/* 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 lsm303agr.h * @brief LSM303AGR MEMS interface module header. * * @addtogroup LSM303AGR * @ingroup EX_ST * @{ */ #ifndef _LSM303AGR_H_ #define _LSM303AGR_H_ #include "hal_accelerometer.h" #include "hal_compass.h" /*===========================================================================*/ /* Driver constants. */ /*===========================================================================*/ /** * @name Version identification * @{ */ /** * @brief LSM303AGR driver version string. */ #define EX_LSM303AGR_VERSION "1.0.1" /** * @brief LSM303AGR driver version major number. */ #define EX_LSM303AGR_MAJOR 1 /** * @brief LSM303AGR driver version minor number. */ #define EX_LSM303AGR_MINOR 0 /** * @brief LSM303AGR driver version patch number. */ #define EX_LSM303AGR_PATCH 1 /** @} */ /** * @brief LSM303AGR accelerometer subsystem characteristics. * @note Sensitivity is expressed as milli-G/LSB whereas * 1 milli-G = 0.00980665 m/s^2. * @note Bias is expressed as milli-G. * * @{ */ #define LSM303AGR_ACC_NUMBER_OF_AXES 3U #define LSM303AGR_ACC_2G 2.0f #define LSM303AGR_ACC_4G 4.0f #define LSM303AGR_ACC_8G 8.0f #define LSM303AGR_ACC_16G 16.0f #define LSM303AGR_ACC_SENS_2G 0.060f #define LSM303AGR_ACC_SENS_4G 0.120f #define LSM303AGR_ACC_SENS_8G 0.240f #define LSM303AGR_ACC_SENS_16G 0.750f #define LSM303AGR_ACC_BIAS 0.0f /** @} */ /** * @brief LSM303AGR compass subsystem characteristics. * @note Sensitivity is expressed as G/LSB whereas G stands for Gauss. * @note Bias is expressed as G. * * @{ */ #define LSM303AGR_COMP_NUMBER_OF_AXES 3U #define LSM303AGR_COMP_50GA 50.0f #define LSM303AGR_COMP_SENS_50GA 0.00015f #define LSM303AGR_COMP_BIAS 0.0f /** @} */ /** * @name LSM303AGR communication interfaces related bit masks * @{ */ #define LSM303AGR_DI_MASK 0xFF #define LSM303AGR_DI(n) (1 << n) #define LSM303AGR_AD_MASK 0x7F #define LSM303AGR_AD(n) (1 << n) #define LSM303AGR_MS (1 << 7) /** @} */ /** * @name LSM303AGR register addresses * @{ */ #define LSM303AGR_AD_STATUS_REG_AUX_A 0x07 #define LSM303AGR_AD_OUT_TEMP_L_A 0x0C #define LSM303AGR_AD_OUT_TEMP_H_A 0x0D #define LSM303AGR_AD_INT_COUNTER_REG_A 0x0E #define LSM303AGR_AD_WHO_AM_I_A 0x0F #define LSM303AGR_AD_TEMP_CFG_REG_A 0x1F #define LSM303AGR_AD_CTRL_REG1_A 0x20 #define LSM303AGR_AD_CTRL_REG2_A 0x21 #define LSM303AGR_AD_CTRL_REG3_A 0x22 #define LSM303AGR_AD_CTRL_REG4_A 0x23 #define LSM303AGR_AD_CTRL_REG5_A 0x24 #define LSM303AGR_AD_CTRL_REG6_A 0x25 #define LSM303AGR_AD_REFERENCE_A 0x26 #define LSM303AGR_AD_STATUS_REG_A 0x27 #define LSM303AGR_AD_OUT_X_L_A 0x28 #define LSM303AGR_AD_OUT_X_H_A 0x29 #define LSM303AGR_AD_OUT_Y_L_A 0x2A #define LSM303AGR_AD_OUT_Y_H_A 0x2B #define LSM303AGR_AD_OUT_Z_L_A 0x2C #define LSM303AGR_AD_OUT_Z_H_A 0x2D #define LSM303AGR_AD_FIFO_CTRL_REG_A 0x2E #define LSM303AGR_AD_FIFO_SRC_REG_A 0x2F #define LSM303AGR_AD_INT1_CFG_A 0x30 #define LSM303AGR_AD_INT1_SRC_A 0x31 #define LSM303AGR_AD_INT1_THS_A 0x32 #define LSM303AGR_AD_INT1_DURATION_A 0x33 #define LSM303AGR_AD_INT2_CFG_A 0x34 #define LSM303AGR_AD_INT2_SRC_A 0x35 #define LSM303AGR_AD_INT2_THS_A 0x36 #define