diff options
Diffstat (limited to 'os/ex/ST/lis3dsh.h')
| -rw-r--r-- | os/ex/ST/lis3dsh.h | 312 |
1 files changed, 270 insertions, 42 deletions
diff --git a/os/ex/ST/lis3dsh.h b/os/ex/ST/lis3dsh.h index 9cc202039..50b6f7c1c 100644 --- a/os/ex/ST/lis3dsh.h +++ b/os/ex/ST/lis3dsh.h @@ -35,9 +35,249 @@ /*===========================================================================*/
/**
- * @brief LIS3DSH number of axes.
+ * @name Version identification
+ * @{
+ */
+/**
+ * @brief LIS3DSH driver version string.
+ */
+#define EX_LIS3DSH_VERSION "1.0.0"
+
+/**
+ * @brief LIS3DSH driver version major number.
+ */
+#define EX_LIS3DSH_MAJOR 1
+
+/**
+ * @brief LIS3DSH driver version minor number.
+ */
+#define EX_LIS3DSH_MINOR 0
+
+/**
+ * @brief LIS3DSH driver version patch number.
+ */
+#define EX_LIS3DSH_PATCH 0
+/** @} */
+
+/**
+ * @brief LIS3DSH characteristics.
+ *
+ * @{
+ */
+#define LIS3DSH_NUMBER_OF_AXES 3U
+
+#define LIS3DSH_2G 2.0f
+#define LIS3DSH_4G 4.0f
+#define LIS3DSH_6G 6.0f
+#define LIS3DSH_8G 8.0f
+#define LIS3DSH_16G 16.0f
+
+#define LIS3DSH_SENS_2G 0.06f
+#define LIS3DSH_SENS_4G 0.12f
+#define LIS3DSH_SENS_6G 0.18f
+#define LIS3DSH_SENS_8G 0.24f
+#define LIS3DSH_SENS_16G 0.73f
+/** @} */
+
+/**
+ * @name LIS3DSH communication interfaces related bit masks
+ * @{
+ */
+#define LIS3DSH_DI_MASK 0xFF /**< Data In mask */
+#define LIS3DSH_DI(n) (1 << n) /**< Data In bit n */
+#define LIS3DSH_AD_MASK 0x3F /**< Address Data mask */
+#define LIS3DSH_AD(n) (1 << n) /**< Address Data bit n */
+#define LIS3DSH_MS (1 << 6) /**< Multiple read write */
+#define LIS3DSH_RW (1 << 7) /**< Read Write selector */
+/** @} */
+
+/**
+ * @name LIS3DSH register addresses
+ * @{
+ */
+#define LIS3DSH_AD_OUT_T 0x0C
+#define LIS3DSH_AD_INFO1 0x0D
+#define LIS3DSH_AD_INFO2 0x0E
+#define LIS3DSH_AD_WHO_AM_I 0x0F
+#define LIS3DSH_AD_OFF_X 0x10
+#define LIS3DSH_AD_OFF_Y 0x11
+#define LIS3DSH_AD_OFF_Z 0x12
+#define LIS3DSH_AD_CS_X 0x13
+#define LIS3DSH_AD_CS_Y 0x14
+#define LIS3DSH_AD_CS_Z 0x15
+#define LIS3DSH_AD_LC_L 0x16
+#define LIS3DSH_AD_LC_H 0x17
+#define LIS3DSH_AD_STAT 0x18
+#define LIS3DSH_AD_PEAK1 0x19
+#define LIS3DSH_AD_PEAK2 0x1A
+#define LIS3DSH_AD_VFC_1 0x1B
+#define LIS3DSH_AD_VFC_2 0x1C
+#define LIS3DSH_AD_VFC_3 0x1D
+#define LIS3DSH_AD_VFC_4 0x1E
+#define LIS3DSH_AD_THRS3 0x1F
+#define LIS3DSH_AD_CTRL_REG4 0x20
+#define LIS3DSH_AD_CTRL_REG1 0x21
+#define LIS3DSH_AD_CTRL_REG2 0x22
+#define LIS3DSH_AD_CTRL_REG3 0x23
