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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 lis3mdl.h
* @brief LIS3MDL MEMS interface module header.
*
* @{
*/
#ifndef _LIS3MDL_H_
#define _LIS3MDL_H_
#include "hal_compass.h"
/*===========================================================================*/
/* Driver constants. */
/*===========================================================================*/
/**
* @brief LIS3MDL number of axes.
*/
#define LIS3MDL_NUMBER_OF_AXES ((size_t) 3U)
/*===========================================================================*/
/* 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 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 = 0x02, /**< ±8 Gauss */
LIS3MDL_FS_12GA = 0x04, /**< ±12 Gauss */
LIS3MDL_FS_16GA = 0x0C /**< ±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 slave address
*/
lis3mdl_sad_t slaveaddress;
/**
* @brief LIS3MDL full scale
*/
lis3mdl_fs_t fullscale;
/**
* @brief LIS3MDL output data rate
*/
lis3mdl_odr_t outputdatarate;
/**
* @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 temperature sensor enabling
*/
lis3mdl_temp_t temperature;
/**
* @brief LIS3MDL block data update
*/
lis3mdl_bdu_t blockdataupdate;
/**
* @brief LIS3MDL endianness
*/
lis3mdl_end_t endianness;
} LIS3MDLConfig;
/**
* @brief Structure representing a LIS3MDL driver.
*/
typedef struct LIS3MDLDriver LIS3MDLDriver;
/**
* @brief @p LIS3MDL specific methods.
*/
#define _lis3mdl_methods \
_base_compass_methods \
/* Retrieve the temperature of LIS3MDL chip.*/ \
msg_t (*get_temperature)(void *instance, float* temperature);
/**
* @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.*/ \
int32_t bias[LIS3MDL_NUMBER_OF_AXES];
/**
* @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 Get current MEMS temperature.
* @detail This information is very useful especially for high accuracy IMU.
* @note Temperature sensor must be enabled using a proper configuration.
*
* @param[in] ip pointer to a @p BaseCompass 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 compassGetTemp(ip, tpp) \
(ip)->vmt_lis3mdl->get_temperature(ip, tpp)
/*===========================================================================*/
/* 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_ */
/** @} */
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