671 lines
22 KiB
C
671 lines
22 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 lis3mdl.h
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* @brief LIS3MDL MEMS interface module header.
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*
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* @addtogroup LIS3MDL
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* @ingroup EX_ST
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* @{
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*/
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#ifndef _LIS3MDL_H_
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#define _LIS3MDL_H_
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#include "hal_compass.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 LIS3MDL driver version string.
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*/
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#define EX_LIS3MDL_VERSION "1.1.2"
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/**
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* @brief LIS3MDL driver version major number.
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*/
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#define EX_LIS3MDL_MAJOR 1
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/**
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* @brief LIS3MDL driver version minor number.
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*/
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#define EX_LIS3MDL_MINOR 1
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/**
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* @brief LIS3MDL driver version patch number.
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*/
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#define EX_LIS3MDL_PATCH 2
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/** @} */
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/**
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* @brief LIS3MDL compass subsystem characteristics.
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* @note Sensitivity is expressed as G/LSB whereas G stands for Gauss.
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* @note Bias is expressed as G.
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*
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* @{
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*/
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#define LIS3MDL_COMP_NUMBER_OF_AXES 3U
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#define LIS3MDL_COMP_4GA 4.0f
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#define LIS3MDL_COMP_8GA 8.0f
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#define LIS3MDL_COMP_12GA 12.0f
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#define LIS3MDL_COMP_16GA 16.0f
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#define LIS3MDL_COMP_SENS_4GA 0.00014615f
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#define LIS3MDL_COMP_SENS_8GA 0.00029231f
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#define LIS3MDL_COMP_SENS_12GA 0.0004384f
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#define LIS3MDL_COMP_SENS_16GA 0.00058445f
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#define LIS3MDL_COMP_BIAS 0.0f
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/** @} */
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/**
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* @name LIS3MDL communication interfaces related bit masks
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* @{
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*/
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#define LIS3MDL_DI_MASK 0xFF
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#define LIS3MDL_DI(n) (1 << n)
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#define LIS3MDL_AD_MASK 0x3F
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#define LIS3MDL_AD(n) (1 << n)
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#define LIS3MDL_MS (1 << 6)
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#define LIS3MDL_RW (1 << 7)
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#define LIS3MDL_SUB_MS (1 << 7)
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/** @} */
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/**
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* @name LIS3MDL register addresses
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* @{
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*/
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#define LIS3MDL_AD_WHO_AM_I 0x0F
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#define LIS3MDL_AD_CTRL_REG1 0x20
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#define LIS3MDL_AD_CTRL_REG2 0x21
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#define LIS3MDL_AD_CTRL_REG3 0x22
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#define LIS3MDL_AD_CTRL_REG4 0x23
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#define LIS3MDL_AD_CTRL_REG5 0x24
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#define LIS3MDL_AD_STATUS_REG 0x27
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#define LIS3MDL_AD_OUT_X_L 0x28
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#define LIS3MDL_AD_OUT_X_H 0x29
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#define LIS3MDL_AD_OUT_Y_L 0x2A
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#define LIS3MDL_AD_OUT_Y_H 0x2B
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#define LIS3MDL_AD_OUT_Z_L 0x2C
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#define LIS3MDL_AD_OUT_Z_H 0x2D
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#define LIS3MDL_AD_TEMP_OUT_L 0x2E
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#define LIS3MDL_AD_TEMP_OUT_H 0x2F
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#define LIS3MDL_AD_INT_CFG 0x30
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#define LIS3MDL_AD_INT_SOURCE 0x31
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#define LIS3MDL_AD_INT_THS_L 0x32
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#define LIS3MDL_AD_INT_THS_H 0x33
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/** @} */
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/**
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* @name LIS3MDL_CTRL_REG1 register bits definitions
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* @{
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*/
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#define LIS3MDL_CTRL_REG1_MASK 0xFF
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#define LIS3MDL_CTRL_REG1_ST (1 << 0)
