/*
Pretty LAYer for ChibiOS/RT - Copyright (C) 2015 Rocco Marco Guglielmi
This file is part of PLAY for ChibiOS/RT.
PLAY 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.
PLAY 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/>.
*/
/*
Special thanks to Giovanni Di Sirio for teachings, his moral support and
friendship. Note that some or every piece of this file could be part of
the ChibiOS project that is intellectual property of Giovanni Di Sirio.
Please refer to ChibiOS/RT license before use this file.
For suggestion or Bug report - roccomarco.guglielmi@playembedded.org
*/
/**
* @file lsm303dlhc.h
* @brief LSM303DLHC MEMS interface module through I2C header.
*
* @addtogroup lsm303dlhc
* @{
*/
#ifndef _LSM303DLHC_H_
#define _LSM303DLHC_H_
/*===========================================================================*/
/* Driver constants. */
/*===========================================================================*/
#define LSM303DLHC_ACC_SENS_2G ((float)1671.836f) /*!< Accelerometer sensitivity with 2 G full scale [LSB * s^2 / m] */
#define LSM303DLHC_ACC_SENS_4G ((float)835.918f) /*!< Accelerometer sensitivity with 4 G full scale [LSB * s^2 / m] */
#define LSM303DLHC_ACC_SENS_8G ((float)417.959f) /*!< Accelerometer sensitivity with 8 G full scale [LSB * s^2 / m] */
#define LSM303DLHC_ACC_SENS_16G ((float)208.979f) /*!< Accelerometer sensitivity with 16 G full scale [LSB * s^2 / m] */
#define LSM303DLHC_COMP_SENS_XY_1_3GA ((float)1100.0f) /*!< Compass sensitivity with 1.3 GA full scale [LSB / Ga] */
#define LSM303DLHC_COMP_SENS_XY_1_9GA ((float)855.0f) /*!< Compass sensitivity with 1.9 GA full scale [LSB / Ga] */
#define LSM303DLHC_COMP_SENS_XY_2_5GA ((float)670.0f) /*!< Compass sensitivity with 2.5 GA full scale [LSB / Ga] */
#define LSM303DLHC_COMP_SENS_XY_4_0GA ((float)450.0f) /*!< Compass sensitivity with 4.0 GA full scale [LSB / Ga] */
#define LSM303DLHC_COMP_SENS_XY_4_7GA ((float)400.0f) /*!< Compass sensitivity with 4.7 GA full scale [LSB / Ga] */
#define LSM303DLHC_COMP_SENS_XY_5_6GA ((float)330.0f) /*!< Compass sensitivity with 5.6 GA full scale [LSB / Ga] */
#define LSM303DLHC_COMP_SENS_XY_8_1GA ((float)230.0f) /*!< Compass sensitivity with 8.1 GA full scale [LSB / Ga] */
#define LSM303DLHC_COMP_SENS_Z_1_3GA ((float)980.0f) /*!< Compass sensitivity with 1.3 GA full scale [LSB / Ga] */
#define LSM303DLHC_COMP_SENS_Z_1_9GA ((float)765.0f) /*!< Compass sensitivity with 1.9 GA full scale [LSB / Ga] */
#define LSM303DLHC_COMP_SENS_Z_2_5GA ((float)600.0f) /*!< Compass sensitivity with 2.5 GA full scale [LSB / Ga] */
#define LSM303DLHC_COMP_SENS_Z_4_0GA ((float)400.0f) /*!< Compass sensitivity with 4.0 GA full scale [LSB / Ga] */
#define LSM303DLHC_COMP_SENS_Z_4_7GA ((float)355.0f) /*!< Compass sensitivity with 4.7 GA full scale [LSB / Ga] */
#define LSM303DLHC_COMP_SENS_Z_5_6GA ((float)295.0f) /*!< Compass sensitivity with 5.6 GA full scale [LSB / Ga] */
