/* 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 lsm303dlhc.h * @brief LSM303DLHC MEMS interface module header. * * @addtogroup LSM303DLHC * @ingroup EX_ST * @{ */ #ifndef _LSM303DLHC_H_ #define _LSM303DLHC_H_ #include "hal_accelerometer.h" #include "hal_compass.h" /*===========================================================================*/ /* Driver constants. */ /*===========================================================================*/ /** * @name Version identification * @{ */ /** * @brief LSM303DLHC driver version string. */ #define EX_LSM303DLHC_VERSION "1.1.2" /** * @brief LSM303DLHC driver version major number. */ #define EX_LSM303DLHC_MAJOR 1 /** * @brief LSM303DLHC driver version minor number. */ #define EX_LSM303DLHC_MINOR 1 /** * @brief LSM303DLHC driver version patch number. */ #define EX_LSM303DLHC_PATCH 2 /** @} */ /** * @brief LSM303DLHC 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 LSM303DLHC_ACC_NUMBER_OF_AXES 3U #define LSM303DLHC_ACC_2G 2.0f #define LSM303DLHC_ACC_4G 4.0f #define LSM303DLHC_ACC_8G 8.0f #define LSM303DLHC_ACC_16G 16.0f #define LSM303DLHC_ACC_SENS_2G 0.0610f #define LSM303DLHC_ACC_SENS_4G 0.1221f #define LSM303DLHC_ACC_SENS_8G 0.2442f #define LSM303DLHC_ACC_SENS_16G 0.4884f #define LSM303DLHC_ACC_BIAS 0.0f /** @} */ /** * @brief LSM303DLHC compass subsystem characteristics. * @note Sensitivity is expressed as G/LSB whereas G stands for Gauss. * @note Bias is expressed as G. * * @{ */ #define LSM303DLHC_COMP_NUMBER_OF_AXES 3U #define LSM303DLHC_COMP_1P3GA 1.3f #define LSM303DLHC_COMP_1P9GA 1.9f #define LSM303DLHC_COMP_2P5GA 2.5f #define LSM303DLHC_COMP_4P0GA 4.0f #define LSM303DLHC_COMP_4P7GA 4.7f #define LSM303DLHC_COMP_5P6GA 5.6f #define LSM303DLHC_COMP_8P1GA 8.1f #define LSM303DLHC_COMP_SENS_XY_1P3GA 0.000909f #define LSM303DLHC_COMP_SENS_XY_1P9GA 0.001169f #define LSM303DLHC_COMP_SENS_XY_2P5GA 0.0014925f #define LSM303DLHC_COMP_SENS_XY_4P0GA 0.0022222f #define LSM303DLHC_COMP_SENS_XY_4P7GA 0.0025000f #define LSM303DLHC_COMP_SENS_XY_5P6GA 0.0030303f #define LSM303DLHC_COMP_SENS_XY_8P1GA 0.0043478f #define LSM303DLHC_COMP_SENS_Z_1P3GA 0.0010204f #define LSM303DLHC_COMP_SENS_Z_1P9GA 0.0013071f #define LSM303DLHC_COMP_SENS_Z_2P5GA 0.0016666f #define LSM303DLHC_COMP_SENS_Z_4P0GA 0.0025000f #define LSM303DLHC_COMP_SENS_Z_4P7GA 0.0028169f #define LSM303DLHC_COMP_SENS_Z_5P6GA 0.0033898f #define LSM303DLHC_COMP_SENS_Z_8P1GA 0.0048780f #define LSM303DLHC_COMP_BIAS 0.0f /** @} */ /** * @name LSM303DLHC communication interfaces related bit masks * @{ */ #define LSM303DLHC_DI_MASK 0xFF #define LSM303DLHC_DI(n) (1 << n) #define LSM303DLHC_AD_MASK 0x7F #define LSM303DLHC_AD(n) (1 << n) #define LSM303DLHC_MS (1 << 7) /** @} */ /** * @name LSM303DLHC register addresses * @{ */ #define LSM303DLHC_AD_ACC_CTRL_REG1 0x20 #define LSM303DLHC_AD_ACC_CTRL_REG2 0x21 #define LSM303DLHC_AD_ACC_CTRL_REG3 0x22 #define LSM303DLHC_AD_ACC_CTRL_REG4 0x23 #define LSM303DLHC_AD_ACC_CTRL_REG5 0x24 #define LSM303DLHC_AD_ACC_CTRL_REG6 0x25 #define LSM303DLHC_AD_ACC_REFERENCE 0x26 #define LSM303DLHC_AD_ACC_STATUS_REG 0x27 #define LSM303DLHC_AD_ACC_OUT_X_L 0x28 #define LSM303DLHC_AD_ACC_OUT_X_H 