709 lines
25 KiB
C
709 lines
25 KiB
C
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/*
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ChibiOS - Copyright (C) 2016..2018 Rocco Marco Guglielmi
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This file is part of ChibiOS.
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ChibiOS is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 3 of the License, or
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(at your option) any later version.
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ChibiOS is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file lis3dsh.h
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* @brief LIS3DSH MEMS interface module header.
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*
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* @addtogroup LIS3DSH
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* @ingroup EX_ST
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* @{
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*/
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#ifndef _LIS3DSH_H_
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#define _LIS3DSH_H_
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#include "hal_accelerometer.h"
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/*===========================================================================*/
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/* Driver constants. */
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/*===========================================================================*/
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/**
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* @name Version identification
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* @{
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*/
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/**
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* @brief LIS3DSH driver version string.
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*/
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#define EX_LIS3DSH_VERSION "1.1.2"
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/**
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* @brief LIS3DSH driver version major number.
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*/
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#define EX_LIS3DSH_MAJOR 1
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/**
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* @brief LIS3DSH driver version minor number.
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*/
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#define EX_LIS3DSH_MINOR 1
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/**
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* @brief LIS3DSH driver version patch number.
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*/
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#define EX_LIS3DSH_PATCH 2
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/** @} */
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/**
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* @brief LIS3DSH accelerometer subsystem characteristics.
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* @note Sensitivity is expressed as milli-G/LSB whereas
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* 1 milli-G = 0.00980665 m/s^2.
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* @note Bias is expressed as milli-G.
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*
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* @{
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*/
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#define LIS3DSH_ACC_NUMBER_OF_AXES 3U
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#define LIS3DSH_ACC_2G 2.0f
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#define LIS3DSH_ACC_4G 4.0f
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#define LIS3DSH_ACC_6G 6.0f
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#define LIS3DSH_ACC_8G 8.0f
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#define LIS3DSH_ACC_16G 16.0f
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#define LIS3DSH_ACC_SENS_2G 0.06f
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#define LIS3DSH_ACC_SENS_4G 0.12f
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#define LIS3DSH_ACC_SENS_6G 0.18f
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#define LIS3DSH_ACC_SENS_8G 0.24f
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#define LIS3DSH_ACC_SENS_16G 0.73f
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#define LIS3DSH_ACC_BIAS 0.0f
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/** @} */
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/**
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* @name LIS3DSH communication interfaces related bit masks
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* @{
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*/
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#define LIS3DSH_DI_MASK 0xFF
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#define LIS3DSH_DI(n) (1 << n)
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#define LIS3DSH_AD_MASK 0x3F
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#define LIS3DSH_AD(n) (1 << n)
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#define LIS3DSH_MS (1 << 6)
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#define LIS3DSH_RW (1 << 7)
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/** @} */
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/**
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* @name LIS3DSH register addresses
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* @{
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*/
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#define LIS3DSH_AD_OUT_T 0x0C
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#define LIS3DSH_AD_INFO1 0x0D
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#define LIS3DSH_AD_INFO2 0x0E
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#define LIS3DSH_AD_WHO_AM_I 0x0F
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#define LIS3DSH_AD_OFF_X 0x10
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#define LIS3DSH_AD_OFF_Y 0x11
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#define LIS3DSH_AD_OFF_Z 0x12
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#define LIS3DSH_AD_CS_X 0x13
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#define LIS3DSH_AD_CS_Y 0x14
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#define LIS3DSH_AD_CS_Z 0x15
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#define LIS3DSH_AD_LC_L 0x16
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#define LIS3DSH_AD_LC_H 0x17
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#define LIS3DSH_AD_STAT 0x18
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#define LIS3DSH_AD_PEAK1 0x19
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#define LIS3DSH_AD_PEAK2 0x1A
