/* 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 lis3mdl.h * @brief LIS3MDL MEMS interface module header. * * @addtogroup LIS3MDL * @ingroup EX_ST * @{ */ #ifndef _LIS3MDL_H_ #define _LIS3MDL_H_ #include "ex_compass.h" /*===========================================================================*/ /* Driver constants. */ /*===========================================================================*/ /** * @name Version identification * @{ */ /** * @brief LIS3MDL driver version string. */ #define EX_LIS3MDL_VERSION "1.1.3" /** * @brief LIS3MDL driver version major number. */ #define EX_LIS3MDL_MAJOR 1 /** * @brief LIS3MDL driver version minor number. */ #define EX_LIS3MDL_MINOR 1 /** * @brief LIS3MDL driver version patch number. */ #define EX_LIS3MDL_PATCH 3 /** @} */ /** * @brief LIS3MDL compass subsystem characteristics. * @note Sensitivity is expressed as G/LSB whereas G stands for Gauss. * @note Bias is expressed as G. * * @{ */ #define LIS3MDL_COMP_NUMBER_OF_AXES 3U #define LIS3MDL_COMP_4GA 4.0f #define LIS3MDL_COMP_8GA 8.0f #define LIS3MDL_COMP_12GA 12.0f #define LIS3MDL_COMP_16GA 16.0f #define LIS3MDL_COMP_SENS_4GA 0.00014615f #define LIS3MDL_COMP_SENS_8GA 0.00029231f #define LIS3MDL_COMP_SENS_12GA 0.0004384f #define LIS3MDL_COMP_SENS_16GA 0.00058445f #define LIS3MDL_COMP_BIAS 0.0f /** @} */ /** * @name LIS3MDL communication interfaces related bit masks * @{ */ #define LIS3MDL_DI_MASK 0xFF #define LIS3MDL_DI(n) (1 << n) #define LIS3MDL_AD_MASK 0x3F #define LIS3MDL_AD(n) (1 << n) #define LIS3MDL_MS (1 << 6) #define LIS3MDL_RW (1 << 7) #define LIS3MDL_SUB_MS (1 << 7) /** @} */ /** * @name LIS3MDL register addresses * @{ */ #define LIS3MDL_AD_WHO_AM_I 0x0F #define LIS3MDL_AD_CTRL_REG1 0x20 #define LIS3MDL_AD_CTRL_REG2 0x21 #define LIS3MDL_AD_CTRL_REG3 0x22 #define LIS3MDL_AD_CTRL_REG4 0x23 #define LIS3MDL_AD_CTRL_REG5 0x24 #define LIS3MDL_AD_STATUS_REG 0x27 #define LIS3MDL_AD_OUT_X_L 0x28 #define LIS3MDL_AD_OUT_X_H 0x29 #define LIS3MDL_AD_OUT_Y_L 0x2A #define LIS3MDL_AD_OUT_Y_H 0x2B #define LIS3MDL_AD_OUT_Z_L 0x2C #define LIS3MDL_AD_OUT_Z_H 0x2D #define LIS3MDL_AD_TEMP_OUT_L 0x2E #define LIS3MDL_AD_TEMP_OUT_H 0x2F #define LIS3MDL_AD_INT_CFG 0x30 #define LIS3MDL_AD_INT_SOURCE 0x31 #define LIS3MDL_AD_INT_THS_L 0x32 #define LIS3MDL_AD_INT_THS_H 0x33 /** @} */ /** * @name LIS3MDL_CTRL_REG1 register bits definitions * @{ */ #define LIS3MDL_CTRL_REG1_MASK 0xFF #define LIS3MDL_CTRL_REG1_ST (1 << 0) #define LIS3MDL_CTRL_REG1_FAST_ODR (1 << 1) #define LIS3MDL_CTRL_REG1_DO0 (1 << 2) #define LIS3MDL_CTRL_REG1_DO1 (1 << 3) #define LIS3MDL_CTRL_REG1_DO2 (1 << 4) #define LIS3MDL_CTRL_REG1_OM0 (1 << 5) #define LIS3MDL_CTRL_REG1_OM1 (1 << 6) #define LIS3MDL_CTRL_REG1_TEMP_EN (1 << 7) /** @} */ /** * @name LIS3MDL_CTRL_REG2 register bits definitions * @{ */ #define LIS3MDL_CTRL_REG2_MASK 0x6C #define