/*
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 lis302dl.h
* @brief LIS302DL MEMS interface module header.
*
* @addtogroup LIS302DL
* @ingroup EX_ST
* @{
*/
#ifndef _LIS302DL_H_
#define _LIS302DL_H_
#include "hal_accelerometer.h"
/*===========================================================================*/
/* Driver constants. */
/*===========================================================================*/
/**
* @name Version identification
* @{
*/
/**
* @brief LIS302DL driver version string.
*/
#define EX_LIS302DL_VERSION "1.1.1"
/**
* @brief LIS302DL driver version major number.
*/
#define EX_LIS302DL_MAJOR 1
/**
* @brief LIS302DL driver version minor number.
*/
#define EX_LIS302DL_MINOR 1
/**
* @brief LIS302DL driver version patch number.
*/
#define EX_LIS302DL_PATCH 1
/** @} */
/**
* @brief LIS302DL accelerometer subsystem characteristics.
* @note Sensitivity is expressed as milli-G/LSB whereas
* 1 milli-G = 0.00980665 m/s^2.
* @note Bias is expressed as milli-G.
*
* @{
*/
#define LIS302DL_ACC_NUMBER_OF_AXES 3U
#define LIS302DL_ACC_2G 2.0f
#define LIS302DL_ACC_8G 8.0f
#define LIS302DL_ACC_SENS_2G 18.0f
#define LIS302DL_ACC_SENS_8G 72.0f
#define LIS302DL_ACC_BIAS 0.0f
/** @} */
/**
* @name LIS302DL communication interfaces related bit masks
* @{
*/
#define LIS302DL_DI_MASK 0xFF
#define LIS302DL_DI(n) (1 << n)
#define LIS302DL_AD_MASK 0x3F
#define LIS302DL_AD(n) (1 << n)
#define LIS302DL_MS (1 << 6)
#define LIS302DL_RW (1 << 7)
/** @} */
/**
* @name LIS302DL register addresses
* @{
*/
#define LIS302DL_AD_WHO_AM_I 0x0F
#define LIS302DL_AD_CTRL_REG1 0x20
#define LIS302DL_AD_CTRL_REG2 0x21
#define LIS302DL_AD_CTRL_REG3 0x22
#define LIS302DL_AD_HP_FILER_RESET 0x23
#define LIS302DL_AD_STATUS_REG 0x27
#define LIS302DL_AD_OUT_X 0x29
#define LIS302DL_AD_OUT_Y 0x2B
#define LIS302DL_AD_OUT_Z 0x2D
#define LIS302DL_AD_FF_WU_CFG_1 0x30
#define LIS302DL_AD_FF_WU_SRC_1 0x31
#define LIS302DL_AD_FF_WU_THS_1 0x32
#define LIS302DL_AD_FF_WU_DURATION_1 0x33
#define LIS302DL_AD_FF_WU_CFG_2 0x34
#define LIS302DL_AD_FF_WU_SRC_2 0x35
#define LIS302DL_AD_FF_WU_THS_2 0x36
#define LIS302DL_AD_FF_WU_DURATION_2 0x37
#define LIS302DL_AD_CLICK_CFG 0x38
#define LIS302DL_AD_CLICK_SRC 0x39
#define LIS302DL_AD_CLICK_THSY_X 0x3B
#define LIS302DL_AD_CLICK_THSZ 0x3C
#define LIS302DL_AD_CLICK_TIME_LIMIT 0x3D
#define LIS302DL_AD_CLICK_LATENCY 0x3E
#define LIS302DL_AD_CLICK_WINDOW 0x3F
/** @} */
/**
* @name LIS302DL_CTRL_REG1 register bits definitions
* @{
*/
#define LIS302DL_CTRL_REG1_MASK 0xFF
#define LIS302DL_CTRL_REG1_XEN (1 << 0)
#define LIS302DL_CTRL_REG1_YEN (1 << 1)
#define LIS302DL_CTRL_REG1_ZEN (1 << 2)
#define LIS302DL_CTRL_REG1_STM (1 << 3)
#define LIS302DL_CTRL_REG1_STP (1 << 4)
#define LIS302DL_CTRL_REG1_FS_MASK 0x20
#define LIS302DL_CTRL_REG1_FS (1 << 5)
#define LIS302DL_CTRL_REG1_PD (1 << 6)
#define LIS302DL_CTRL_REG1_DR (1 << 7)