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#define LIS3MDL_CTRL_REG1_FAST_ODR (1 << 1)
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#define LIS3MDL_CTRL_REG1_DO0 (1 << 2)
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#define LIS3MDL_CTRL_REG1_DO1 (1 << 3)
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#define LIS3MDL_CTRL_REG1_DO2 (1 << 4)
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#define LIS3MDL_CTRL_REG1_OM0 (1 << 5)
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#define LIS3MDL_CTRL_REG1_OM1 (1 << 6)
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#define LIS3MDL_CTRL_REG1_TEMP_EN (1 << 7)
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/** @} */
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/**
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* @name LIS3MDL_CTRL_REG2 register bits definitions
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* @{
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*/
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#define LIS3MDL_CTRL_REG2_MASK 0x6C
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#define LIS3MDL_CTRL_REG2_SOFT_RST (1 << 2)
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#define LIS3MDL_CTRL_REG2_REBOOT (1 << 3)
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#define LIS3MDL_CTRL_REG2_FS_MASK 0x60
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#define LIS3MDL_CTRL_REG2_FS0 (1 << 5)
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#define LIS3MDL_CTRL_REG2_FS1 (1 << 6)
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/** @} */
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/**
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* @name LIS3MDL_CTRL_REG3 register bits definitions
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* @{
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*/
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#define LIS3MDL_CTRL_REG3_MASK 0x27
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#define LIS3MDL_CTRL_REG3_MD0 (1 << 0)
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#define LIS3MDL_CTRL_REG3_MD1 (1 << 1)
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#define LIS3MDL_CTRL_REG3_SIM (1 << 2)
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#define LIS3MDL_CTRL_REG3_LP (1 << 5)
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/** @} */
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/**
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* @name LIS3MDL_CTRL_REG4 register bits definitions
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* @{
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*/
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#define LIS3MDL_CTRL_REG4_MASK 0x0E
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#define LIS3MDL_CTRL_REG4_BLE (1 << 1)
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#define LIS3MDL_CTRL_REG4_OMZ0 (1 << 2)
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#define LIS3MDL_CTRL_REG4_OMZ1 (1 << 3)
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/** @} */
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/**
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* @name LIS3MDL_CTRL_REG5 register bits definitions
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* @{
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*/
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#define LIS3MDL_CTRL_REG5_MASK 0xC0
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#define LIS3MDL_CTRL_REG5_BDU (1 << 6)
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#define LIS3MDL_CTRL_REG5_FAST_READ (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 LIS3MDL 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 FALSE.
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*/
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#if !defined(LIS3MDL_USE_SPI) || defined(__DOXYGEN__)
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#define LIS3MDL_USE_SPI FALSE
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#endif
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/**
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* @brief LIS3MDL shared SPI switch.
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* @details If set to @p TRUE the device acquires SPI bus ownership
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* on each transaction.
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* @note The default is @p FALSE. Requires SPI_USE_MUTUAL_EXCLUSION.
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*/
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#if !defined(LIS3MDL_SHARED_SPI) || defined(__DOXYGEN__)
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#define LIS3MDL_SHARED_SPI FALSE
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#endif
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/**
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* @brief LIS3MDL I2C interface switch.
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* @details If set to @p TRUE the support for I2C is included.
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* @note The default is @p TRUE.
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*/
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#if !defined(LIS3MDL_USE_I2C) || defined(__DOXYGEN__)
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#define LIS3MDL_USE_I2C TRUE
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#endif
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/**
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* @brief LIS3MDL shared I2C switch.
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* @details If set to @p TRUE the device acquires I2C bus ownership
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* on each transaction.
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* @note The default is @p FALSE. Requires I2C_USE_MUTUAL_EXCLUSION
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*/
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#if !defined(LIS3MDL_SHARED_I2C) || defined(__DOXYGEN__)
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#define LIS3MDL_SHARED_I2C FALSE
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#endif
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/**
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* @brief LIS3MDL advanced configurations switch.
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* @details If set to @p TRUE more configurations are available.
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* @note The default is @p FALSE.