+#define LIS3DSH_AD_CTRL_REG5 0x24
+#define LIS3DSH_AD_CTRL_REG6 0x25
+#define LIS3DSH_AD_STATUS 0x27
+#define LIS3DSH_AD_OUT_X_L 0x28
+#define LIS3DSH_AD_OUT_X_H 0x29
+#define LIS3DSH_AD_OUT_Y_L 0x2A
+#define LIS3DSH_AD_OUT_Y_H 0x2B
+#define LIS3DSH_AD_OUT_Z_L 0x2C
+#define LIS3DSH_AD_OUT_Z_H 0x2D
+#define LIS3DSH_AD_FIFO_CTRL 0x2E
+#define LIS3DSH_AD_FIFO_SRC 0x2F
+#define LIS3DSH_AD_ST1_0 0x40
+#define LIS3DSH_AD_ST1_1 0x41
+#define LIS3DSH_AD_ST1_2 0x42
+#define LIS3DSH_AD_ST1_3 0x43
+#define LIS3DSH_AD_ST1_4 0x44
+#define LIS3DSH_AD_ST1_5 0x45
+#define LIS3DSH_AD_ST1_6 0x46
+#define LIS3DSH_AD_ST1_7 0x47
+#define LIS3DSH_AD_ST1_8 0x48
+#define LIS3DSH_AD_ST1_9 0x49
+#define LIS3DSH_AD_ST1_A 0x4A
+#define LIS3DSH_AD_ST1_B 0x4B
+#define LIS3DSH_AD_ST1_C 0x4C
+#define LIS3DSH_AD_ST1_D 0x4D
+#define LIS3DSH_AD_ST1_E 0x4E
+#define LIS3DSH_AD_ST1_F 0x4F
+#define LIS3DSH_AD_TIM4_1 0x50
+#define LIS3DSH_AD_TIM3_1 0x51
+#define LIS3DSH_AD_TIM2_1_L 0x52
+#define LIS3DSH_AD_TIM2_1_H 0x53
+#define LIS3DSH_AD_TIM1_1_L 0x54
+#define LIS3DSH_AD_TIM1_1_H 0x55
+#define LIS3DSH_AD_THRS2_1 0x56
+#define LIS3DSH_AD_THRS1_1 0x57
+#define LIS3DSH_AD_MASK1_B 0x59
+#define LIS3DSH_AD_MASK1_A 0x5A
+#define LIS3DSH_AD_SETT1 0x5B
+#define LIS3DSH_AD_PR1 0x5C
+#define LIS3DSH_AD_TC1_L 0x5D
+#define LIS3DSH_AD_TC1_H 0x5E
+#define LIS3DSH_AD_OUTS1 0x5F
+#define LIS3DSH_AD_ST2_0 0x60
+#define LIS3DSH_AD_ST2_1 0x61
+#define LIS3DSH_AD_ST2_2 0x62
+#define LIS3DSH_AD_ST2_3 0x63
+#define LIS3DSH_AD_ST2_4 0x64
+#define LIS3DSH_AD_ST2_5 0x65
+#define LIS3DSH_AD_ST2_6 0x66
+#define LIS3DSH_AD_ST2_7 0x67
+#define LIS3DSH_AD_ST2_8 0x68
+#define LIS3DSH_AD_ST2_9 0x69
+#define LIS3DSH_AD_ST2_A 0x6A
+#define LIS3DSH_AD_ST2_B 0x6B
+#define LIS3DSH_AD_ST2_C 0x6C
+#define LIS3DSH_AD_ST2_D 0x6D
+#define LIS3DSH_AD_ST2_E 0x6E
+#define LIS3DSH_AD_ST2_F 0x6F
+#define LIS3DSH_AD_TIM4_2 0x70
+#define LIS3DSH_AD_TIM3_2 0x71
+#define LIS3DSH_AD_TIM2_2_L 0x72
+#define LIS3DSH_AD_TIM2_2_H 0x73
+#define LIS3DSH_AD_TIM1_2_L 0x74
+#define LIS3DSH_AD_TIM1_2_H 0x75
+#define LIS3DSH_AD_THRS2_2 0x76
+#define LIS3DSH_AD_THRS1_2 0x77
+#define LIS3DSH_AD_DES2 0x78
+#define LIS3DSH_AD_MASK2_B 0x79
+#define LIS3DSH_AD_MASK2_A 0x7A
+#define LIS3DSH_AD_SETT2 0x7B
+#define LIS3DSH_AD_PR2 0x7C
+#define LIS3DSH_AD_TC2_L 0x7D
+#define LIS3DSH_AD_TC2_H 0x7E
+#define LIS3DSH_AD_OUTS2 0x7F
+/** @} */
+
+/**
+ * @name LIS3DSH_CTRL_REG1 register bits definitions