LSM303AGR_AD_INT2_DURATION_A 0x37 #define LSM303AGR_AD_CLICK_CFG_A 0x38 #define LSM303AGR_AD_CLICK_SRC_A 0x39 #define LSM303AGR_AD_CLICK_THS_A 0x3A #define LSM303AGR_AD_TIME_LIMIT_A 0x3B #define LSM303AGR_AD_TIME_LATENCY_A 0x3C #define LSM303AGR_AD_TIME_WINDOW_A 0x3D #define LSM303AGR_AD_ACT_THS_A 0x3E #define LSM303AGR_AD_ACT_DUR_A 0x3F #define LSM303AGR_AD_OFFSET_X_REG_L_M 0x45 #define LSM303AGR_AD_OFFSET_X_REG_H_M 0x46 #define LSM303AGR_AD_OFFSET_Y_REG_L_M 0x47 #define LSM303AGR_AD_OFFSET_Y_REG_H_M 0x48 #define LSM303AGR_AD_OFFSET_Z_REG_L_M 0x49 #define LSM303AGR_AD_OFFSET_Z_REG_H_M 0x4A #define LSM303AGR_AD_WHO_AM_I_M 0x4F #define LSM303AGR_AD_CFG_REG_A_M 0x60 #define LSM303AGR_AD_CFG_REG_B_M 0x61 #define LSM303AGR_AD_CFG_REG_C_M 0x62 #define LSM303AGR_AD_INT_CRTL_REG_M 0x63 #define LSM303AGR_AD_INT_SOURCE_REG_M 0x64 #define LSM303AGR_AD_INT_THS_L_REG_M 0x65 #define LSM303AGR_AD_INT_THS_H_REG_M 0x66 #define LSM303AGR_AD_STATUS_REG_M 0x67 #define LSM303AGR_AD_OUTX_L_REG_M 0x68 #define LSM303AGR_AD_OUTX_H_REG_M 0x69 #define LSM303AGR_AD_OUTY_L_REG_M 0x6A #define LSM303AGR_AD_OUTY_H_REG_M 0x6B #define LSM303AGR_AD_OUTZ_L_REG_M 0x6C #define LSM303AGR_AD_OUTZ_H_REG_M 0x6D /** @} */ /** * @name LSM303AGR_TEMP_CFG_REG_A register bits definitions * @{ */ #define LSM303AGR_TEMP_CFG_REG_A_TEMP_EN0 (1 << 0) #define LSM303AGR_TEMP_CFG_REG_A_TEMP_EN1 (1 << 0) /** @} */ /** * @name LSM303AGR_CTRL_REG1_A register bits definitions * @{ */ #define LSM303AGR_CTRL_REG1_A_XEN (1 << 0) #define LSM303AGR_CTRL_REG1_A_YEN (1 << 1) #define LSM303AGR_CTRL_REG1_A_ZEN (1 << 2) #define LSM303AGR_CTRL_REG1_A_LPEN (1 << 3) #define LSM303AGR_CTRL_REG1_A_ODR0 (1 << 4) #define LSM303AGR_CTRL_REG1_A_ODR1 (1 << 5) #define LSM303AGR_CTRL_REG1_A_ODR2 (1 << 6) #define LSM303AGR_CTRL_REG1_A_ODR3 (1 << 7) /** @} */ /** * @name LSM303AGR_CTRL_REG2_A register bits definitions * @{ */ #define LSM303AGR_CTRL_REG2_A_HPIS1 (1 << 0) #define LSM303AGR_CTRL_REG2_A_HPIS2 (1 << 1) #define LSM303AGR_CTRL_REG2_A_HPCLICK (1 << 2) #define LSM303AGR_CTRL_REG2_A_FDS (1 << 3) #define LSM303AGR_CTRL_REG2_A_HPCF1 (1 << 4) #define LSM303AGR_CTRL_REG2_A_HPCF2 (1 << 5) #define LSM303AGR_CTRL_REG2_A_HPM0 (1 << 6) #define LSM303AGR_CTRL_REG2_A_HPM1 (1 << 7) /** @} */ /** * @name LSM303AGR_CTRL_REG3_A register bits definitions * @{ */ #define LSM303AGR_CTRL_REG3_A_I1_OVERRUN (1 << 1) #define LSM303AGR_CTRL_REG3_A_I1_WTM (1 << 2) #define LSM303AGR_CTRL_REG3_A_I1_DRDY2 (1 << 3) #define LSM303AGR_CTRL_REG3_A_I1_DRDY1 (1 << 4) #define LSM303AGR_CTRL_REG3_A_I1_AOI2 (1 << 5) #define LSM303AGR_CTRL_REG3_A_I1_AOI1 (1 << 6) #define LSM303AGR_CTRL_REG3_A_I1_CLICK (1 << 7) /** @} */ /** * @name LSM303AGR_CTRL_REG4_A register bits definitions * @{ */ #define LSM303AGR_CTRL_REG4_A_SPI_ENABLE (1 << 0) #define LSM303AGR_CTRL_REG4_A_ST0 (1 << 1) #define LSM303AGR_CTRL_REG4_A_ST1 (1 << 2) #define LSM303AGR_CTRL_REG4_A_HR (1 << 3) #define LSM303AGR_CTRL_REG4_A_FS_MASK 0x30 #define LSM303AGR_CTRL_REG4_A_FS0 (1 << 4) #define LSM303AGR_CTRL_REG4_A_FS1 (1 << 5) #define LSM303AGR_CTRL_REG4_A_BLE (1 << 6) #define LSM303AGR_CTRL_REG4_A_BDU (1 << 7) /** @} */ /** * @name