amiro-lld / drivers / LIS331DLH / v1 / alld_LIS331DLH.h @ ed9a1bf5
History | View | Annotate | Download (9.817 KB)
| 1 |
/*
|
|---|---|
| 2 |
AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
|
| 3 |
Copyright (C) 2016..2020 Thomas Schöpping et al.
|
| 4 |
|
| 5 |
This program is free software: you can redistribute it and/or modify
|
| 6 |
it under the terms of the GNU Lesser General Public License as published by
|
| 7 |
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 |
GNU Lesser General Public License for more details.
|
| 14 |
|
| 15 |
You should have received a copy of the GNU Lesser General Public License
|
| 16 |
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
| 17 |
*/
|
| 18 |
|
| 19 |
/**
|
| 20 |
* @file alld_LIS331DLH.h
|
| 21 |
* @brief Accelerometer macros and structures.
|
| 22 |
*
|
| 23 |
* @addtogroup lld_accel
|
| 24 |
* @{
|
| 25 |
*/
|
| 26 |
|
| 27 |
#ifndef AMIROLLD_LIS331DLH_H
|
| 28 |
#define AMIROLLD_LIS331DLH_H
|
| 29 |
|
| 30 |
#include <amiro-lld.h> |
| 31 |
|
| 32 |
/******************************************************************************/
|
| 33 |
/* CONSTANTS */
|
| 34 |
/******************************************************************************/
|
| 35 |
|
| 36 |
/**
|
| 37 |
* @brief A falling edge indicates an interrupt.
|
| 38 |
*/
|
| 39 |
#define LIS331DLH_LLD_INT_EDGE APAL_GPIO_EDGE_FALLING
|
| 40 |
|
| 41 |
/******************************************************************************/
|
| 42 |
/* SETTINGS */
|
| 43 |
/******************************************************************************/
|
| 44 |
|
| 45 |
/******************************************************************************/
|
| 46 |
/* CHECKS */
|
| 47 |
/******************************************************************************/
|
| 48 |
|
| 49 |
/******************************************************************************/
|
| 50 |
/* DATA STRUCTURES AND TYPES */
|
| 51 |
/******************************************************************************/
|
| 52 |
|
| 53 |
/**
|
| 54 |
* @brief The LIS331DLH driver struct
|
| 55 |
*/
|
| 56 |
typedef struct { |
| 57 |
apalSPIDriver_t* spid; /**< @brief The SPI Driver */
|
| 58 |
} LIS331DLHDriver; |
| 59 |
|
| 60 |
/**
|
| 61 |
* @brief SPI access modes.
|
| 62 |
*/
|
| 63 |
typedef enum { |
| 64 |
LIS331DLH_LLD_SPI_MULT = 0x40u,
|
| 65 |
LIS331DLH_LLD_SPI_READ = 0x80u,
|
| 66 |
LIS331DLH_LLD_SPI_WRITE = 0x00u,
|
| 67 |
} lis331dlh_lld_SPI_mode_t; |
| 68 |
|
| 69 |
/**
|
| 70 |
* @brief Registers.
|
| 71 |
*/
|
| 72 |
typedef enum { |
| 73 |
LIS331DLH_LLD_REGISTER_WHO_AM_I = 0x0fu,
|
| 74 |
LIS331DLH_LLD_REGISTER_CTRL_REG1 = 0x20u,
|
| 75 |
LIS331DLH_LLD_REGISTER_CTRL_REG2 = 0x21u,
|
| 76 |
LIS331DLH_LLD_REGISTER_CTRL_REG3 = 0x22u,
|
| 77 |
LIS331DLH_LLD_REGISTER_CTRL_REG4 = 0x23u,
|
| 78 |
LIS331DLH_LLD_REGISTER_CTRL_REG5 = 0x24u,
|
| 79 |
LIS331DLH_LLD_REGISTER_HP_FILTER_RESET = 0x25u,
|
| 80 |
LIS331DLH_LLD_REGISTER_REFERENCE = 0x26u,
|
| 81 |
LIS331DLH_LLD_REGISTER_STATUS_REG = 0x27u,
|
| 82 |
LIS331DLH_LLD_REGISTER_OUT_X_L = 0x28u,
|
| 83 |
LIS331DLH_LLD_REGISTER_OUT_X_H = 0x29u,
|
| 84 |
LIS331DLH_LLD_REGISTER_OUT_Y_L = 0x2Au,
|
| 85 |
LIS331DLH_LLD_REGISTER_OUT_Y_H = 0x2Bu,
|
| 86 |
LIS331DLH_LLD_REGISTER_OUT_Z_L = 0x2Cu,
|
| 87 |
LIS331DLH_LLD_REGISTER_OUT_Z_H = 0x2Du,
|
| 88 |
LIS331DLH_LLD_REGISTER_INT1_CFG = 0x30u,
|
| 89 |
LIS331DLH_LLD_REGISTER_INT1_SOURCE = 0x31u,
|
| 90 |
LIS331DLH_LLD_REGISTER_INT1_THS = 0x32u,
|
| 91 |
LIS331DLH_LLD_REGISTER_INT1_DURATION = 0x33u,
|
| 92 |
LIS331DLH_LLD_REGISTER_INT2_CFG = 0x34u,
|
| 93 |
LIS331DLH_LLD_REGISTER_INT2_SOURCE = 0x35u,
|
| 94 |
LIS331DLH_LLD_REGISTER_INT2_THS = 0x36u,
|
| 95 |
LIS331DLH_LLD_REGISTER_INT2_DURATION = 0x37u,
|
| 96 |
} lis331dlh_lld_register_t; |
| 97 |
|
| 98 |
/**
|
| 99 |
* @brief WHO_AM_I register constant content.
