/*
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 l3gd20.h
* @brief L3GD20 MEMS interface module header.
*
* @{
*/
#ifndef _L3GD20_H_
#define _L3GD20_H_
#include "hal_gyroscope.h"
/*===========================================================================*/
/* Driver constants. */
/*===========================================================================*/
/**
* @brief L3GD20 number of axes.
*/
#define L3GD20_NUMBER_OF_AXES ((size_t) 3U)
/*===========================================================================*/
/* Driver pre-compile time settings. */
/*===========================================================================*/
/**
* @name Configuration options
* @{
*/
/**
* @brief L3GD20 SPI interface switch.
* @details If set to @p TRUE the support for SPI is included.
* @note The default is @p TRUE.
*/
#if !defined(L3GD20_USE_SPI) || defined(__DOXYGEN__)
#define L3GD20_USE_SPI TRUE
#endif
/**
* @brief L3GD20 I2C interface switch.
* @details If set to @p TRUE the support for I2C is included.
* @note The default is @p FALSE.
*/
#if !defined(L3GD20_USE_I2C) || defined(__DOXYGEN__)
#define L3GD20_USE_I2C FALSE
#endif
/**
* @brief L3GD20 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(L3GD20_SHARED_SPI) || defined(__DOXYGEN__)
#define L3GD20_SHARED_SPI FALSE
#endif
/**
* @brief Number of acquisitions for bias removal
* @details This is the number of acquisitions performed to compute the
* bias. A repetition is required in order to remove noise.
*/
#if !defined(L3GD20_BIAS_ACQ_TIMES) || defined(__DOXYGEN__)
#define L3GD20_BIAS_ACQ_TIMES 50
#endif
/**
* @brief Settling time for bias removal
* @details This is the time between each bias acquisition.
*/
#if !defined(L3GD20_BIAS_SETTLING_uS) || defined(__DOXYGEN__)
#define L3GD20_BIAS_SETTLING_uS 5000
#endif
/** @} */
/*===========================================================================*/
/* Derived constants and error checks. */
/*===========================================================================*/
#if !(L3GD20_USE_SPI ^ L3GD20_USE_I2C)
#error "L3GD20_USE_SPI and L3GD20_USE_I2C cannot be both true or both false"
#endif
#if L3GD20_USE_SPI && !HAL_USE_SPI
#error "L3GD20_USE_SPI requires HAL_USE_SPI"
#endif
#if L3GD20_USE_I2C && !HAL_USE_I2C
#error "L3GD20_USE_I2C requires HAL_USE_I2C"
#endif
#if L3GD20_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION
#error "L3GD20_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION"
#endif
/*===========================================================================*/
/* Driver data structures and types. */
/*===========================================================================*/
/**
* @name L3GD20 data structures and types
* @{
*/
/**
* @brief L3GD20 full scale
*/
typedef enum {
L3GD20_FS_250DPS = 0x00, /**< Full scale 250 degree per second. */
L3GD20_FS_500DPS = 0x10, /**< Full scale 500 degree per second. */
L3GD20_FS_2000DPS = 0x20 /**< Full scale 2000 degree per second. */
}l3gd20_fs_t;
/**
* @brief L3GD20 output data rate and bandwidth
*/
typedef enum {
L3GD20_ODR_95HZ_FC_12_5 = 0x00, /**< ODR 95 Hz, BW 12.5 Hz. */
L3GD20_ODR_95HZ_FC_25 = 0x10, /**< ODR 95 Hz, BW 25Hz. */
L3GD20_ODR_190HZ_FC_12_5 = 0x40, /**< ODR 190 Hz, BW 12.5 Hz. */
L3GD20_ODR_190HZ_FC_25 = 0x50, /**< ODR 190 Hz, BW 25 Hz. */
L3GD20_ODR_190HZ_FC_50 = 0x60, /**< ODR 190 Hz, BW 50 Hz. */
L3GD20_ODR_190HZ_FC_70 = 0x70, /**< ODR 190 Hz, BW 70 Hz. */
L3GD20_ODR_380HZ_FC_20 = 0x80, /**< ODR 380 Hz, BW 20 Hz. */
L3GD20_ODR_380HZ_FC_25 = 0x90, /**< ODR 380 Hz, BW 25 Hz. */
L3GD20_ODR_380HZ_FC_50 = 0xA0, /**< ODR 380 Hz, BW 50 Hz. */
L3GD20_ODR_380HZ_FC_100 = 0xB0, /**< ODR 380 Hz, BW 100 Hz. */
L3GD20_ODR_760HZ_FC_30 = 0xC0, /**< ODR 760 Hz, BW 30 Hz. */
L3GD20_ODR_760HZ_FC_35 = 0xD0, /**< ODR 760 Hz, BW 35 Hz. */
L3GD20_ODR_760HZ_FC_50 = 0xE0, /**< ODR 760 Hz, BW 50 Hz. */
L3GD20_ODR_760HZ_FC_100 = 0xF0 /**< ODR 760 Hz, BW 100 Hz. */
}l3gd20_odr_t;
/**
* @brief L3GD20 axes enabling
*/
typedef enum {
L3GD20_AE_DISABLED = 0x00, /**< All axes disabled. */
L3GD20_AE_X = 0x01, /**< Only X-axis enabled. */
L3GD20_AE_Y = 0x02, /**< Only Y-axis enabled. */
L3GD20_AE_XY = 0x03, /**< X and Y axes enabled. */
L3GD20_AE_Z = 0x04, /**< Only Z-axis enabled. */
L3GD20_AE_XZ = 0x05, /**< X and Z axes enabled. */
L3GD20_AE_YZ = 0x06, /**< Y and Z axes enabled. */
L3GD20_AE_XYZ = 0x07 /**< All axes enabled. */
}l3gd20_ae_t;
/**
* @brief L3GD20 block data update
*/
typedef enum {
L3GD20_BDU_CONTINUOUS = 0x00, /**< Block data continuously updated. */
L3GD20_BDU_BLOCKED = 0x80 /**< Block data updated after reading. */
}l3gd20_bdu_t;
/**
* @brief L3GD20 endianness
*/
typedef enum {
L3GD20_END_LITTLE = 0x00, /**< Little endian. */
L3GD20_END_BIG = 0x40 /**< Big endian. */
}l3gd20_end_t;
/**
* @brief Driver state machine possible states.