LSM303AGR_CTRL_REG5_A register bits definitions * @{ */ #define LSM303AGR_CTRL_REG5_A_D4D_INT2 (1 << 0) #define LSM303AGR_CTRL_REG5_A_LIR_INT2 (1 << 1) #define LSM303AGR_CTRL_REG5_A_D4D_INT1 (1 << 2) #define LSM303AGR_CTRL_REG5_A_LIR_INT1 (1 << 3) #define LSM303AGR_CTRL_REG5_A_FIFO_EN (1 << 6) #define LSM303AGR_CTRL_REG5_A_BOOT (1 << 7) /** @} */ /** * @name LSM303AGR_CTRL_REG6_A register bits definitions * @{ */ #define LSM303AGR_CTRL_REG6_A_H_LACTIVE (1 << 1) #define LSM303AGR_CTRL_REG6_A_P2_ACT (1 << 3) #define LSM303AGR_CTRL_REG6_A_BOOT_I2 (1 << 4) #define LSM303AGR_CTRL_REG6_A_I2_INT2 (1 << 5) #define LSM303AGR_CTRL_REG6_A_I2_INT1 (1 << 6) #define LSM303AGR_CTRL_REG6_A_I2_CLICKEN (1 << 7) /** @} */ /** * @name LSM303AGR_CFG_REG_A register bits definitions * @{ */ #define LSM303AGR_CFG_REG_A_M_MD0 (1 << 0) #define LSM303AGR_CFG_REG_A_M_MD1 (1 << 1) #define LSM303AGR_CFG_REG_A_M_ODR0 (1 << 2) #define LSM303AGR_CFG_REG_A_M_ODR1 (1 << 3) #define LSM303AGR_CFG_REG_A_M_LP (1 << 4) #define LSM303AGR_CFG_REG_A_M_SOFT_RST (1 << 5) #define LSM303AGR_CFG_REG_A_M_REBOOT (1 << 6) #define LSM303AGR_CFG_REG_A_M_COMP_TEMP_EN (1 << 7) /** @} */ /** * @name LSM303AGR_CFG_REG_B register bits definitions * @{ */ #define LSM303AGR_CFG_REG_B_M_LPF (1 << 0) #define LSM303AGR_CFG_REG_B_M_OFF_CANC (1 << 1) #define LSM303AGR_CFG_REG_B_M_SET_FREQ (1 << 2) #define LSM303AGR_CFG_REG_B_M_INT_ON (1 << 3) #define LSM303AGR_CFG_REG_B_M_OFF_CANC_OS (1 << 4) /** @} */ /** * @name LSM303AGR_CFG_REG_C register bits definitions * @{ */ #define LSM303AGR_CFG_REG_C_M_INT_MAG (1 << 0) #define LSM303AGR_CFG_REG_C_M_SELF_TEST (1 << 1) #define LSM303AGR_CFG_REG_C_M_BLE (1 << 3) #define LSM303AGR_CFG_REG_C_M_BDU (1 << 4) #define LSM303AGR_CFG_REG_C_M_I2C_DIS (1 << 5) #define LSM303AGR_CFG_REG_C_M_INT_MAG_PIN (1 << 6) /** @} */ /*===========================================================================*/ /* Driver pre-compile time settings. */ /*===========================================================================*/ /** * @name Configuration options * @{ */ /** * @brief LSM303AGR SPI interface switch. * @details If set to @p TRUE the support for SPI is included. * @note The default is @p FALSE. */ #if !defined(LSM303AGR_USE_SPI) || defined(__DOXYGEN__) #define LSM303AGR_USE_SPI FALSE #endif /** * @brief LSM303AGR 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(LSM303AGR_SHARED_SPI) || defined(__DOXYGEN__) #define LSM303AGR_SHARED_SPI FALSE #endif /** * @brief LSM303AGR I2C interface switch. * @details If set to @p TRUE the support for I2C is included. * @note The default is @p TRUE. */ #if !defined(LSM303AGR_USE_I2C) || defined(__DOXYGEN__) #define LSM303AGR_USE_I2C TRUE #endif /** * @brief LSM303AGR 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(LSM303AGR_SHARED_I2C) || defined(__DOXYGEN__) #define LSM303AGR_SHARED_I2C FALSE #endif /** * @brief LSM303AGR advanced configurations switch. * @details If set to @p TRUE more configurations are available. * @note The default is @p FALSE. */ #if !defined(LSM303AGR_USE_ADVANCED) || defined(__DOXYGEN__) #define LSM303AGR_USE_ADVANCED FALSE #endif /** @} */ /*===========================================================================*/ /* Derived constants and error checks. */ /*===========================================================================*/ #if !