#define LSM303DLHC_COMP_SENS_Z_8_1GA ((float)205.0f) /*!< Compass sensitivity with 8.1 GA full scale [LSB / Ga] */
/**
* @name LSM303DLHC register names
* @{
*/
/******************************************************************************/
/* */
/* LSM303DLHC on board MEMS */
/* */
/******************************************************************************/
/******************* Bit definition for I2C communication *******************/
#define LSM303DLHC_SAD ((uint8_t)0x7F) /*!< SAD[6:0] Slave Address Mask */
#define LSM303DLHC_SAD_ACCEL ((uint8_t)0x19) /*!< ACCELEROMETER Slave Address */
#define LSM303DLHC_SAD_COMPASS ((uint8_t)0x1E) /*!< MAGNETOMETER Slave Address */
#define LSM303DLHC_SUB ((uint8_t)0x7F) /*!< SUB[6:0] Sub-registers address Mask */
#define LSM303DLHC_SUB_0 ((uint8_t)0x01) /*!< bit 0 */
#define LSM303DLHC_SUB_1 ((uint8_t)0x02) /*!< bit 1 */
#define LSM303DLHC_SUB_2 ((uint8_t)0x08) /*!< bit 3 */
#define LSM303DLHC_SUB_4 ((uint8_t)0x10) /*!< bit 4 */
#define LSM303DLHC_SUB_5 ((uint8_t)0x20) /*!< bit 5 */
#define LSM303DLHC_SUB_6 ((uint8_t)0x40) /*!< bit 6 */
#define LSM303DLHC_SUB_MSB ((uint8_t)0x80) /*!< Multiple data read\write bit */
/******** Bit definition for Accelerometer SUB-Registers Addresses **********/
#define LSM303DLHC_SUB_ACC_CTRL_REG1 ((uint8_t)0x20) /*!< CONTROL REGISTER 1 FOR ACCELEROMETER */
#define LSM303DLHC_SUB_ACC_CTRL_REG2 ((uint8_t)0x21) /*!< CONTROL REGISTER 2 FOR ACCELEROMETER */
#define LSM303DLHC_SUB_ACC_CTRL_REG3 ((uint8_t)0x22) /*!< CONTROL REGISTER 3 FOR ACCELEROMETER */
#define LSM303DLHC_SUB_ACC_CTRL_REG4 ((uint8_t)0x23) /*!< CONTROL REGISTER 4 FOR ACCELEROMETER */
#define LSM303DLHC_SUB_ACC_CTRL_REG5 ((uint8_t)0x24) /*!< CONTROL REGISTER 5 FOR ACCELEROMETER */
#define LSM303DLHC_SUB_ACC_CTRL_REG6 ((uint8_t)0x25) /*!< CONTROL REGISTER 6 FOR ACCELEROMETER */
#define LSM303DLHC_SUB_ACC_REFERENCE ((uint8_t)0x26) /*!< REFERENCE/DATACAPTURE FOR ACCELEROMETER */
#define LSM303DLHC_SUB_ACC_STATUS_REG ((uint8_t)0x27) /*!< STATUS REGISTER FOR ACCELEROMETER */
#define LSM303DLHC_SUB_ACC_OUT_X_L ((uint8_t)0x28) /*!< OUTPUT X-AXIS LOW FOR ACCELEROMETER */
#define LSM303DLHC_SUB_ACC_OUT_X_H ((uint8_t)0x29) /*!< OUTPUT X-AXIS HIGH FOR ACCELEROMETER */
#define LSM303DLHC_SUB_ACC_OUT_Y_L ((uint8_t)0x2A) /*!< OUTPUT Y-AXIS LOW FOR ACCELEROMETER */
#define LSM303DLHC_SUB_ACC_OUT_Y_H ((uint8_t)0x2B) /*!< OUTPUT Y-AXIS HIGH FOR ACCELEROMETER */
#define LSM303DLHC_SUB_ACC_OUT_Z_L ((uint8_t)0x2C) /*!< OUTPUT Z-AXIS LOW FOR ACCELEROMETER */
#define LSM303DLHC_SUB_ACC_OUT_Z_H ((uint8_t)0x2D) /*!< OUTPUT Z-AXIS HIGH FOR ACCELEROMETER */
#define LSM303DLHC_SUB_ACC_FIFO_CTRL_REG ((uint8_t)0x2E) /*!< FIFO CONTROL REGISTER FOR ACCELEROMETER */
#define LSM303DLHC_SUB_ACC_FIFO_SRC_REG ((uint8_t)0x2F) /*!< FIFO SOURCE REGISTER FOR ACCELEROMETER */
#define LSM303DLHC_SUB_ACC_INT1_CFG ((uint8_t)0x30) /*!< INTERRUPT1 CONFIG FOR ACCELEROMETER */
