amiro-lld / include / LIS331DLH / v1 / alld_LIS331DLH_v1.h @ c89b966e
History | View | Annotate | Download (9.999 KB)
| 1 | d6728c5b | Thomas Schöpping | /*
|
|---|---|---|---|
| 2 | AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
|
||
| 3 | f125ae07 | Thomas Schöpping | Copyright (C) 2016..2019 Thomas Schöpping et al.
|
| 4 | d6728c5b | Thomas Schöpping | |
| 5 | This program is free software: you can redistribute it and/or modify
|
||
| 6 | f0ca400f | Thomas Schöpping | it under the terms of the GNU Lesser General Public License as published by
|
| 7 | d6728c5b | Thomas Schöpping | the Free Software Foundation, either version 3 of the License, or
|
| 8 | (at your option) any later version.
|
||
| 9 | |||
| 10 | This program is distributed in the hope that it will be useful,
|
||
| 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||
| 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||
| 13 | f0ca400f | Thomas Schöpping | GNU Lesser General Public License for more details.
|
| 14 | d6728c5b | Thomas Schöpping | |
| 15 | f0ca400f | Thomas Schöpping | You should have received a copy of the GNU Lesser General Public License
|
| 16 | d6728c5b | Thomas Schöpping | along with this program. If not, see <http://www.gnu.org/licenses/>.
|
| 17 | */
|
||
| 18 | |||
| 19 | 5e2f673b | Marc Rothmann | /**
|
| 20 | 1d5bcc82 | Thomas Schöpping | * @file alld_LIS331DLH_v1.h
|
| 21 | 5e2f673b | Marc Rothmann | * @brief Accelerometer macros and structures.
|
| 22 | *
|
||
| 23 | * @addtogroup lld_accel
|
||
| 24 | * @{
|
||
| 25 | */
|
||
| 26 | |||
| 27 | 1d5bcc82 | Thomas Schöpping | #ifndef AMIROLLD_LIS331DLH_V1_H
|
| 28 | #define AMIROLLD_LIS331DLH_V1_H
|
||
| 29 | d6728c5b | Thomas Schöpping | |
| 30 | #include <amiro-lld.h> |
||
| 31 | |||
| 32 | 1d5bcc82 | Thomas Schöpping | #if (defined(AMIROLLD_CFG_LIS331DLH) && (AMIROLLD_CFG_LIS331DLH == 1)) || defined(__DOXYGEN__) |
| 33 | d6728c5b | Thomas Schöpping | |
| 34 | ef078306 | Thomas Schöpping | /******************************************************************************/
|
| 35 | /* CONSTANTS */
|
||
| 36 | /******************************************************************************/
|
||
| 37 | |||
| 38 | d6728c5b | Thomas Schöpping | /**
|
| 39 | * @brief A falling edge indicates an interrupt.
|
||
| 40 | */
|
||
| 41 | #define LIS331DLH_LLD_INT_EDGE APAL_GPIO_EDGE_FALLING
|
||
| 42 | |||
| 43 | ef078306 | Thomas Schöpping | /******************************************************************************/
|
| 44 | /* SETTINGS */
|
||
| 45 | /******************************************************************************/
|
||
| 46 | |||
| 47 | /******************************************************************************/
|
||
| 48 | /* CHECKS */
|
||
| 49 | /******************************************************************************/
|
||
| 50 | |||
| 51 | /******************************************************************************/
|
||
| 52 | /* DATA STRUCTURES AND TYPES */
|
||
| 53 | /******************************************************************************/
|
||
| 54 | |||
| 55 | d6728c5b | Thomas Schöpping | /**
|
| 56 | * @brief The LIS331DLH driver struct
|
||
| 57 | */
|
||
| 58 | typedef struct { |
||
| 59 | apalSPIDriver_t* spid; /**< @brief The SPI Driver */
|
||
| 60 | } LIS331DLHDriver; |
||
| 61 | |||
| 62 | /**
|
||
| 63 | * @brief SPI access modes.
|
||
| 64 | */
|
||
| 65 | typedef enum { |
||
| 66 | LIS331DLH_LLD_SPI_MULT = 0x40u,
|
||
| 67 | LIS331DLH_LLD_SPI_READ = 0x80u,
|
||
| 68 | LIS331DLH_LLD_SPI_WRITE = 0x00u,
|
||
| 69 | } lis331dlh_lld_SPI_mode_t; |
||
| 70 | |||
| 71 | /**
|
||
| 72 | * @brief Registers.