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#define LIS3DSH_AD_VFC_1 0x1B
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#define LIS3DSH_AD_VFC_2 0x1C
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#define LIS3DSH_AD_VFC_3 0x1D
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#define LIS3DSH_AD_VFC_4 0x1E
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#define LIS3DSH_AD_THRS3 0x1F
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#define LIS3DSH_AD_CTRL_REG4 0x20
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#define LIS3DSH_AD_CTRL_REG1 0x21
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#define LIS3DSH_AD_CTRL_REG2 0x22
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#define LIS3DSH_AD_CTRL_REG3 0x23
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#define LIS3DSH_AD_CTRL_REG5 0x24
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#define LIS3DSH_AD_CTRL_REG6 0x25
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#define LIS3DSH_AD_STATUS 0x27
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#define LIS3DSH_AD_OUT_X_L 0x28
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#define LIS3DSH_AD_OUT_X_H 0x29
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#define LIS3DSH_AD_OUT_Y_L 0x2A
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#define LIS3DSH_AD_OUT_Y_H 0x2B
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#define LIS3DSH_AD_OUT_Z_L 0x2C
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#define LIS3DSH_AD_OUT_Z_H 0x2D
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#define LIS3DSH_AD_FIFO_CTRL 0x2E
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#define LIS3DSH_AD_FIFO_SRC 0x2F
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#define LIS3DSH_AD_ST1_0 0x40
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#define LIS3DSH_AD_ST1_1 0x41
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#define LIS3DSH_AD_ST1_2 0x42
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#define LIS3DSH_AD_ST1_3 0x43
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#define LIS3DSH_AD_ST1_4 0x44
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#define LIS3DSH_AD_ST1_5 0x45
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#define LIS3DSH_AD_ST1_6 0x46
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#define LIS3DSH_AD_ST1_7 0x47
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#define LIS3DSH_AD_ST1_8 0x48
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#define LIS3DSH_AD_ST1_9 0x49
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#define LIS3DSH_AD_ST1_A 0x4A
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#define LIS3DSH_AD_ST1_B 0x4B
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#define LIS3DSH_AD_ST1_C 0x4C
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#define LIS3DSH_AD_ST1_D 0x4D
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#define LIS3DSH_AD_ST1_E 0x4E
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#define LIS3DSH_AD_ST1_F 0x4F
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#define LIS3DSH_AD_TIM4_1 0x50
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#define LIS3DSH_AD_TIM3_1 0x51
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#define LIS3DSH_AD_TIM2_1_L 0x52
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#define LIS3DSH_AD_TIM2_1_H 0x53
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#define LIS3DSH_AD_TIM1_1_L 0x54
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#define LIS3DSH_AD_TIM1_1_H 0x55
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#define LIS3DSH_AD_THRS2_1 0x56
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#define LIS3DSH_AD_THRS1_1 0x57
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#define LIS3DSH_AD_MASK1_B 0x59
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#define LIS3DSH_AD_MASK1_A 0x5A
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#define LIS3DSH_AD_SETT1 0x5B
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#define LIS3DSH_AD_PR1 0x5C
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#define LIS3DSH_AD_TC1_L 0x5D
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#define LIS3DSH_AD_TC1_H 0x5E
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#define LIS3DSH_AD_OUTS1 0x5F
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#define LIS3DSH_AD_ST2_0 0x60
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#define LIS3DSH_AD_ST2_1 0x61
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#define LIS3DSH_AD_ST2_2 0x62
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#define LIS3DSH_AD_ST2_3 0x63
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#define LIS3DSH_AD_ST2_4 0x64
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#define LIS3DSH_AD_ST2_5 0x65
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#define LIS3DSH_AD_ST2_6 0x66
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#define LIS3DSH_AD_ST2_7 0x67
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#define LIS3DSH_AD_ST2_8 0x68
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#define LIS3DSH_AD_ST2_9 0x69
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#define LIS3DSH_AD_ST2_A 0x6A
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#define LIS3DSH_AD_ST2_B 0x6B
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#define LIS3DSH_AD_ST2_C 0x6C
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#define LIS3DSH_AD_ST2_D 0x6D
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#define LIS3DSH_AD_ST2_E 0x6E
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#define LIS3DSH_AD_ST2_F 0x6F
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#define LIS3DSH_AD_TIM4_2 0x70
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#define LIS3DSH_AD_TIM3_2 0x71
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#define LIS3DSH_AD_TIM2_2_L 0x72
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#define LIS3DSH_AD_TIM2_2_H 0x73
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#define LIS3DSH_AD_TIM1_2_L 0x74
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#define LIS3DSH_AD_TIM1_2_H 0x75
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#define LIS3DSH_AD_THRS2_2 0x76
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#define LIS3DSH_AD_THRS1_2 0x77
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#define LIS3DSH_AD_DES2 0x78
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#define LIS3DSH_AD_MASK2_B 0x79
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#define LIS3DSH_AD_MASK2_A 0x7A
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#define LIS3DSH_AD_SETT2 0x7B
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#define LIS3DSH_AD_PR2 0x7C
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#define LIS3DSH_AD_TC2_L 0x7D
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#define LIS3DSH_AD_TC2_H 0x7E
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#define LIS3DSH_AD_OUTS2 0x7F
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/** @} */
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/**
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* @name LIS3DSH_CTRL_REG1 register bits definitions
