lis302dl.h

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/*
    ChibiOS - Copyright (C) 2016..2018 Rocco Marco Guglielmi

    This file is part of ChibiOS.

    ChibiOS is free software; you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation; either version 3 of the License, or
    (at your option) any later version.

    ChibiOS is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  
*/

/**
 * @file    lis302dl.h
 * @brief   LIS302DL MEMS interface module header.
 *
 * @addtogroup LIS302DL
 * @ingroup EX_ST
 * @{
 */

#ifndef _LIS302DL_H_
#define _LIS302DL_H_

#include "hal_accelerometer.h"

/*===========================================================================*/
/* Driver constants.                                                         */
/*===========================================================================*/

/**
 * @name    Version identification
 * @{
 */
/**
 * @brief   LIS302DL driver version string.
 */
#define EX_LIS302DL_VERSION                 "1.1.0"

/**
 * @brief   LIS302DL driver version major number.
 */
#define EX_LIS302DL_MAJOR                   1

/**
 * @brief   LIS302DL driver version minor number.
 */
#define EX_LIS302DL_MINOR                   1

/**
 * @brief   LIS302DL driver version patch number.
 */
#define EX_LIS302DL_PATCH                   0
/** @} */

/**
 * @brief   LIS302DL 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 LIS302DL_ACC_NUMBER_OF_AXES         3U

#define LIS302DL_ACC_2G                     2.0f
#define LIS302DL_ACC_8G                     8.0f

#define LIS302DL_ACC_SENS_2G                18.0f
#define LIS302DL_ACC_SENS_8G                72.0f

#define LIS302DL_ACC_BIAS                   0.0f
/** @} */

/**
 * @name    LIS302DL communication interfaces related bit masks
 * @{
 */
#define LIS302DL_DI_MASK                    0xFF
#define LIS302DL_DI(n)                      (1 << n)
#define LIS302DL_AD_MASK                    0x3F
#define LIS302DL_AD(n)                      (1 << n)
#define LIS302DL_MS                         (1 << 6)
#define LIS302DL_RW                         (1 << 7)
/** @} */

/**
 * @name    LIS302DL register addresses
 * @{
 */
#define  LIS302DL_AD_WHO_AM_I               0x0F
#define  LIS302DL_AD_CTRL_REG1              0x20
#define  LIS302DL_AD_CTRL_REG2              0x21
#define  LIS302DL_AD_CTRL_REG3              0x22
#define  LIS302DL_AD_HP_FILER_RESET         0x23
#define  LIS302DL_AD_STATUS_REG             0x27
#define  LIS302DL_AD_OUT_X                  0x29
#define  LIS302DL_AD_OUT_Y                  0x2B
#define  LIS302DL_AD_OUT_Z                  0x2D
#define  LIS302DL_AD_FF_WU_CFG_1            0x30
#define  LIS302DL_AD_FF_WU_SRC_1            0x31
#define  LIS302DL_AD_FF_WU_THS_1            0x32
#define  LIS302DL_AD_FF_WU_DURATION_1       0x33
#define  LIS302DL_AD_FF_WU_CFG_2            0x34
#define  LIS302DL_AD_FF_WU_SRC_2            0x35
#define  LIS302DL_AD_FF_WU_THS_2            0x36
#define  LIS302DL_AD_FF_WU_DURATION_2       0x37
#define  LIS302DL_AD_CLICK_CFG              0x38
#define  LIS302DL_AD_CLICK_SRC              0x39
#define  LIS302DL_AD_CLICK_THSY_X           0x3B
#define  LIS302DL_AD_CLICK_THSZ             0x3C
#define  LIS302DL_AD_CLICK_TIME_LIMIT       0x3D
#define  LIS302DL_AD_CLICK_LATENCY          0x3E
#define  LIS302DL_AD_CLICK_WINDOW           0x3F
/** @} */

