/* 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 lsm303dlhc.h * @brief LSM303DLHC MEMS interface module header. * * @{ */ #ifndef _LSM303DLHC_H_ #define _LSM303DLHC_H_ #include "hal_accelerometer.h" #include "hal_compass.h" /*===========================================================================*/ /* Driver constants. */ /*===========================================================================*/ /** * @brief LSM303DLHC accelerometer subsystem number of axes. */ #define LSM303DLHC_ACC_NUMBER_OF_AXES ((size_t) 3U) /** * @brief LSM303DLHC compass subsystem number of axes. */ #define LSM303DLHC_COMP_NUMBER_OF_AXES ((size_t) 3U) /*===========================================================================*/ /* Driver pre-compile time settings. */ /*===========================================================================*/ /** * @name Configuration options * @{ */ /** * @brief LSM303DLHC SPI interface selector. * @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 I2C interface selector. * @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 /** @} */ /*===========================================================================*/ /* Derived constants and error checks. */ /*===========================================================================*/ #if LSM303DLHC_USE_SPI && LSM303DLHC_USE_I2C #error "LSM303DLHC_USE_SPI and LSM303DLHC_USE_I2C cannot be both true" #endif #if LSM303DLHC_USE_SPI && !HAL_USE_SPI #error "LSM303DLHC_USE_SPI requires HAL_USE_SPI" #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_SPI requires I2C_USE_MUTUAL_EXCLUSION" #endif /*===========================================================================*/ /* Driver data structures and types. */ /*===========================================================================*/ /** * @name LSM303DLHC accelerometer subsystem data structures and types. * @{ */ /** * @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; /** * @brief LSM303DLHC accelerometer subsystem unit. */ typedef enum { LSM303DLHC_ACC_UNIT_G = 0x00, /**< Cooked data in g. */ LSM303DLHC_ACC_UNIT_MG = 0x01, /**< Cooked data in mg. */ LSM303DLHC_ACC_UNIT_SI = 0x02, /**< Cooked data in m/s^2. */ } lsm303dlhc_acc_unit_t; /** * @brief LSM303DLHC accelerometer subsystem configuration structure. */ typedef struct { /** * @brief LSM303DLHC accelerometer subsystem full scale. */ lsm303dlhc_acc_fs_t fullscale; /** * @brief LSM303DLHC accelerometer subsystem output data rate. */ lsm303dlhc_acc_odr_t outdatarate; /** * @brief LSM303DLHC accelerometer subsystem axes enabling. */ lsm303dlhc_acc_ae_t axesenabling; /** * @brief LSM303DLHC accelerometer subsystem low power mode. */ lsm303dlhc_acc_lp_t lowpower; /** * @brief LSM303DLHC accelerometer subsystem high resolution mode. */ lsm303dlhc_acc_hr_t highresmode; /** * @brief LSM303DLHC accelerometer subsystem block data update. */ lsm303dlhc_acc_bdu_t blockdataupdate; /** * @brief LSM303DLHC accelerometer endianness. */ lsm303dlhc_acc_end_t endianess; /** * @brief LSM303DLHC accelerometer subsystem unit. */ lsm303dlhc_acc_unit_t unit; } LSM303DLHCAccConfig; /** @} */ /** * @name LSM303DLHC compass subsystem data structures and types. * @{ */ /** * @brief LSM303DLHC compass subsystem full scale. */ typedef enum { LSM303DLHC_COMP_FS_1_3_GA = 0x20, /**< Full scale ±1.3 Gauss */ LSM303DLHC_COMP_FS_1_9_GA = 0x40, /**< Full scale ±1.9 Gauss */ LSM303DLHC_COMP_FS_2_5_GA = 0x60, /**< Full scale ±2.5 Gauss */ LSM303DLHC_COMP_FS_4_0_GA = 0x80, /**< Full scale ±4.0 Gauss */ LSM303DLHC_COMP_FS_4_7_GA = 0xA0, /**< Full scale ±4.7 Gauss */ LSM303DLHC_COMP_FS_5_6_GA = 0xC0, /**< Full scale ±5.6 Gauss */ LSM303DLHC_COMP_FS_8_1_GA = 0xE0 /**< Full scale ±8.1 Gauss */ } lsm303dlhc_comp_fs_t; /** * @brief LSM303DLHC compass subsystem output data rate. */ typedef enum { LSM303DLHC_COMP_ODR_0_75HZ = 0x00,/**< ODR 0.75 Hz */ LSM303DLHC_COMP_ODR_1_5HZ = 0x04, /**< ODR 1.5 Hz */ LSM303DLHC_COMP_ODR_3_0HZ = 0x08, /**< ODR 3 Hz */ LSM303DLHC_COMP_ODR_7_5HZ = 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; /** * @brief LSM303DLHC compass subsystem configuration structure. */ typedef struct { /** * @brief LSM303DLHC compass subsystem full scale. */ lsm303dlhc_comp_fs_t fullscale; /** * @brief LSM303DLHC compass subsystem output data rate. */ lsm303dlhc_comp_odr_t outputdatarate; /** * @brief LSM303DLHC compass subsystem working mode. */ lsm303dlhc_comp_md_t mode; } LSM303DLHCCompConfig; /** @} */ /** * @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 { #if (LSM303DLHC_USE_SPI) || defined(__DOXYGEN__) /** * @brief SPI driver associated to this LSM303DLHC. */ SPIDriver *spip; /** * @brief SPI configuration associated to this LSM303DLHC accelerometer * subsystem. */ const SPIConfig *accspicfg; /** * @brief SPI configuration associated to this LSM303DLHC compass * subsystem. */ const SPIConfig *compspicfg; #endif /* LSM303DLHC_USE_SPI */ #if (LSM303DLHC_USE_I2C) || defined(__DOXYGEN__) /** * @brief I2C driver associated to this LSM303DLHC. */ I2CDriver *i2cp; /** * @brief I2C configuration associated to this LSM303DLHC accelerometer * subsystem. */ const I2CConfig *i2ccfg; #endif /* LSM303DLHC_USE_I2C */ /** * @brief LSM303DLHC accelerometer subsystem configuration structure */ const LSM303DLHCAccConfig *acccfg; /** * @brief LSM303DLHC compass subsystem configuration structure */ const LSM303DLHCCompConfig *compcfg; } LSM303DLHCConfig; /** * @brief Structure representing a LSM303DLHC driver. */ typedef struct LSM303DLHCDriver LSM303DLHCDriver; /** * @brief @p LSM303DLHC accelerometer subsystem specific methods. */ #define _lsm303dlhc_acc_methods \ _base_accelerometer_methods /** * @brief @p LSM303DLHC compass subsystem specific methods. */ #define _lsm303dlhc_comp_methods \ _base_compass_methods /** * @extends BaseAccelerometerVMT * * @brief @p LSM303DLHC accelerometer virtual methods table. */ struct LSM303DLHCACCVMT { _lsm303dlhc_acc_methods }; /** * @extends BaseCompassVMT * * @brief @p LSM303DLHC compass virtual methods table. */ struct LSM303DLHCCOMPVMT { _lsm303dlhc_comp_methods }; /** * @brief @p LSM303DLHCDriver specific data. */ #define _lsm303dlhc_data \ _base_accelerometer_data \ _base_compass_data \ /* Driver state.*/ \ lsm303dlhc_state_t state; \ /* Current configuration data.*/ \ const LSM303DLHCConfig *config; \ /* Current accelerometer sensitivity.*/ \ float accsensitivity[LSM303DLHC_ACC_NUMBER_OF_AXES]; \ /* Accelerometer bias data.*/ \ int32_t accbias[LSM303DLHC_ACC_NUMBER_OF_AXES]; \ /* Current compass sensitivity.*/ \ float compsensitivity[LSM303DLHC_COMP_NUMBER_OF_AXES];\ /* Bias data.*/ \ int32_t compbias[LSM303DLHC_COMP_NUMBER_OF_AXES]; /** * @brief LSM303DLHC 6-axis accelerometer/compass class. */ struct LSM303DLHCDriver { /** @brief BaseSensor Virtual Methods Table. */ const struct BaseSensorVMT *vmt_basesensor; /** @brief BaseAccelerometer Virtual Methods Table. */ const struct BaseAccelerometerVMT *vmt_baseaccelerometer; /** @brief BaseCompass Virtual Methods Table. */ const struct BaseCompassVMT *vmt_basecompass; /** @brief LSM303DLHC Accelerometer Virtual Methods Table. */ const struct LSM303DLHCACCVMT *vmt_lsm303dlhcacc; /** @brief LSM303DLHC Compass Virtual Methods Table. */ const struct LSM303DLHCCOMPVMT *vmt_lsm303dlhccomp; _lsm303dlhc_data }; /** @} */ /*===========================================================================*/ /* Driver macros. */ /*===========================================================================*/ /*===========================================================================*/ /* 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_ */ /** @} */