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-rw-r--r--os/ex/ST/lis302dl.c432
-rw-r--r--os/ex/ST/lis302dl.h302
-rw-r--r--os/ex/ST/lis302dl.mk6
3 files changed, 740 insertions, 0 deletions
diff --git a/os/ex/ST/lis302dl.c b/os/ex/ST/lis302dl.c
new file mode 100644
index 000000000..c0ce0988b
--- /dev/null
+++ b/os/ex/ST/lis302dl.c
@@ -0,0 +1,432 @@
+/*
+ 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 lis302dl.c
+ * @brief LIS302DL MEMS interface module code.
+ *
+ * @addtogroup lis302dl
+ * @{
+ */
+
+#include "hal.h"
+
+#include "lis302dl.h"
+
+/*===========================================================================*/
+/* Driver local definitions. */
+/*===========================================================================*/
+
+#define LIS302DL_SENS_2G ((float)18.0f)
+#define LIS302DL_SENS_8G ((float)72.0f)
+
+#define LIS302DL_DI ((uint8_t)0xFF)
+#define LIS302DL_DI_0 ((uint8_t)0x01)
+#define LIS302DL_DI_1 ((uint8_t)0x02)
+#define LIS302DL_DI_2 ((uint8_t)0x04)
+#define LIS302DL_DI_3 ((uint8_t)0x08)
+#define LIS302DL_DI_4 ((uint8_t)0x10)
+#define LIS302DL_DI_5 ((uint8_t)0x20)
+#define LIS302DL_DI_6 ((uint8_t)0x40)
+#define LIS302DL_DI_7 ((uint8_t)0x80)
+
+#define LIS302DL_AD ((uint8_t)0x3F)
+#define LIS302DL_AD_0 ((uint8_t)0x01)
+#define LIS302DL_AD_1 ((uint8_t)0x02)
+#define LIS302DL_AD_2 ((uint8_t)0x04)
+#define LIS302DL_AD_3 ((uint8_t)0x08)
+#define LIS302DL_AD_4 ((uint8_t)0x10)
+#define LIS302DL_AD_5 ((uint8_t)0x20)
+
+#define LIS302DL_MS ((uint8_t)0x40)
+#define LIS302DL_RW ((uint8_t)0x80)
+
+#define LIS302DL_AD_WHO_AM_I ((uint8_t)0x0F)
+#define LIS302DL_AD_CTRL_REG1 ((uint8_t)0x20)
+#define LIS302DL_AD_CTRL_REG2 ((uint8_t)0x21)
+#define LIS302DL_AD_CTRL_REG3 ((uint8_t)0x22)
+#define LIS302DL_AD_HP_FILER_RESET ((uint8_t)0x23)
+#define LIS302DL_AD_STATUS_REG ((uint8_t)0x27)
+#define LIS302DL_AD_OUT_X ((uint8_t)0x29)
+#define LIS302DL_AD_OUT_Y ((uint8_t)0x2B)
+#define LIS302DL_AD_OUT_Z ((uint8_t)0x2D)
+#define LIS302DL_AD_FF_WU_CFG_1 ((uint8_t)0x30)
+#define LIS302DL_AD_FF_WU_SRC_1 ((uint8_t)0x31)
+#define LIS302DL_AD_FF_WU_THS_1 ((uint8_t)0x32)
+#define LIS302DL_AD_FF_WU_DURATION_1 ((uint8_t)0x33)
+#define LIS302DL_AD_FF_WU_CFG_2 ((uint8_t)0x34)
+#define LIS302DL_AD_FF_WU_SRC_2 ((uint8_t)0x35)
+#define LIS302DL_AD_FF_WU_THS_2 ((uint8_t)0x36)
+#define LIS302DL_AD_FF_WU_DURATION_2 ((uint8_t)0x37)
+#define LIS302DL_AD_CLICK_CFG ((uint8_t)0x38)
+#define LIS302DL_AD_CLICK_SRC ((uint8_t)0x39)
+#define LIS302DL_AD_CLICK_THSY_X ((uint8_t)0x3B)
+#define LIS302DL_AD_CLICK_THSZ ((uint8_t)0x3C)
+#define LIS302DL_AD_CLICK_TIME_LIMIT ((uint8_t)0x3D)
+#define LIS302DL_AD_CLICK_LATENCY ((uint8_t)0x3E)
+#define LIS302DL_AD_CLICK_WINDOW ((uint8_t)0x3F)
+
+
+#define LIS302DL_CTRL_REG1_FS_MASK ((uint8_t)0x20)
+#define TO_G ((float)0.001f)
+#define TO_SI ((float)0.00981f)
+/*===========================================================================*/
+/* Driver exported variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local variables and types. */
+/*===========================================================================*/
+
+/**
+ * @brief LIS302DL Power Mode
+ */
+typedef enum {
+ LIS302DL_PM_POWER_DOWN = 0x00, /**< Power down enabled. */
+ LIS302DL_PM_SLEEP_NORMAL = 0x40 /**< Normal operation mode. */
+}lis302dl_pm_t;
+
+/*===========================================================================*/
+/* Driver local functions. */
+/*===========================================================================*/
+
+#if (LIS302DL_USE_SPI) || defined(__DOXYGEN__)
+/**
+ * @brief Reads a generic register value using SPI.