+ * @{
+ */
+#define LIS3DSH_CTRL_REG1_MASK 0xE9 /**< LIS3DSH_CTRL_REG1 mask */
+#define LIS3DSH_CTRL_REG1_SM1_EN (1 << 0) /**< SM1 enabled */
+#define LIS3DSH_CTRL_REG1_SM1_PIN (1 << 3) /**< SM1 pin */
+#define LIS3DSH_CTRL_REG1_HYST0_1 (1 << 5) /**< Hysteresis 1 bit 0 */
+#define LIS3DSH_CTRL_REG1_HYST1_1 (1 << 6) /**< Hysteresis 1 bit 1 */
+#define LIS3DSH_CTRL_REG1_HYST2_1 (1 << 7) /**< Hysteresis 1 bit 2 */
+/** @} */
+
+/**
+ * @name LIS3DSH_CTRL_REG2 register bits definitions
+ * @{
+ */
+#define LIS3DSH_CTRL_REG2_MASK 0xE9 /**< LIS3DSH_CTRL_REG2 mask */
+#define LIS3DSH_CTRL_REG2_SM2_EN (1 << 0) /**< SM2 enabled */
+#define LIS3DSH_CTRL_REG2_SM2_PIN (1 << 3) /**< SM2 pin */
+#define LIS3DSH_CTRL_REG2_HYST0_2 (1 << 5) /**< Hysteresis 2 bit 0 */
+#define LIS3DSH_CTRL_REG2_HYST1_2 (1 << 6) /**< Hysteresis 2 bit 1 */
+#define LIS3DSH_CTRL_REG2_HYST2_2 (1 << 7) /**< Hysteresis 2 bit 2 */
+/** @} */
+
+/**
+ * @name LIS3DSH_CTRL_REG3 register bits definitions
+ * @{
+ */
+#define LIS3DSH_CTRL_REG3_MASK 0xFF /**< LIS3DSH_CTRL_REG3 mask */
+#define LIS3DSH_CTRL_REG3_STRT (1 << 0) /**< Soft reset bit */
+#define LIS3DSH_CTRL_REG3_VFILT (1 << 2) /**< Vector filter */
+#define LIS3DSH_CTRL_REG3_INT1_EN (1 << 3) /**< Interrupt 1 enable */
+#define LIS3DSH_CTRL_REG3_INT2_EN (1 << 4) /**< Interrupt 2 enable */
+#define LIS3DSH_CTRL_REG3_IEL (1 << 5) /**< Interrupt latching */
+#define LIS3DSH_CTRL_REG3_IEA (1 << 6) /**< Interurpt polarity */
+#define LIS3DSH_CTRL_REG3_DR_EN (1 << 7) /**< Data ready signal */
+/** @} */
+
+/**
+ * @name LIS3DSH_CTRL_REG4 register bits definitions
+ * @{
+ */
+#define LIS3DSH_CTRL_REG4_MASK 0xFF /**< LIS3DSH_CTRL_REG4 mask */
+#define LIS3DSH_CTRL_REG4_XEN (1 << 0) /**< X axis enable */
+#define LIS3DSH_CTRL_REG4_YEN (1 << 1) /**< Y axis enable */
+#define LIS3DSH_CTRL_REG4_ZEN (1 << 2) /**< Z axis enable */
+#define LIS3DSH_CTRL_REG4_BDU (1 << 3) /**< Block data update */
+#define LIS3DSH_CTRL_REG4_ODR_0 (1 << 4) /**< Output data rate bit 0 */
+#define LIS3DSH_CTRL_REG4_ODR_1 (1 << 5) /**< Output data rate bit 1 */
+#define LIS3DSH_CTRL_REG4_ODR_2 (1 << 6) /**< Output data rate bit 2 */
+#define LIS3DSH_CTRL_REG4_ODR_3 (1 << 7) /**< Output data rate bit 3 */
+/** @} */
+
+/**
+ * @name LIS3DSH_CTRL_REG5 register bits definitions
+ * @{
+ */
+#define LIS3DSH_CTRL_REG5_MASK 0xFF /**< LIS3DSH_CTRL_REG5 mask */
+#define LIS3DSH_CTRL_REG5_SIM (1 << 0) /**< SPI interface mode */