0x29 #define LSM303DLHC_AD_ACC_OUT_Y_L 0x2A #define LSM303DLHC_AD_ACC_OUT_Y_H 0x2B #define LSM303DLHC_AD_ACC_OUT_Z_L 0x2C #define LSM303DLHC_AD_ACC_OUT_Z_H 0x2D #define LSM303DLHC_AD_ACC_FIFO_CTRL_REG 0x2E #define LSM303DLHC_AD_ACC_FIFO_SRC_REG 0x2F #define LSM303DLHC_AD_ACC_INT1_CFG 0x30 #define LSM303DLHC_AD_ACC_INT1_SRC 0x31 #define LSM303DLHC_AD_ACC_INT1_THS 0x32 #define LSM303DLHC_AD_ACC_INT1_DURATION 0x33 #define LSM303DLHC_AD_ACC_INT2_CFG 0x34 #define LSM303DLHC_AD_ACC_INT2_SRC 0x35 #define LSM303DLHC_AD_ACC_INT2_THS 0x36 #define LSM303DLHC_AD_ACC_INT2_DURATION 0x37 #define LSM303DLHC_AD_ACC_CLICK_CFG 0x38 #define LSM303DLHC_AD_ACC_CLICK_SRC 0x39 #define LSM303DLHC_AD_ACC_CLICK_THS 0x3A #define LSM303DLHC_AD_ACC_TIME_LIMIT 0x3B #define LSM303DLHC_AD_ACC_TIME_LATENCY 0x3C #define LSM303DLHC_AD_ACC_TIME_WINDOW 0x3D #define LSM303DLHC_AD_COMP_CRA_REG 0x00 #define LSM303DLHC_AD_COMP_CRB_REG 0x01 #define LSM303DLHC_AD_COMP_MR_REG 0x02 #define LSM303DLHC_AD_COMP_OUT_X_H 0x03 #define LSM303DLHC_AD_COMP_OUT_X_L 0x04 #define LSM303DLHC_AD_COMP_OUT_Z_H 0x05 #define LSM303DLHC_AD_COMP_OUT_Z_L 0x06 #define LSM303DLHC_AD_COMP_OUT_Y_H 0x07 #define LSM303DLHC_AD_COMP_OUT_Y_L 0x08 #define LSM303DLHC_AD_COMP_SR_REG 0x09 #define LSM303DLHC_AD_COMP_IRA_REG 0x0A #define LSM303DLHC_AD_COMP_IRB_REG 0x0B #define LSM303DLHC_AD_COMP_IRC_REG 0x0C #define LSM303DLHC_AD_COMP_TEMP_OUT_H 0x31 #define LSM303DLHC_AD_COMP_TEMP_OUT_L 0x32 /** @} */ /** * @name LSM303DLHC_CTRL_REG1_A register bits definitions * @{ */ #define LSM303DLHC_CTRL_REG1_A_MASK 0xFF #define LSM303DLHC_CTRL_REG1_A_XEN (1 << 0) #define LSM303DLHC_CTRL_REG1_A_YEN (1 << 1) #define LSM303DLHC_CTRL_REG1_A_ZEN (1 << 2) #define LSM303DLHC_CTRL_REG1_A_LPEN (1 << 3) #define LSM303DLHC_CTRL_REG1_A_ODR0 (1 << 4) #define LSM303DLHC_CTRL_REG1_A_ODR1 (1 << 5) #define LSM303DLHC_CTRL_REG1_A_ODR2 (1 << 6) #define LSM303DLHC_CTRL_REG1_A_ODR3 (1 << 7) /** @} */ /** * @name LSM303DLHC_CTRL_REG2_A register bits definitions * @{ */ #define LSM303DLHC_CTRL_REG2_A_MASK 0xFF #define LSM303DLHC_CTRL_REG2_A_HPIS1 (1 << 0) #define LSM303DLHC_CTRL_REG2_A_HPIS2 (1 << 1) #define LSM303DLHC_CTRL_REG2_A_HPCLICK (1 << 2) #define LSM303DLHC_CTRL_REG2_A_FDS (1 << 3) #define LSM303DLHC_CTRL_REG2_A_HPCF1 (1 << 4) #define LSM303DLHC_CTRL_REG2_A_HPCF2 (1 << 5) #define LSM303DLHC_CTRL_REG2_A_HPM0 (1 << 6) #define LSM303DLHC_CTRL_REG2_A_HPM1 (1 << 7) /** @} */ /** * @name LSM303DLHC_CTRL_REG3_A register bits definitions * @{ */ #define LSM303DLHC_CTRL_REG3_A_MASK 0xFD #define LSM303DLHC_CTRL_REG3_A_I1_OVERRUN (1 << 1) #define LSM303DLHC_CTRL_REG3_A_I1_WTM (1 << 2) #define LSM303DLHC_CTRL_REG3_A_I1_DRDY2 (1 << 3) #define LSM303DLHC_CTRL_REG3_A_I1_DRDY1 (1 << 4) #define LSM303DLHC_CTRL_REG3_A_I1_AOI2 (1 << 5) #define LSM303DLHC_CTRL_REG3_A_I1_AOI1 (1 << 6) #define LSM303DLHC_CTRL_REG3_A_I1_CLICK (1 << 7) /** @} */ /** * @name LSM303DLHC_CTRL_REG4_A register bits definitions * @{ */ #define LSM303DLHC_CTRL_REG4_A_MASK 0xF9 #define LSM303DLHC_CTRL_REG4_A_SIM (1 << 0) #define LSM303DLHC_CTRL_REG4_A_HR (1 << 3) #define LSM303DLHC_CTRL_REG4_A_FS_MASK 0x30 #define LSM303DLHC_CTRL_REG4_A_FS0 (1 << 4) #define