+ * @pre The SPI interface must be initialized and the driver started.
+ *
+ * @param[in] spip pointer to the SPI interface
+ * @param[in] reg register number
+ * @return register value.
+ */
+static uint8_t lis302dlSPIReadRegister(SPIDriver *spip, uint8_t reg) {
+ uint8_t txbuf[2] = {LIS302DL_RW | reg, 0xFF};
+ uint8_t rxbuf[2] = {0x00, 0x00};
+ spiSelect(spip);
+ spiExchange(spip, 2, txbuf, rxbuf);
+ spiUnselect(spip);
+ return rxbuf[1];
+}
+
+/**
+ * @brief Writes a value into a generic register using SPI.
+ * @pre The SPI interface must be initialized and the driver started.
+ *
+ * @param[in] spip pointer to the SPI interface
+ * @param[in] reg register number
+ * @param[in] value register value.
+ */
+static void lis302dlSPIWriteRegister(SPIDriver *spip, uint8_t reg,
+ uint8_t value) {
+
+ switch (reg) {
+ default:
+ /* Reserved register must not be written, according to the datasheet
+ * this could permanently damage the device.
+ */
+ osalDbgAssert(FALSE, "lis302dlSPIWriteRegister(), reserved register");
+ case LIS302DL_AD_WHO_AM_I:
+
+ case LIS302DL_AD_HP_FILER_RESET:
+ case LIS302DL_AD_STATUS_REG:
+ case LIS302DL_AD_OUT_X:
+ case LIS302DL_AD_OUT_Y:
+ case LIS302DL_AD_OUT_Z:
+ case LIS302DL_AD_FF_WU_SRC_1:
+ case LIS302DL_AD_FF_WU_SRC_2:
+ case LIS302DL_AD_CLICK_SRC:
+ /* Read only registers cannot be written, the command is ignored.*/
+ return;
+ case LIS302DL_AD_CTRL_REG1:
+ case LIS302DL_AD_CTRL_REG2:
+ case LIS302DL_AD_CTRL_REG3:
+ case LIS302DL_AD_FF_WU_CFG_1:
+ case LIS302DL_AD_FF_WU_THS_1:
+ case LIS302DL_AD_FF_WU_DURATION_1:
+ case LIS302DL_AD_FF_WU_CFG_2:
+ case LIS302DL_AD_FF_WU_THS_2:
+ case LIS302DL_AD_FF_WU_DURATION_2:
+ case LIS302DL_AD_CLICK_CFG:
+ case LIS302DL_AD_CLICK_THSY_X:
+ case LIS302DL_AD_CLICK_THSZ:
+ case LIS302DL_AD_CLICK_TIME_LIMIT:
+ case LIS302DL_AD_CLICK_LATENCY:
+ case LIS302DL_AD_CLICK_WINDOW:
+ spiSelect(spip);
+ uint8_t txbuf[2] = {reg, value};
+ spiSend(spip, 2, txbuf);
+ spiUnselect(spip);
+ }
+}
+#endif /* LIS302DL_USE_SPI */
+
+/*
+ * Interface implementation.
