diff options
Diffstat (limited to 'os/ex/ST/lis302dl.h')
| -rw-r--r-- | os/ex/ST/lis302dl.h | 354 |
1 files changed, 249 insertions, 105 deletions
diff --git a/os/ex/ST/lis302dl.h b/os/ex/ST/lis302dl.h index a6e710fc1..be1737d64 100644 --- a/os/ex/ST/lis302dl.h +++ b/os/ex/ST/lis302dl.h @@ -1,5 +1,5 @@ /*
- ChibiOS - Copyright (C) 2016 Rocco Marco Guglielmi
+ ChibiOS - Copyright (C) 2016-2018 Rocco Marco Guglielmi
This file is part of ChibiOS.
@@ -43,7 +43,7 @@ /**
* @brief LIS302DL driver version string.
*/
-#define EX_LIS302DL_VERSION "1.0.4"
+#define EX_LIS302DL_VERSION "1.0.5"
/**
* @brief LIS302DL driver version major number.
@@ -58,21 +58,26 @@ /**
* @brief LIS302DL driver version patch number.
*/
-#define EX_LIS302DL_PATCH 4
+#define EX_LIS302DL_PATCH 5
/** @} */
/**
- * @brief LIS302DL characteristics.
+ * @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_NUMBER_OF_AXES 3U
+#define LIS302DL_ACC_NUMBER_OF_AXES 3U
-#define LIS302DL_2G 2.0f
-#define LIS302DL_8G 8.0f
+#define LIS302DL_ACC_2G 2.0f
+#define LIS302DL_ACC_8G 8.0f
-#define LIS302DL_SENS_2G 18.0f
-#define LIS302DL_SENS_8G 72.0f
+#define LIS302DL_ACC_SENS_2G 18.0f
+#define LIS302DL_ACC_SENS_8G 72.0f
+
+#define LIS302DL_ACC_BIAS 0.0f
/** @} */
/**
@@ -121,45 +126,45 @@ * @name LIS302DL_CTRL_REG1 register bits definitions
* @{
*/
-#define LIS302DL_CTRL_REG1_MASK 0xFF /**< LIS302DL_CTRL_REG1 mask */
-#define LIS302DL_CTRL_REG1_XEN (1 << 0) /**< X axis enable */
-#define LIS302DL_CTRL_REG1_YEN (1 << 1) /**< Y axis enable */
-#define LIS302DL_CTRL_REG1_ZEN (1 << 2) /**< Z axis enable */
-#define LIS302DL_CTRL_REG1_STM (1 << 3) /**< Self test P-M */
-#define LIS302DL_CTRL_REG1_STP (1 << 4) /**< Self test P-M */
-#define LIS302DL_CTRL_REG1_FS_MASK 0x20 /**< Full scale field mask */
-#define LIS302DL_CTRL_REG1_FS (1 << 5) /**< Full scale */
-#define LIS302DL_CTRL_REG1_PD (1 << 6) /**< Power-down mode enable */
-#define LIS302DL_CTRL_REG1_DR (1 << 7) /**< Output data rate */
+#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 /**< LIS302DL_CTRL_REG2 mask */
-#define LIS302DL_CTRL_REG2_HPCF1 (1 << 0) /**< HP filter cutoff bit 0 */
-#define LIS302DL_CTRL_REG2_HPCF2 (1 << 1) /**< HP filter cutoff bit 1 */
-#define LIS302DL_CTRL_REG2_HPFFWU1 (1 << 2) /**< HP filter cutoff bit 2 */
-#define LIS302DL_CTRL_REG2_HPFFWU2 (1 << 3) /**< HP filter cutoff bit 3 */
-#define LIS302DL_CTRL_REG2_FDS (1 << 4) /**< HP filter mode bit 0 */
-#define LIS302DL_CTRL_REG2_BOOT (1 << 6) /**< HP filter mode bit 1 */
-#define LIS302DL_CTRL_REG2_SIM (1 << 7) /**< HP filter mode bit 1 */
+#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 /**< LIS302DL_CTRL_REG3 mask */
-#define LIS302DL_CTRL_REG3_I1CFG0 (1 << 0) /**< Interrupt 1 config bit 0 */
-#define LIS302DL_CTRL_REG3_I1CFG1 (1 << 1) /**< Interrupt 1 config bit 1 */
-#define LIS302DL_CTRL_REG3_I1CFG2 (1 << 2) /**< Interrupt 1 config bit 2 */
-#define LIS302DL_CTRL_REG3_I2CFG0 (1 << 3) /**< Interrupt 2 config bit 0 */
-#define LIS302DL_CTRL_REG3_I2CFG1 (1 << 4) /**< Interrupt 2 config bit 1 */
-#define LIS302DL_CTRL_REG3_I2CFG2 (1 << 5) /**< Interrupt 2 config bit 2 */
-#define LIS302DL_CTRL_REG3_PP_OD (1 << 6) /**< Push-pull open-drain */
-#define LIS302DL_CTRL_REG3_IHL (1 << 7) /**< Int active high low */
+#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)
/** @} */
/*===========================================================================*/
@@ -180,6 +185,16 @@ #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.