|
||
| 73 | */
|
||
| 74 | typedef enum { |
||
| 75 | LIS331DLH_LLD_REGISTER_WHO_AM_I = 0x0fu,
|
||
| 76 | LIS331DLH_LLD_REGISTER_CTRL_REG1 = 0x20u,
|
||
| 77 | LIS331DLH_LLD_REGISTER_CTRL_REG2 = 0x21u,
|
||
| 78 | LIS331DLH_LLD_REGISTER_CTRL_REG3 = 0x22u,
|
||
| 79 | LIS331DLH_LLD_REGISTER_CTRL_REG4 = 0x23u,
|
||
| 80 | LIS331DLH_LLD_REGISTER_CTRL_REG5 = 0x24u,
|
||
| 81 | LIS331DLH_LLD_REGISTER_HP_FILTER_RESET = 0x25u,
|
||
| 82 | LIS331DLH_LLD_REGISTER_REFERENCE = 0x26u,
|
||
| 83 | LIS331DLH_LLD_REGISTER_STATUS_REG = 0x27u,
|
||
| 84 | LIS331DLH_LLD_REGISTER_OUT_X_L = 0x28u,
|
||
| 85 | LIS331DLH_LLD_REGISTER_OUT_X_H = 0x29u,
|
||
| 86 | LIS331DLH_LLD_REGISTER_OUT_Y_L = 0x2Au,
|
||
| 87 | LIS331DLH_LLD_REGISTER_OUT_Y_H = 0x2Bu,
|
||
| 88 | LIS331DLH_LLD_REGISTER_OUT_Z_L = 0x2Cu,
|
||
| 89 | LIS331DLH_LLD_REGISTER_OUT_Z_H = 0x2Du,
|
||
| 90 | LIS331DLH_LLD_REGISTER_INT1_CFG = 0x30u,
|
||
| 91 | LIS331DLH_LLD_REGISTER_INT1_SOURCE = 0x31u,
|
||
| 92 | LIS331DLH_LLD_REGISTER_INT1_THS = 0x32u,
|
||
| 93 | LIS331DLH_LLD_REGISTER_INT1_DURATION = 0x33u,
|
||
| 94 | LIS331DLH_LLD_REGISTER_INT2_CFG = 0x34u,
|
||
| 95 | LIS331DLH_LLD_REGISTER_INT2_SOURCE = 0x35u,
|
||
| 96 | LIS331DLH_LLD_REGISTER_INT2_THS = 0x36u,
|
||
| 97 | LIS331DLH_LLD_REGISTER_INT2_DURATION = 0x37u,
|
||
| 98 | } lis331dlh_lld_register_t; |
||
| 99 | |||
| 100 | /**
|
||
| 101 | * @brief WHO_AM_I register constant content.
|
||
| 102 | */
|
||
| 103 | typedef enum { |
||
| 104 | LIS331DLH_LLD_WHO_AM_I = 0x32,
|
||
| 105 | } lis331dlh_lld_whoami_t; |
||
| 106 | |||
| 107 | /**
|
||
| 108 | * @brief Control register 1 flags.
|
||
| 109 | */
|
||
| 110 | typedef enum { |
||
| 111 | LIS331DLH_LLD_PM_OFF = 0x00u,
|
||
| 112 | LIS331DLH_LLD_PM_ODR = 0x20u,
|
||
| 113 | LIS331DLH_LLD_PM_0_5_HZ = 0x40u,
|
||
| 114 | LIS331DLH_LLD_PM_1_HZ = 0x60u,
|
||
| 115 | LIS331DLH_LLD_PM_2_HZ = 0x80u,
|
||
| 116 | LIS331DLH_LLD_PM_5_HZ = 0xA0u,
|
||
| 117 | LIS331DLH_LLD_PM_10_HZ = 0xC0u,
|
||
| 118 | LIS331DLH_LLD_DR_50HZ_37LP = 0x00u,
|
||
| 119 | LIS331DLH_LLD_DR_100HZ_74LP = 0x08u,
|
||
| 120 | LIS331DLH_LLD_DR_400HZ_292LP = 0x10u,
|
||
| 121 | LIS331DLH_LLD_DR_1000HZ_780LP = 0x18u,
|
||
| 122 | LIS331DLH_LLD_X_AXIS_ENABLE = 0x01u,
|
||
| 123 | LIS331DLH_LLD_Y_AXIS_ENABLE = 0x02u,
|
||
| 124 | LIS331DLH_LLD_Z_AXIS_ENABLE = 0x04u,
|
||
| 125 | } lis331dlh_lld_ctrl_reg1_t; |
||
| 126 | |||
| 127 | /**
|
||
| 128 | * @brief Control register 2 flags.