+ */
+static size_t get_axes_number(void *ip) {
+
+ osalDbgCheck(ip != NULL);
+ return LIS302DL_NUMBER_OF_AXES;
+}
+
+static msg_t read_raw(void *ip, int32_t axes[LIS302DL_NUMBER_OF_AXES]) {
+ int8_t tmp;
+ osalDbgCheck((ip != NULL) && (axes != NULL));
+
+ osalDbgAssert((((LIS302DLDriver *)ip)->state == LIS302DL_READY),
+ "read_raw(), invalid state");
+
+#if LIS302DL_USE_SPI
+ osalDbgAssert((((LIS302DLDriver *)ip)->config->spip->state == SPI_READY),
+ "read_raw(), channel not ready");
+#if LIS302DL_SHARED_SPI
+ spiAcquireBus(((LIS302DLDriver *)ip)->config->spip);
+ spiStart(((LIS302DLDriver *)ip)->config->spip,
+ ((LIS302DLDriver *)ip)->config->spicfg);
+#endif /* LIS302DL_SHARED_SPI */
+ if(((LIS302DLDriver *)ip)->config->axesenabling & LIS302DL_AE_X){
+ tmp = lis302dlSPIReadRegister(((LIS302DLDriver *)ip)->config->spip,
+ LIS302DL_AD_OUT_X);
+ axes[0] = tmp + ((LIS302DLDriver *)ip)->bias[0];
+ }
+ if(((LIS302DLDriver *)ip)->config->axesenabling & LIS302DL_AE_Y){
+ tmp = lis302dlSPIReadRegister(((LIS302DLDriver *)ip)->config->spip,
+ LIS302DL_AD_OUT_Y);
+ axes[1] = tmp + ((LIS302DLDriver *)ip)->bias[1];
+ }
+ if(((LIS302DLDriver *)ip)->config->axesenabling & LIS302DL_AE_Z){
+ tmp = lis302dlSPIReadRegister(((LIS302DLDriver *)ip)->config->spip,
+ LIS302DL_AD_OUT_Z);
+ axes[2] = tmp + ((LIS302DLDriver *)ip)->bias[2];
+ }
+#if LIS302DL_SHARED_SPI
+ spiReleaseBus(((LIS302DLDriver *)ip)->config->spip);
+#endif /* LIS302DL_SHARED_SPI */
+#endif /* LIS302DL_USE_SPI */
+ return MSG_OK;
+}
+
+static msg_t read_cooked(void *ip, float axes[]) {
+ uint32_t i;
+ int32_t raw[LIS302DL_NUMBER_OF_AXES];
+ msg_t msg;
+
+ osalDbgCheck((ip != NULL) && (axes != NULL));
+
+ osalDbgAssert((((LIS302DLDriver *)ip)->state == LIS302DL_READY),
+ "read_cooked(), invalid state");
+
+ msg = read_raw(ip, raw);
+ for(i = 0; i < LIS302DL_NUMBER_OF_AXES ; i++){
+ axes[i] = raw[i] * ((LIS302DLDriver *)ip)->sensitivity[i];
+ if(((LIS302DLDriver *)ip)->config->unit == LIS302DL_ACC_UNIT_G){
+ axes[i] *= TO_G;
+ }
+ else if(((LIS302DLDriver *)ip)->config->unit == LIS302DL_ACC_UNIT_SI){
+ axes[i] *= TO_SI;
+ }
+ }
+ return msg;
+}
+
+static msg_t set_bias(void *ip, int32_t *bp) {
+ uint32_t i;
+
+ osalDbgCheck((ip != NULL) && (bp !=NULL));
+
+ osalDbgAssert((((LIS302DLDriver *)ip)->state == LIS302DL_READY) ||
+ (((LIS302DLDriver *)ip)->state == LIS302DL_STOP),
+ "set_bias(), invalid state");
+
+ for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++) {
+ ((LIS302DLDriver *)ip)->bias[i] = bp[i];
+ }
+ return MSG_OK;
+}