LIS3MDL_CTRL_REG2_SOFT_RST (1 << 2) #define LIS3MDL_CTRL_REG2_REBOOT (1 << 3) #define LIS3MDL_CTRL_REG2_FS_MASK 0x60 #define LIS3MDL_CTRL_REG2_FS0 (1 << 5) #define LIS3MDL_CTRL_REG2_FS1 (1 << 6) /** @} */ /** * @name LIS3MDL_CTRL_REG3 register bits definitions * @{ */ #define LIS3MDL_CTRL_REG3_MASK 0x27 #define LIS3MDL_CTRL_REG3_MD0 (1 << 0) #define LIS3MDL_CTRL_REG3_MD1 (1 << 1) #define LIS3MDL_CTRL_REG3_SIM (1 << 2) #define LIS3MDL_CTRL_REG3_LP (1 << 5) /** @} */ /** * @name LIS3MDL_CTRL_REG4 register bits definitions * @{ */ #define LIS3MDL_CTRL_REG4_MASK 0x0E #define LIS3MDL_CTRL_REG4_BLE (1 << 1) #define LIS3MDL_CTRL_REG4_OMZ0 (1 << 2) #define LIS3MDL_CTRL_REG4_OMZ1 (1 << 3) /** @} */ /** * @name LIS3MDL_CTRL_REG5 register bits definitions * @{ */ #define LIS3MDL_CTRL_REG5_MASK 0xC0 #define LIS3MDL_CTRL_REG5_BDU (1 << 6) #define LIS3MDL_CTRL_REG5_FAST_READ (1 << 7) /** @} */ /*===========================================================================*/ /* Driver pre-compile time settings. */ /*===========================================================================*/ /** * @name Configuration options * @{ */ /** * @brief LIS3MDL SPI interface switch. * @details If set to @p TRUE the support for SPI is included. * @note The default is @p FALSE. */ #if !defined(LIS3MDL_USE_SPI) || defined(__DOXYGEN__) #define LIS3MDL_USE_SPI FALSE #endif /** * @brief LIS3MDL 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(LIS3MDL_SHARED_SPI) || defined(__DOXYGEN__) #define LIS3MDL_SHARED_SPI FALSE #endif /** * @brief LIS3MDL I2C interface switch. * @details If set to @p TRUE the support for I2C is included. * @note The default is @p TRUE. */ #if !defined(LIS3MDL_USE_I2C) || defined(__DOXYGEN__) #define LIS3MDL_USE_I2C TRUE #endif /** * @brief LIS3MDL 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(LIS3MDL_SHARED_I2C) || defined(__DOXYGEN__) #define LIS3MDL_SHARED_I2C FALSE #endif /** * @brief LIS3MDL advanced configurations switch. * @details If set to @p TRUE more configurations are available. * @note The default is @p FALSE. */ #if !defined(LIS3MDL_USE_ADVANCED) || defined(__DOXYGEN__) #define LIS3MDL_USE_ADVANCED FALSE #endif /** @} */ /*===========================================================================*/ /* Derived constants and error checks. */ /*===========================================================================*/ #if !(LIS3MDL_USE_SPI ^ LIS3MDL_USE_I2C) #error "LIS3MDL_USE_SPI and LIS3MDL_USE_I2C cannot be both true or both false" #endif #if LIS3MDL_USE_SPI && !HAL_USE_SPI #error "LIS3MDL_USE_SPI requires HAL_USE_SPI" #endif #if LIS3MDL_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION #error "LIS3MDL_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION" #endif #if LIS3MDL_USE_I2C && !HAL_USE_I2C #error "LIS3MDL_USE_I2C requires HAL_USE_I2C" #endif #if