*/
typedef enum {
L3GD20_UNINIT = 0, /**< Not initialized. */
L3GD20_STOP = 1, /**< Stopped. */
L3GD20_READY = 2, /**< Ready. */
} l3gd20_state_t;
/**
* @brief L3GD20 configuration structure.
*/
typedef struct {
#if (L3GD20_USE_SPI) || defined(__DOXYGEN__)
/**
* @brief SPI driver associated to this L3GD20.
*/
SPIDriver *spip;
/**
* @brief SPI configuration associated to this L3GD20.
*/
const SPIConfig *spicfg;
#endif /* L3GD20_USE_SPI */
#if (L3GD20_USE_I2C) || defined(__DOXYGEN__)
/**
* @brief I2C driver associated to this L3GD20.
*/
I2CDriver *i2cp;
/**
* @brief I2C configuration associated to this L3GD20.
*/
const I2CConfig *i2ccfg;
#endif /* L3GD20_USE_I2C */
/**
* @brief L3GD20 full scale value.
*/
l3gd20_fs_t fullscale;
/**
* @brief L3GD20 output data rate selection.
*/
l3gd20_odr_t outputdatarate;
/**
* @brief L3GD20 axes enabling.
*/
l3gd20_ae_t axesenabling;
/**
* @brief L3GD20 block data update.
*/
l3gd20_bdu_t blockdataupdate;
/**
* @brief L3GD20 endianness.
*/
l3gd20_end_t endianness;
} L3GD20Config;
/**
* @brief Structure representing a L3GD20 driver.
*/
typedef struct L3GD20Driver L3GD20Driver;
/**
* @brief @p L3GD20 specific methods.
*/
#define _l3gd20_methods \
_base_gyroscope_methods \
/* Retrieve the temperature of L3GD20 chip.*/ \
msg_t (*get_temperature)(void *instance, float* temperature);
/**
* @extends BaseGyroscopeVMT
*
* @brief @p L3GD20 virtual methods table.
*/
struct L3GD20VMT {
_l3gd20_methods
};
/**
* @brief @p L3GD20Driver specific data.
*/
#define _l3gd20_data \
_base_gyroscope_data \
/* Driver state.*/ \
l3gd20_state_t state; \
/* Current configuration data.*/ \
const L3GD20Config *config; \
/* Current sensitivity.*/ \
float sensitivity[L3GD20_NUMBER_OF_AXES]; \
/* Bias data.*/ \
int32_t bias[L3GD20_NUMBER_OF_AXES];
/**
* @extends BaseGyroscope
*
* @brief L3GD20 3-axis gyroscope class.
* @details This class extends @p BaseGyroscope by adding physical
* driver implementation.
*/
struct L3GD20Driver {
/** @brief BaseSensor Virtual Methods Table. */
const struct BaseSensorVMT *vmt_basesensor;
/** @brief BaseGyroscope Virtual Methods Table. */
const struct BaseGyroscopeVMT *vmt_basegyroscope;
/** @brief L3GD20 Virtual Methods Table. */
const struct L3GD20VMT *vmt_l3gd20;
_l3gd20_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 BaseGyroscope 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 gyroscopeGetTemp(ip, tpp) \
(ip)->vmt_l3gd20->get_temperature(ip, tpp)
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
#ifdef __cplusplus
extern "C" {
#endif
void l3gd20ObjectInit(L3GD20Driver *devp);
void l3gd20Start(L3GD20Driver *devp, const L3GD20Config *config);
void l3gd20Stop(L3GD20Driver *devp);
#ifdef __cplusplus
}
#endif
#endif /* _L3GD20_H_ */
/** @} */