#define LSM303DLHC_SUB_ACC_INT1_SOURCE ((uint8_t)0x31) /*!< INTERRUPT1 SOURCE FOR ACCELEROMETER */
#define LSM303DLHC_SUB_ACC_INT1_THS ((uint8_t)0x32) /*!< INTERRUPT1 THRESHOLD FOR ACCELEROMETER */
#define LSM303DLHC_SUB_ACC_INT1_DURATION ((uint8_t)0x33) /*!< INTERRUPT1 DURATION FOR ACCELEROMETER */
#define LSM303DLHC_SUB_ACC_INT2_CFG ((uint8_t)0x34) /*!< INTERRUPT2 CONFIG FOR ACCELEROMETER */
#define LSM303DLHC_SUB_ACC_INT2_SOURCE ((uint8_t)0x35) /*!< INTERRUPT2 SOURCE FOR ACCELEROMETER */
#define LSM303DLHC_SUB_ACC_INT2_THS ((uint8_t)0x36) /*!< INTERRUPT2 THRESHOLD FOR ACCELEROMETER */
#define LSM303DLHC_SUB_ACC_INT2_DURATION ((uint8_t)0x37) /*!< INTERRUPT2 DURATION FOR ACCELEROMETER */
#define LSM303DLHC_SUB_ACC_CLICK_CFG ((uint8_t)0x38) /*!< CLICK CONFIG FOR ACCELEROMETER */
#define LSM303DLHC_SUB_ACC_CLICK_SRC ((uint8_t)0x39) /*!< CLICK SOURCE FOR ACCELEROMETER */
#define LSM303DLHC_SUB_ACC_CLICK_THS ((uint8_t)0x3A) /*!< CLICK THRESHOLD FOR ACCELEROMETER */
#define LSM303DLHC_SUB_ACC_TIME_LIMIT ((uint8_t)0x3B) /*!< TIME LIMIT FOR ACCELEROMETER */
#define LSM303DLHC_SUB_ACC_TIME_LATENCY ((uint8_t)0x3C) /*!< TIME LATENCY FOR ACCELEROMETER */
#define LSM303DLHC_SUB_ACC_TIME_WINDOW ((uint8_t)0x3D) /*!< TIME WINDOW FOR ACCELEROMETER */
/********* Bit definition for Compass SUB-Registers Addresses **********/
#define LSM303DLHC_SUB_COMP_CRA_REG ((uint8_t)0x00) /*!< CONTROL REGISTER A FOR MAGNETOMETER */
#define LSM303DLHC_SUB_COMP_CRB_REG ((uint8_t)0x01) /*!< CONTROL REGISTER B FOR MAGNETOMETER */
#define LSM303DLHC_SUB_COMP_MR_REG ((uint8_t)0x02) /*!< STATUS REGISTER FOR MAGNETOMETER */
#define LSM303DLHC_SUB_COMP_OUT_X_H ((uint8_t)0x03) /*!< OUTPUT X-AXIS HIGH FOR MAGNETOMETER */
#define LSM303DLHC_SUB_COMP_OUT_X_L ((uint8_t)0x04) /*!< OUTPUT X-AXIS LOW FOR MAGNETOMETER */
#define LSM303DLHC_SUB_COMP_OUT_Z_H ((uint8_t)0x05) /*!< OUTPUT Z-AXIS HIGH FOR MAGNETOMETER */
#define LSM303DLHC_SUB_COMP_OUT_Z_L ((uint8_t)0x06) /*!< OUTPUT Z-AXIS LOW FOR MAGNETOMETER */
#define LSM303DLHC_SUB_COMP_OUT_Y_H ((uint8_t)0x07) /*!< OUTPUT Y-AXIS HIGH FOR MAGNETOMETER */
#define LSM303DLHC_SUB_COMP_OUT_Y_L ((uint8_t)0x08) /*!< OUTPUT Y-AXIS LOW FOR MAGNETOMETER */
#define LSM303DLHC_SUB_COMP_SR_REG ((uint8_t)0x09) /*!< SR REGISTER FOR MAGNETOMETER */
#define LSM303DLHC_SUB_COMP_IRA_REG ((uint8_t)0x0A) /*!< IR A REGISTER FOR MAGNETOMETER */
#define LSM303DLHC_SUB_COMP_IRB_REG ((uint8_t)0x0B) /*!< IR B REGISTER FOR MAGNETOMETER */
#define LSM303DLHC_SUB_COMP_IRC_REG ((uint8_t)0x0C) /*!< IR C REGISTER FOR MAGNETOMETER */
#define LSM303DLHC_SUB_COMP_TEMP_OUT_H ((uint8_t)0x31) /*!< OUTPUT TEMP HIGH FOR MAGNETOMETER */
#define LSM303DLHC_SUB_COMP_TEMP_OUT_L ((uint8_t)0x32) /*!< OUTPUT TEMP LOW FOR MAGNETOMETER */
/** @} */
/*===========================================================================*/
/* Driver pre-compile time settings. */