@@ -189,22 +204,23 @@ #endif
/**
- * @brief LIS302DL advanced configurations switch.
- * @details If set to @p TRUE more configurations are available.
- * @note The default is @p FALSE.
+ * @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_USE_ADVANCED) || defined(__DOXYGEN__)
-#define LIS302DL_USE_ADVANCED FALSE
+#if !defined(LIS302DL_SHARED_I2C) || defined(__DOXYGEN__)
+#define LIS302DL_SHARED_I2C FALSE
#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.
+ * @brief LIS302DL accelerometer subsystem advanced configurations
+ * switch.
+ * @details If set to @p TRUE more configurations are available.
+ * @note The default is @p FALSE.
*/
-#if !defined(LIS302DL_SHARED_SPI) || defined(__DOXYGEN__)
-#define LIS302DL_SHARED_SPI FALSE
+#if !defined(LIS302DL_ACC_USE_ADVANCED) || defined(__DOXYGEN__)
+#define LIS302DL_ACC_USE_ADVANCED FALSE
#endif
/** @} */
@@ -220,12 +236,23 @@ #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_SPI && !SPI_USE_MUTUAL_EXCLUSION
-#error "LIS302DL_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION"
+#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
/*===========================================================================*/
@@ -237,31 +264,36 @@ * @{
*/
/**
+ * @brief Structure representing a LIS302DL driver.
+ */
+typedef struct LIS302DLDriver LIS302DLDriver;
+
+/**
* @brief LIS302DL full scale.
*/
typedef enum {
- LIS302DL_FS_2G = 0x00, /**< Full scale ±2g. */
- LIS302DL_FS_8G = 0x20 /**< Full scale ±8g. */
-}lis302dl_fs_t;
+ 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_ODR_100HZ = 0x00, /**< ODR 100 Hz. */
- LIS302DL_ODR_400HZ = 0x80 /**< ODR 400 Hz. */
-}lis302dl_odr_t;
+ 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_HP_DISABLED = 0x00, /**< HP bypassed. */
- LIS302DL_HP_0 = 0x10, /**< HP cutoff 2Hz (ODR 100Hz) or 8Hz */
- LIS302DL_HP_1 = 0x11, /**< HP cutoff 1Hz or 4Hz */
- LIS302DL_HP_2 = 0x12, /**< HP cutoff 0.5Hz or 2Hz */
- LIS302DL_HP_3 = 0x13 /**< HP cutoff 0.25Hz or 1Hz */
-}lis302dl_hp_t;
+ 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.
@@ -298,52 +330,51 @@ typedef struct { const I2CConfig *i2ccfg;
#endif /* LIS302DL_USE_I2C */
/**
- * @brief LIS302DL initial sensitivity.
+ * @brief LIS302DL accelerometer subsystem initial sensitivity.
*/
- float *sensitivity;
+ float *accsensitivity;
/**
- * @brief LIS302DL initial bias.
+ * @brief LIS302DL accelerometer subsystem initial bias.
*/
- float *bias;
+ float *accbias;
/**
- * @brief LIS302DL full scale value.
+ * @brief LIS302DL accelerometer subsystem initial full scale.
*/
- lis302dl_fs_t fullscale;
+ lis302dl_acc_fs_t accfullscale;
/**
* @brief LIS302DL output data rate selection.