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* @{
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*/
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#define LIS3DSH_CTRL_REG1_MASK 0xE9
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#define LIS3DSH_CTRL_REG1_SM1_EN (1 << 0)
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#define LIS3DSH_CTRL_REG1_SM1_PIN (1 << 3)
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#define LIS3DSH_CTRL_REG1_HYST0_1 (1 << 5)
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#define LIS3DSH_CTRL_REG1_HYST1_1 (1 << 6)
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#define LIS3DSH_CTRL_REG1_HYST2_1 (1 << 7)
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/** @} */
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/**
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* @name LIS3DSH_CTRL_REG2 register bits definitions
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* @{
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*/
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#define LIS3DSH_CTRL_REG2_MASK 0xE9
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#define LIS3DSH_CTRL_REG2_SM2_EN (1 << 0)
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#define LIS3DSH_CTRL_REG2_SM2_PIN (1 << 3)
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#define LIS3DSH_CTRL_REG2_HYST0_2 (1 << 5)
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#define LIS3DSH_CTRL_REG2_HYST1_2 (1 << 6)
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#define LIS3DSH_CTRL_REG2_HYST2_2 (1 << 7)
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/** @} */
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/**
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* @name LIS3DSH_CTRL_REG3 register bits definitions
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* @{
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*/
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#define LIS3DSH_CTRL_REG3_MASK 0xFF
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#define LIS3DSH_CTRL_REG3_STRT (1 << 0)
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#define LIS3DSH_CTRL_REG3_VFILT (1 << 2)
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#define LIS3DSH_CTRL_REG3_INT1_EN (1 << 3)
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#define LIS3DSH_CTRL_REG3_INT2_EN (1 << 4)
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#define LIS3DSH_CTRL_REG3_IEL (1 << 5)
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#define LIS3DSH_CTRL_REG3_IEA (1 << 6)
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#define LIS3DSH_CTRL_REG3_DR_EN (1 << 7)
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/** @} */
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/**
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* @name LIS3DSH_CTRL_REG4 register bits definitions
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* @{
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*/
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#define LIS3DSH_CTRL_REG4_MASK 0xFF
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#define LIS3DSH_CTRL_REG4_XEN (1 << 0)
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#define LIS3DSH_CTRL_REG4_YEN (1 << 1)
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#define LIS3DSH_CTRL_REG4_ZEN (1 << 2)
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#define LIS3DSH_CTRL_REG4_BDU (1 << 3)
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#define LIS3DSH_CTRL_REG4_ODR_0 (1 << 4)
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#define LIS3DSH_CTRL_REG4_ODR_1 (1 << 5)
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#define LIS3DSH_CTRL_REG4_ODR_2 (1 << 6)
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#define LIS3DSH_CTRL_REG4_ODR_3 (1 << 7)
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/** @} */
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/**
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* @name LIS3DSH_CTRL_REG5 register bits definitions
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* @{
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*/
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#define LIS3DSH_CTRL_REG5_MASK 0xFF
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#define LIS3DSH_CTRL_REG5_SIM (1 << 0)
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#define LIS3DSH_CTRL_REG5_ST1 (1 << 1)
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#define LIS3DSH_CTRL_REG5_ST2 (1 << 2)
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#define LIS3DSH_CTRL_REG5_FS_MASK 0x38
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#define LIS3DSH_CTRL_REG5_FS0 (1 << 3)
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#define LIS3DSH_CTRL_REG5_FS1 (1 << 4)
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#define LIS3DSH_CTRL_REG5_FS2 (1 << 5)
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#define LIS3DSH_CTRL_REG5_BW1 (1 << 6)
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#define LIS3DSH_CTRL_REG5_BW2 (1 << 7)
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/** @} */
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/**
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* @name LIS3DSH_CTRL_REG6 register bits definitions
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* @{
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*/
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#define LIS3DSH_CTRL_REG6_MASK 0xFF
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#define LIS3DSH_CTRL_REG6_P2_BOOT (1 << 0)
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#define LIS3DSH_CTRL_REG6_P1_OVRUN (1 << 1)
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#define LIS3DSH_CTRL_REG6_P1_WTM (1 << 2)
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#define LIS3DSH_CTRL_REG6_P1_EMPTY (1 << 3)
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#define LIS3DSH_CTRL_REG6_ADD_INC (1 << 4)
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#define LIS3DSH_CTRL_REG6_WTM_EN (1 << 5)
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#define LIS3DSH_CTRL_REG6_FIFO_EN (1 << 6)
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#define LIS3DSH_CTRL_REG6_BOOT (1 << 7)
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/** @} */
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/*===========================================================================*/
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/* Driver pre-compile time settings. */
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/*===========================================================================*/
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/**
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* @name Configuration options
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* @{
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*/
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/**
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* @brief LIS3DSH SPI interface switch.