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*/
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#if !defined(LIS3MDL_USE_ADVANCED) || defined(__DOXYGEN__)
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#define LIS3MDL_USE_ADVANCED FALSE
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#endif
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/** @} */
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/*===========================================================================*/
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/* Derived constants and error checks. */
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/*===========================================================================*/
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#if !(LIS3MDL_USE_SPI ^ LIS3MDL_USE_I2C)
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#error "LIS3MDL_USE_SPI and LIS3MDL_USE_I2C cannot be both true or both false"
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#endif
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#if LIS3MDL_USE_SPI && !HAL_USE_SPI
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#error "LIS3MDL_USE_SPI requires HAL_USE_SPI"
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#endif
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#if LIS3MDL_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION
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#error "LIS3MDL_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION"
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#endif
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#if LIS3MDL_USE_I2C && !HAL_USE_I2C
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#error "LIS3MDL_USE_I2C requires HAL_USE_I2C"
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#endif
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#if LIS3MDL_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION
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#error "LIS3MDL_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION"
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#endif
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/**
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* @todo Add support for LIS3MDL over SPI.
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*/
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#if LIS3MDL_USE_SPI
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#error "LIS3MDL over SPI still not supported"
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#endif
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/*===========================================================================*/
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/* Driver data structures and types. */
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/*===========================================================================*/
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/**
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* @name LIS3MDL data structures and types
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* @{
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*/
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/**
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* @brief LIS3MDL slave address
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*/
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/**
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* @brief Structure representing a LIS3MDL driver.
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*/
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typedef struct LIS3MDLDriver LIS3MDLDriver;
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/**
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* @brief LIS3MDL slave address
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*/
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typedef enum {
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LIS3MDL_SAD_GND = 0x1C, /**< Slave Address when SA1 is to GND */
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LIS3MDL_SAD_VCC = 0x1E /**< Slave Address when SA1 is to VCC */
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}lis3mdl_sad_t;
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/**
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* @brief LIS3MDL full scale
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*/
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typedef enum {
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LIS3MDL_COMP_FS_4GA = 0x00, /**< <20>4 Gauss */
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LIS3MDL_COMP_FS_8GA = 0x20, /**< <20>8 Gauss */
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LIS3MDL_COMP_FS_12GA = 0x40, /**< <20>12 Gauss */
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LIS3MDL_COMP_FS_16GA = 0x60 /**< <20>16 Gauss */
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}lis3mdl_comp_fs_t;