+
+static msg_t reset_bias(void *ip) {
+ uint32_t i;
+
+ osalDbgCheck(ip != NULL);
+
+ osalDbgAssert((((LIS302DLDriver *)ip)->state == LIS302DL_READY) ||
+ (((LIS302DLDriver *)ip)->state == LIS302DL_STOP),
+ "reset_bias(), invalid state");
+
+ for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)
+ ((LIS302DLDriver *)ip)->bias[i] = 0;
+ return MSG_OK;
+}
+
+static msg_t set_sensivity(void *ip, float *sp) {
+ uint32_t i;
+
+ osalDbgCheck((ip != NULL) && (sp !=NULL));
+
+ osalDbgAssert((((LIS302DLDriver *)ip)->state == LIS302DL_READY),
+ "set_sensivity(), invalid state");
+
+ for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++) {
+ ((LIS302DLDriver *)ip)->sensitivity[i] = sp[i];
+ }
+ return MSG_OK;
+}
+
+static msg_t reset_sensivity(void *ip) {
+ uint32_t i;
+
+ osalDbgCheck(ip != NULL);
+
+ osalDbgAssert((((LIS302DLDriver *)ip)->state == LIS302DL_READY),
+ "reset_sensivity(), invalid state");
+
+ if(((LIS302DLDriver *)ip)->config->fullscale == LIS302DL_FS_2G)
+ for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)
+ ((LIS302DLDriver *)ip)->sensitivity[i] = LIS302DL_SENS_2G;
+ else if(((LIS302DLDriver *)ip)->config->fullscale == LIS302DL_FS_8G)
+ for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)
+ ((LIS302DLDriver *)ip)->sensitivity[i] = LIS302DL_SENS_8G;
+ else {
+ osalDbgAssert(FALSE, "reset_sensivity(), accelerometer full scale issue");
+ return MSG_RESET;
+ }
+ return MSG_OK;
+}
+
+static const struct BaseSensorVMT vmt_basesensor = {
+ get_axes_number, read_raw, read_cooked
+};
+
+static const struct BaseAccelerometerVMT vmt_baseaccelerometer = {
+ get_axes_number, read_raw, read_cooked,
+ set_bias, reset_bias, set_sensivity, reset_sensivity
+};
+
+static const struct LIS302DLVMT vmt_lis302dl = {
+ get_axes_number, read_raw, read_cooked,
+ set_bias, reset_bias, set_sensivity, reset_sensivity
+};
+
+/*===========================================================================*/
+/* Driver exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Initializes an instance.
+ *
+ * @param[out] devp pointer to the @p LIS302DLDriver object
+ *
+ * @init
+ */
+void lis302dlObjectInit(LIS302DLDriver *devp) {
+ uint32_t i;
+ devp->vmt_basesensor = &vmt_basesensor;
+ devp->vmt_baseaccelerometer = &vmt_baseaccelerometer;
+ devp->vmt_lis302dl = &vmt_lis302dl;
+ devp->config = NULL;
+ for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)
+ devp->bias[i] = 0;
+ devp->state = LIS302DL_STOP;
+}
+
+/**
+ * @brief Configures and activates LIS302DL Complex Driver peripheral.
