIDriver *spip; /** * @brief SPI configuration associated to this LIS3MDL. */ const SPIConfig *spicfg; #endif /* LIS3MDL_USE_SPI */ #if (LIS3MDL_USE_I2C) || defined(__DOXYGEN__) /** * @brief I2C driver associated to this LIS3MDL. */ I2CDriver *i2cp; /** * @brief I2C configuration associated to this LIS3MDL. */ const I2CConfig *i2ccfg; #endif /* LIS3MDL_USE_I2C */ /** * @brief LIS3MDL initial sensitivity. */ float* sensitivity; /** * @brief LIS3MDL initial bias. */ float* bias; /** * @brief LIS3MDL slave address */ lis3mdl_sad_t slaveaddress; /** * @brief LIS3MDL full scale */ lis3mdl_fs_t fullscale; /** * @brief LIS3MDL output data rate */ lis3mdl_odr_t outputdatarate; #if LIS3MDL_USE_ADVANCED || defined(__DOXYGEN__) /** * @brief LIS3MDL low power mode configuration */ lis3mdl_lp_t lowpowermode; /** * @brief LIS3MDL conversion mode */ lis3mdl_md_t conversionmode; /** * @brief LIS3MDL operation mode for X and Y axes */ lis3mdl_omxy_t operationmodexy; /** * @brief LIS3MDL operation mode for Z axis */ lis3mdl_omz_t operationmodez; /** * @brief LIS3MDL block data update */ lis3mdl_bdu_t blockdataupdate; /** * @brief LIS3MDL endianness */ lis3mdl_end_t endianness; #endif } LIS3MDLConfig; /** * @brief Structure representing a LIS3MDL driver. */ typedef struct LIS3MDLDriver LIS3MDLDriver; /** * @brief @p LIS3MDL specific methods. */ #define _lis3mdl_methods \ _base_compass_methods \ /* Change full scale value of LIS3MDL.*/ \ msg_t (*set_full_scale)(void *instance, lis3mdl_fs_t fs); /** * @extends BaseCompassVMT * * @brief @p LIS3MDL virtual methods table. */ struct LIS3MDLVMT { _lis3mdl_methods }; /** * @brief @p LIS3MDLDriver specific data. */ #define _lis3mdl_data \ _base_compass_data \ /* Driver state.*/ \ lis3mdl_state_t state; \ /* Current configuration data.*/ \ const LIS3MDLConfig *config; \ /* Current sensitivity.*/ \ float sensitivity[LIS3MDL_NUMBER_OF_AXES]; \ /* Bias data.*/ \ float bias[LIS3MDL_NUMBER_OF_AXES]; \ /* Current full scale value.*/ \ float fullscale; /** * @extends BaseCompass * * @brief LIS3MDL 3-axis compass class. * @details This class extends @p BaseCompass by adding physical * driver implementation. */ struct LIS3MDLDriver { /** @brief BaseSensor Virtual Methods Table. */ const struct BaseSensorVMT *vmt_basesensor; /** @brief BaseCompass Virtual Methods Table. */ const struct BaseCompassVMT *vmt_basecompass; /** @brief LIS3MDL Virtual Methods Table. */ const struct LIS3MDLVMT *vmt_lis3mdl; _lis3mdl_data }; /** @} */ /*===========================================================================*/ /* Driver macros. */ /*===========================================================================*/ /** * @brief Change compass full scale value. * * @param[in] ip pointer to a @p BaseCompass class. * @param[in] fs the new full scale value. * * @return The operation status. * @retval MSG_OK if the function succeeded. * @retval MSG_RESET if one or more errors occurred. * @api */ #define compassSetFullScale(ip, fs) \ (ip)->vmt_lis3mdl->set_full_scale(ip, fs) /*===========================================================================*/ /* External declarations. */ /*===========================================================================*/ #ifdef __cplusplus extern "C" { #endif void lis3mdlObjectInit(LIS3MDLDriver *devp); void lis3mdlStart(LIS3MDLDriver *devp, const LIS3MDLConfig *config); void lis3mdlStop(LIS3MDLDriver *devp); #ifdef __cplusplus } #endif #endif /* _LIS3MDL_H_ */ /** @} */