(LSM303AGR_USE_SPI ^ LSM303AGR_USE_I2C) #error "LSM303AGR_USE_SPI and LSM303AGR_USE_I2C cannot be both true or both false" #endif #if LSM303AGR_USE_SPI && !HAL_USE_SPI #error "LSM303AGR_USE_SPI requires HAL_USE_SPI" #endif #if LSM303AGR_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION #error "LSM303AGR_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION" #endif #if LSM303AGR_USE_I2C && !HAL_USE_I2C #error "LSM303AGR_USE_I2C requires HAL_USE_I2C" #endif #if LSM303AGR_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION #error "LSM303AGR_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION" #endif /** * @todo Add support for LSM303AGR over SPI. */ #if LSM303AGR_USE_SPI #error "LSM303AGR over SPI still not supported" #endif /*===========================================================================*/ /* Driver data structures and types. */ /*===========================================================================*/ /** * @name LSM303AGR accelerometer subsystem data structures and types. * @{ */ /** * @brief Structure representing a LSM303AGR driver. */ typedef struct LSM303AGRDriver LSM303AGRDriver; /** * @brief LSM303AGR accelerometer subsystem full scale. */ typedef enum { LSM303AGR_ACC_FS_2G = 0x00, /**< Full scale ±2g. */ LSM303AGR_ACC_FS_4G = 0x10, /**< Full scale ±4g. */ LSM303AGR_ACC_FS_8G = 0x20, /**< Full scale ±8g. */ LSM303AGR_ACC_FS_16G = 0x30 /**< Full scale ±16g. */ } lsm303agr_acc_fs_t; /** * @brief LSM303AGR accelerometer subsystem output data rate. */ typedef enum { LSM303AGR_ACC_ODR_PD = 0x00, /**< Power down */ LSM303AGR_ACC_ODR_1Hz = 0x10, /**< ODR 1 Hz */ LSM303AGR_ACC_ODR_10Hz = 0x20, /**< ODR 10 Hz */ LSM303AGR_ACC_ODR_25Hz = 0x30, /**< ODR 25 Hz */ LSM303AGR_ACC_ODR_50Hz = 0x40, /**< ODR 50 Hz */ LSM303AGR_ACC_ODR_100Hz = 0x50, /**< ODR 100 Hz */ LSM303AGR_ACC_ODR_200Hz = 0x60, /**< ODR 200 Hz */ LSM303AGR_ACC_ODR_400Hz = 0x70, /**< ODR 400 Hz */ LSM303AGR_ACC_ODR_1620Hz = 0x80, /**< ODR 1620 Hz (LP only) */ LSM303AGR_ACC_ODR_1344Hz = 0x90 /**< ODR 1344 Hz or 5376 Hz in LP */ } lsm303agr_acc_odr_t; /** * @brief LSM303AGR accelerometer subsystem axes enabling. */ typedef enum { LSM303AGR_ACC_AE_DISABLED = 0x00,/**< All axes disabled. */ LSM303AGR_ACC_AE_X = 0x01, /**< Only X-axis enabled. */ LSM303AGR_ACC_AE_Y = 0x02, /**< Only Y-axis enabled. */ LSM303AGR_ACC_AE_XY = 0x03, /**< X and Y axes enabled. */ LSM303AGR_ACC_AE_Z = 0x04, /**< Only Z-axis enabled. */ LSM303AGR_ACC_AE_XZ = 0x05, /**< X and Z axes enabled. */ LSM303AGR_ACC_AE_YZ = 0x06, /**< Y and Z axes enabled. */ LSM303AGR_ACC_AE_XYZ = 0x07 /**< All axes enabled. */ } lsm303agr_acc_ae_t; /** * @brief LSM303AGR accelerometer subsystem operation mode. */ typedef enum { LSM303AGR_ACC_MODE_NORM = 0, /**< Normal mode. */ LSM303AGR_ACC_MODE_LPOW = 1, /**< Low power mode. */ LSM303AGR_ACC_MODE_HRES = 2 /**< High resolution mode. */ } lsm303agr_acc_mode_t; /** * @brief LSM303AGR