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* @details If set to @p TRUE the support for SPI is included.
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* @note The default is @p TRUE.
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*/
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#if !defined(LIS3DSH_USE_SPI) || defined(__DOXYGEN__)
|
|||
|
|
#define LIS3DSH_USE_SPI TRUE
|
|||
|
|
#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
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @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 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(LIS3DSH_SHARED_I2C) || defined(__DOXYGEN__)
|
|||
|
|
#define LIS3DSH_SHARED_I2C FALSE
|
|||
|
|
#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
|
|||
|
|
/** @} */
|
|||
|
|
|
|||
|
|
/*===========================================================================*/
|
|||
|
|
/* 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_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION
|
|||
|
|
#error "LIS3DSH_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION"
|
|||
|
|
#endif
|
|||
|
|
|
|||
|
|
#if LIS3DSH_USE_I2C && !HAL_USE_I2C
|
|||
|
|
#error "LIS3DSH_USE_I2C requires HAL_USE_I2C"
|
|||
|
|
#endif
|
|||
|
|
|
|||
|
|
#if LIS3DSH_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION
|
|||
|
|
#error "LIS3DSH_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION"
|
|||
|
|
#endif
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @todo Add support for LIS3DSH over I2C.
|
|||
|
|
*/
|
|||
|
|
#if LIS3DSH_USE_I2C
|
|||
|
|
#error "LIS3DSH over I2C still not supported"
|
|||
|
|
#endif
|
|||
|
|
|
|||
|
|
/*===========================================================================*/
|
|||
|
|
/* Driver data structures and types. */
|
|||
|
|
/*===========================================================================*/
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @name LIS3DSH data structures and types
|
|||
|
|
* @{
|
|||
|
|
*/
|
|||
|
|
/**
|
|||
|
|
* @brief Structure representing a LIS3DSH driver.
|
|||
|
|
*/
|
|||
|
|
typedef struct LIS3DSHDriver LIS3DSHDriver;
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @brief LIS3DSH full scale.
|
|||
|
|
*/
|
|||
|
|
typedef enum {
|
|||
|
|
LIS3DSH_ACC_FS_2G = 0x00, /**< Full scale <20>2g. */
|
|||
|
|
LIS3DSH_ACC_FS_4G = 0x08, /**< Full scale <20>4g. */
|
|||
|
|
LIS3DSH_ACC_FS_6G = 0x10, /**< Full scale <20>6g. */
|
|||
|
|
LIS3DSH_ACC_FS_8G = 0x18, /**< Full scale <20>8g. */
|
|||
|
|
LIS3DSH_ACC_FS_16G = 0x20 /**< Full scale <20>16g. */
|
|||
|
|
}lis3dsh_acc_fs_t;
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @brief LIS3DSH output data rate.
|
|||
|
|
*/
|
|||
|
|
typedef enum {
|
|||
|
|
LIS3DSH_ACC_ODR_PD = 0x00, /**< ODR 100 Hz. */
|
|||
|
|
LIS3DSH_ACC_ODR_3_125HZ = 0x10, /**< ODR 3.125 Hz. */
|
|||
|
|
LIS3DSH_ACC_ODR_6_25HZ = 0x20, /**< ODR 6.25 Hz. */
|
|||
|
|
LIS3DSH_ACC_ODR_12_5HZ = 0x30, /**< ODR 12.5 Hz. */
|
|||
|
|
LIS3DSH_ACC_ODR_25HZ = 0x40, /**< ODR 25 Hz. */
|
|||
|
|
LIS3DSH_ACC_ODR_50HZ = 0x50, /**< ODR 50 Hz. */
|
|||
|
|
LIS3DSH_ACC_ODR_100HZ = 0x60, /**< ODR 100 Hz. */
|
|||
|
|
LIS3DSH_ACC_ODR_400HZ = 0x70, /**< ODR 400 Hz. */
|
|||
|
|
LIS3DSH_ACC_ODR_800HZ = 0x80, /**< ODR 800 Hz. */
|
|||
|
|
LIS3DSH_ACC_ODR_1600HZ = 0x90 /**< ODR 1600 Hz. */
|
|||
|
|
}lis3dsh_acc_odr_t;
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @brief LIS3DSH anti-aliasing bandwidth.