LSM303DLHC_CTRL_REG4_A_FS1 (1 << 5) #define LSM303DLHC_CTRL_REG4_A_BLE (1 << 6) #define LSM303DLHC_CTRL_REG4_A_BDU (1 << 7) /** @} */ /** * @name LSM303DLHC_CTRL_REG5_A register bits definitions * @{ */ #define LSM303DLHC_CTRL_REG5_A_MASK 0xCF #define LSM303DLHC_CTRL_REG5_A_D4D_INT2 (1 << 0) #define LSM303DLHC_CTRL_REG5_A_LIR_INT2 (1 << 1) #define LSM303DLHC_CTRL_REG5_A_D4D_INT1 (1 << 2) #define LSM303DLHC_CTRL_REG5_A_LIR_INT1 (1 << 3) #define LSM303DLHC_CTRL_REG5_A_FIFO_EN (1 << 6) #define LSM303DLHC_CTRL_REG5_A_BOOT (1 << 7) /** @} */ /** * @name LSM303DLHC_CTRL_REG6_A register bits definitions * @{ */ #define LSM303DLHC_CTRL_REG6_A_MASK 0xFA #define LSM303DLHC_CTRL_REG6_A_H_LACTIVE (1 << 1) #define LSM303DLHC_CTRL_REG6_A_P2_ACT (1 << 3) #define LSM303DLHC_CTRL_REG6_A_BOOT_I1 (1 << 4) #define LSM303DLHC_CTRL_REG6_A_I2_INT2 (1 << 5) #define LSM303DLHC_CTRL_REG6_A_I2_INT1 (1 << 6) #define LSM303DLHC_CTRL_REG6_A_I2_CLICKEN (1 << 7) /** @} */ /** * @name LSM303DLHC_CRA_REG_M register bits definitions * @{ */ #define LSM303DLHC_CRA_REG_M_MASK 0x9C #define LSM303DLHC_CRA_REG_M_DO0 (1 << 2) #define LSM303DLHC_CRA_REG_M_DO1 (1 << 3) #define LSM303DLHC_CRA_REG_M_DO2 (1 << 4) #define LSM303DLHC_CRA_REG_M_TEMP_EN (1 << 7) /** @} */ /** * @name LSM303DLHC_CRB_REG_M register bits definitions * @{ */ #define LSM303DLHC_CRB_REG_M_MASK 0xE0 #define LSM303DLHC_CRB_REG_M_GN_MASK 0xE0 #define LSM303DLHC_CRB_REG_M_GN0 (1 << 5) #define LSM303DLHC_CRB_REG_M_GN1 (1 << 6) #define LSM303DLHC_CRB_REG_M_GN2 (1 << 7) /** * @name LSM303DLHC_CRB_REG_M register bits definitions * @{ */ #define LSM303DLHC_MR_REG_M_MASK 0x03 #define LSM303DLHC_MR_REG_M_MD0 (1 << 0) #define LSM303DLHC_MR_REG_M_MD1 (1 << 1) /** @} */ /*===========================================================================*/ /* Driver pre-compile time settings. */ /*===========================================================================*/ /** * @name Configuration options * @{ */ /** * @brief LSM303DLHC SPI interface switch. * @details If set to @p TRUE the support for SPI is included. * @note The default is @p FALSE. */ #if !defined(LSM303DLHC_USE_SPI) || defined(__DOXYGEN__) #define LSM303DLHC_USE_SPI FALSE #endif /** * @brief LSM303DLHC 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(LSM303DLHC_SHARED_SPI) || defined(__DOXYGEN__) #define LSM303DLHC_SHARED_SPI FALSE #endif /** * @brief LSM303DLHC I2C interface switch. * @details If set to @p TRUE the support for I2C is included. * @note The default is @p TRUE. */ #if !defined(LSM303DLHC_USE_I2C) || defined(__DOXYGEN__) #define LSM303DLHC_USE_I2C TRUE #endif /** * @brief LSM303DLHC 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(LSM303DLHC_SHARED_I2C) || defined(__DOXYGEN__) #define LSM303DLHC_SHARED_I2C FALSE #endif /** * @brief LSM303DLHC advanced configurations switch. * @details If set to @p TRUE more configurations are available. * @note The default is @p FALSE. */ #if !defined(LSM303DLHC_USE_ADVANCED) || defined(__DOXYGEN__) #define LSM303DLHC_USE_ADVANCED FALSE #endif /** @} */ /*===========================================================================*/ /* Derived constants and error checks. */ /*===========================================================================*/ #if !