amiro-os / include / amiro / accel / lis331dlh.hpp @ 58fe0e0b
History | View | Annotate | Download (5.66 KB)
1 |
#ifndef LIS331DLH_HPP_
|
---|---|
2 |
#define LIS331DLH_HPP_
|
3 |
|
4 |
#include <ch.hpp> |
5 |
|
6 |
namespace amiro {
|
7 |
|
8 |
class HWSPIDriver; |
9 |
|
10 |
class LIS331DLH : public chibios_rt::BaseStaticThread<256> { |
11 |
|
12 |
public:
|
13 |
|
14 |
struct InterruptConfig {
|
15 |
|
16 |
uint8_t config; |
17 |
uint8_t ths; |
18 |
uint8_t duration; |
19 |
|
20 |
} __attribute__((packed)); |
21 |
|
22 |
struct LIS331DLHConfig {
|
23 |
uint8_t ctrl1; |
24 |
uint8_t ctrl2; |
25 |
uint8_t ctrl3; |
26 |
uint8_t ctrl4; |
27 |
uint8_t ctrl5; |
28 |
InterruptConfig int1_cfg; |
29 |
InterruptConfig int2_cfg; |
30 |
}; |
31 |
|
32 |
enum {
|
33 |
AOI_OR_INT = 0x00u,
|
34 |
AOI_6MOVE = 0x40u,
|
35 |
AOI_AND_INT = 0x80u,
|
36 |
AOI_6POS = 0xC0u,
|
37 |
ZHIE = 0x20u,
|
38 |
ZLIE = 0x10u,
|
39 |
YHIE = 0x08u,
|
40 |
YLIE = 0x04u,
|
41 |
XHIE = 0x02u,
|
42 |
XLIE = 0x01u,
|
43 |
}; |
44 |
|
45 |
enum {
|
46 |
IA = 0x40u,
|
47 |
ZH = 0x20u,
|
48 |
ZL = 0x10u,
|
49 |
YH = 0x08u,
|
50 |
YL = 0x04u,
|
51 |
XH = 0x02u,
|
52 |
XL = 0x01u,
|
53 |
}; |
54 |
|
55 |
enum {
|
56 |
THS_MASK = 0x7Fu,
|
57 |
}; |
58 |
|
59 |
enum {
|
60 |
DURATION_MASK = 0x7Fu,
|
61 |
}; |
62 |
|
63 |
enum {
|
64 |
PM_OFF = 0x00u,
|
65 |
PM_ODR = 0x20u,
|
66 |
PM_0_5_HZ = 0x40u,
|
67 |
PM_1_HZ = 0x60u,
|
68 |
PM_2_HZ = 0x80u,
|
69 |
PM_5_HZ = 0xA0u,
|
70 |
PM_10_HZ = 0xC0u,
|
71 |
DR_50HZ_37LP = 0x00u,
|
72 |
DR_100HZ_74LP = 0x08u,
|
73 |
DR_400HZ_292LP = 0x10u,
|
74 |
DR_1000HZ_780LP = 0x18u,
|
75 |
ZEN = 0x04u,
|
76 |
YEN = 0x02u,
|
77 |
XEN = 0x01u,
|
78 |
}; |
79 |
|
80 |
enum {
|
81 |
BOOT_REBOOT = 0x80u,
|
82 |
HPM_NORMAL0 = 0x00u,
|
83 |
HPM_REF = 0x20u,
|
84 |
HPM_NORMAL1 = 0x40u,
|
85 |
FDS_FILTER = 0x10u,
|
86 |
HPEN_INT2 = 0x08u,
|
87 |
HPEN_INT1 = 0x04u,
|
88 |
HPCF_8 = 0x00u,
|
89 |
HPCF_16 = 0x01u,
|
90 |
HPCF_32 = 0x02u,
|
91 |
HPCF_64 = 0x03u,
|
92 |
}; |
93 |
|
94 |
enum {
|
95 |
INT_HIGH = 0x00u,
|
96 |
INT_LOW = 0x80u,
|
97 |
PUSH_PULL = 0x00u,
|
98 |
OPEN_DRAIN = 0x40u,
|
99 |
LIR2_LATCH = 0x20u,
|
100 |
I2_CFG_I2 = 0x00u,
|
101 |
I2_CFG_I1_I2 = 0x08u,
|
102 |
I2_CFG_DRY = 0x10u,
|
103 |
I2_CFG_BOOT = 0x18u,
|
104 |
LIR1_LATCH = 0x04u,
|
105 |
I1_CFG_I1 = 0x00u,
|
106 |
I1_CFG_I1_I2 = 0x01u,
|
107 |
I1_CFG_DRY = 0x02u,
|
108 |
I1_CFG_BOOT = 0x03u,
|
109 |
}; |
110 |
|
111 |
enum {
|
112 |
BDU_CONT = 0x00u,
|
113 |
BDU_STOP = 0x80u,
|
114 |
BLE_LE = 0x00u,
|
115 |
BLE_BE = 0x40u,
|
116 |
FS_2G = 0x00u,
|
117 |
FS_4G = 0x10u,
|
118 |
FS_8G = 0x30u,
|
119 |
STSIGN_POS = 0x00u,
|
120 |
STSIGN_NEG = 0x08u,
|
121 |
ST_DISABLE = 0x00u,
|
122 |
ST_ENABLE = 0x02u,
|
123 |
SIM_4WI = 0x00u,
|
124 |
SIM_3WI = 0x01u,
|
125 |
}; |
126 |
|
127 |
enum {
|
128 |
SLEEP_TO_WAKE_OFF = 0x00u,
|
129 |
SLEEP_TO_WAKE_ON = 0x03u,
|
130 |
}; |
131 |
|
132 |
/**
|
133 |
* Return types of getCheck()
|
134 |
*/
|
135 |
enum {
|
136 |
CHECK_OK = 0x00,
|
137 |
CHECK_FAIL = 0x01,
|
138 |
}; |
139 |
|
140 |
/**
|
141 |
* Top view of the AMiRo with charger in the back (F:Front, B:Back).