accelerometer subsystem block data update. */ typedef enum { LSM303AGR_ACC_BDU_CONT = 0x00, /**< Continuous update */ LSM303AGR_ACC_BDU_BLOCK = 0x80 /**< Update blocked */ } lsm303agr_acc_bdu_t; /** * @brief LSM303AGR accelerometer endianness. */ typedef enum { LSM303AGR_ACC_END_LITTLE = 0x00, /**< Little Endian */ LSM303AGR_ACC_END_BIG = 0x40 /**< Big Endian */ } lsm303agr_acc_end_t; /** * @name LSM303AGR compass subsystem data structures and types. * @{ */ /** * @brief LSM303AGR compass subsystem output data rate. */ typedef enum { LSM303AGR_COMP_ODR_10HZ = 0x00, /**< ODR 10 Hz */ LSM303AGR_COMP_ODR_20HZ = 0x04, /**< ODR 20 Hz */ LSM303AGR_COMP_ODR_50HZ = 0x08, /**< ODR 50 Hz */ LSM303AGR_COMP_ODR_100HZ = 0x0C /**< ODR 100 Hz */ } lsm303agr_comp_odr_t; /** * @brief LSM303AGR compass subsystem working mode. */ typedef enum { LSM303AGR_COMP_MODE_NORM = 0x00, /**< Continuous-Conversion Mode */ LSM303AGR_COMP_MODE_SINGLE = 0x01,/**< Single-Conversion Mode */ LSM303AGR_COMP_MODE_IDLE = 0x02 /**< Sleep Mode */ } lsm303agr_comp_mode_t; /** * @brief LSM303AGR compass subsystem working mode. */ typedef enum { LSM303AGR_COMP_LPOW_DIS = 0x00, /**< High Resolution Mode */ LSM303AGR_COMP_LPOW_EN = 0x10 /**< Low Power Mode */ } lsm303agr_comp_lpow_t; /** * @name LSM303AGR main system data structures and types. * @{ */ /** * @brief Driver state machine possible states. */ typedef enum { LSM303AGR_UNINIT = 0, /**< Not initialized. */ LSM303AGR_STOP = 1, /**< Stopped. */ LSM303AGR_READY = 2, /**< Ready. */ } lsm303agr_state_t; /** * @brief LSM303AGR configuration structure. */ typedef struct { /** * @brief I2C driver associated to this LSM303AGR. */ I2CDriver *i2cp; /** * @brief I2C configuration associated to this LSM303AGR. */ const I2CConfig *i2ccfg; /** * @brief LSM303AGR accelerometer subsystem initial sensitivity. */ float *accsensitivity; /** * @brief LSM303AGR accelerometer subsystem initial bias. */ float *accbias; /** * @brief LSM303AGR accelerometer subsystem initial full scale. */ lsm303agr_acc_fs_t accfullscale; /** * @brief LSM303AGR accelerometer subsystem output data rate. */ lsm303agr_acc_odr_t accoutdatarate; #if LSM303AGR_USE_ADVANCED || defined(__DOXYGEN__) /** * @brief LSM303AGR accelerometer subsystem mode. */ lsm303agr_acc_mode_t accmode; /** * @brief LSM303AGR accelerometer subsystem block data update. */ lsm303agr_acc_bdu_t accblockdataupdate; /** * @brief LSM303AGR accelerometer endianness. */ lsm303agr_acc_end_t accendianess; #endif /** * @brief LSM303AGR compass initial sensitivity. */ float *compsensitivity; /** * @brief LSM303AGR compass initial bias. */ float *compbias; /** * @brief LSM303AGR compass subsystem output data rate. */ lsm303agr_comp_odr_t compoutputdatarate; #if LSM303AGR_USE_ADVANCED || defined(__DOXYGEN__) /** * @brief LSM303AGR compass subsystem working mode. */ lsm303agr_comp_mode_t compmode; /** * @brief LSM303AGR compass subsystem lowpower mode. */ lsm303agr_comp_lpow_t complp; #endif } LSM303AGRConfig; /** * @brief @p LSM303AGR specific methods. */ #define _lsm303agr_methods_alone \ /* Change full scale value of LSM303AGR accelerometer subsystem.