|
||
| 129 | */
|
||
| 130 | typedef enum { |
||
| 131 | LIS331DLH_LLD_REBOOT = 0x80u,
|
||
| 132 | LIS331DLH_LLD_HPM_NORMAL0 = 0x00u,
|
||
| 133 | LIS331DLH_LLD_HPM_REF = 0x20u,
|
||
| 134 | LIS331DLH_LLD_HPM_NORMAL1 = 0x40u,
|
||
| 135 | LIS331DLH_LLD_FDS_BYPASS = 0x00u,
|
||
| 136 | LIS331DLH_LLD_FDS_FILTER = 0x10u,
|
||
| 137 | LIS331DLH_LLD_HP_EN_INT2 = 0x08u,
|
||
| 138 | LIS331DLH_LLD_HP_EN_INT1 = 0x04u,
|
||
| 139 | LIS331DLH_LLD_HPCF_8 = 0x00u,
|
||
| 140 | LIS331DLH_LLD_HPCF_16 = 0x01u,
|
||
| 141 | LIS331DLH_LLD_HPCF_32 = 0x02u,
|
||
| 142 | LIS331DLH_LLD_HPCF_64 = 0x03u,
|
||
| 143 | } lis331dlh_lld_ctrl_reg2_t; |
||
| 144 | |||
| 145 | /**
|
||
| 146 | * @brief Control register 3 flags.
|
||
| 147 | */
|
||
| 148 | typedef enum { |
||
| 149 | LIS331DLH_LLD_INT_HIGH = 0x00u,
|
||
| 150 | LIS331DLH_LLD_INT_LOW = 0x80u,
|
||
| 151 | LIS331DLH_LLD_PUSH_PULL = 0x00u,
|
||
| 152 | LIS331DLH_LLD_OPEN_DRAIN = 0x40u,
|
||
| 153 | LIS331DLH_LLD_LIR2_LATCH = 0x20u,
|
||
| 154 | LIS331DLH_LLD_I2_CFG_I2 = 0x00u,
|
||
| 155 | LIS331DLH_LLD_I2_CFG_I1_I2 = 0x08u,
|
||
| 156 | LIS331DLH_LLD_I2_CFG_DRY = 0x10u,
|
||
| 157 | LIS331DLH_LLD_I2_CFG_BOOT = 0x18u,
|
||
| 158 | LIS331DLH_LLD_LIR1_LATCH = 0x04u,
|
||
| 159 | LIS331DLH_LLD_LIR1_NO_LATCH = 0x00u,
|
||
| 160 | LIS331DLH_LLD_I1_CFG_I1 = 0x00u,
|
||
| 161 | LIS331DLH_LLD_I1_CFG_I1_I2 = 0x01u,
|
||
| 162 | LIS331DLH_LLD_I1_CFG_DRY = 0x02u,
|
||
| 163 | LIS331DLH_LLD_I1_CFG_BOOT = 0x03u,
|
||
| 164 | } lis331dlh_lld_ctrl_reg3_t; |
||
| 165 | |||
| 166 | /**
|
||
| 167 | * @brief Control register 4 flags.
