/*
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 <http://www.gnu.org/licenses/>.
*/
/**
* @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 "1.0.5"
/**
* @brief LSM303DLHC driver version major number.
*/
#define EX_LSM303DLHC_MAJOR 1
/**
* @brief LSM303DLHC driver version minor number.
*/
#define EX_LSM303DLHC_MINOR 0
/**
* @brief LSM303DLHC driver version patch number.
*/
#define EX_LSM303DLHC_PATCH 5
/** @} */
/**
* @brief LSM303DLHC accelerometer subsystem characteristics.
* @note Sensitivity is expressed as mG/LSB whereas 1 mG = 0.00980665 m/s^2.
*
* @{
*/
#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
/** @} */
/**
* @brief LSM303DLHC compass subsystem characteristics.
* @note Sensitivity is expressed as GA/LSB whereas GA stands for Gauss.
*
* @{
*/
#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
/** @} */
/**
* @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 accelerometer subsystem advanced configurations
* switch.
* @details If set to @p TRUE more configurations are available.
* @note The default is @p FALSE.
*/
#if !defined(LSM303DLHC_ACC_USE_ADVANCED) || defined(__DOXYGEN__)
#define LSM303DLHC_ACC_USE_ADVANCED FALSE
#endif
/**
* @brief LSM303DLHC compass subsystem advanced configurations
* switch.
* @details If set to @p TRUE more configurations are available.
* @note The default is @p FALSE.
*/
#if !defined(LSM303DLHC_COMP_USE_ADVANCED) || defined(__DOXYGEN__)
#define LSM303DLHC_COMP_USE_ADVANCED FALSE
#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 !HAL_USE_I2C
#error "LSM303DLHC requires HAL_USE_I2C"
#endif
#if LSM303DLHC_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION
#error "LSM303DLHC_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION"
#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 accelerometer
* subsystem.
*/
const I2CConfig *i2ccfg;
/**
* @brief LSM303DLHC 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 *instance, \
lsm303dlhc_acc_fs_t fs); \
/* Change full scale value of LSM303DLHC compass subsystem .*/ \
msg_t (*comp_set_full_scale)(LSM303DLHCDriver *instance, \
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] ip 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 Ga.
* @note The axes array must be at least the same size of the
* BaseCompass axes number.
*
* @param[in] ip 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 Ga.
* @note The bias buffer must be at least the same size of the
* BaseCompass axes number.
*
* @param[in] ip 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 Ga/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_ */
/** @} */