|
| 100 |
*/
|
| 101 |
typedef enum { |
| 102 |
LIS331DLH_LLD_WHO_AM_I = 0x32,
|
| 103 |
} lis331dlh_lld_whoami_t; |
| 104 |
|
| 105 |
/**
|
| 106 |
* @brief Control register 1 flags.
|
| 107 |
*/
|
| 108 |
typedef enum { |
| 109 |
LIS331DLH_LLD_PM_OFF = 0x00u,
|
| 110 |
LIS331DLH_LLD_PM_ODR = 0x20u,
|
| 111 |
LIS331DLH_LLD_PM_0_5_HZ = 0x40u,
|
| 112 |
LIS331DLH_LLD_PM_1_HZ = 0x60u,
|
| 113 |
LIS331DLH_LLD_PM_2_HZ = 0x80u,
|
| 114 |
LIS331DLH_LLD_PM_5_HZ = 0xA0u,
|
| 115 |
LIS331DLH_LLD_PM_10_HZ = 0xC0u,
|
| 116 |
LIS331DLH_LLD_DR_50HZ_37LP = 0x00u,
|
| 117 |
LIS331DLH_LLD_DR_100HZ_74LP = 0x08u,
|
| 118 |
LIS331DLH_LLD_DR_400HZ_292LP = 0x10u,
|
| 119 |
LIS331DLH_LLD_DR_1000HZ_780LP = 0x18u,
|
| 120 |
LIS331DLH_LLD_X_AXIS_ENABLE = 0x01u,
|
| 121 |
LIS331DLH_LLD_Y_AXIS_ENABLE = 0x02u,
|
| 122 |
LIS331DLH_LLD_Z_AXIS_ENABLE = 0x04u,
|
| 123 |
} lis331dlh_lld_ctrl_reg1_t; |
| 124 |
|
| 125 |
/**
|
| 126 |
* @brief Control register 2 flags.
|
| 127 |
*/
|
| 128 |
typedef enum { |
| 129 |
LIS331DLH_LLD_REBOOT = 0x80u,
|
| 130 |
LIS331DLH_LLD_HPM_NORMAL0 = 0x00u,
|
| 131 |
LIS331DLH_LLD_HPM_REF = 0x20u,
|
| 132 |
LIS331DLH_LLD_HPM_NORMAL1 = 0x40u,
|
| 133 |
LIS331DLH_LLD_FDS_BYPASS = 0x00u,
|
| 134 |
LIS331DLH_LLD_FDS_FILTER = 0x10u,
|
| 135 |
LIS331DLH_LLD_HP_EN_INT2 = 0x08u,
|
| 136 |
LIS331DLH_LLD_HP_EN_INT1 = 0x04u,
|
| 137 |
LIS331DLH_LLD_HPCF_8 = 0x00u,
|
| 138 |
LIS331DLH_LLD_HPCF_16 = 0x01u,
|
| 139 |
LIS331DLH_LLD_HPCF_32 = 0x02u,
|
| 140 |
LIS331DLH_LLD_HPCF_64 = 0x03u,
|
| 141 |
} lis331dlh_lld_ctrl_reg2_t; |
| 142 |
|
| 143 |
/**
|
| 144 |
* @brief Control register 3 flags.