LIS3MDL_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION #error "LIS3MDL_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION" #endif /* * CHTODO: Add support for LIS3MDL over SPI. */ #if LIS3MDL_USE_SPI #error "LIS3MDL over SPI still not supported" #endif /*===========================================================================*/ /* Driver data structures and types. */ /*===========================================================================*/ /** * @name LIS3MDL data structures and types * @{ */ /** * @brief LIS3MDL slave address */ /** * @brief Structure representing a LIS3MDL driver. */ typedef struct LIS3MDLDriver LIS3MDLDriver; /** * @brief LIS3MDL slave address */ typedef enum { LIS3MDL_SAD_GND = 0x1C, /**< Slave Address when SA1 is to GND */ LIS3MDL_SAD_VCC = 0x1E /**< Slave Address when SA1 is to VCC */ }lis3mdl_sad_t; /** * @brief LIS3MDL full scale */ typedef enum { LIS3MDL_COMP_FS_4GA = 0x00, /**< �4 Gauss */ LIS3MDL_COMP_FS_8GA = 0x20, /**< �8 Gauss */ LIS3MDL_COMP_FS_12GA = 0x40, /**< �12 Gauss */ LIS3MDL_COMP_FS_16GA = 0x60 /**< �16 Gauss */ }lis3mdl_comp_fs_t; /** * @brief LIS3MDL output data rate */ typedef enum { LIS3MDL_COMP_ODR_0_625HZ = 0x00, /**< Output Data Rate = 0.625 Hz */ LIS3MDL_COMP_ODR_1_25HZ = 0x04, /**< Output Data Rate = 1.25 Hz */ LIS3MDL_COMP_ODR_2_5HZ = 0x08, /**< Output Data Rate = 2.5 Hz */ LIS3MDL_COMP_ODR_5HZ = 0x0C, /**< Output Data Rate = 5 Hz */ LIS3MDL_COMP_ODR_10HZ = 0x10, /**< Output Data Rate = 10 Hz */ LIS3MDL_COMP_ODR_20HZ = 0x14, /**< Output Data Rate = 20 Hz */ LIS3MDL_COMP_ODR_40HZ = 0x18, /**< Output Data Rate = 40 Hz */ LIS3MDL_COMP_ODR_80HZ = 0x1C /**< Output Data Rate = 80 Hz */ }lis3mdl_comp_odr_t; /** * @brief LIS3MDL low power mode configuration */ typedef enum { LIS3MDL_COMP_LP_DISABLED = 0x00, /**< Low Power mode disabled */ LIS3MDL_COMP_LP_ENABLED = 0x20 /**< Low Power mode enabled */ }lis3mdl_comp_lp_t; /** * @brief LIS3MDL conversion mode */ typedef enum { LIS3MDL_COMP_MD_CONTINUOUS = 0x00,/**< Continuous conversion mode */ LIS3MDL_COMP_MD_SINGLE = 0x01, /**< Single conversion mode */ LIS3MDL_COMP_MD_POWER_DOWN = 0x02 /**< Power down mode */ }lis3mdl_comp_md_t; /** * @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 compodr; #if LIS3MDL_USE_ADVANCED || defined(__DOXYGEN__) /** * @brief LIS3MDL compass subsystem low power mode configuration. */ lis3mdl_comp_lp_t complpwrmode; /** * @brief LIS3MDL compass subsystem conversion mode. */ lis3mdl_comp_md_t compconvmode; /** * @brief LIS3MDL compass subsystem operation mode for X and Y axes. */ lis3mdl_comp_omxy_t compopmodexy; /** * @brief LIS3MDL compass subsystem operation mode for Z axis. */ lis3mdl_comp_omz_t compopmodez; /** * @brief LIS3MDL block data update. */ lis3mdl_bdu_t bdu; /** * @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_ */ /** @} */