/*===========================================================================*/
/*===========================================================================*/
/* Derived constants and error checks. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver data structures and types. */
/*===========================================================================*/
/**
* @name Accelerometer data structures and types
* @{
*/
/**
* @brief Accelerometer Output Data Rate
*/
typedef enum
{
LSM303DLHC_ACC_ODR_PD = 0x00, /*!< Power down */
LSM303DLHC_ACC_ODR_1Hz = 0x10, /*!< Output Data Rate = 1 Hz */
LSM303DLHC_ACC_ODR_10Hz = 0x20, /*!< Output Data Rate = 10 Hz */
LSM303DLHC_ACC_ODR_25Hz = 0x30, /*!< Output Data Rate = 25 Hz */
LSM303DLHC_ACC_ODR_50Hz = 0x40, /*!< Output Data Rate = 50 Hz */
LSM303DLHC_ACC_ODR_100Hz = 0x50, /*!< Output Data Rate = 100 Hz */
LSM303DLHC_ACC_ODR_200Hz = 0x60, /*!< Output Data Rate = 200 Hz */
LSM303DLHC_ACC_ODR_400Hz = 0x70, /*!< Output Data Rate = 400 Hz */
LSM303DLHC_ACC_ODR_1620Hz = 0x80, /*!< Output Data Rate = 1620 Hz Low Power mode only */
LSM303DLHC_ACC_ODR_1344Hz = 0x90 /*!< Output Data Rate = 1344 Hz in Normal mode and 5376 Hz in Low Power Mode */
}LSM303DLHC_ACC_ODR_t;
/**
* @brief Accelerometer Power Mode
*/
typedef enum
{
LSM303DLHC_ACC_PM_NORMAL = 0x00, /*!< Normal mode enabled */
LSM303DLHC_ACC_PM_LOW_POWER = 0x08 /*!< Low Power mode enabled */
}LSM303DLHC_ACC_PM_t;
/**
* @brief Accelerometer Full Scale
*/
typedef enum
{
LSM303DLHC_ACC_FS_2G = 0x00, /*!< �2 g m/s^2 */
LSM303DLHC_ACC_FS_4G = 0x10, /*!< �4 g m/s^2 */
LSM303DLHC_ACC_FS_8G = 0x20, /*!< �8 g m/s^2 */
LSM303DLHC_ACC_FS_16G = 0x30 /*!< �16 g m/s^2 */
}LSM303DLHC_ACC_FS_t;
/**
* @brief Accelerometer Axes Enabling
*/
typedef enum{
LSM303DLHC_ACC_AE_DISABLED = 0x00, /*!< Axes all 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 & Y axes enabled */
LSM303DLHC_ACC_AE_Z = 0x04, /*!< Only Z-axis enabled */
LSM303DLHC_ACC_AE_XZ = 0x05, /*!< X & Z axes enabled */
LSM303DLHC_ACC_AE_YZ = 0x06, /*!< Y & Z axes enabled */
LSM303DLHC_ACC_AE_XYZ = 0x07 /*!< All axes enabled */
}LSM303DLHC_ACC_AE_t;
/**
* @brief Accelerometer Block Data Update
*/
typedef enum
{
LSM303DLHC_ACC_BDU_CONTINOUS = 0x00, /*!< Continuos Update */
LSM303DLHC_ACC_BDU_BLOCKED = 0x80 /*!< Single Update: output registers not updated until MSB and LSB reading */
}LSM303DLHC_ACC_BDU_t;
/**
* @brief Accelerometer Endianness
*/
typedef enum
{
LSM303DLHC_ACC_End_LITTLE = 0x00, /*!< Little Endian: data LSB @ lower address */
LSM303DLHC_ACC_End_BIG = 0x40 /*!< Big Endian: data MSB @ lower address */
}LSM303DLHC_ACC_End_t;
/**
* @brief Accelerometer High Resolution mode
*/
typedef enum
{
LSM303DLHC_ACC_HR_Enabled = 0x08, /*!< High resolution output mode enabled */
LSM303DLHC_ACC_HR_Disabled = 0x00 /*!< High resolution output mode disabled */
}LSM303DLHC_ACC_HR_t;
/**
* @brief Accelerometer configuration structure.