/** @} */
/**
* @name LIS302DL_CTRL_REG2 register bits definitions
* @{
*/
#define LIS302DL_CTRL_REG2_MASK 0xDF
#define LIS302DL_CTRL_REG2_HPCF1 (1 << 0)
#define LIS302DL_CTRL_REG2_HPCF2 (1 << 1)
#define LIS302DL_CTRL_REG2_HPFFWU1 (1 << 2)
#define LIS302DL_CTRL_REG2_HPFFWU2 (1 << 3)
#define LIS302DL_CTRL_REG2_FDS (1 << 4)
#define LIS302DL_CTRL_REG2_BOOT (1 << 6)
#define LIS302DL_CTRL_REG2_SIM (1 << 7)
/** @} */
/**
* @name LIS302DL_CTRL_REG3 register bits definitions
* @{
*/
#define LIS302DL_CTRL_REG3_MASK 0xFF
#define LIS302DL_CTRL_REG3_I1CFG0 (1 << 0)
#define LIS302DL_CTRL_REG3_I1CFG1 (1 << 1)
#define LIS302DL_CTRL_REG3_I1CFG2 (1 << 2)
#define LIS302DL_CTRL_REG3_I2CFG0 (1 << 3)
#define LIS302DL_CTRL_REG3_I2CFG1 (1 << 4)
#define LIS302DL_CTRL_REG3_I2CFG2 (1 << 5)
#define LIS302DL_CTRL_REG3_PP_OD (1 << 6)
#define LIS302DL_CTRL_REG3_IHL (1 << 7)
/** @} */
/*===========================================================================*/
/* 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 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
/**
* @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 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(LIS302DL_SHARED_I2C) || defined(__DOXYGEN__)
#define LIS302DL_SHARED_I2C FALSE
#endif
/**
* @brief LIS302DL advanced configurations switch.
* @details If set to @p TRUE more configurations are available.
* @note The default is @p FALSE.
*/
#if !defined(LIS302DL_USE_ADVANCED) || defined(__DOXYGEN__)
#define LIS302DL_USE_ADVANCED 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_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION
#error "LIS302DL_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION"
#endif
#if LIS302DL_USE_I2C && !HAL_USE_I2C
#error "LIS302DL_USE_I2C requires HAL_USE_I2C"
#endif
#if LIS302DL_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION
#error "LIS302DL_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION"
#endif
/**
* @todo Add support for LIS302DL over I2C.
*/
#if LIS302DL_USE_I2C
#error "LIS302DL over I2C still not supported"
#endif
/*===========================================================================*/
/* Driver data structures and types. */
/*===========================================================================*/
/**
* @name LIS302DL data structures and types
* @{
*/
/**
* @brief Structure representing a LIS302DL driver.
*/
typedef struct LIS302DLDriver LIS302DLDriver;
/**
* @brief LIS302DL full scale.
*/
typedef enum {
LIS302DL_ACC_FS_2G = 0x00, /**< Full scale �2g. */
LIS302DL_ACC_FS_8G = 0x20 /**< Full scale �8g. */
}lis302dl_acc_fs_t;
/**
* @brief LIS302DL output data rate and bandwidth.
*/
typedef enum {
LIS302DL_ACC_ODR_100HZ = 0x00, /**< ODR 100 Hz. */
LIS302DL_ACC_ODR_400HZ = 0x80 /**< ODR 400 Hz. */
}lis302dl_acc_odr_t;
/**
* @brief LIS302DL high pass filtering.