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/**
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* @brief LIS3MDL output data rate
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*/
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typedef enum {
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LIS3MDL_COMP_ODR_0_625HZ = 0x00, /**< Output Data Rate = 0.625 Hz */
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LIS3MDL_COMP_ODR_1_25HZ = 0x04, /**< Output Data Rate = 1.25 Hz */
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LIS3MDL_COMP_ODR_2_5HZ = 0x08, /**< Output Data Rate = 2.5 Hz */
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LIS3MDL_COMP_ODR_5HZ = 0x0C, /**< Output Data Rate = 5 Hz */
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LIS3MDL_COMP_ODR_10HZ = 0x10, /**< Output Data Rate = 10 Hz */
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LIS3MDL_COMP_ODR_20HZ = 0x14, /**< Output Data Rate = 20 Hz */
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LIS3MDL_COMP_ODR_40HZ = 0x18, /**< Output Data Rate = 40 Hz */
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LIS3MDL_COMP_ODR_80HZ = 0x1C /**< Output Data Rate = 80 Hz */
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}lis3mdl_comp_odr_t;
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/**
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* @brief LIS3MDL low power mode configuration
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*/
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typedef enum {
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LIS3MDL_COMP_LP_DISABLED = 0x00, /**< Low Power mode disabled */
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LIS3MDL_COMP_LP_ENABLED = 0x20 /**< Low Power mode enabled */
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}lis3mdl_comp_lp_t;
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/**
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* @brief LIS3MDL conversion mode
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*/
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typedef enum {
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LIS3MDL_COMP_MD_CONTINUOUS = 0x00,/**< Continuous conversion mode */
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LIS3MDL_COMP_MD_SINGLE = 0x01, /**< Single conversion mode */
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LIS3MDL_COMP_MD_POWER_DOWN = 0x02 /**< Power down mode */
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}lis3mdl_comp_md_t;
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|
|
/**
|
|||
|
|
* @brief LIS3MDL operation mode for X and Y axes
|
|||
|
|
*/
|
|||
|
|
typedef enum {
|
|||
|
|
LIS3MDL_COMP_OMXY_LP = 0x00, /**< X-Y axes low power mode */
|
|||
|
|
LIS3MDL_COMP_OMXY_MEDIUM = 0x20, /**< X-Y axes medium performance mode */
|
|||
|
|
LIS3MDL_COMP_OMXY_HIGH = 0x40, /**< X-Y axes high performance mode */
|
|||
|
|
LIS3MDL_COMP_OMXY_ULTRA = 0x60 /**< X-Y axes ultra performance mode */
|
|||
|
|
}lis3mdl_comp_omxy_t;
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @brief LIS3MDL operation mode for Z axis
|
|||
|
|
*/
|
|||
|
|
typedef enum {
|
|||
|
|
LIS3MDL_COMP_OMZ_LP = 0x00, /**< Z axis low power mode */
|
|||
|
|
LIS3MDL_COMP_OMZ_MEDIUM = 0x04, /**< Z axis medium performance mode */
|
|||
|
|
LIS3MDL_COMP_OMZ_HIGH = 0x08, /**< Z axis high performance mode */
|
|||
|
|
LIS3MDL_COMP_OMZ_ULTRA = 0x0C /**< Z axis ultra performance mode */
|
|||
|
|
}lis3mdl_comp_omz_t;
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @brief LIS3MDL temperature sensor enabling
|
|||
|
|
*/
|
|||
|
|
typedef enum {
|
|||
|
|
LIS3MDL_TEMP_DISABLED = 0x00, /**< Temperature sensor disabled. */
|
|||
|
|
LIS3MDL_TEMP_ENABLED = 0x80 /**< Temperature sensor enabled. */
|
|||
|
|
}lis3mdl_temp_t;
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @brief LIS3MDL block data update
|
|||
|
|
*/
|
|||
|
|
typedef enum {
|
|||
|
|
LIS3MDL_BDU_CONTINUOUS = 0x00, /**< Continuous Update */
|
|||
|
|
LIS3MDL_BDU_BLOCKED = 0x40 /**< Block data updated after reading. */
|
|||
|
|
}lis3mdl_bdu_t;
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @brief LIS3MDL endianness
|
|||
|
|
*/
|
|||
|
|
typedef enum {
|
|||
|
|
LIS3MDL_END_LITTLE = 0x00, /**< Little endian. */
|
|||
|
|
LIS3MDL_END_BIG = 0x02 /**< Big endian. */
|
|||
|
|
}lis3mdl_end_t;
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @brief Driver state machine possible states.
|
|||
|
|
*/
|
|||
|
|
typedef enum {
|
|||
|
|
LIS3MDL_UNINIT = 0, /**< Not initialized. */
|
|||
|
|
LIS3MDL_STOP = 1, /**< Stopped. */
|
|||
|
|
LIS3MDL_READY = 2, /**< Ready. */
|
|||
|
|
} lis3mdl_state_t;
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @brief LIS3MDL configuration structure.
|
|||
|
|
*/
|
|||
|
|
typedef struct {
|
|||
|
|
#if (LIS3MDL_USE_SPI) || defined(__DOXYGEN__)
|
|||
|
|
/**
|
|||
|
|
* @brief SPI driver associated to this LIS3MDL.
|
|||
|
|
*/
|
|||
|
|
SPIDriver *spip;
|
|||
|
|
/**
|
|||
|
|
* @brief SPI configuration associated to this LIS3MDL.
