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/*
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 <http://www.gnu.org/licenses/>.
*/
/**
* @file lis302dl.h
* @brief LIS302DL MEMS interface module header.
*
* @{
*/
#ifndef _LIS302DL_H_
#define _LIS302DL_H_
#include "hal_accelerometer.h"
/*===========================================================================*/
/* Driver constants. */
/*===========================================================================*/
/**
* @brief LIS302DL number of axes.
*/
#define LIS302DL_NUMBER_OF_AXES ((size_t) 3U)
/*===========================================================================*/
/* Driver pre-compile time settings. */
/*===========================================================================*/
/**
* @name Configuration options
* @{
*/
/**
* @brief LIS302DL SPI interface switch.
* @details If set to @p TRUE the support for SPI is included.
* @note The default is @p TRUE.
*/
#if !defined(LIS302DL_USE_SPI) || defined(__DOXYGEN__)
#define LIS302DL_USE_SPI TRUE
#endif
/**
* @brief LIS302DL I2C interface switch.
* @details If set to @p TRUE the support for I2C is included.
* @note The default is @p FALSE.
*/
#if !defined(LIS302DL_USE_I2C) || defined(__DOXYGEN__)
#define LIS302DL_USE_I2C FALSE
#endif
/**
* @brief LIS302DL 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(LIS302DL_SHARED_SPI) || defined(__DOXYGEN__)
#define LIS302DL_SHARED_SPI FALSE
#endif
/** @} */
/*===========================================================================*/
/* Derived constants and error checks. */
/*===========================================================================*/
#if !(LIS302DL_USE_SPI ^ LIS302DL_USE_I2C)
#error "LIS302DL_USE_SPI and LIS302DL_USE_I2C cannot be both true or both false"
#endif
#if LIS302DL_USE_SPI && !HAL_USE_SPI
#error "LIS302DL_USE_SPI requires HAL_USE_SPI"
#endif
#if LIS302DL_USE_I2C && !HAL_USE_I2C
#error "LIS302DL_USE_I2C requires HAL_USE_I2C"
#endif
#if LIS302DL_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION
#error "LIS302DL_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION"
#endif
/*===========================================================================*/
/* Driver data structures and types. */
/*===========================================================================*/
/**
* @name LIS302DL data structures and types
* @{
*/
/**
* @brief LIS302DL full scale
*/
typedef enum {
LIS302DL_FS_2G = 0x00, /**< Full scale ±2g. */
LIS302DL_FS_8G = 0x20 /**< Full scale ±8g. */
}lis302dl_fs_t;
/**
* @brief LIS302DL output data rate and bandwidth
*/
typedef enum {
LIS302DL_ODR_100HZ = 0x00, /**< ODR 100 Hz. */
LIS302DL_ODR_400HZ = 0x80 /**< ODR 400 Hz. */
}lis302dl_odr_t;
/**
* @brief LIS302DL high pass filtering
*/
typedef enum {
LIS302DL_HP_DISABLED = 0x00, /**< HP bypassed. */
LIS302DL_HP_0 = 0x10, /**< HP cutoff 2Hz (ODR 100Hz) or 8Hz */
LIS302DL_HP_1 = 0x11, /**< HP cutoff 1Hz or 4Hz */
LIS302DL_HP_2 = 0x12, /**< HP cutoff 0.5Hz or 2Hz */
LIS302DL_HP_3 = 0x13 /**< HP cutoff 0.25Hz or 1Hz */
}lis302dl_hp_t;
/**
* @brief LIS302DL axes enabling
*/
typedef enum {
LIS302DL_AE_DISABLED = 0x00, /**< All axes disabled. */
LIS302DL_AE_X = 0x01, /**< Only X-axis enabled. */
LIS302DL_AE_Y = 0x02, /**< Only Y-axis enabled. */
LIS302DL_AE_XY = 0x03, /**< X and Y axes enabled. */
LIS302DL_AE_Z = 0x04, /**< Only Z-axis enabled. */
LIS302DL_AE_XZ = 0x05, /**< X and Z axes enabled. */
LIS302DL_AE_YZ = 0x06, /**< Y and Z axes enabled. */
LIS302DL_AE_XYZ = 0x07 /**< All axes enabled. */
}lis302dl_ae_t;
/**
* @brief LIS302DL accelerometer subsystem unit
*/
typedef enum {
LIS302DL_ACC_UNIT_G = 0x00, /**< Cooked data in g. */
LIS302DL_ACC_UNIT_MG = 0x01, /**< Cooked data in mg. */
LIS302DL_ACC_UNIT_SI = 0x02, /**< Cooked data in m/s^2. */
} lis302dl_acc_unit_t;
/**
* @brief Driver state machine possible states.