*/
typedef struct {
/**
* @brief Accelerometer fullscale value.
*/
LSM303DLHC_ACC_FS_t fullscale;
/**
* @brief Accelerometer power mode selection.
*/
LSM303DLHC_ACC_PM_t powermode;
/**
* @brief Accelerometer output data rate selection.
*/
LSM303DLHC_ACC_ODR_t outputdatarate;
/**
* @brief Accelerometer axes enabling.
*/
LSM303DLHC_ACC_AE_t axesenabling;
/**
* @brief Accelerometer block data update.
*/
LSM303DLHC_ACC_BDU_t blockdataupdate;
/**
* @brief Accelerometer block data update.
*/
LSM303DLHC_ACC_HR_t highresmode;
} LSM303DLHC_ACC_Config;
/** @} */
/**
* @name Compass data types
* @{
*/
/**
* @brief Compass Output Data Rate
*/
typedef enum
{
LSM303DLHC_COMP_ODR_0_75_Hz = 0x00, /*!< Output Data Rate = 0.75 Hz */
LSM303DLHC_COMP_ODR_1_5_Hz = 0x04, /*!< Output Data Rate = 1.5 Hz */
LSM303DLHC_COMP_ODR_3_0_Hz = 0x08, /*!< Output Data Rate = 3 Hz */
LSM303DLHC_COMP_ODR_7_5_Hz = 0x0C, /*!< Output Data Rate = 7.5 Hz */
LSM303DLHC_COMP_ODR_15_Hz = 0x10, /*!< Output Data Rate = 15 Hz */
LSM303DLHC_COMP_ODR_30_Hz = 0x14, /*!< Output Data Rate = 30 Hz */
LSM303DLHC_COMP_ODR_75_Hz = 0x18, /*!< Output Data Rate = 75 Hz */
LSM303DLHC_COMP_ODR_220_Hz = 0x1C /*!< Output Data Rate = 220 Hz */
}LSM303DLHC_COMP_ODR_t;
/**
* @brief Compass Full Scale
*/
typedef enum
{
LSM303DLHC_COMP_FS_1_3_GA = 0x20, /*!< Full scale = �1.3 Gauss */
LSM303DLHC_COMP_FS_1_9_GA = 0x40, /*!< Full scale = �1.9 Gauss */
LSM303DLHC_COMP_FS_2_5_GA = 0x60, /*!< Full scale = �2.5 Gauss */
LSM303DLHC_COMP_FS_4_0_GA = 0x80, /*!< Full scale = �4.0 Gauss */
LSM303DLHC_COMP_FS_4_7_GA = 0xA0, /*!< Full scale = �4.7 Gauss */
LSM303DLHC_COMP_FS_5_6_GA = 0xC0, /*!< Full scale = �5.6 Gauss */
LSM303DLHC_COMP_FS_8_1_GA = 0xE0 /*!< Full scale = �8.1 Gauss */
}LSM303DLHC_COMP_FS_t;
/**
* @brief Compass Working Mode
*/
typedef enum
{
LSM303DLHC_COMP_WM_CONTINUOS = 0x00, /*!< Continuous-Conversion Mode */
LSM303DLHC_COMP_WM_BLOCKED = 0x01, /*!< Single-Conversion Mode */
LSM303DLHC_COMP_WM_SLEEP = 0x02 /*!< Sleep Mode */
}LSM303DLHC_COMP_WM_t;
/**
* @brief Compass configuration structure.
*/
typedef struct {
/**
* @brief Compass fullscale value.
*/
LSM303DLHC_COMP_FS_t fullscale;
/**
* @brief Compass output data rate selection.
*/
LSM303DLHC_COMP_ODR_t outputdatarate;
/**
* @brief Compass working mode.
*/
LSM303DLHC_COMP_WM_t workingmode;
} LSM303DLHC_COMP_Config;
/** @} */
/*===========================================================================*/
/* Driver macros. */
/*===========================================================================*/
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
#ifdef __cplusplus
extern "C" {
#endif
uint8_t lsm303dlhcReadRegister(I2CDriver *i2cp, uint8_t sad, uint8_t sub,
msg_t* message);
void lsm303dlhcWriteRegister(I2CDriver *i2cp,uint8_t sad, uint8_t sub,
uint8_t value, msg_t* message);
#ifdef __cplusplus
}
#endif
#endif /* _LSM303DLHC_H_ */
/** @} */