/* ChibiOS - Copyright (C) 2016..2019 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 . */ /** * @file adxl355.h * @brief ADXL355 MEMS interface module header. * * @addtogroup ADXL355 * @ingroup EX_ADI * @{ */ #ifndef _ADXL355_H_ #define _ADXL355_H_ #include "ex_accelerometer.h" /*===========================================================================*/ /* Driver constants. */ /*===========================================================================*/ /** * @name Version identification * @{ */ /** * @brief ADXL355 driver version string. */ #define EX_ADXL355_VERSION "1.0.1" /** * @brief ADXL355 driver version major number. */ #define EX_ADXL355_MAJOR 1 /** * @brief ADXL355 driver version minor number. */ #define EX_ADXL355_MINOR 0 /** * @brief ADXL355 driver version patch number. */ #define EX_ADXL355_PATCH 1 /** @} */ /** * @brief ADXL355 accelerometer subsystem characteristics. * @note Sensitivity is expressed as milli-G/LSB whereas * 1 milli-G = 0.00980665 m/s^2. * @note Bias is expressed as milli-G. * * @{ */ #define ADXL355_ACC_NUMBER_OF_AXES 3U #define ADXL355_ACC_2G 2.048f #define ADXL355_ACC_4G 4.096f #define ADXL355_ACC_8G 8.0192f #define ADXL355_ACC_SENS_2G 0.003906f #define ADXL355_ACC_SENS_4G 0.007813f #define ADXL355_ACC_SENS_8G 0.015625f #define ADXL355_ACC_BIAS 0.0f /** @} */ /** * @name ADXL355 communication interfaces related bit masks * @{ */ #define ADXL355_DI_MASK 0xFF #define ADXL355_DI(n) (1 << n) #define ADXL355_AD_MASK 0xFE #define ADXL355_RW (1 << 0) #define ADXL355_AD(n) (1 << (n + 1)) /** @} */ /** * @name ADXL355 register addresses * @{ */ #define ADXL355_AD_DEVID_AD 0x00 #define ADXL355_AD_DEVID_MST 0x01 #define ADXL355_AD_PARTID 0x02 #define ADXL355_AD_REVID 0x03 #define ADXL355_AD_STATUS 0x04 #define ADXL355_AD_FIFO_ENTRIES 0x05 #define ADXL355_AD_TEMP2 0x06 #define ADXL355_AD_TEMP1 0x07 #define ADXL355_AD_XDATA3 0x08 #define ADXL355_AD_XDATA2 0x09 #define ADXL355_AD_XDATA1 0x0A #define ADXL355_AD_YDATA3 0x0B #define ADXL355_AD_YDATA2 0x0C #define ADXL355_AD_YDATA1 0x0D #define ADXL355_AD_ZDATA3 0x0E #define ADXL355_AD_ZDATA2 0x0F #define ADXL355_AD_ZDATA1 0x10 #define ADXL355_AD_FIFO_DATA 0x11 #define ADXL355_AD_OFFSET_X_H 0x1E #define ADXL355_AD_OFFSET_X_L 0x1F #define ADXL355_AD_OFFSET_Y_H 0x20 #define ADXL355_AD_OFFSET_Y_L 0x21 #define ADXL355_AD_OFFSET_Z_H 0x22 #define ADXL355_AD_OFFSET_Z_L 0x23 #define ADXL355_AD_ACT_EN 0x24 #define ADXL355_AD_ACT_THRES_L 0x25 #define ADXL355_AD_ACT_THRES_H 0x26 #define ADXL355_AD_ACT_COUNTER 0x27 #define ADXL355_AD_FILTER 0x28 #define ADXL355_AD_FIFO_SAMPLES 0x29 #define ADXL355_AD_INT_MAP 0x2A #define ADXL355_AD_SYNC 0x2B #define ADXL355_AD_RANGE 0x2C #define ADXL355_AD_POWER_CTL 0x2D #define ADXL355_AD_SELF_TEST 0x2E #define ADXL355_AD_RESET 0x2F /** @} */ /** * @name ADXL355 Device Identifier * @{ */ #define ADXL355_DEVID_MST 0x1D /** @} */ /** * @name ADXL355_FILTER register bits definitions * @{ */ #define ADXL355_FILTER_MASK 0x7F #define ADXL355_FILTER_ORD_LPF_0 (1 << 0) #define ADXL355_FILTER_ORD_LPF_1 (1 << 1) #define ADXL355_FILTER_ORD_LPF_2 (1 << 2) #define ADXL355_FILTER_ORD_LPF_3 (1 << 3) #define ADXL355_FILTER_HPF_CORNER_0 (1 << 4) #define ADXL355_FILTER_HPF_CORNER_1 (1 << 5) #define ADXL355_FILTER_HPF_CORNER_2 (1 << 6) /** @} */ /** * @name ADXL355_FIFO_SAMPLES register bits definitions * @{ */ #define ADXL355_FIFO_SAMPLES_MASK 0x7F #define ADXL355_FIFO_SAMPLES_BIT_0 (1 << 0) #define ADXL355_FIFO_SAMPLES_BIT_1 (1 << 1) #define ADXL355_FIFO_SAMPLES_BIT_2 (1 << 2) #define ADXL355_FIFO_SAMPLES_BIT_3 (1 << 3) #define ADXL355_FIFO_SAMPLES_BIT_4 (1 << 4) #define ADXL355_FIFO_SAMPLES_BIT_5 (1 << 5) #define ADXL355_FIFO_SAMPLES_BIT_6 (1 << 6) /** @} */ /** * @name ADXL355_INT_MAP register bits definitions * @{ */ #define ADXL355_INT_MAP_MASK 0xFF #define ADXL355_INT_MAP_RDY_EN1 (1 << 0) #define ADXL355_INT_MAP_FULL_EN1 (1 << 1) #define ADXL355_INT_MAP_OVR_EN1 (1 << 2) #define ADXL355_INT_MAP_ACT_EN1 (1 << 3) #define ADXL355_INT_MAP_RDY_EN2 (1 << 4) #define ADXL355_INT_MAP_FULL_EN2 (1 << 5) #define ADXL355_INT_MAP_OVR_EN2 (1 << 6) #define ADXL355_INT_MAP_ACT_EN2 (1 << 7) /** @} */ /** * @name ADXL355_SYNC register bits definitions * @{ */ #define ADXL355_SYNC_MASK 0x07 #define ADXL355_SYNC_EXT_SYNC_0 (1 << 0) #define ADXL355_SYNC_EXT_SYNC_1 (1 << 1) #define ADXL355_SYNC_EXT_CLK (1 << 2) /** @} */ /** * @name ADXL355_RANGE register bits definitions * @{ */ #define ADXL355_RANGE_MASK 0xC3 #define ADXL355_RANGE_RANGE_MASK 0x03 #define ADXL355_RANGE_RANGE_1 (1 << 1) #define ADXL355_RANGE_RANGE_0 (1 << 0) #define ADXL355_RANGE_RANGE_1 (1 << 1) #define ADXL355_RANGE_INT_POL (1 << 6) #define ADXL355_RANGE_I2C_HS (1 << 7) /** @} */ /** * @name ADXL355_POWER_CTL register bits definitions * @{ */ #define ADXL355_POWER_CTL_MASK 0x07 #define ADXL355_POWER_CTL_STANDBY (1 << 0) #define ADXL355_POWER_CTL_TEMP_OFF (1 << 1) #define ADXL355_POWER_CTL_DRDY_OFF (1 << 2) /** @} */ /** * @name ADXL355_SELT_TEST register bits definitions * @{ */ #define ADXL355_SELF_TEST_MASK 0x03 #define ADXL355_SELF_TEST_ST1 (1 << 0) #define ADXL355_SELF_TEST_ST2 (1 << 1) /** @} */ /*===========================================================================*/ /* Driver pre-compile time settings. */ /*===========================================================================*/ /** * @name Configuration options * @{ */ /** * @brief ADXL355 SPI interface switch. * @details If set to @p TRUE the support for SPI is included. * @note The default is @p TRUE. */ #if !defined(ADXL355_USE_SPI) || defined(__DOXYGEN__) #define ADXL355_USE_SPI TRUE #endif /** * @brief ADXL355 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(ADXL355_SHARED_SPI) || defined(__DOXYGEN__) #define ADXL355_SHARED_SPI FALSE #endif /** * @brief ADXL355 I2C interface switch. * @details If set to @p TRUE the support for I2C is included. * @note The default is @p FALSE. */ #if !defined(ADXL355_USE_I2C) || defined(__DOXYGEN__) #define ADXL355_USE_I2C FALSE #endif /** * @brief ADXL355 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(ADXL355_SHARED_I2C) || defined(__DOXYGEN__) #define ADXL355_SHARED_I2C FALSE #endif /** * @brief ADXL355 advanced configurations switch. * @details If set to @p TRUE more configurations are available. * @note The default is @p FALSE. */ #if !defined(ADXL355_USE_ADVANCED) || defined(__DOXYGEN__) #define ADXL355_USE_ADVANCED FALSE #endif /** * @brief ADXL355 internal communication buffer sizes. */ #if !defined(ADXL355_COMM_BUFF_SIZE) || defined(__DOXYGEN__) #define ADXL355_COMM_BUFF_SIZE 32 #endif /** @} */ /*===========================================================================*/ /* Derived constants and error checks. */ /*===========================================================================*/ #if !