/**
 * @name    LIS302DL_CTRL_REG1 register bits definitions
 * @{
 */
#define LIS302DL_CTRL_REG1_MASK             0xFF
#define LIS302DL_CTRL_REG1_XEN              (1 << 0)
#define LIS302DL_CTRL_REG1_YEN              (1 << 1)
#define LIS302DL_CTRL_REG1_ZEN              (1 << 2)
#define LIS302DL_CTRL_REG1_STM              (1 << 3)
#define LIS302DL_CTRL_REG1_STP              (1 << 4)
#define LIS302DL_CTRL_REG1_FS_MASK          0x20
#define LIS302DL_CTRL_REG1_FS               (1 << 5)
#define LIS302DL_CTRL_REG1_PD               (1 << 6)
#define LIS302DL_CTRL_REG1_DR               (1 << 7)
/** @} */

/**
 * @name    LIS302DL_CTRL_REG2 register bits definitions
 * @{
 */
#define LIS302DL_CTRL_REG2_MASK             0xDF
#define LIS302DL_CTRL_REG2_HPCF1            (1 << 0)
#define LIS302DL_CTRL_REG2_HPCF2            (1 << 1)
#define LIS302DL_CTRL_REG2_HPFFWU1          (1 << 2)
#define LIS302DL_CTRL_REG2_HPFFWU2          (1 << 3)
#define LIS302DL_CTRL_REG2_FDS              (1 << 4)
#define LIS302DL_CTRL_REG2_BOOT             (1 << 6)
#define LIS302DL_CTRL_REG2_SIM              (1 << 7)
/** @} */

/**
 * @name    LIS302DL_CTRL_REG3 register bits definitions
 * @{
 */
#define LIS302DL_CTRL_REG3_MASK             0xFF
#define LIS302DL_CTRL_REG3_I1CFG0           (1 << 0)
#define LIS302DL_CTRL_REG3_I1CFG1           (1 << 1)
#define LIS302DL_CTRL_REG3_I1CFG2           (1 << 2)
#define LIS302DL_CTRL_REG3_I2CFG0           (1 << 3)
#define LIS302DL_CTRL_REG3_I2CFG1           (1 << 4)
#define LIS302DL_CTRL_REG3_I2CFG2           (1 << 5)
#define LIS302DL_CTRL_REG3_PP_OD            (1 << 6)
#define LIS302DL_CTRL_REG3_IHL              (1 << 7)
/** @} */

/*===========================================================================*/
/* Driver pre-compile time settings.                                         */
/*===========================================================================*/

/**
 * @name    Configuration options
 * @{
 */
/**
 * @brief   LIS302DL SPI interface switch.
 * @details If set to @p TRUE the support for SPI is included.
 * @note    The default is @p TRUE.
 */
#if !defined(LIS302DL_USE_SPI) || defined(__DOXYGEN__)
#define LIS302DL_USE_SPI                    TRUE
#endif

/**
 * @brief   LIS302DL shared SPI switch.
 * @details If set to @p TRUE the device acquires SPI bus ownership
 *          on each transaction.
 * @note    The default is @p FALSE. Requires SPI_USE_MUTUAL_EXCLUSION.
 */
#if !defined(LIS302DL_SHARED_SPI) || defined(__DOXYGEN__)
#define LIS302DL_SHARED_SPI                 FALSE
#endif

/**
 * @brief   LIS302DL I2C interface switch.
 * @details If set to @p TRUE the support for I2C is included.
 * @note    The default is @p FALSE.
 */
#if !defined(LIS302DL_USE_I2C) || defined(__DOXYGEN__)
#define LIS302DL_USE_I2C                    FALSE
#endif

/**
 * @brief   LIS302DL shared 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(LIS302DL_SHARED_I2C) || defined(__DOXYGEN__)
#define LIS302DL_SHARED_I2C                 FALSE
#endif

/**
 * @brief   LIS302DL accelerometer subsystem advanced configurations
 *          switch.
 * @details If set to @p TRUE more configurations are available.
 * @note    The default is @p FALSE.
 */
#if !defined(LIS302DL_ACC_USE_ADVANCED) || defined(__DOXYGEN__)
#define LIS302DL_ACC_USE_ADVANCED           FALSE
#endif
/** @} */

/*===========================================================================*/
/* Derived constants and error checks.                                       */
/*===========================================================================*/

#if !(LIS302DL_USE_SPI ^ LIS302DL_USE_I2C)
#error "LIS302DL_USE_SPI and LIS302DL_USE_I2C cannot be both true or both false"
#endif

