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Diffstat (limited to 'os/ex/ST/lis3dsh.h')
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1 files changed, 323 insertions, 0 deletions
diff --git a/os/ex/ST/lis3dsh.h b/os/ex/ST/lis3dsh.h new file mode 100644 index 000000000..7d1002f87 --- /dev/null +++ b/os/ex/ST/lis3dsh.h @@ -0,0 +1,323 @@ +/* + ChibiOS - Copyright (C) 2016 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 lis3dsh.h + * @brief LIS3DSH MEMS interface module header. + * + * @{ + */ + +#ifndef _LIS3DSH_H_ +#define _LIS3DSH_H_ + +#include "hal_accelerometer.h" + +/*===========================================================================*/ +/* Driver constants. */ +/*===========================================================================*/ + +/** + * @brief LIS3DSH number of axes. + */ +#define LIS3DSH_NUMBER_OF_AXES ((size_t) 3U) + +/*===========================================================================*/ +/* Driver pre-compile time settings. */ +/*===========================================================================*/ + +/** + * @name Configuration options. + * @{ + */ +/** + * @brief LIS3DSH SPI interface switch. + * @details If set to @p TRUE the support for SPI is included. + * @note The default is @p TRUE. + */ +#if !defined(LIS3DSH_USE_SPI) || defined(__DOXYGEN__) +#define LIS3DSH_USE_SPI TRUE +#endif + +/** + * @brief LIS3DSH I2C interface switch. + * @details If set to @p TRUE the support for I2C is included. + * @note The default is @p FALSE. + */ +#if !defined(LIS3DSH_USE_I2C) || defined(__DOXYGEN__) +#define LIS3DSH_USE_I2C FALSE +#endif + +/** + * @brief LIS3DSH 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(LIS3DSH_SHARED_SPI) || defined(__DOXYGEN__) +#define LIS3DSH_SHARED_SPI FALSE +#endif +/** @} */ + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +#if !(LIS3DSH_USE_SPI ^ LIS3DSH_USE_I2C) +#error "LIS3DSH_USE_SPI and LIS3DSH_USE_I2C cannot be both true or both false" +#endif + +#if LIS3DSH_USE_SPI && !HAL_USE_SPI +#error "LIS3DSH_USE_SPI requires HAL_USE_SPI" +#endif + +#if LIS3DSH_USE_I2C && !HAL_USE_I2C +#error "LIS3DSH_USE_I2C requires HAL_USE_I2C" +#endif + +#if LIS3DSH_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION +#error "LIS3DSH_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION" +#endif + +/*===========================================================================*/ +/* Driver data structures and types. */ +/*===========================================================================*/ + +/** + * @name LIS3DSH data structures and types + * @{ + */ +/** + * @brief LIS3DSH full scale. + */ +typedef enum { + LIS3DSH_FS_2G = 0x00, /**< Full scale ±2g. */ + LIS3DSH_FS_4G = 0x08, /**< Full scale ±4g. */ + LIS3DSH_FS_6G = 0x10, /**< Full scale ±6g. */ + LIS3DSH_FS_8G = 0x18, /**< Full scale ±8g. */ + LIS3DSH_FS_16G = 0x20 /**< Full scale ±16g. */ +}lis3dsh_fs_t; + +/** + * @brief LIS3DSH output data rate. + */ +typedef enum { + LIS3DSH_ODR_PD = 0x00, /**< ODR 100 Hz. */ + LIS3DSH_ODR_3_125HZ = 0x10, /**< ODR 3.125 Hz. */ + LIS3DSH_ODR_6_25HZ = 0x20, /**< ODR 6.25 Hz. */ + LIS3DSH_ODR_12_5HZ = 0x30, /**< ODR 12.5 Hz. */ + LIS3DSH_ODR_25HZ = 0x40, /**< ODR 25 Hz. */ + LIS3DSH_ODR_50HZ = 0x50, /**< ODR 50 Hz. */ + LIS3DSH_ODR_100HZ = 0x60, /**< ODR 100 Hz. */ + LIS3DSH_ODR_400HZ = 0x70, /**< ODR 400 Hz. */ + LIS3DSH_ODR_800HZ = 0x80, /**< ODR 800 Hz. */ + LIS3DSH_ODR_1600HZ = 0x90 /**< ODR 1600 Hz. */ +}lis3dsh_odr_t; + +/** + * @brief LIS3DSH anti-aliasing bandwidth. + */ +typedef enum { + LIS3DSH_BW_800HZ = 0x00, /**< AA filter BW 800Hz. */ + LIS3DSH_BW_200HZ = 0x40, /**< AA filter BW 200Hz. */ + LIS3DSH_BW_400HZ = 0x80, /**< AA filter BW 400Hz. */ + LIS3DSH_BW_50HZ = 0xC0 /**< AA filter BW 50Hz. */ +}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 { + LIS3DSH_BDU_CONTINUOUS = 0x00, /**< Block data continuously updated. */ + LIS3DSH_BDU_BLOCKED = 0x80 /**< Block data updated after reading. */ +} 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 { + LIS3DSH_UNINIT = 0, /**< Not initialized. */ + LIS3DSH_STOP = 1, /**< Stopped. */ + LIS3DSH_READY = 2, /**< Ready. */ +} lis3dsh_state_t; + +/** + * @brief LIS3DSH configuration structure. + */ +typedef struct { + +#if (LIS3DSH_USE_SPI) || defined(__DOXYGEN__) + /** + * @brief SPI driver associated to this LIS3DSH. + */ + SPIDriver *spip; + /** + * @brief SPI configuration associated to this LIS3DSH. + */ + const SPIConfig *spicfg; +#endif /* LIS3DSH_USE_SPI */ +#if (LIS3DSH_USE_I2C) || defined(__DOXYGEN__) + /** + * @brief I2C driver associated to this LIS3DSH. + */ + I2CDriver *i2cp; + /** + * @brief I2C configuration associated to this LIS3DSH. + */ + const I2CConfig *i2ccfg; +#endif /* LIS3DSH_USE_I2C */ + /** + * @brief LIS3DSH full scale value. + */ + lis3dsh_fs_t fullscale; + /** + * @brief LIS3DSH output data rate selection. + */ + lis3dsh_odr_t outputdatarate; + /** + * @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; +} LIS3DSHConfig; + +/** + * @brief Structure representing a LIS3DSH driver. + */ +typedef struct LIS3DSHDriver LIS3DSHDriver; + +/** + * @brief @p LIS3DSH specific methods. + */ +#define _lis3dsh_methods \ + _base_accelerometer_methods + +/** + * @extends BaseAccelerometerVMT + * + * @brief @p LIS3DSH virtual methods table. + */ +struct LIS3DSHVMT { + _lis3dsh_methods +}; + +/** + * @brief @p LIS3DSHDriver specific data. + */ +#define _lis3dsh_data \ + _base_accelerometer_data \ + /* Driver state.*/ \ + lis3dsh_state_t state; \ + /* Current configuration data.*/ \ + const LIS3DSHConfig *config; \ + /* Current sensitivity.*/ \ + float sensitivity[LIS3DSH_NUMBER_OF_AXES]; \ + /* Bias data.*/ \ + int32_t bias[LIS3DSH_NUMBER_OF_AXES]; + +/** + * @extends BaseAccelerometer + * + * @brief LIS3DSH 3-axis accelerometer class. + * @details This class extends @p BaseAccelerometer by adding physical + * driver implementation. + */ +struct LIS3DSHDriver { + /** @brief BaseSensor Virtual Methods Table. */ + const struct BaseSensorVMT *vmt_basesensor; + /** @brief BaseAccelerometer Virtual Methods Table. */ + const struct BaseAccelerometerVMT *vmt_baseaccelerometer; + /** @brief LIS3DSH Virtual Methods Table. */ + const struct LIS3DSHVMT *vmt_lis3dsh; + _lis3dsh_data +}; +/** @} */ + +/*===========================================================================*/ +/* Driver macros. */ +/*===========================================================================*/ + +/** + * @brief Get current MEMS temperature. + * @detail This information is very useful especially for high accuracy IMU + * + * @param[in] ip pointer to a @p BaseAccelerometer class. + * @param[out] temp the MEMS temperature as single precision floating. + * + * @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) + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +#ifdef __cplusplus +extern "C" { +#endif + void lis3dshObjectInit(LIS3DSHDriver *devp); + void lis3dshStart(LIS3DSHDriver *devp, const LIS3DSHConfig *config); + void lis3dshStop(LIS3DSHDriver *devp); +#ifdef __cplusplus +} +#endif + +#endif /* _LIS3DSH_H_ */ + +/** @} */ + |