(ADXL355_USE_SPI ^ ADXL355_USE_I2C) #error "ADXL355_USE_SPI and ADXL355_USE_I2C cannot be both true or both false" #endif #if ADXL355_USE_SPI && !HAL_USE_SPI #error "ADXL355_USE_SPI requires HAL_USE_SPI" #endif #if ADXL355_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION #error "ADXL355_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION" #endif #if ADXL355_USE_I2C && !HAL_USE_I2C #error "ADXL355_USE_I2C requires HAL_USE_I2C" #endif #if ADXL355_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION #error "ADXL355_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION" #endif /* * CHTODO: Add support for ADXL355 over I2C. */ #if ADXL355_USE_I2C #error "ADXL355 over I2C still not supported" #endif /*===========================================================================*/ /* Driver data structures and types. */ /*===========================================================================*/ /** * @name ADXL355 data structures and types * @{ */ /** * @brief Structure representing a ADXL355 driver. */ typedef struct ADXL355Driver ADXL355Driver; /** * @brief ADXL355 full scale. */ typedef enum { ADXL355_ACC_FS_2G = 0x01, /**< Full scale ±2g. */ ADXL355_ACC_FS_4G = 0x02, /**< Full scale ±4g. */ ADXL355_ACC_FS_8G = 0x03, /**< Full scale ±8g. */ }adxl355_acc_fs_t; /** * @brief ADXL355 output data rate. */ typedef enum { ADXL355_ACC_ODR_4000HZ = 0x00, /**< ODR 4000 Hz, LP cut-off ODR/4. */ ADXL355_ACC_ODR_2000HZ = 0x01, /**< ODR 2000 Hz, LP cut-off ODR/4. */ ADXL355_ACC_ODR_1000HZ = 0x02, /**< ODR 1000 Hz, LP cut-off ODR/4. */ ADXL355_ACC_ODR_500HZ = 0x03, /**< ODR 500 Hz, LP cut-off ODR/4. */ ADXL355_ACC_ODR_250HZ = 0x04, /**< ODR 250 Hz, LP cut-off ODR/4. */ ADXL355_ACC_ODR_125HZ = 0x06, /**< ODR 125 Hz, LP cut-off ODR/4. */ ADXL355_ACC_ODR_62P5HZ = 0x06, /**< ODR 62.5 Hz, LP cut-off ODR/4. */ ADXL355_ACC_ODR_31P25HZ = 0x07, /**< ODR 31.25 Hz, LP cut-off ODR/4. */ ADXL355_ACC_ODR_15P625HZ = 0x08, /**< ODR 15.625 Hz, LP cut-off ODR/4. */ ADXL355_ACC_ODR_7P913HZ = 0x09, /**< ODR 7.913 Hz, LP cut-off ODR/4. */ ADXL355_ACC_ODR_3P906HZ = 0x0A /**< ODR 3.906 Hz, LP cut-off ODR/4. */ }adxl355_acc_odr_t; /** * @brief ADXL355 HP filter. */ typedef enum { ADXL355_ACC_HP_DISABLED = 0x00, /**< HP disabled. */ ADXL355_ACC_HP_LEV_1 = 0x10, /**< HP cut-off 247 x 10^-3 x ODR. */ ADXL355_ACC_HP_LEV_2 = 0x20, /**< HP cut-off 62.084 x 10^-3 x ODR. */ ADXL355_ACC_HP_LEV_3 = 0x30, /**< HP cut-off 15.545 x 10^-3 x ODR. */ ADXL355_ACC_HP_LEV_4 = 0x40, /**< HP cut-off 3.892 x 10^-3 x ODR. */ ADXL355_ACC_HP_LEV_5 = 0x50, /**< HP cut-off 0.954 x 10^-3 x ODR. */ ADXL355_ACC_HP_LEV_6 = 0x60, /**< HP cut-off 0.238 x 10^-3 x ODR. */ }adxl355_acc_hp_t; /** * @brief Driver state machine possible states. */ typedef enum { ADXL355_UNINIT = 0, /**< Not initialized. */ ADXL355_STOP = 1, /**< Stopped. */ ADXL355_READY = 2, /**< Ready. */ } adxl355_state_t; /** * @brief ADXL355 configuration structure. */ typedef struct { #if (ADXL355_USE_SPI) || defined(__DOXYGEN__) /** * @brief SPI driver associated to this ADXL355. */ SPIDriver *spip; /** * @brief SPI configuration associated to this ADXL355. */ const SPIConfig *spicfg; #endif /* ADXL355_USE_SPI */ #if (ADXL355_USE_I2C) || defined(__DOXYGEN__) /** * @brief I2C driver associated to this ADXL355. */ I2CDriver *i2cp; /** * @brief I2C configuration associated to this ADXL355. */ const I2CConfig *i2ccfg; #endif /* ADXL355_USE_I2C */ /** * @brief ADXL355 accelerometer subsystem initial sensitivity. */ float *accsensitivity; /** * @brief ADXL355 accelerometer subsystem initial bias. */ float *accbias; /** * @brief ADXL355 accelerometer subsystem initial full scale. */ adxl355_acc_fs_t accfullscale; /** * @brief ADXL355 output data rate selection. */ adxl355_acc_odr_t accodr; #if ADXL355_USE_ADVANCED || defined(__DOXYGEN__) /** * @brief ADXL355 HP filter bandwidth. */ adxl355_acc_hp_t acchighpass; #endif } ADXL355Config; /** * @brief @p ADXL355 specific methods. */ #define _adxl355_methods_alone \ /* Change full scale value of ADXL355 accelerometer subsystem.