+#define LIS3DSH_CTRL_REG5_ST1 (1 << 1) /**< Self test bit 1 */
+#define LIS3DSH_CTRL_REG5_ST2 (1 << 2) /**< Self test bit 2 */
+#define LIS3DSH_CTRL_REG5_FS_MASK 0x38 /**< Full scale field mask */
+#define LIS3DSH_CTRL_REG5_FS0 (1 << 3) /**< Full scale bit 0 */
+#define LIS3DSH_CTRL_REG5_FS1 (1 << 4) /**< Full scale bit 1 */
+#define LIS3DSH_CTRL_REG5_FS2 (1 << 5) /**< Full scale bit 2 */
+#define LIS3DSH_CTRL_REG5_BW1 (1 << 6) /**< Bandwidth bit 1 */
+#define LIS3DSH_CTRL_REG5_BW2 (1 << 7) /**< Bandwidth bit 2 */
+/** @} */
+
+/**
+ * @name LIS3DSH_CTRL_REG6 register bits definitions
+ * @{
*/
-#define LIS3DSH_NUMBER_OF_AXES ((size_t) 3U)
+#define LIS3DSH_CTRL_REG6_MASK 0xFF /**< LIS3DSH_CTRL_REG6 mask */
+#define LIS3DSH_CTRL_REG6_P2_BOOT (1 << 0) /**< Boot on Interrupt 2 */
+#define LIS3DSH_CTRL_REG6_P1_OVRUN (1 << 1) /**< FIFO overrun on Int 1 */
+#define LIS3DSH_CTRL_REG6_P1_WTM (1 << 2) /**< FIFO watermark on Int 1 */
+#define LIS3DSH_CTRL_REG6_P1_EMPTY (1 << 3) /**< FIFO empty on Int 1 */
+#define LIS3DSH_CTRL_REG6_ADD_INC (1 << 4) /**< Register address incr. */
+#define LIS3DSH_CTRL_REG6_WTM_EN (1 << 5) /**< Enable FIFO watermark */
+#define LIS3DSH_CTRL_REG6_FIFO_EN (1 << 6) /**< Enable FIFO */
+#define LIS3DSH_CTRL_REG6_BOOT (1 << 7) /**< Force reboot */
+/** @} */
/*===========================================================================*/
/* Driver pre-compile time settings. */
@@ -66,6 +306,15 @@ #endif
/**
+ * @brief LIS3DSH advanced configurations switch.
+ * @details If set to @p TRUE more configurations are available.
+ * @note The default is @p FALSE.
+ */
+#if !defined(LIS3DSH_USE_ADVANCED) || defined(__DOXYGEN__)
+#define LIS3DSH_USE_ADVANCED FALSE
+#endif
+
+/**
* @brief LIS3DSH shared SPI switch.
* @details If set to @p TRUE the device acquires SPI bus ownership
* on each transaction.
@@ -142,20 +391,6 @@ typedef enum { }lis3dsh_bw_t;
/**
- * @brief LIS3DSH axes enabling.
- */
-typedef enum {
- LIS3DSH_AE_DISABLED = 0x00, /**< All axes disabled. */
- LIS3DSH_AE_X = 0x01, /**< Only X-axis enabled. */
- LIS3DSH_AE_Y = 0x02, /**< Only Y-axis enabled. */
- LIS3DSH_AE_XY = 0x03, /**< X and Y axes enabled. */
- LIS3DSH_AE_Z = 0x04, /**< Only Z-axis enabled. */
- LIS3DSH_AE_XZ = 0x05, /**< X and Z axes enabled. */
- LIS3DSH_AE_YZ = 0x06, /**< Y and Z axes enabled. */
- LIS3DSH_AE_XYZ = 0x07 /**< All axes enabled. */
-}lis3dsh_ae_t;
-
-/**
* @brief LIS3DSH block data update.