*/ \ msg_t (*acc_set_full_scale)(LSM303AGRDriver *devp, \ lsm303agr_acc_fs_t fs); /** * @brief @p LSM303AGR specific methods with inherited ones. */ #define _lsm303agr_methods \ _base_object_methods \ _lsm303agr_methods_alone /** * @extends BaseObjectVMT * * @brief @p LSM303AGR virtual methods table. */ struct LSM303AGRVMT { _lsm303agr_methods }; /** * @brief @p LSM303AGRDriver specific data. */ #define _lsm303agr_data \ _base_sensor_data \ /* Driver state.*/ \ lsm303agr_state_t state; \ /* Current configuration data.*/ \ const LSM303AGRConfig *config; \ /* Accelerometer subsystem axes number.*/ \ size_t accaxes; \ /* Accelerometer subsystem current sensitivity.*/ \ float accsensitivity[LSM303AGR_ACC_NUMBER_OF_AXES]; \ /* Accelerometer subsystem current bias .*/ \ float accbias[LSM303AGR_ACC_NUMBER_OF_AXES]; \ /* Accelerometer subsystem current full scale value.*/ \ float accfullscale; \ /* Compass subsystem axes number.*/ \ size_t compaxes; \ /* Compass subsystem current sensitivity.*/ \ float compsensitivity[LSM303AGR_COMP_NUMBER_OF_AXES]; \ /* Compass subsystem current bias.*/ \ float compbias[LSM303AGR_COMP_NUMBER_OF_AXES]; \ /* Compass subsystem current full scale value.*/ \ float compfullscale; /** * @brief LSM303AGR 6-axis accelerometer/compass class. */ struct LSM303AGRDriver { /** @brief Virtual Methods Table.*/ const struct LSM303AGRVMT *vmt; /** @brief Base accelerometer interface.*/ BaseAccelerometer acc_if; /** @brief Base compass interface.*/ BaseCompass comp_if; _lsm303agr_data }; /** @} */ /*===========================================================================*/ /* Driver macros. */ /*===========================================================================*/ /** * @brief Return the number of axes of the BaseAccelerometer. * * @param[in] devp pointer to @p LSM303AGRDriver. * * @return the number of axes. * * @api */ #define lsm303agrAccelerometerGetAxesNumber(devp) \ accelerometerGetAxesNumber(&((devp)->acc_if)) /** * @brief Retrieves raw data from the BaseAccelerometer. * @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 * BaseAccelerometer axes number. * * @param[in] devp pointer to @p LSM303AGRDriver. * @param[out] axes a buffer which would be filled with raw data. * * @return The operation status. * @retval MSG_OK if the function succeeded. * @retval MSG_RESET if one or more I2C errors occurred, the errors can * be retrieved using @p i2cGetErrors(). * @retval MSG_TIMEOUT if a timeout occurred before operation end. * * @api */ #define lsm303agrAccelerometerReadRaw(devp, axes) \ accelerometerReadRaw(&((devp)->acc_if), axes) /** * @brief Retrieves cooked data from the BaseAccelerometer. * @note This data is manipulated according to the formula * cooked = (raw * sensitivity) - bias. * @note Final data is expressed as milli-G. * @note The axes array must be at least the same size of the * BaseAccelerometer axes number. * * @param[in] devp pointer to @p LSM303AGRDriver. * @param[out] axes a buffer which would be filled with cooked data. * * @return The operation status. * @retval MSG_OK if the function succeeded. * @retval MSG_RESET if one or more