|
|||
|
|
*/
|
|||
|
|
const SPIConfig *spicfg;
|
|||
|
|
#endif /* LIS3MDL_USE_SPI */
|
|||
|
|
#if (LIS3MDL_USE_I2C) || defined(__DOXYGEN__)
|
|||
|
|
/**
|
|||
|
|
* @brief I2C driver associated to this LIS3MDL.
|
|||
|
|
*/
|
|||
|
|
I2CDriver *i2cp;
|
|||
|
|
/**
|
|||
|
|
* @brief I2C configuration associated to this LIS3MDL.
|
|||
|
|
*/
|
|||
|
|
const I2CConfig *i2ccfg;
|
|||
|
|
/**
|
|||
|
|
* @brief LIS3MDL slave address
|
|||
|
|
*/
|
|||
|
|
lis3mdl_sad_t slaveaddress;
|
|||
|
|
#endif /* LIS3MDL_USE_I2C */
|
|||
|
|
/**
|
|||
|
|
* @brief LIS3MDL compass subsystem initial sensitivity.
|
|||
|
|
*/
|
|||
|
|
float *compsensitivity;
|
|||
|
|
/**
|
|||
|
|
* @brief LIS3MDL compass subsystem initial bias.
|
|||
|
|
*/
|
|||
|
|
float *compbias;
|
|||
|
|
/**
|
|||
|
|
* @brief LIS3MDL compass subsystem full scale.
|
|||
|
|
*/
|
|||
|
|
lis3mdl_comp_fs_t compfullscale;
|
|||
|
|
/**
|
|||
|
|
* @brief LIS3MDL compass subsystem output data rate.
|
|||
|
|
*/
|
|||
|
|
lis3mdl_comp_odr_t compoutputdatarate;
|
|||
|
|
#if LIS3MDL_USE_ADVANCED || defined(__DOXYGEN__)
|
|||
|
|
/**
|
|||
|
|
* @brief LIS3MDL compass subsystem low power mode configuration.
|
|||
|
|
*/
|
|||
|
|
lis3mdl_comp_lp_t complowpowermode;
|
|||
|
|
/**
|
|||
|
|
* @brief LIS3MDL compass subsystem conversion mode.
|
|||
|
|
*/
|
|||
|
|
lis3mdl_comp_md_t compconversionmode;
|
|||
|
|
/**
|
|||
|
|
* @brief LIS3MDL compass subsystem operation mode for X and Y axes.
|
|||
|
|
*/
|
|||
|
|
lis3mdl_comp_omxy_t compoperationmodexy;
|
|||
|
|
/**
|
|||
|
|
* @brief LIS3MDL compass subsystem operation mode for Z axis.
|
|||
|
|
*/
|
|||
|
|
lis3mdl_comp_omz_t compoperationmodez;
|
|||
|
|
/**
|
|||
|
|
* @brief LIS3MDL block data update.
|
|||
|
|
*/
|
|||
|
|
lis3mdl_bdu_t blockdataupdate;
|
|||
|
|
/**
|
|||
|
|
* @brief LIS3MDL endianness.
|
|||
|
|
*/
|
|||
|
|
lis3mdl_end_t endianness;
|
|||
|
|
#endif
|
|||
|
|
} LIS3MDLConfig;
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @brief @p LIS3MDL specific methods.
|
|||
|
|
*/
|
|||
|
|
#define _lis3msl_methods_alone \
|
|||
|
|
/* Change full scale value of LIS3MDL compass subsystem.*/ \
|
|||
|
|
msg_t (*comp_set_full_scale)(LIS3MDLDriver *devp, lis3mdl_comp_fs_t fs);
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @brief @p LIS3MDL specific methods with inherited ones.
|
|||
|
|
*/
|
|||
|
|
#define _lis3mdl_methods \
|
|||
|
|
_base_object_methods \
|
|||
|
|
_lis3msl_methods_alone
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @extends BaseCompassVMT
|
|||
|
|
*
|
|||
|
|
* @brief @p LIS3MDL virtual methods table.