*/ \ msg_t (*acc_set_full_scale)(ADXL355Driver *devp, adxl355_acc_fs_t fs); /** * @brief @p ADXL355 specific methods with inherited ones. */ #define _adxl355_methods \ _base_object_methods \ _adxl355_methods_alone /** * @extends BaseObjectVMT * * @brief @p ADXL355 virtual methods table. */ struct ADXL355VMT { _adxl355_methods }; /** * @brief @p ADXL355Driver specific data. */ #define _adxl355_data \ _base_sensor_data \ /* Driver state.*/ \ adxl355_state_t state; \ /* Current configuration data.*/ \ const ADXL355Config *config; \ /* Accelerometer subsystem axes number.*/ \ size_t accaxes; \ /* Accelerometer subsystem current sensitivity.*/ \ float accsensitivity[ADXL355_ACC_NUMBER_OF_AXES]; \ /* Accelerometer subsystem current bias .*/ \ float accbias[ADXL355_ACC_NUMBER_OF_AXES]; \ /* Accelerometer subsystem current full scale value.*/ \ float accfullscale; \ /* Accelerometer communication tx buffer pointer.*/ \ uint8_t* commtxp; \ /* Accelerometer communication rx buffer pointer.*/ \ uint8_t* commrxp; /** * @brief ADXL355 3-axis accelerometer class. */ struct ADXL355Driver { /** @brief Virtual Methods Table.*/ const struct ADXL355VMT *vmt; /** @brief Base accelerometer interface.*/ BaseAccelerometer acc_if; _adxl355_data }; /** @} */ /*===========================================================================*/ /* Driver macros. */ /*===========================================================================*/ /** * @brief Return the number of axes of the BaseAccelerometer. * * @param[in] devp pointer to @p ADXL355Driver. * * @return the number of axes. * * @api */ #define adxl355AccelerometerGetAxesNumber(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 ADXL355Driver. * @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 adxl355AccelerometerReadRaw(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 ADXL355Driver. * @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 adxl355AccelerometerReadCooked(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 ADXL355Driver. * @param[in] bp a buffer which contains biases. * * @return The operation status. * @retval MSG_OK if the function succeeded. * * @api */ #define adxl355AccelerometerSetBias(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 ADXL355Driver. * * @return The operation status. * @retval MSG_OK if the function succeeded. * * @api */ #define adxl355AccelerometerResetBias(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 ADXL355Driver. * @param[in] sp a buffer which contains sensitivities. * * @return The operation status. * @retval MSG_OK if the function succeeded. * * @api */ #define adxl355AccelerometerSetSensitivity(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 ADXL355Driver. * * @return The operation status. * @retval MSG_OK if the function succeeded. * @retval MSG_RESET otherwise. * * @api */ #define adxl355AccelerometerResetSensitivity(devp) \ accelerometerResetSensitivity(&((devp)->acc_if)) /** * @brief Changes the ADXL355Driver 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 ADXL355Driver. * @param[in] fs new fullscale value. * * @return The operation status. * @retval MSG_OK if the function succeeded. * @retval MSG_RESET otherwise. * * @api */ #define adxl355AccelerometerSetFullScale(devp, fs) \ (devp)->vmt->acc_set_full_scale(devp, fs) /*===========================================================================*/ /* External declarations. */ /*===========================================================================*/ #ifdef __cplusplus extern "C" { #endif void adxl355ObjectInit(ADXL355Driver *devp, uint8_t* txbp, uint8_t* rxbp); void adxl355Start(ADXL355Driver *devp, const ADXL355Config *config); void adxl355Stop(ADXL355Driver *devp); #ifdef __cplusplus } #endif #endif /* _ADXL355_H_ */ /** @} */