|
||
| 168 | */
|
||
| 169 | typedef enum { |
||
| 170 | LIS331DLH_LLD_BDU_CONT = 0x00u,
|
||
| 171 | LIS331DLH_LLD_BDU_STOP = 0x80u,
|
||
| 172 | LIS331DLH_LLD_BLE_LE = 0x00u,
|
||
| 173 | LIS331DLH_LLD_BLE_BE = 0x40u,
|
||
| 174 | LIS331DLH_LLD_FS_2G = 0x00u,
|
||
| 175 | LIS331DLH_LLD_FS_4G = 0x10u,
|
||
| 176 | LIS331DLH_LLD_FS_8G = 0x30u,
|
||
| 177 | LIS331DLH_LLD_STSIGN_POS = 0x00u,
|
||
| 178 | LIS331DLH_LLD_STSIGN_NEG = 0x08u,
|
||
| 179 | LIS331DLH_LLD_ST_DISABLE = 0x00u,
|
||
| 180 | LIS331DLH_LLD_ST_ENABLE = 0x02u,
|
||
| 181 | LIS331DLH_LLD_SIM_4WI = 0x00u,
|
||
| 182 | LIS331DLH_LLD_SIM_3WI = 0x01u,
|
||
| 183 | } lis331dlh_lld_ctrl_reg4_t; |
||
| 184 | |||
| 185 | /**
|
||
| 186 | * @brief Control register 5 flags.
|
||
| 187 | */
|
||
| 188 | typedef enum { |
||
| 189 | LIS331DLH_LLD_SLEEP_TO_WAKE_OFF = 0x00u,
|
||
| 190 | LIS331DLH_LLD_SLEEP_TO_WAKE_ON = 0x03u,
|
||
| 191 | } lis331dlh_lld_ctrl_reg5_t; |
||
| 192 | |||
| 193 | /**
|
||
| 194 | * @brief Axis enum.
|
||
| 195 | */
|
||
| 196 | typedef enum { |
||
| 197 | LIS331DLH_LLD_X_AXIS = 0,
|
||
| 198 | LIS331DLH_LLD_Y_AXIS = 1,
|
||
| 199 | LIS331DLH_LLD_Z_AXIS = 2,
|
||
| 200 | } lis331dlh_lld_axis_t; |
||
| 201 | |||
| 202 | /**
|
||
| 203 | * @brief Interrupt enum.
|
||
| 204 | */
|
||
| 205 | typedef enum { |
||
| 206 | LIS331DLH_LLD_INT1 = 0x01,
|
||
| 207 | LIS331DLH_LLD_INT2 = 0x02,
|
||
| 208 | } lis331dlh_lld_int_t; |
||
| 209 | |||
| 210 | /**
|
||
| 211 | * @brief Config register struct.
|
||
| 212 | */
|
||
| 213 | typedef union { |
||
| 214 | uint8_t data[5];
|
||
| 215 | struct {
|
||
| 216 | uint8_t ctrl_reg1; |
||
| 217 | uint8_t ctrl_reg2; |
||
| 218 | uint8_t ctrl_reg3; |
||
| 219 | uint8_t ctrl_reg4; |
||
| 220 | uint8_t ctrl_reg5; |
||
| 221 | } registers; |
||
| 222 | } lis331dlh_lld_cfg_t; |
||
| 223 | |||
| 224 | /**
|
||
| 225 | * @brief Interrupt config register flags.
|
||
| 226 | */
|
||
| 227 | typedef enum { |
||
| 228 | LIS331DLH_LLD_INT_CFG_X_LOW_ENABLE = 0x01,
|
||
| 229 | LIS331DLH_LLD_INT_CFG_X_HIGH_ENABLE = 0x02,
|
||
| 230 | LIS331DLH_LLD_INT_CFG_Y_LOW_ENABLE = 0x04,
|
||
| 231 | LIS331DLH_LLD_INT_CFG_Y_HIGH_ENABLE = 0x08,
|
||
| 232 | LIS331DLH_LLD_INT_CFG_Z_LOW_ENABLE = 0x10,
|
||
| 233 | LIS331DLH_LLD_INT_CFG_Z_HIGH_ENABLE = 0x20,
|
||
| 234 | LIS331DLH_LLD_INT_CFG_D6 = 0x40,
|
||
| 235 | LIS331DLH_LLD_INT_CFG_AOI = 0x80,
|
||
| 236 | } lis331dlh_lld_int_cfg_reg_t; |
||
| 237 | |||
| 238 | /**
|
||
| 239 | * @brief Status register flags.