(LSM303DLHC_USE_SPI ^ LSM303DLHC_USE_I2C) #error "LSM303DLHC_USE_SPI and LSM303DLHC_USE_I2C cannot be both true or both false" #endif #if LSM303DLHC_USE_SPI && !HAL_USE_SPI #error "LSM303DLHC_USE_SPI requires HAL_USE_SPI" #endif #if LSM303DLHC_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION #error "LSM303DLHC_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION" #endif #if LSM303DLHC_USE_I2C && !HAL_USE_I2C #error "LSM303DLHC_USE_I2C requires HAL_USE_I2C" #endif #if LSM303DLHC_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION #error "LSM303DLHC_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION" #endif /** * @todo Add support for LSM303DLHC over SPI. */ #if LSM303DLHC_USE_SPI #error "LSM303DLHC over SPI still not supported" #endif /*===========================================================================*/ /* Driver data structures and types. */ /*===========================================================================*/ /** * @name LSM303DLHC accelerometer subsystem data structures and types. * @{ */ /** * @brief Structure representing a LSM303DLHC driver. */ typedef struct LSM303DLHCDriver LSM303DLHCDriver; /** * @brief LSM303DLHC accelerometer subsystem full scale. */ typedef enum { LSM303DLHC_ACC_FS_2G = 0x00, /**< Full scale ±2g. */ LSM303DLHC_ACC_FS_4G = 0x10, /**< Full scale ±4g. */ LSM303DLHC_ACC_FS_8G = 0x20, /**< Full scale ±8g. */ LSM303DLHC_ACC_FS_16G = 0x30 /**< Full scale ±16g. */ } lsm303dlhc_acc_fs_t; /** * @brief LSM303DLHC accelerometer subsystem output data rate. */ typedef enum { LSM303DLHC_ACC_ODR_PD = 0x00, /**< Power down */ LSM303DLHC_ACC_ODR_1Hz = 0x10, /**< ODR 1 Hz */ LSM303DLHC_ACC_ODR_10Hz = 0x20, /**< ODR 10 Hz */ LSM303DLHC_ACC_ODR_25Hz = 0x30, /**< ODR 25 Hz */ LSM303DLHC_ACC_ODR_50Hz = 0x40, /**< ODR 50 Hz */ LSM303DLHC_ACC_ODR_100Hz = 0x50, /**< ODR 100 Hz */ LSM303DLHC_ACC_ODR_200Hz = 0x60, /**< ODR 200 Hz */ LSM303DLHC_ACC_ODR_400Hz = 0x70, /**< ODR 400 Hz */ LSM303DLHC_ACC_ODR_1620Hz = 0x80, /**< ODR 1620 Hz (LP only) */ LSM303DLHC_ACC_ODR_1344Hz = 0x90 /**< ODR 1344 Hz or 5376 Hz in LP */ } lsm303dlhc_acc_odr_t; /** * @brief LSM303DLHC accelerometer subsystem axes enabling. */ typedef enum { LSM303DLHC_ACC_AE_DISABLED = 0x00,/**< All axes disabled. */ LSM303DLHC_ACC_AE_X = 0x01, /**< Only X-axis enabled. */ LSM303DLHC_ACC_AE_Y = 0x02, /**< Only Y-axis enabled. */ LSM303DLHC_ACC_AE_XY = 0x03, /**< X and Y axes enabled. */ LSM303DLHC_ACC_AE_Z = 0x04, /**< Only Z-axis enabled. */ LSM303DLHC_ACC_AE_XZ = 0x05, /**< X and Z axes enabled. */ LSM303DLHC_ACC_AE_YZ = 0x06, /**< Y and Z axes enabled. */ LSM303DLHC_ACC_AE_XYZ = 0x07 /**< All axes enabled. */ } lsm303dlhc_acc_ae_t; /** * @brief LSM303DLHC accelerometer subsystem low power mode. */ typedef enum { LSM303DLHC_ACC_LP_DISABLED = 0x00,/**< Low power mode disabled. */ LSM303DLHC_ACC_LP_ENABLED = 0x40 /**< Low power mode enabled. */ } lsm303dlhc_acc_lp_t; /** * @brief LSM303DLHC accelerometer subsystem high resolution mode. */ typedef enum { LSM303DLHC_ACC_HR_DISABLED = 0x00,/**< High resolution mode disabled. */ LSM303DLHC_ACC_HR_ENABLED = 0x08 /**< High resolution mode enabled. */ } lsm303dlhc_acc_hr_t; /** * @brief LSM303DLHC accelerometer subsystem block data update. */ typedef enum { LSM303DLHC_ACC_BDU_CONT = 0x00, /**< Continuous update */ LSM303DLHC_ACC_BDU_BLOCK = 0x80 /**< Update blocked */ } lsm303dlhc_acc_bdu_t; /** * @brief LSM303DLHC accelerometer endianness. */ typedef enum { LSM303DLHC_ACC_END_LITTLE = 0x00, /**< Little Endian */ LSM303DLHC_ACC_END_BIG = 0x40 /**< Big Endian */ } lsm303dlhc_acc_end_t; /** * @name LSM303DLHC compass subsystem data structures and types. * @{ */ /** * @brief LSM303DLHC compass subsystem full scale. */ typedef enum { LSM303DLHC_COMP_FS_1P3GA = 0x20, /**< Full scale ±1.3 Gauss */ LSM303DLHC_COMP_FS_1P9GA = 0x40, /**< Full scale ±1.9 Gauss */ LSM303DLHC_COMP_FS_2P5GA = 0x60, /**< Full scale ±2.5 Gauss */ LSM303DLHC_COMP_FS_4P0GA = 0x80, /**< Full scale ±4.0 Gauss */ LSM303DLHC_COMP_FS_4P7GA = 0xA0, /**< Full scale ±4.7 Gauss */ LSM303DLHC_COMP_FS_5P6GA = 0xC0, /**< Full scale ±5.6 Gauss */ LSM303DLHC_COMP_FS_8P1GA = 0xE0 /**< Full scale ±8.1 Gauss */ } lsm303dlhc_comp_fs_t; /** * @brief LSM303DLHC compass subsystem output data rate. */ typedef enum { LSM303DLHC_COMP_ODR_0P75HZ = 0x00,/**< ODR 0.75 Hz */ LSM303DLHC_COMP_ODR_1P5HZ = 0x04, /**< ODR 1.5 Hz */ LSM303DLHC_COMP_ODR_3P0HZ = 0x08, /**< ODR 3 Hz */ LSM303DLHC_COMP_ODR_7P5HZ = 0x0C, /**< ODR 7.5 Hz */ LSM303DLHC_COMP_ODR_15HZ = 0x10, /**< ODR 15 Hz */ LSM303DLHC_COMP_ODR_30HZ = 0x14, /**< ODR 30 Hz */ LSM303DLHC_COMP_ODR_75HZ = 0x18, /**< ODR 75 Hz */ LSM303DLHC_COMP_ODR_220HZ = 0x1C /**< ODR 220 Hz */ } lsm303dlhc_comp_odr_t; /** * @brief LSM303DLHC compass subsystem working mode. */ typedef enum { LSM303DLHC_COMP_MD_CONT = 0x00, /**< Continuous-Conversion Mode */ LSM303DLHC_COMP_MD_BLOCK = 0x01, /**< Single-Conversion Mode */ LSM303DLHC_COMP_MD_SLEEP = 0x02 /**< Sleep Mode */ } lsm303dlhc_comp_md_t; /** * @name LSM303DLHC main system data structures and types. * @{ */ /** * @brief Driver state machine possible states. */ typedef enum { LSM303DLHC_UNINIT = 0, /**< Not initialized. */ LSM303DLHC_STOP = 1, /**< Stopped. */ LSM303DLHC_READY = 2, /**< Ready. */ } lsm303dlhc_state_t; /** * @brief LSM303DLHC configuration structure. */ typedef struct { /** * @brief I2C driver associated to this LSM303DLHC. */ I2CDriver *i2cp; /** * @brief I2C configuration associated to this LSM303DLHC. */ const I2CConfig *i2ccfg; /** * @brief LSM303DLHC accelerometer subsystem initial sensitivity. */ float *accsensitivity; /** * @brief LSM303DLHC accelerometer subsystem initial bias. */ float *accbias; /** * @brief LSM303DLHC accelerometer subsystem initial full scale. */ lsm303dlhc_acc_fs_t accfullscale; /** * @brief LSM303DLHC accelerometer subsystem output data rate. */ lsm303dlhc_acc_odr_t accoutdatarate; #if LSM303DLHC_ACC_USE_ADVANCED || defined(__DOXYGEN__) /** * @brief LSM303DLHC accelerometer subsystem low power mode. */ lsm303dlhc_acc_lp_t acclowpower; /** * @brief LSM303DLHC accelerometer subsystem high resolution mode. */ lsm303dlhc_acc_hr_t acchighresmode; /** * @brief LSM303DLHC accelerometer subsystem block data update. */ lsm303dlhc_acc_bdu_t