|
| 145 |
*/
|
| 146 |
typedef enum { |
| 147 |
LIS331DLH_LLD_INT_HIGH = 0x00u,
|
| 148 |
LIS331DLH_LLD_INT_LOW = 0x80u,
|
| 149 |
LIS331DLH_LLD_PUSH_PULL = 0x00u,
|
| 150 |
LIS331DLH_LLD_OPEN_DRAIN = 0x40u,
|
| 151 |
LIS331DLH_LLD_LIR2_LATCH = 0x20u,
|
| 152 |
LIS331DLH_LLD_I2_CFG_I2 = 0x00u,
|
| 153 |
LIS331DLH_LLD_I2_CFG_I1_I2 = 0x08u,
|
| 154 |
LIS331DLH_LLD_I2_CFG_DRY = 0x10u,
|
| 155 |
LIS331DLH_LLD_I2_CFG_BOOT = 0x18u,
|
| 156 |
LIS331DLH_LLD_LIR1_LATCH = 0x04u,
|
| 157 |
LIS331DLH_LLD_LIR1_NO_LATCH = 0x00u,
|
| 158 |
LIS331DLH_LLD_I1_CFG_I1 = 0x00u,
|
| 159 |
LIS331DLH_LLD_I1_CFG_I1_I2 = 0x01u,
|
| 160 |
LIS331DLH_LLD_I1_CFG_DRY = 0x02u,
|
| 161 |
LIS331DLH_LLD_I1_CFG_BOOT = 0x03u,
|
| 162 |
} lis331dlh_lld_ctrl_reg3_t; |
| 163 |
|
| 164 |
/**
|
| 165 |
* @brief Control register 4 flags.
|
| 166 |
*/
|
| 167 |
typedef enum { |
| 168 |
LIS331DLH_LLD_BDU_CONT = 0x00u,
|
| 169 |
LIS331DLH_LLD_BDU_STOP = 0x80u,
|
| 170 |
LIS331DLH_LLD_BLE_LE = 0x00u,
|
| 171 |
LIS331DLH_LLD_BLE_BE = 0x40u,
|
| 172 |
LIS331DLH_LLD_FS_2G = 0x00u,
|
| 173 |
LIS331DLH_LLD_FS_4G = 0x10u,
|
| 174 |
LIS331DLH_LLD_FS_8G = 0x30u,
|
| 175 |
LIS331DLH_LLD_STSIGN_POS = 0x00u,
|
| 176 |
LIS331DLH_LLD_STSIGN_NEG = 0x08u,
|
| 177 |
LIS331DLH_LLD_ST_DISABLE = 0x00u,
|
| 178 |
LIS331DLH_LLD_ST_ENABLE = 0x02u,
|
| 179 |
LIS331DLH_LLD_SIM_4WI = 0x00u,
|
| 180 |
LIS331DLH_LLD_SIM_3WI = 0x01u,
|
| 181 |
} lis331dlh_lld_ctrl_reg4_t; |
| 182 |
|
| 183 |
/**
|
| 184 |
* @brief Control register 5 flags.
|
| 185 |
*/
|
| 186 |
typedef enum { |
| 187 |
LIS331DLH_LLD_SLEEP_TO_WAKE_OFF = 0x00u,
|
| 188 |
LIS331DLH_LLD_SLEEP_TO_WAKE_ON = 0x03u,
|
| 189 |
} lis331dlh_lld_ctrl_reg5_t; |
| 190 |
|
| 191 |
/**
|
| 192 |
* @brief Axis enum.
|
| 193 |
*/
|
| 194 |
typedef enum { |
| 195 |
LIS331DLH_LLD_X_AXIS = 0,
|
| 196 |
LIS331DLH_LLD_Y_AXIS = 1,
|
| 197 |
LIS331DLH_LLD_Z_AXIS = 2,
|
| 198 |
} lis331dlh_lld_axis_t; |
| 199 |
|
| 200 |
/**
|
| 201 |
* @brief Interrupt enum.
|
| 202 |
*/
|
| 203 |
typedef enum { |
| 204 |
LIS331DLH_LLD_INT1 = 0x01,
|
| 205 |
LIS331DLH_LLD_INT2 = 0x02,
|
| 206 |
} lis331dlh_lld_int_t; |
| 207 |
|
| 208 |
/**
|
| 209 |
* @brief Config register struct.
|
| 210 |
*/
|
| 211 |
typedef union { |
| 212 |
uint8_t data[5];
|
| 213 |
struct {
|
| 214 |
uint8_t ctrl_reg1; |
| 215 |
uint8_t ctrl_reg2; |
| 216 |
uint8_t ctrl_reg3; |
| 217 |
uint8_t ctrl_reg4; |
| 218 |
uint8_t ctrl_reg5; |
| 219 |
} registers; |
| 220 |
} lis331dlh_lld_cfg_t; |
| 221 |
|
| 222 |
/**
|
| 223 |
* @brief Interrupt config register flags.