+ *
+ * @param[in] devp pointer to the @p LIS302DLDriver object
+ * @param[in] config pointer to the @p LIS302DLConfig object
+ *
+ * @api
+ */
+void lis302dlStart(LIS302DLDriver *devp, const LIS302DLConfig *config) {
+ uint32_t i;
+ osalDbgCheck((devp != NULL) && (config != NULL));
+
+ osalDbgAssert((devp->state == LIS302DL_STOP) || (devp->state == LIS302DL_READY),
+ "lis302dlStart(), invalid state");
+
+ devp->config = config;
+
+#if LIS302DL_USE_SPI
+#if LIS302DL_SHARED_SPI
+ spiAcquireBus((devp)->config->spip);
+#endif /* LIS302DL_SHARED_SPI */
+ spiStart((devp)->config->spip,
+ (devp)->config->spicfg);
+ lis302dlSPIWriteRegister(devp->config->spip, LIS302DL_AD_CTRL_REG1,
+ devp->config->axesenabling |
+ LIS302DL_PM_SLEEP_NORMAL |
+ devp->config->axesenabling |
+ devp->config->fullscale |
+ devp->config->outputdatarate);
+ lis302dlSPIWriteRegister(devp->config->spip, LIS302DL_AD_CTRL_REG2,
+ devp->config->highpass);
+#if LIS302DL_SHARED_SPI
+ spiReleaseBus((devp)->config->spip);
+#endif /* LIS302DL_SHARED_SPI */
+#endif /* LIS302DL_USE_SPI */
+
+ /* Storing sensitivity information according to full scale value */
+ if(devp->config->fullscale == LIS302DL_FS_2G)
+ for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)
+ devp->sensitivity[i] = LIS302DL_SENS_2G;
+ else if(devp->config->fullscale == LIS302DL_FS_8G)
+ for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)
+ devp->sensitivity[i] = LIS302DL_SENS_8G;
+ else {
+ osalDbgAssert(FALSE, "lis302dlStart(), accelerometer full scale issue");
+ }
+ /* This is the Accelerometer transient recovery time */
+ osalThreadSleepMilliseconds(10);
+
+ devp->state = LIS302DL_READY;
+}
+
+/**
+ * @brief Deactivates the LIS302DL Complex Driver peripheral.
+ *
+ * @param[in] devp pointer to the @p LIS302DLDriver object
+ *
+ * @api
+ */
+void lis302dlStop(LIS302DLDriver *devp) {
+
+ osalDbgCheck(devp != NULL);
+
+ osalDbgAssert((devp->state == LIS302DL_STOP) || (devp->state == LIS302DL_READY),
+ "lis302dlStop(), invalid state");
+
+#if (LIS302DL_USE_SPI)
+ if (devp->state == LIS302DL_STOP) {
+#if LIS302DL_SHARED_SPI
+ spiAcquireBus((devp)->config->spip);
+ spiStart((devp)->config->spip,
+ (devp)->config->spicfg);
+#endif /* LIS302DL_SHARED_SPI */
+ lis302dlSPIWriteRegister(devp->config->spip, LIS302DL_AD_CTRL_REG1,
+ LIS302DL_PM_POWER_DOWN | LIS302DL_AE_DISABLED);
+ spiStop((devp)->config->spip);
+#if LIS302DL_SHARED_SPI
+ spiReleaseBus((devp)->config->spip);
+#endif /* LIS302DL_SHARED_SPI */
+ }
+#endif /* LIS302DL_USE_SPI */
+ devp->state = LIS302DL_STOP;
+}
+/** @} */
diff --git a/os/ex/ST/lis302dl.h b/os/ex/ST/lis302dl.h
new file mode 100644
index 000000000..d372da15e
--- /dev/null
+++ b/os/ex/ST/lis302dl.h
@@ -0,0 +1,302 @@
+/*
+ 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 lis302dl.h
+ * @brief LIS302DL MEMS interface module header.
+ *
+ * @{
+ */
+
+#ifndef _LIS302DL_H_
+#define _LIS302DL_H_
+
+#include "hal_accelerometer.h"
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+/**
+ * @brief LIS302DL number of axes.