I2C errors occurred, the errors can * be retrieved using @p i2cGetErrors(). * @retval MSG_TIMEOUT if a timeout occurred before operation end. * * @api */ #define lsm303agrAccelerometerReadCooked(devp, axes) \ accelerometerReadCooked(&((devp)->acc_if), axes) /** * @brief Set bias values for the BaseAccelerometer. * @note Bias must be expressed as milli-G. * @note The bias buffer must be at least the same size of the * BaseAccelerometer axes number. * * @param[in] devp pointer to @p LSM303AGRDriver. * @param[in] bp a buffer which contains biases. * * @return The operation status. * @retval MSG_OK if the function succeeded. * * @api */ #define lsm303agrAccelerometerSetBias(devp, bp) \ accelerometerSetBias(&((devp)->acc_if), bp) /** * @brief Reset bias values for the BaseAccelerometer. * @note Default biases value are obtained from device datasheet when * available otherwise they are considered zero. * * @param[in] devp pointer to @p LSM303AGRDriver. * * @return The operation status. * @retval MSG_OK if the function succeeded. * * @api */ #define lsm303agrAccelerometerResetBias(devp) \ accelerometerResetBias(&((devp)->acc_if)) /** * @brief Set sensitivity values for the BaseAccelerometer. * @note Sensitivity must be expressed as milli-G/LSB. * @note The sensitivity buffer must be at least the same size of the * BaseAccelerometer axes number. * * @param[in] devp pointer to @p LSM303AGRDriver. * @param[in] sp a buffer which contains sensitivities. * * @return The operation status. * @retval MSG_OK if the function succeeded. * * @api */ #define lsm303agrAccelerometerSetSensitivity(devp, sp) \ accelerometerSetSensitivity(&((devp)->acc_if), sp) /** * @brief Reset sensitivity values for the BaseAccelerometer. * @note Default sensitivities value are obtained from device datasheet. * * @param[in] devp pointer to @p LSM303AGRDriver. * * @return The operation status. * @retval MSG_OK if the function succeeded. * @retval MSG_RESET otherwise. * * @api */ #define lsm303agrAccelerometerResetSensitivity(devp) \ accelerometerResetSensitivity(&((devp)->acc_if)) /** * @brief Changes the LSM303AGRDriver accelerometer 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 LSM303AGRDriver. * @param[in] fs new fullscale value. * * @return The operation status. * @retval MSG_OK if the function succeeded. * @retval MSG_RESET otherwise. * * @api */ #define lsm303agrAccelerometerSetFullScale(devp, fs) \ (devp)->vmt->acc_set_full_scale(devp, fs) /** * @brief Return the number of axes of the BaseCompass. * * @param[in] devp pointer to @p LSM303AGRDriver. * * @return the number of axes. * * @api */ #define lsm303agrCompassGetAxesNumber(devp) \ compassGetAxesNumber(&((devp)->comp_if)) /** * @brief Retrieves raw data from the BaseCompass. * @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 * BaseCompass axes number. * * @param[in] devp pointer to @p BaseCompass interface. * @param[out] axes a buffer which would be filled with raw data. * * @return The operation status. * @retval MSG_OK if the function succeeded. * @retval MSG_RESET if one or more I2C errors occurred, the errors can * be retrieved using @p