|
| 224 |
*/
|
| 225 |
typedef enum { |
| 226 |
LIS331DLH_LLD_INT_CFG_X_LOW_ENABLE = 0x01,
|
| 227 |
LIS331DLH_LLD_INT_CFG_X_HIGH_ENABLE = 0x02,
|
| 228 |
LIS331DLH_LLD_INT_CFG_Y_LOW_ENABLE = 0x04,
|
| 229 |
LIS331DLH_LLD_INT_CFG_Y_HIGH_ENABLE = 0x08,
|
| 230 |
LIS331DLH_LLD_INT_CFG_Z_LOW_ENABLE = 0x10,
|
| 231 |
LIS331DLH_LLD_INT_CFG_Z_HIGH_ENABLE = 0x20,
|
| 232 |
LIS331DLH_LLD_INT_CFG_D6 = 0x40,
|
| 233 |
LIS331DLH_LLD_INT_CFG_AOI = 0x80,
|
| 234 |
} lis331dlh_lld_int_cfg_reg_t; |
| 235 |
|
| 236 |
/**
|
| 237 |
* @brief Status register flags.
|
| 238 |
*/
|
| 239 |
typedef enum { |
| 240 |
LIS331DLH_LLD_STATUS_ZYXOR = 0x01,
|
| 241 |
LIS331DLH_LLD_STATUS_Z_OR = 0x02,
|
| 242 |
LIS331DLH_LLD_STATUS_Y_OR = 0x04,
|
| 243 |
LIS331DLH_LLD_STATUS_X_OR = 0x08,
|
| 244 |
LIS331DLH_LLD_STATUS_ZYXDA = 0x10,
|
| 245 |
LIS331DLH_LLD_STATUS_Z_DA = 0x20,
|
| 246 |
LIS331DLH_LLD_STATUS_Y_DA = 0x40,
|
| 247 |
LIS331DLH_LLD_STATUS_X_DA = 0x80,
|
| 248 |
} lis331dlh_lld_status_t; |
| 249 |
|
| 250 |
/**
|
| 251 |
* @brief Interrupt config struct.
|
| 252 |
*/
|
| 253 |
typedef struct { |
| 254 |
uint8_t cfg_reg; |
| 255 |
uint8_t threshold; |
| 256 |
uint8_t duration; |
| 257 |
} lis331dlh_lld_int_cfg_t; |
| 258 |
|
| 259 |
/******************************************************************************/
|
| 260 |
/* MACROS */
|
| 261 |
/******************************************************************************/
|
| 262 |
|
| 263 |
/******************************************************************************/
|
| 264 |
/* EXTERN DECLARATIONS */
|
| 265 |
/******************************************************************************/
|
| 266 |
|
| 267 |
#ifdef __cplusplus
|
| 268 |
extern "C" { |
| 269 |
#endif
|
| 270 |
apalExitStatus_t lis331dlh_lld_read_register(const LIS331DLHDriver* const lisd, const lis331dlh_lld_register_t regaddr, uint8_t *data, const uint8_t length); |
| 271 |
apalExitStatus_t lis331dlh_lld_write_register(const LIS331DLHDriver* const lisd, const lis331dlh_lld_register_t regaddr, const uint8_t *data, const uint8_t length); |
| 272 |
apalExitStatus_t lis331dlh_lld_reset_hp_filter(const LIS331DLHDriver* const lisd); |
| 273 |
apalExitStatus_t lis331dlh_lld_read_all_data(const LIS331DLHDriver* const lisd, int16_t *data, const lis331dlh_lld_cfg_t *cfg); |
| 274 |
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); |
| 275 |
apalExitStatus_t lis331dlh_lld_read_config(const LIS331DLHDriver* const lisd, lis331dlh_lld_cfg_t *cfg); |
| 276 |
apalExitStatus_t lis331dlh_lld_write_config(const LIS331DLHDriver* const lisd, const lis331dlh_lld_cfg_t *cfg); |
| 277 |
apalExitStatus_t lis331dlh_lld_read_int_config(const LIS331DLHDriver* const lisd, lis331dlh_lld_int_cfg_t *cfg, const lis331dlh_lld_int_t interrupt); |
| 278 |
apalExitStatus_t lis331dlh_lld_write_int_config(const LIS331DLHDriver* const lisd, const lis331dlh_lld_int_cfg_t *cfg, const lis331dlh_lld_int_t interrupt); |
| 279 |
apalExitStatus_t lis331dlh_lld_read_status_register(const LIS331DLHDriver* const lisd, uint8_t *status); |
| 280 |
#ifdef __cplusplus
|
| 281 |
} |
| 282 |
#endif
|
| 283 |
|
| 284 |
/******************************************************************************/
|
| 285 |
/* INLINE FUNCTIONS */
|
| 286 |
/******************************************************************************/
|
| 287 |
|
| 288 |
#endif /* AMIROLLD_LIS331DLH_H */ |
| 289 |
|
| 290 |
/** @} */
|
| 291 |
|