#if LIS302DL_USE_SPI && !HAL_USE_SPI
#error "LIS302DL_USE_SPI requires HAL_USE_SPI"
#endif

#if LIS302DL_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION
#error "LIS302DL_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION"
#endif

#if LIS302DL_USE_I2C && !HAL_USE_I2C
#error "LIS302DL_USE_I2C requires HAL_USE_I2C"
#endif

#if LIS302DL_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION
#error "LIS302DL_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION"
#endif

/**
 * @todo    Add support for LIS302DL over I2C.
 */
#if LIS302DL_USE_I2C
#error "LIS302DL over I2C still not supported"
#endif

/*===========================================================================*/
/* Driver data structures and types.                                         */
/*===========================================================================*/

/**
 * @name    LIS302DL data structures and types
 * @{
 */
/**
 * @brief   Structure representing a LIS302DL driver.
 */
typedef struct LIS302DLDriver LIS302DLDriver;

/**
 * @brief   LIS302DL full scale.
 */
typedef enum {
  LIS302DL_ACC_FS_2G = 0x00,        /**< Full scale ±2g.                    */
  LIS302DL_ACC_FS_8G = 0x20         /**< Full scale ±8g.                    */
}lis302dl_acc_fs_t;

/**
 * @brief   LIS302DL output data rate and bandwidth.
 */
typedef enum {
  LIS302DL_ACC_ODR_100HZ = 0x00,    /**< ODR 100 Hz.                        */
  LIS302DL_ACC_ODR_400HZ = 0x80     /**< ODR 400 Hz.                        */
}lis302dl_acc_odr_t;

/**
 * @brief   LIS302DL high pass filtering.
 */
typedef enum {
  LIS302DL_ACC_HP_DISABLED = 0x00,  /**< HP bypassed.                       */
  LIS302DL_ACC_HP_0 = 0x10,         /**< HP cutoff 2Hz (ODR 100Hz) or 8Hz   */
  LIS302DL_ACC_HP_1 = 0x11,         /**< HP cutoff 1Hz or 4Hz               */
  LIS302DL_ACC_HP_2 = 0x12,         /**< HP cutoff 0.5Hz or 2Hz             */
  LIS302DL_ACC_HP_3 = 0x13          /**< HP cutoff 0.25Hz or 1Hz            */
}lis302dl_acc_hp_t;

/**
 * @brief   Driver state machine possible states.
 */
typedef enum {
  LIS302DL_UNINIT = 0,              /**< Not initialized.                   */
  LIS302DL_STOP = 1,                /**< Stopped.                           */
  LIS302DL_READY = 2,               /**< Ready.                             */
} lis302dl_state_t;

/**
 * @brief   LIS302DL configuration structure.
 */
typedef struct {

#if (LIS302DL_USE_SPI) || defined(__DOXYGEN__)
  /**
   * @brief SPI driver associated to this LIS302DL.
   */
  SPIDriver                 *spip;
  /**
   * @brief SPI configuration associated to this LIS302DL.
   */
  const SPIConfig           *spicfg;
#endif /* LIS302DL_USE_SPI */
#if (LIS302DL_USE_I2C) || defined(__DOXYGEN__)
  /**
   * @brief I2C driver associated to this LIS302DL.
   */
  I2CDriver                 *i2cp;
  /**
   * @brief I2C configuration associated to this LIS302DL.
   */
  const I2CConfig           *i2ccfg;
#endif /* LIS302DL_USE_I2C */
  /**
   * @brief LIS302DL accelerometer subsystem initial sensitivity.
   */
  float                     *accsensitivity;
  /**
   * @brief LIS302DL accelerometer subsystem initial bias.
   */
  float                     *accbias;
  /**
   * @brief LIS302DL accelerometer subsystem initial full scale.
   */
  lis302dl_acc_fs_t         accfullscale;
  /**
   * @brief LIS302DL output data rate selection.
   */
  lis302dl_acc_odr_t        accoutputdatarate;
#if LIS302DL_USE_ADVANCED || defined(__DOXYGEN__)
  /**
   * @brief LIS302DL high pass filtering.
   */
  lis302dl_acc_hp_t         acchighpass;
#endif
} LIS302DLConfig;