*/
typedef enum {
@@ -164,15 +399,6 @@ typedef enum { } lis3dsh_bdu_t;
/**
- * @brief LIS3DSH accelerometer subsystem unit.
- */
-typedef enum {
- LIS3DSH_ACC_UNIT_G = 0x00, /**< Cooked data in g. */
- LIS3DSH_ACC_UNIT_MG = 0x01, /**< Cooked data in mg. */
- LIS3DSH_ACC_UNIT_SI = 0x02, /**< Cooked data in m/s^2. */
-} lis3dsh_acc_unit_t;
-
-/**
* @brief Driver state machine possible states.
*/
typedef enum {
@@ -207,6 +433,14 @@ typedef struct { const I2CConfig *i2ccfg;
#endif /* LIS3DSH_USE_I2C */
/**
+ * @brief LIS3DSH initial sensitivity.
+ */
+ float sensitivity[LIS3DSH_NUMBER_OF_AXES];
+ /**
+ * @brief LIS3DSH initial bias.
+ */
+ float bias[LIS3DSH_NUMBER_OF_AXES];
+ /**
* @brief LIS3DSH full scale value.
*/
lis3dsh_fs_t fullscale;
@@ -214,22 +448,16 @@ typedef struct { * @brief LIS3DSH output data rate selection.
*/
lis3dsh_odr_t outputdatarate;
+#if LIS3DSH_USE_ADVANCED || defined(__DOXYGEN__)
/**
* @brief LIS3DSH anti-aliasing bandwidth.
*/
lis3dsh_bw_t antialiasing;
/**
- * @brief LIS3DSH axes enabling.
- */
- lis3dsh_ae_t axesenabling;
- /**
* @brief LIS3DSH block data update.
*/
lis3dsh_bdu_t blockdataupdate;
- /**
- * @brief LIS3DSH unit for cooked data.
- */
- lis3dsh_acc_unit_t unit;
+#endif
} LIS3DSHConfig;
/**
@@ -242,8 +470,8 @@ typedef struct LIS3DSHDriver LIS3DSHDriver; */
#define _lis3dsh_methods \
_base_accelerometer_methods \
- /* Retrieve the temperature of L3GD20 chip.*/ \
- msg_t (*get_temperature)(void *instance, int8_t* temperature);
+ /* Change full scale value of LIS3DSH.*/ \
+ msg_t (*set_full_scale)(void *instance, lis3dsh_fs_t fs);
/**
* @extends BaseAccelerometerVMT
@@ -266,7 +494,9 @@ struct LIS3DSHVMT { /* Current sensitivity.*/ \
float sensitivity[LIS3DSH_NUMBER_OF_AXES]; \
/* Bias data.*/ \
- int32_t bias[LIS3DSH_NUMBER_OF_AXES];
+ int32_t bias[LIS3DSH_NUMBER_OF_AXES]; \
+ /* Current full scale value.*/ \
+ float fullscale;
/**
* @extends BaseAccelerometer
@@ -291,20 +521,18 @@ struct LIS3DSHDriver { /*===========================================================================*/
/**
- * @brief Get current MEMS temperature.
- * @detail This information is very useful especially for high accuracy IMU
- * @note Value is raw since there is a lack of information in datasheet.
+ * @brief Change accelerometer fullscale value.
*
* @param[in] ip pointer to a @p BaseAccelerometer class.
- * @param[out] temp the MEMS temperature as raw data.
+ * @param[in] fs the new full scale value.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
* @retval MSG_RESET if one or more errors occurred.
* @api
*/
-#define accelerometerGetTemp(ip, tpp) \
- (ip)->vmt_lis3dsh->get_temperature(ip, tpp)
+#define accelerometerSetFullScale(ip, fs) \
+ (ip)->vmt_lis3dsh->set_full_scale(ip, fs)
/*===========================================================================*/
/* External declarations. */
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