accblockdataupdate; /** * @brief LSM303DLHC accelerometer endianness. */ lsm303dlhc_acc_end_t accendianess; #endif /** * @brief LSM303DLHC compass initial sensitivity. */ float *compsensitivity; /** * @brief LSM303DLHC compass initial bias. */ float *compbias; /** * @brief LSM303DLHC compass subsystem initial full scale. */ lsm303dlhc_comp_fs_t compfullscale; /** * @brief LSM303DLHC compass subsystem output data rate. */ lsm303dlhc_comp_odr_t compoutputdatarate; #if LSM303DLHC_COMP_USE_ADVANCED || defined(__DOXYGEN__) /** * @brief LSM303DLHC compass subsystem working mode. */ lsm303dlhc_comp_md_t compmode; #endif } LSM303DLHCConfig; /** * @brief @p LSM303DLHC specific methods. */ #define _lsm303dlhc_methods_alone \ /* Change full scale value of LSM303DLHC accelerometer subsystem.*/ \ msg_t (*acc_set_full_scale)(LSM303DLHCDriver *devp, \ lsm303dlhc_acc_fs_t fs); \ /* Change full scale value of LSM303DLHC compass subsystem.*/ \ msg_t (*comp_set_full_scale)(LSM303DLHCDriver *devp, \ lsm303dlhc_comp_fs_t fs); \ /** * @brief @p LSM303DLHC specific methods with inherited ones. */ #define _lsm303dlhc_methods \ _base_object_methods \ _lsm303dlhc_methods_alone /** * @extends BaseObjectVMT * * @brief @p LSM303DLHC virtual methods table. */ struct LSM303DLHCVMT { _lsm303dlhc_methods }; /** * @brief @p LSM303DLHCDriver specific data. */ #define _lsm303dlhc_data \ _base_sensor_data \ /* Driver state.*/ \ lsm303dlhc_state_t state; \ /* Current configuration data.*/ \ const LSM303DLHCConfig *config; \ /* Accelerometer subsystem axes number.*/ \ size_t accaxes; \ /* Accelerometer subsystem current sensitivity.*/ \ float accsensitivity[LSM303DLHC_ACC_NUMBER_OF_AXES]; \ /* Accelerometer subsystem current bias .*/ \ float accbias[LSM303DLHC_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[LSM303DLHC_COMP_NUMBER_OF_AXES];\ /* Compass subsystem current bias.*/ \ float compbias[LSM303DLHC_COMP_NUMBER_OF_AXES]; \ /* Compass subsystem current full scale value.*/ \ float compfullscale; /** * @brief LSM303DLHC 6-axis accelerometer/compass class. */ struct LSM303DLHCDriver { /** @brief Virtual Methods Table.*/ const struct LSM303DLHCVMT *vmt; /** @brief Base accelerometer interface.*/ BaseAccelerometer acc_if; /** @brief Base compass interface.*/ BaseCompass comp_if; _lsm303dlhc_data }; /** @} */ /*===========================================================================*/ /* Driver macros. */ /*===========================================================================*/ /** * @brief Return the number of axes of the BaseAccelerometer. * * @param[in] devp pointer to @p LSM303DLHCDriver. * * @return the number of axes. * * @api */ #define lsm303dlhcAccelerometerGetAxesNumber(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 LSM303DLHCDriver. * @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 lsm303dlhcAccelerometerReadRaw(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 LSM303DLHCDriver. * @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 lsm303dlhcAccelerometerReadCooked(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 LSM303DLHCDriver. * @param[in] bp a buffer which contains biases. * * @return The