|
||
| 240 | */
|
||
| 241 | typedef enum { |
||
| 242 | LIS331DLH_LLD_STATUS_ZYXOR = 0x01,
|
||
| 243 | LIS331DLH_LLD_STATUS_Z_OR = 0x02,
|
||
| 244 | LIS331DLH_LLD_STATUS_Y_OR = 0x04,
|
||
| 245 | LIS331DLH_LLD_STATUS_X_OR = 0x08,
|
||
| 246 | LIS331DLH_LLD_STATUS_ZYXDA = 0x10,
|
||
| 247 | LIS331DLH_LLD_STATUS_Z_DA = 0x20,
|
||
| 248 | LIS331DLH_LLD_STATUS_Y_DA = 0x40,
|
||
| 249 | LIS331DLH_LLD_STATUS_X_DA = 0x80,
|
||
| 250 | } lis331dlh_lld_status_t; |
||
| 251 | |||
| 252 | /**
|
||
| 253 | * @brief Interrupt config struct.
|
||
| 254 | */
|
||
| 255 | typedef struct { |
||
| 256 | uint8_t cfg_reg; |
||
| 257 | uint8_t threshold; |
||
| 258 | uint8_t duration; |
||
| 259 | } lis331dlh_lld_int_cfg_t; |
||
| 260 | |||
| 261 | ef078306 | Thomas Schöpping | /******************************************************************************/
|
| 262 | /* MACROS */
|
||
| 263 | /******************************************************************************/
|
||
| 264 | |||
| 265 | /******************************************************************************/
|
||
| 266 | /* EXTERN DECLARATIONS */
|
||
| 267 | /******************************************************************************/
|
||
| 268 | |||
| 269 | d6728c5b | Thomas Schöpping | #ifdef __cplusplus
|
| 270 | extern "C" { |
||
| 271 | #endif
|
||
| 272 | apalExitStatus_t lis331dlh_lld_read_register(const LIS331DLHDriver* const lisd, const lis331dlh_lld_register_t regaddr, uint8_t *data, const uint8_t length); |
||
| 273 | apalExitStatus_t lis331dlh_lld_write_register(const LIS331DLHDriver* const lisd, const lis331dlh_lld_register_t regaddr, const uint8_t *data, const uint8_t length); |
||
| 274 | apalExitStatus_t lis331dlh_lld_reset_hp_filter(const LIS331DLHDriver* const lisd); |
||
| 275 | apalExitStatus_t lis331dlh_lld_read_all_data(const LIS331DLHDriver* const lisd, int16_t *data, const lis331dlh_lld_cfg_t *cfg); |
||
| 276 | apalExitStatus_t lis331dlh_lld_read_data(const LIS331DLHDriver* const lisd, int16_t *data, const lis331dlh_lld_axis_t axis, const lis331dlh_lld_cfg_t *cfg); |
||
| 277 | apalExitStatus_t lis331dlh_lld_read_config(const LIS331DLHDriver* const lisd, lis331dlh_lld_cfg_t *cfg); |
||
| 278 | apalExitStatus_t lis331dlh_lld_write_config(const LIS331DLHDriver* const lisd, const lis331dlh_lld_cfg_t *cfg); |
||
| 279 | apalExitStatus_t lis331dlh_lld_read_int_config(const LIS331DLHDriver* const lisd, lis331dlh_lld_int_cfg_t *cfg, const lis331dlh_lld_int_t interrupt); |
||
| 280 | apalExitStatus_t lis331dlh_lld_write_int_config(const LIS331DLHDriver* const lisd, const lis331dlh_lld_int_cfg_t *cfg, const lis331dlh_lld_int_t interrupt); |
||
| 281 | apalExitStatus_t lis331dlh_lld_read_status_register(const LIS331DLHDriver* const lisd, uint8_t *status); |
||
| 282 | #ifdef __cplusplus
|
||
| 283 | } |
||
| 284 | #endif
|
||
| 285 | |||
| 286 | ef078306 | Thomas Schöpping | /******************************************************************************/
|
| 287 | /* INLINE FUNCTIONS */
|
||
| 288 | /******************************************************************************/
|
||
| 289 | |||
| 290 | 1d5bcc82 | Thomas Schöpping | #endif /* defined(AMIROLLD_CFG_LIS331DLH) && (AMIROLLD_CFG_LIS331DLH == 1) */ |
| 291 | d6728c5b | Thomas Schöpping | |
| 292 | 1d5bcc82 | Thomas Schöpping | #endif /* AMIROLLD_LIS331DLH_V1_H */ |
| 293 | 5e2f673b | Marc Rothmann | |
| 294 | /** @} */ |