/**
 * @brief   @p LIS302DL specific methods.
 */
#define _lis302dl_methods_alone                                             \
  /* Change full scale value of LIS302DL .*/                                \
  msg_t (*set_full_scale)(LIS302DLDriver *devp, lis302dl_acc_fs_t fs);


/**
 * @brief   @p LIS302DL specific methods with inherited ones.
 */
#define _lis302dl_methods                                                   \
  _base_object_methods                                                      \
  _lis302dl_methods_alone

/**
 * @extends BaseObjectVMT
 *
 * @brief   @p LIS302DL accelerometer virtual methods table.
 */
struct LIS302DLVMT {
  _lis302dl_methods
};

/**
 * @brief   @p LIS302DLDriver specific data.
 */
#define _lis302dl_data                                                      \
  /* Driver state.*/                                                        \
  lis302dl_state_t          state;                                          \
  /* Current configuration data.*/                                          \
  const LIS302DLConfig      *config;                                        \
  /* Accelerometer subsystem axes number.*/                                 \
  size_t                    accaxes;                                        \
  /* Current sensitivity.*/                                                 \
  float                     accsensitivity[LIS302DL_ACC_NUMBER_OF_AXES];    \
  /* Bias data.*/                                                           \
  int32_t                   accbias[LIS302DL_ACC_NUMBER_OF_AXES];           \
  /* Current full scale value.*/                                            \
  float                     accfullscale;

/**
 * @brief   LIS302DL 3-axis accelerometer class.
 */
struct LIS302DLDriver {
  /** @brief Virtual Methods Table.*/
  const struct LIS302DLVMT     *vmt;
  /** @brief Base accelerometer interface.*/
  BaseAccelerometer           acc_if;
  _lis302dl_data
};
/** @} */

/*===========================================================================*/
/* Driver macros.                                                            */
/*===========================================================================*/

/**
 * @brief   Return the number of axes of the BaseAccelerometer.
 *
 * @param[in] devp      pointer to @p LIS302DLDriver.
 *
 * @return              the number of axes.
 *
 * @api
 */
#define lis302dlAccelerometerGetAxesNumber(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 LIS302DLDriver.
 * @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 lis302dlAccelerometerReadRaw(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 LIS302DLDriver.
 * @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 lis302dlAccelerometerReadCooked(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 LIS302DLDriver.
 * @param[in] bp        a buffer which contains biases.
 *
 * @return              The operation status.
 * @retval MSG_OK       if the function succeeded.
 *
 * @api
 */
#define lis302dlAccelerometerSetBias(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 LIS302DLDriver.
 *
 * @return              The operation status.
 * @retval MSG_OK       if the function succeeded.
 *
 * @api
 */
#define lis302dlAccelerometerResetBias(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 LIS302DLDriver.
 * @param[in] sp        a buffer which contains sensitivities.
 *
 * @return              The operation status.
 * @retval MSG_OK       if the function succeeded.
 *
 * @api
 */
#define lis302dlAccelerometerSetSensitivity(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 LIS302DLDriver.
 *
 * @return              The operation status.
 * @retval MSG_OK       if the function succeeded.
 * @retval MSG_RESET    otherwise.
 *
 * @api
 */
#define lis302dlAccelerometerResetSensitivity(devp)                         \
        accelerometerResetSensitivity(&((devp)->acc_if))

/**
 * @brief   Changes the LIS302DLDriver 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 LIS302DLDriver.
 * @param[in] fs        new fullscale value.
 *
 * @return              The operation status.
 * @retval MSG_OK       if the function succeeded.
 * @retval MSG_RESET    otherwise.
 *
 * @api
 */
#define lis302dlAccelerometerSetFullScale(devp, fs)                         \
        (devp)->vmt->acc_set_full_scale(devp, fs)

/*===========================================================================*/
/* External declarations.                                                    */
/*===========================================================================*/

#ifdef __cplusplus
extern "C" {
#endif
  void lis302dlObjectInit(LIS302DLDriver *devp);
  void lis302dlStart(LIS302DLDriver *devp, const LIS302DLConfig *config);
  void lis302dlStop(LIS302DLDriver *devp);
#ifdef __cplusplus
}
#endif

#endif /* _LIS302DL_H_ */

/** @} */