i2cGetErrors(). * @retval MSG_TIMEOUT if a timeout occurred before operation end. * * @api */ #define lsm303agrCompassReadRaw(devp, axes) \ compassReadRaw(&((devp)->comp_if), axes) /** * @brief Retrieves cooked data from the BaseCompass. * @note This data is manipulated according to the formula * cooked = (raw * sensitivity) - bias. * @note Final data is expressed as G. * @note The axes array must be at least the same size of the * BaseCompass axes number. * * @param[in] devp pointer to @p BaseCompass interface. * @param[out] axes a buffer which would be filled with cooked data. * * @return The operation status. * @retval MSG_OK if the function succeeded. * @retval MSG_RESET if one or more I2C errors occurred, the errors can * be retrieved using @p i2cGetErrors(). * @retval MSG_TIMEOUT if a timeout occurred before operation end. * * @api */ #define lsm303agrCompassReadCooked(devp, axes) \ compassReadCooked(&((devp)->comp_if), axes) /** * @brief Set bias values for the BaseCompass. * @note Bias must be expressed as G. * @note The bias buffer must be at least the same size of the * BaseCompass axes number. * * @param[in] devp pointer to @p BaseCompass interface. * @param[in] bp a buffer which contains biases. * * @return The operation status. * @retval MSG_OK if the function succeeded. * * @api */ #define lsm303agrCompassSetBias(devp, bp) \ compassSetBias(&((devp)->comp_if), bp) /** * @brief Reset bias values for the BaseCompass. * @note Default biases value are obtained from device datasheet when * available otherwise they are considered zero. * * @param[in] devp pointer to @p LSM303AGRDriver. * * @return The operation status. * @retval MSG_OK if the function succeeded. * * @api */ #define lsm303agrCompassResetBias(devp) \ compassResetBias(&((devp)->comp_if)) /** * @brief Set sensitivity values for the BaseCompass. * @note Sensitivity must be expressed as G/LSB. * @note The sensitivity buffer must be at least the same size of the * BaseCompass axes number. * * @param[in] devp pointer to @p LSM303AGRDriver. * @param[in] sp a buffer which contains sensitivities. * * @return The operation status. * @retval MSG_OK if the function succeeded. * * @api */ #define lsm303agrCompassSetSensitivity(devp, sp) \ compassSetSensitivity(&((devp)->comp_if), sp) /** * @brief Reset sensitivity values for the BaseCompass. * @note Default sensitivities value are obtained from device datasheet. * * @param[in] devp pointer to @p LSM303AGRDriver. * * @return The operation status. * @retval MSG_OK if the function succeeded. * @retval MSG_RESET otherwise. * * @api */ #define lsm303agrCompassResetSensitivity(devp) \ compassResetSensitivity(&((devp)->comp_if)) /*===========================================================================*/ /* External declarations. */ /*===========================================================================*/ #ifdef __cplusplus extern "C" { #endif void lsm303agrObjectInit(LSM303AGRDriver *devp); void lsm303agrStart(LSM303AGRDriver *devp, const LSM303AGRConfig *config); void lsm303agrStop(LSM303AGRDriver *devp); #ifdef __cplusplus } #endif #endif /* _LSM303AGR_H_ */ /** @} */