|
|||
|
|
*/
|
|||
|
|
typedef enum {
|
|||
|
|
LIS3DSH_ACC_BW_800HZ = 0x00, /**< AA filter BW 800Hz. */
|
|||
|
|
LIS3DSH_ACC_BW_200HZ = 0x40, /**< AA filter BW 200Hz. */
|
|||
|
|
LIS3DSH_ACC_BW_400HZ = 0x80, /**< AA filter BW 400Hz. */
|
|||
|
|
LIS3DSH_ACC_BW_50HZ = 0xC0 /**< AA filter BW 50Hz. */
|
|||
|
|
}lis3dsh_acc_bw_t;
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @brief LIS3DSH block data update.
|
|||
|
|
*/
|
|||
|
|
typedef enum {
|
|||
|
|
LIS3DSH_ACC_BDU_CONTINUOUS = 0x00,/**< Block data continuously updated. */
|
|||
|
|
LIS3DSH_ACC_BDU_BLOCKED = 0x80 /**< Block data updated after reading. */
|
|||
|
|
} lis3dsh_acc_bdu_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 accelerometer subsystem initial sensitivity.
|
|||
|
|
*/
|
|||
|
|
float *accsensitivity;
|
|||
|
|
/**
|
|||
|
|
* @brief LIS3DSH accelerometer subsystem initial bias.
|
|||
|
|
*/
|
|||
|
|
float *accbias;
|
|||
|
|
/**
|
|||
|
|
* @brief LIS3DSH accelerometer subsystem initial full scale.
|
|||
|
|
*/
|
|||
|
|
lis3dsh_acc_fs_t accfullscale;
|
|||
|
|
/**
|
|||
|
|
* @brief LIS3DSH output data rate selection.
|
|||
|
|
*/
|
|||
|
|
lis3dsh_acc_odr_t accoutputdatarate;
|
|||
|
|
#if LIS3DSH_USE_ADVANCED || defined(__DOXYGEN__)
|
|||
|
|
/**
|
|||
|
|
* @brief LIS3DSH anti-aliasing bandwidth.
|
|||
|
|
*/
|
|||
|
|
lis3dsh_acc_bw_t accantialiasing;
|
|||
|
|
/**
|
|||
|
|
* @brief LIS3DSH block data update.
|
|||
|
|
*/
|
|||
|
|
lis3dsh_acc_bdu_t accblockdataupdate;
|
|||
|
|
#endif
|
|||
|
|
} LIS3DSHConfig;
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @brief @p LIS3DSH specific methods.
|
|||
|
|
*/
|
|||
|
|
#define _lis3dsh_methods_alone \
|
|||
|
|
/* Change full scale value of LIS3DSH accelerometer subsystem.*/ \
|
|||
|
|
msg_t (*acc_set_full_scale)(LIS3DSHDriver *devp, lis3dsh_acc_fs_t fs);
|
|||
|
|
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @brief @p LIS3DSH specific methods with inherited ones.
|
|||
|
|
*/
|
|||
|
|
#define _lis3dsh_methods \
|
|||
|
|
_base_object_methods \
|
|||
|
|
_lis3dsh_methods_alone
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @extends BaseObjectVMT
|
|||
|
|
*
|
|||
|
|
* @brief @p LIS3DSH virtual methods table.
|
|||
|
|
*/
|
|||
|
|
struct LIS3DSHVMT {
|
|||
|
|
_lis3dsh_methods
|
|||
|
|
};
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @brief @p LIS3DSHDriver specific data.
|
|||
|
|
*/
|
|||
|
|
#define _lis3dsh_data \
|
|||
|
|
_base_sensor_data \
|
|||
|
|
/* Driver state.*/ \
|
|||
|
|
lis3dsh_state_t state; \
|
|||
|
|
/* Current configuration data.*/ \
|
|||
|
|
const LIS3DSHConfig *config; \
|
|||
|
|
/* Accelerometer subsystem axes number.*/ \
|
|||
|
|
size_t accaxes; \
|
|||
|
|
/* Accelerometer subsystem current sensitivity.*/ \
|
|||
|
|
float accsensitivity[LIS3DSH_ACC_NUMBER_OF_AXES]; \
|
|||
|
|
/* Accelerometer subsystem current bias .*/ \
|
|||
|
|
float accbias[LIS3DSH_ACC_NUMBER_OF_AXES]; \
|
|||
|
|
/* Accelerometer subsystem current full scale value.*/ \
|
|||
|
|
float accfullscale;
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @brief LIS3DSH 3-axis accelerometer class.