operation status. * @retval MSG_OK if the function succeeded. * * @api */ #define lsm303dlhcAccelerometerSetBias(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 LSM303DLHCDriver. * * @return The operation status. * @retval MSG_OK if the function succeeded. * * @api */ #define lsm303dlhcAccelerometerResetBias(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 LSM303DLHCDriver. * @param[in] sp a buffer which contains sensitivities. * * @return The operation status. * @retval MSG_OK if the function succeeded. * * @api */ #define lsm303dlhcAccelerometerSetSensitivity(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 LSM303DLHCDriver. * * @return The operation status. * @retval MSG_OK if the function succeeded. * @retval MSG_RESET otherwise. * * @api */ #define lsm303dlhcAccelerometerResetSensitivity(devp) \ accelerometerResetSensitivity(&((devp)->acc_if)) /** * @brief Changes the LSM303DLHCDriver 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 LSM303DLHCDriver. * @param[in] fs new fullscale value. * * @return The operation status. * @retval MSG_OK if the function succeeded. * @retval MSG_RESET otherwise. * * @api */ #define lsm303dlhcAccelerometerSetFullScale(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 LSM303DLHCDriver. * * @return the number of axes. * * @api */ #define lsm303dlhcCompassGetAxesNumber(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 lsm303dlhcCompassReadRaw(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 lsm303dlhcCompassReadCooked(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 lsm303dlhcCompassSetBias(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 LSM303DLHCDriver. * * @return The operation status. * @retval MSG_OK if the function succeeded. * * @api */ #define lsm303dlhcCompassResetBias(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 LSM303DLHCDriver. * @param[in] sp a buffer which contains sensitivities. * * @return The operation status. * @retval MSG_OK if the function succeeded. * * @api */ #define lsm303dlhcCompassSetSensitivity(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 LSM303DLHCDriver. * * @return The operation status. * @retval MSG_OK if the function succeeded. * @retval MSG_RESET otherwise. * * @api */ #define lsm303dlhcCompassResetSensitivity(devp) \ compassResetSensitivity(&((devp)->comp_if)) /** * @brief Changes the LSM303DLHCDriver compass 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 LSM303DLHCDriver. * @param[in] fs new fullscale value. * * @return The operation status. * @retval MSG_OK if the function succeeded. * @retval MSG_RESET otherwise. * * @api */ #define lsm303dlhcCompassSetFullScale(devp, fs) \ (devp)->vmt->comp_set_full_scale(devp, fs) /*===========================================================================*/ /* External declarations. */ /*===========================================================================*/ #ifdef __cplusplus extern "C" { #endif void lsm303dlhcObjectInit(LSM303DLHCDriver *devp); void lsm303dlhcStart(LSM303DLHCDriver *devp, const LSM303DLHCConfig *config); void lsm303dlhcStop(LSM303DLHCDriver *devp); #ifdef __cplusplus } #endif #endif /* _LSM303DLHC_H_ */ /** @} */