+ */
+#define LIS302DL_NUMBER_OF_AXES ((size_t) 3U)
+
+/*===========================================================================*/
+/* 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 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 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
+/** @} */
+
+/*===========================================================================*/
+/* 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_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"
+#endif
+
+/*===========================================================================*/
+/* Driver data structures and types. */
+/*===========================================================================*/
+
+/**
+ * @name LIS302DL data structures and types
+ * @{
+ */
+/**
+ * @brief LIS302DL full scale
+ */
+typedef enum {
+ LIS302DL_FS_2G = 0x00, /**< Full scale ±2g. */
+ LIS302DL_FS_8G = 0x20 /**< Full scale ±8g. */
+}lis302dl_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;
+
+/**
+ * @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;
+
+/**
+ * @brief LIS302DL axes enabling
+ */
+typedef enum {
+ LIS302DL_AE_DISABLED = 0x00, /**< All axes disabled. */
+ LIS302DL_AE_X = 0x01, /**< Only X-axis enabled. */
+ LIS302DL_AE_Y = 0x02, /**< Only Y-axis enabled. */
+ LIS302DL_AE_XY = 0x03, /**< X and Y axes enabled. */
+ LIS302DL_AE_Z = 0x04, /**< Only Z-axis enabled. */
+ LIS302DL_AE_XZ = 0x05, /**< X and Z axes enabled. */
+ LIS302DL_AE_YZ = 0x06, /**< Y and Z axes enabled. */
+ LIS302DL_AE_XYZ = 0x07 /**< All axes enabled. */
+}lis302dl_ae_t;
+
+/**
+ * @brief LIS302DL accelerometer subsystem unit
+ */
+typedef enum {
+ LIS302DL_ACC_UNIT_G = 0x00, /**< Cooked data in g. */
+ LIS302DL_ACC_UNIT_MG = 0x01, /**< Cooked data in mg. */
+ LIS302DL_ACC_UNIT_SI = 0x02, /**< Cooked data in m/s^2. */
+} lis302dl_acc_unit_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 full scale value.
+ */
+ lis302dl_fs_t fullscale;
+ /**
+ * @brief LIS302DL output data rate selection.
+ */
+ lis302dl_odr_t outputdatarate;
+ /**
+ * @brief LIS302DL high pass filtering
+ */
+ lis302dl_hp_t highpass;
+ /**
+ * @brief LIS302DL axes enabling.
+ */
+ lis302dl_ae_t axesenabling;
+ /**
+ * @brief LIS302DL unit for cooked data.
+ */
+ lis302dl_acc_unit_t unit;
+} LIS302DLConfig;
+
+/**
+ * @brief Structure representing a LIS302DL driver.
+ */
+typedef struct LIS302DLDriver LIS302DLDriver;
+
+/**
+ * @brief @p LIS302DL specific methods.
+ */
+#define _lis302dl_methods \
+ _base_accelerometer_methods
+
+
+/**
+ * @extends BaseAccelerometerVMT
+ *
+ * @brief @p LIS302DL virtual methods table.
+ */
+struct LIS302DLVMT {
+ _lis302dl_methods
+};
+
+/**
+ * @brief @p LIS302DLDriver specific data.
+ */
+#define _lis302dl_data \
+ _base_accelerometer_data \
+ /* Driver state.*/ \
+ lis302dl_state_t state; \
+ /* Current configuration data.*/ \
+ const LIS302DLConfig *config; \
+ /* Current sensitivity.*/ \
+ float sensitivity[LIS302DL_NUMBER_OF_AXES]; \
+ /* Bias data.*/ \
+ int32_t bias[LIS302DL_NUMBER_OF_AXES];
+
+/**
+ * @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_basesensor;
+ /** @brief BaseAccelerometer Virtual Methods Table. */
+ const struct BaseAccelerometerVMT *vmt_baseaccelerometer;
+ /** @brief LIS302DL Virtual Methods Table. */
+ const struct LIS302DLVMT *vmt_lis302dl;
+ _lis302dl_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_lis302dl->get_temperature(ip, tpp)
+
+/*===========================================================================*/
+/* 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_ */
+
+/** @} */
+
diff --git a/os/ex/ST/lis302dl.mk b/os/ex/ST/lis302dl.mk
new file mode 100644
index 000000000..6630e2c74
--- /dev/null
+++ b/os/ex/ST/lis302dl.mk
@@ -0,0 +1,6 @@
+# List of all the LIS302DL device files.
+LIS302DLSRC := $(CHIBIOS)/os/ex/ST/lis302dl.c
+
+# Required include directories
+LIS302DLINC := $(CHIBIOS)/os/hal/lib/peripherals/sensors \
+ $(CHIBIOS)/os/ex/ST \ No newline at end of file
generated by cgit v1.2.3 (git 2.25.1) at 2025-02-24 15:19:48 +0000