*/
- lis302dl_odr_t outputdatarate;
+ lis302dl_acc_odr_t accoutputdatarate;
#if LIS302DL_USE_ADVANCED || defined(__DOXYGEN__)
/**
* @brief LIS302DL high pass filtering.
*/
- lis302dl_hp_t highpass;
+ lis302dl_acc_hp_t acchighpass;
#endif
} LIS302DLConfig;
/**
- * @brief @p LIS302DL accelerometer subsystem specific methods.
+ * @brief @p LIS302DL specific methods.
*/
-#define _lis302dl_accelerometer_methods_alone \
+#define _lis302dl_methods_alone \
/* Change full scale value of LIS302DL .*/ \
- msg_t (*set_full_scale)(void *instance, lis302dl_fs_t fs);
+ msg_t (*set_full_scale)(LIS302DLDriver *devp, lis302dl_acc_fs_t fs);
/**
- * @brief @p LIS302DL accelerometer subsystem specific methods with inherited
- * ones.
+ * @brief @p LIS302DL specific methods with inherited ones.
*/
-#define _lis302dl_accelerometer_methods \
- _base_accelerometer_methods \
- _lis302dl_accelerometer_methods_alone
+#define _lis302dl_methods \
+ _base_object_methods \
+ _lis302dl_methods_alone
/**
- * @extends BaseAccelerometerVMT
+ * @extends BaseObjectVMT
*
* @brief @p LIS302DL accelerometer virtual methods table.
*/
-struct LIS302DLAccelerometerVMT {
- _lis302dl_accelerometer_methods
+struct LIS302DLVMT {
+ _lis302dl_methods
};
/**
@@ -354,34 +385,25 @@ struct LIS302DLAccelerometerVMT { lis302dl_state_t state; \
/* Current configuration data.*/ \
const LIS302DLConfig *config; \
+ /* Accelerometer subsystem axes number.*/ \
+ size_t accaxes; \
/* Current sensitivity.*/ \
- float sensitivity[LIS302DL_NUMBER_OF_AXES]; \
+ float accsensitivity[LIS302DL_ACC_NUMBER_OF_AXES]; \
/* Bias data.*/ \
- int32_t bias[LIS302DL_NUMBER_OF_AXES]; \
+ int32_t accbias[LIS302DL_ACC_NUMBER_OF_AXES]; \
/* Current full scale value.*/ \
- float fullscale;
+ float accfullscale;
/**
- * @extends BaseAccelerometer
- *
* @brief LIS302DL 3-axis accelerometer class.
- * @details This class extends @p BaseAccelerometer by adding physical
- * driver implementation.
*/
struct LIS302DLDriver {
- /** @brief BaseSensor Virtual Methods Table. */
- const struct BaseSensorVMT *vmt_sensor;
- _base_sensor_data
- /** @brief BaseAccelerometer Virtual Methods Table. */
- const struct LIS302DLAccelerometerVMT *vmt_accelerometer;
- _base_accelerometer_data
+ /** @brief Virtual Methods Table.*/
+ const struct LIS302DLVMT *vmt;
+ /** @brief Base accelerometer interface.*/
+ BaseAccelerometer acc_if;
_lis302dl_data
};
-
-/**
- * @brief Structure representing a LIS302DL driver.
- */
-typedef struct LIS302DLDriver LIS302DLDriver;
/** @} */
/*===========================================================================*/
@@ -389,19 +411,141 @@ typedef struct LIS302DLDriver LIS302DLDriver; /*===========================================================================*/
/**
- * @brief Change accelerometer fullscale value.
+ * @brief Return the number of axes of the BaseAccelerometer.
+ *
+ * @param[in] devp pointer to @p LIS302DLDriver.
*
- * @param[in] ip pointer to a @p LIS302DLDriver class.
- * @param[in] fs the new full scale value.
+ * @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 errors occurred.
+ * @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 accelerometerSetFullScale(ip, fs) \
- (ip)->vmt_accelerometer->set_full_scale(ip, fs)
-
+#define lis302dlAccelerometerSetFullScale(devp, fs) \
+ (devp)->vmt->acc_set_full_scale(devp, fs)
/*===========================================================================*/
/* External declarations. */
|