|
|||
|
|
*/
|
|||
|
|
struct LIS3MDLVMT {
|
|||
|
|
_lis3mdl_methods
|
|||
|
|
};
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @brief @p LIS3MDLDriver specific data.
|
|||
|
|
*/
|
|||
|
|
#define _lis3mdl_data \
|
|||
|
|
_base_compass_data \
|
|||
|
|
/* Driver state.*/ \
|
|||
|
|
lis3mdl_state_t state; \
|
|||
|
|
/* Current configuration data.*/ \
|
|||
|
|
const LIS3MDLConfig *config; \
|
|||
|
|
/* Compass subsystem axes number.*/ \
|
|||
|
|
size_t compaxes; \
|
|||
|
|
/* Compass subsystem current sensitivity.*/ \
|
|||
|
|
float compsensitivity[LIS3MDL_COMP_NUMBER_OF_AXES]; \
|
|||
|
|
/* Compass subsystem current bias.*/ \
|
|||
|
|
float compbias[LIS3MDL_COMP_NUMBER_OF_AXES]; \
|
|||
|
|
/* Compass subsystem current full scale value.*/ \
|
|||
|
|
float compfullscale;
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @brief LIS3MDL 3-axis compass class.
|
|||
|
|
*/
|
|||
|
|
struct LIS3MDLDriver {
|
|||
|
|
/** @brief Virtual Methods Table.*/
|
|||
|
|
const struct LIS3MDLVMT *vmt;
|
|||
|
|
/** @brief Base compass interface.*/
|
|||
|
|
BaseCompass comp_if;
|
|||
|
|
_lis3mdl_data
|
|||
|
|
};
|
|||
|
|
/** @} */
|
|||
|
|
|
|||
|
|
/*===========================================================================*/
|
|||
|
|
/* Driver macros. */
|
|||
|
|
/*===========================================================================*/
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @brief Return the number of axes of the BaseCompass.
|
|||
|
|
*
|
|||
|
|
* @param[in] devp pointer to @p LIS3MDLDriver.
|
|||
|
|
*
|
|||
|
|
* @return the number of axes.
|
|||
|
|
*
|
|||
|
|
* @api
|
|||
|
|
*/
|
|||
|
|
#define lis3mdlCompassGetAxesNumber(devp) \
|
|||
|
|
compassGetAxesNumber(&((devp)->comp_if))
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @brief Retrieves raw data from the BaseCompass.
|
|||
|
|
* @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
|
|||
|
|
* BaseCompass axes number.
|
|||
|
|
*
|
|||
|
|
* @param[in] devp pointer to @p BaseCompass interface.
|
|||
|
|
* @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 lis3mdlCompassReadRaw(devp, axes) \
|
|||
|
|
compassReadRaw(&((devp)->comp_if), axes)
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @brief Retrieves cooked data from the BaseCompass.
|
|||
|
|
* @note This data is manipulated according to the formula
|
|||
|
|
* cooked = (raw * sensitivity) - bias.
|
|||
|
|
* @note Final data is expressed as G.
|
|||
|
|
* @note The axes array must be at least the same size of the
|
|||
|
|
* BaseCompass axes number.
|
|||
|
|
*
|
|||
|
|
* @param[in] devp pointer to @p BaseCompass interface.
|
|||
|
|
* @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 lis3mdlCompassReadCooked(devp, axes) \
|
|||
|
|
compassReadCooked(&((devp)->comp_if), axes)
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @brief Set bias values for the BaseCompass.
|
|||
|
|
* @note Bias must be expressed as G.
|
|||
|
|
* @note The bias buffer must be at least the same size of the
|
|||
|
|
* BaseCompass axes number.
|
|||
|
|
*
|
|||
|
|
* @param[in] devp pointer to @p BaseCompass interface.
|
|||
|
|
* @param[in] bp a buffer which contains biases.
|
|||
|
|
*
|
|||
|
|
* @return The operation status.
|
|||
|
|
* @retval MSG_OK if the function succeeded.