*/
typedef enum {
LIS302DL_UNINIT = 0, /**< Not initialized. */
LIS302DL_STOP = 1, /**< Stopped. */
LIS302DL_READY = 2, /**< Ready. */
} lis302dl_state_t;
/**
* @brief LIS302DL configuration structure.
*/
typedef struct {
#if (LIS302DL_USE_SPI) || defined(__DOXYGEN__)
/**
* @brief SPI driver associated to this LIS302DL.
*/
SPIDriver *spip;
/**
* @brief SPI configuration associated to this LIS302DL.
*/
const SPIConfig *spicfg;
#endif /* LIS302DL_USE_SPI */
#if (LIS302DL_USE_I2C) || defined(__DOXYGEN__)
/**
* @brief I2C driver associated to this LIS302DL.
*/
I2CDriver *i2cp;
/**
* @brief I2C configuration associated to this LIS302DL.
*/
const I2CConfig *i2ccfg;
#endif /* LIS302DL_USE_I2C */
/**
* @brief LIS302DL full scale value.
*/
lis302dl_fs_t fullscale;
/**
* @brief LIS302DL output data rate selection.
*/
lis302dl_odr_t outputdatarate;
/**
* @brief LIS302DL high pass filtering
*/
lis302dl_hp_t highpass;
/**
* @brief LIS302DL axes enabling.
*/
lis302dl_ae_t axesenabling;
/**
* @brief LIS302DL unit for cooked data.
*/
lis302dl_acc_unit_t unit;
} LIS302DLConfig;
/**
* @brief Structure representing a LIS302DL driver.
*/
typedef struct LIS302DLDriver LIS302DLDriver;
/**
* @brief @p LIS302DL specific methods.
*/
#define _lis302dl_methods \
_base_accelerometer_methods
/**
* @extends BaseAccelerometerVMT
*
* @brief @p LIS302DL virtual methods table.
*/
struct LIS302DLVMT {
_lis302dl_methods
};
/**
* @brief @p LIS302DLDriver specific data.
*/
#define _lis302dl_data \
_base_accelerometer_data \
/* Driver state.*/ \
lis302dl_state_t state; \
/* Current configuration data.*/ \
const LIS302DLConfig *config; \
/* Current sensitivity.*/ \
float sensitivity[LIS302DL_NUMBER_OF_AXES]; \
/* Bias data.*/ \
int32_t bias[LIS302DL_NUMBER_OF_AXES];
/**
* @extends BaseAccelerometer
*
* @brief LIS302DL 3-axis accelerometer class.
* @details This class extends @p BaseAccelerometer by adding physical
* driver implementation.
*/
struct LIS302DLDriver {
/** @brief BaseSensor Virtual Methods Table. */
const struct BaseSensorVMT *vmt_basesensor;
/** @brief BaseAccelerometer Virtual Methods Table. */
const struct BaseAccelerometerVMT *vmt_baseaccelerometer;
/** @brief LIS302DL Virtual Methods Table. */
const struct LIS302DLVMT *vmt_lis302dl;
_lis302dl_data
};
/** @} */
/*===========================================================================*/
/* Driver macros. */
/*===========================================================================*/
/**
* @brief Get current MEMS temperature.
* @detail This information is very useful especially for high accuracy IMU
*
* @param[in] ip pointer to a @p BaseAccelerometer class.
* @param[out] temp the MEMS temperature as single precision floating.
*
* @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_lis302dl->get_temperature(ip, tpp)
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
#ifdef __cplusplus
extern "C" {
#endif
void lis302dlObjectInit(LIS302DLDriver *devp);
void lis302dlStart(LIS302DLDriver *devp, const LIS302DLConfig *config);
void lis302dlStop(LIS302DLDriver *devp);
#ifdef __cplusplus
}
#endif
#endif /* _LIS302DL_H_ */
/** @} */
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