*/
typedef enum {
LIS302DL_ACC_HP_DISABLED = 0x00, /**< HP bypassed. */
LIS302DL_ACC_HP_0 = 0x10, /**< HP cutoff 2Hz (ODR 100Hz) or 8Hz */
LIS302DL_ACC_HP_1 = 0x11, /**< HP cutoff 1Hz or 4Hz */
LIS302DL_ACC_HP_2 = 0x12, /**< HP cutoff 0.5Hz or 2Hz */
LIS302DL_ACC_HP_3 = 0x13 /**< HP cutoff 0.25Hz or 1Hz */
}lis302dl_acc_hp_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 accelerometer subsystem initial sensitivity.
*/
float *accsensitivity;
/**
* @brief LIS302DL accelerometer subsystem initial bias.
*/
float *accbias;
/**
* @brief LIS302DL accelerometer subsystem initial full scale.
*/
lis302dl_acc_fs_t accfullscale;
/**
* @brief LIS302DL output data rate selection.
*/
lis302dl_acc_odr_t accoutputdatarate;
#if LIS302DL_USE_ADVANCED || defined(__DOXYGEN__)
/**
* @brief LIS302DL high pass filtering.
*/
lis302dl_acc_hp_t acchighpass;
#endif
} LIS302DLConfig;
/**
* @brief @p LIS302DL specific methods.
*/
#define _lis302dl_methods_alone \
/* Change full scale value of LIS302DL .*/ \
msg_t (*set_full_scale)(LIS302DLDriver *devp, lis302dl_acc_fs_t fs);
/**
* @brief @p LIS302DL specific methods with inherited ones.
*/
#define _lis302dl_methods \
_base_object_methods \
_lis302dl_methods_alone
/**
* @extends BaseObjectVMT
*
* @brief @p LIS302DL accelerometer virtual methods table.
*/
struct LIS302DLVMT {
_lis302dl_methods
};
/**
* @brief @p LIS302DLDriver specific data.
*/
#define _lis302dl_data \
/* Driver state.*/ \
lis302dl_state_t state; \
/* Current configuration data.*/ \
const LIS302DLConfig *config; \
/* Accelerometer subsystem axes number.*/ \
size_t accaxes; \
/* Current sensitivity.*/ \
float accsensitivity[LIS302DL_ACC_NUMBER_OF_AXES]; \
/* Bias data.*/ \
int32_t accbias[LIS302DL_ACC_NUMBER_OF_AXES]; \
/* Current full scale value.*/ \
float accfullscale;
/**
* @brief LIS302DL 3-axis accelerometer class.
*/
struct LIS302DLDriver {
/** @brief Virtual Methods Table.*/
const struct LIS302DLVMT *vmt;
/** @brief Base accelerometer interface.*/
BaseAccelerometer acc_if;
_lis302dl_data
};
/** @} */
/*===========================================================================*/
/* Driver macros. */
/*===========================================================================*/
/**
* @brief Return the number of axes of the BaseAccelerometer.
*
* @param[in] devp pointer to @p LIS302DLDriver.
*
* @return the number of axes.
*
* @api
*/
#define lis302dlAccelerometerGetAxesNumber(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 LIS302DLDriver.
* @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 lis302dlAccelerometerReadRaw(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 LIS302DLDriver.
* @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 lis302dlAccelerometerReadCooked(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 LIS302DLDriver.
* @param[in] bp a buffer which contains biases.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*
* @api
*/
#define lis302dlAccelerometerSetBias(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 LIS302DLDriver.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*
* @api
*/
#define lis302dlAccelerometerResetBias(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 LIS302DLDriver.
* @param[in] sp a buffer which contains sensitivities.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*
* @api
*/
#define lis302dlAccelerometerSetSensitivity(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 LIS302DLDriver.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
* @retval MSG_RESET otherwise.
*
* @api
*/
#define lis302dlAccelerometerResetSensitivity(devp) \
accelerometerResetSensitivity(&((devp)->acc_if))
/**
* @brief Changes the LIS302DLDriver 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 LIS302DLDriver.
* @param[in] fs new fullscale value.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
* @retval MSG_RESET otherwise.
*
* @api
*/
#define lis302dlAccelerometerSetFullScale(devp, fs) \
(devp)->vmt->acc_set_full_scale(devp, fs)
/*===========================================================================*/
/* 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_ */
/** @} */