|
|||
|
|
*
|
|||
|
|
* @api
|
|||
|
|
*/
|
|||
|
|
#define lis3mdlCompassSetBias(devp, bp) \
|
|||
|
|
compassSetBias(&((devp)->comp_if), bp)
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @brief Reset bias values for the BaseCompass.
|
|||
|
|
* @note Default biases value are obtained from device datasheet when
|
|||
|
|
* available otherwise they are considered zero.
|
|||
|
|
*
|
|||
|
|
* @param[in] devp pointer to @p LIS3MDLDriver.
|
|||
|
|
*
|
|||
|
|
* @return The operation status.
|
|||
|
|
* @retval MSG_OK if the function succeeded.
|
|||
|
|
*
|
|||
|
|
* @api
|
|||
|
|
*/
|
|||
|
|
#define lis3mdlCompassResetBias(devp) \
|
|||
|
|
compassResetBias(&((devp)->comp_if))
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @brief Set sensitivity values for the BaseCompass.
|
|||
|
|
* @note Sensitivity must be expressed as G/LSB.
|
|||
|
|
* @note The sensitivity buffer must be at least the same size of the
|
|||
|
|
* BaseCompass axes number.
|
|||
|
|
*
|
|||
|
|
* @param[in] devp pointer to @p LIS3MDLDriver.
|
|||
|
|
* @param[in] sp a buffer which contains sensitivities.
|
|||
|
|
*
|
|||
|
|
* @return The operation status.
|
|||
|
|
* @retval MSG_OK if the function succeeded.
|
|||
|
|
*
|
|||
|
|
* @api
|
|||
|
|
*/
|
|||
|
|
#define lis3mdlCompassSetSensitivity(devp, sp) \
|
|||
|
|
compassSetSensitivity(&((devp)->comp_if), sp)
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @brief Reset sensitivity values for the BaseCompass.
|
|||
|
|
* @note Default sensitivities value are obtained from device datasheet.
|
|||
|
|
*
|
|||
|
|
* @param[in] devp pointer to @p LIS3MDLDriver.
|
|||
|
|
*
|
|||
|
|
* @return The operation status.
|
|||
|
|
* @retval MSG_OK if the function succeeded.
|
|||
|
|
* @retval MSG_RESET otherwise.
|
|||
|
|
*
|
|||
|
|
* @api
|
|||
|
|
*/
|
|||
|
|
#define lis3mdlCompassResetSensitivity(devp) \
|
|||
|
|
compassResetSensitivity(&((devp)->comp_if))
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @brief Changes the LIS3MDLDriver compass 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 LIS3MDLDriver.
|
|||
|
|
* @param[in] fs new fullscale value.
|
|||
|
|
*
|
|||
|
|
* @return The operation status.
|
|||
|
|
* @retval MSG_OK if the function succeeded.
|
|||
|
|
* @retval MSG_RESET otherwise.
|
|||
|
|
*
|
|||
|
|
* @api
|
|||
|
|
*/
|
|||
|
|
#define lis3mdlCompassSetFullScale(devp, fs) \
|
|||
|
|
(devp)->vmt->comp_set_full_scale(devp, fs)
|
|||
|
|
|
|||
|
|
/*===========================================================================*/
|
|||
|
|
/* External declarations. */
|
|||
|
|
/*===========================================================================*/
|
|||
|
|
|
|||
|
|
#ifdef __cplusplus
|
|||
|
|
extern "C" {
|
|||
|
|
#endif
|
|||
|
|
void lis3mdlObjectInit(LIS3MDLDriver *devp);
|
|||
|
|
void lis3mdlStart(LIS3MDLDriver *devp, const LIS3MDLConfig *config);
|
|||
|
|
void lis3mdlStop(LIS3MDLDriver *devp);
|
|||
|
|
#ifdef __cplusplus
|
|||
|
|
}
|
|||
|
|
#endif
|
|||
|
|
|
|||
|
|
#endif /* _LIS3MDL_H_ */
|
|||
|
|
|
|||
|
|
/** @} */
|
|||
|
|
|