|
|||
|
|
*/
|
|||
|
|
struct LIS3DSHDriver {
|
|||
|
|
/** @brief Virtual Methods Table.*/
|
|||
|
|
const struct LIS3DSHVMT *vmt;
|
|||
|
|
/** @brief Base accelerometer interface.*/
|
|||
|
|
BaseAccelerometer acc_if;
|
|||
|
|
_lis3dsh_data
|
|||
|
|
};
|
|||
|
|
/** @} */
|
|||
|
|
|
|||
|
|
/*===========================================================================*/
|
|||
|
|
/* Driver macros. */
|
|||
|
|
/*===========================================================================*/
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @brief Return the number of axes of the BaseAccelerometer.
|
|||
|
|
*
|
|||
|
|
* @param[in] devp pointer to @p LIS3DSHDriver.
|
|||
|
|
*
|
|||
|
|
* @return the number of axes.
|
|||
|
|
*
|
|||
|
|
* @api
|
|||
|
|
*/
|
|||
|
|
#define lis3dshAccelerometerGetAxesNumber(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 LIS3DSHDriver.
|
|||
|
|
* @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 I2C errors occurred, the errors can
|
|||
|
|
* be retrieved using @p i2cGetErrors().
|
|||
|
|
* @retval MSG_TIMEOUT if a timeout occurred before operation end.
|
|||
|
|
*
|
|||
|
|
* @api
|
|||
|
|
*/
|
|||
|
|
#define lis3dshAccelerometerReadRaw(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 LIS3DSHDriver.
|
|||
|
|
* @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 lis3dshAccelerometerReadCooked(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 LIS3DSHDriver.
|
|||
|
|
* @param[in] bp a buffer which contains biases.
|
|||
|
|
*
|
|||
|
|
* @return The operation status.
|
|||
|
|
* @retval MSG_OK if the function succeeded.
|
|||
|
|
*
|
|||
|
|
* @api
|
|||
|
|
*/
|
|||
|
|
#define lis3dshAccelerometerSetBias(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 LIS3DSHDriver.
|
|||
|
|
*
|
|||
|
|
* @return The operation status.
|
|||
|
|
* @retval MSG_OK if the function succeeded.
|
|||
|
|
*
|
|||
|
|
* @api
|
|||
|
|
*/
|
|||
|
|
#define lis3dshAccelerometerResetBias(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 LIS3DSHDriver.
|
|||
|
|
* @param[in] sp a buffer which contains sensitivities.
|
|||
|
|
*
|
|||
|
|
* @return The operation status.
|
|||
|
|
* @retval MSG_OK if the function succeeded.
|
|||
|
|
*
|
|||
|
|
* @api
|
|||
|
|
*/
|
|||
|
|
#define lis3dshAccelerometerSetSensitivity(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 LIS3DSHDriver.
|
|||
|
|
*
|
|||
|
|
* @return The operation status.
|
|||
|
|
* @retval MSG_OK if the function succeeded.
|
|||
|
|
* @retval MSG_RESET otherwise.
|
|||
|
|
*
|
|||
|
|
* @api
|
|||
|
|
*/
|
|||
|
|
#define lis3dshAccelerometerResetSensitivity(devp) \
|
|||
|
|
accelerometerResetSensitivity(&((devp)->acc_if))
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @brief Changes the LIS3DSHDriver 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 LIS3DSHDriver.
|
|||
|
|
* @param[in] fs new fullscale value.
|
|||
|
|
*
|
|||
|
|
* @return The operation status.
|
|||
|
|
* @retval MSG_OK if the function succeeded.
|
|||
|
|
* @retval MSG_RESET otherwise.
|
|||
|
|
*
|
|||
|
|
* @api
|
|||
|
|
*/
|
|||
|
|
#define lis3dshAccelerometerSetFullScale(devp, fs) \
|
|||
|
|
(devp)->vmt->acc_set_full_scale(devp, fs)
|
|||
|
|
|
|||
|
|
/*===========================================================================*/
|
|||
|
|
/* 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_ */
|
|||
|
|
|
|||
|
|
/** @} */
|
|||
|
|
|