|
142 |
* Z is pointing into the ground (Apply right-hand-rule):
|
143 |
* ___________
|
144 |
* / F \
|
145 |
* / X \
|
146 |
* | | |
|
147 |
* | Z---Y |
|
148 |
* | |
|
149 |
* \ /
|
150 |
* \____B______/
|
151 |
*/
|
152 |
enum {
|
153 |
AXIS_X = 0x00u,
|
154 |
AXIS_Y = 0x01u,
|
155 |
AXIS_Z = 0x02u,
|
156 |
}; |
157 |
|
158 |
//private:
|
159 |
|
160 |
struct registers {
|
161 |
uint8_t reserved_0x00_0x0E[0x0Fu];
|
162 |
uint8_t who_am_i; |
163 |
uint8_t reserved_0x10_0x1F[0x10u];
|
164 |
uint8_t ctrl_reg1; |
165 |
uint8_t ctrl_reg2; |
166 |
uint8_t ctrl_reg3; |
167 |
uint8_t ctrl_reg4; |
168 |
uint8_t ctrl_reg5; |
169 |
uint8_t hp_filter_reset; |
170 |
uint8_t reference; |
171 |
uint8_t status_reg; |
172 |
uint16_t out_x; /* LE */
|
173 |
uint16_t out_y; /* LE */
|
174 |
uint16_t out_z; /* LE */
|
175 |
uint8_t reserved_0x2E_0x2F[0x02u];
|
176 |
uint8_t int1_cfg; |
177 |
uint8_t int1_src; |
178 |
uint8_t int1_ths; |
179 |
uint8_t int1_duration; |
180 |
uint8_t int2_cfg; |
181 |
uint8_t int2_src; |
182 |
uint8_t int2_ths; |
183 |
uint8_t int2_duration; |
184 |
uint8_t reserved_0x38_0x3F[0x08u];
|
185 |
} __attribute__((packed)); |
186 |
|
187 |
enum {
|
188 |
LIS331DLH_ID = 0x32u
|
189 |
}; |
190 |
|
191 |
enum {
|
192 |
ZYXOR = 0x80,
|
193 |
ZOR = 0x40,
|
194 |
YOR = 0x20,
|
195 |
XOR = 0x10,
|
196 |
ZYXDA = 0x08,
|
197 |
ZDA = 0x04,
|
198 |
YDA = 0x02,
|
199 |
XDA = 0x01,
|
200 |
}; |
201 |
|
202 |
enum {
|
203 |
SPI_MULT = 0x40u,
|
204 |
SPI_READ = 0x80u,
|
205 |
SPI_WRITE = 0x00u,
|
206 |
}; |
207 |
|
208 |
public:
|
209 |
LIS331DLH(HWSPIDriver* driver); |
210 |
virtual ~LIS331DLH();
|
211 |
|
212 |
chibios_rt::EvtSource* getEventSource(); |
213 |
msg_t configure(LIS331DLHConfig* config); |
214 |
|
215 |
/**
|
216 |
* Return the accelaration in LSB for the given axis.
|
217 |
*
|
218 |
* @param axis can be one of the axis [AXIS_X | AXIS_Y | AXIS_Z]
|
219 |
*
|
220 |
* @return Measured accelaration in in LSB for the given axis
|
221 |
*/
|
222 |
int16_t getAcceleration(const uint8_t axis);
|
223 |
|
224 |
/**
|
225 |
* Return the accelaration in milli g for the given axis
|
226 |
*
|
227 |
* @param axis can be one of the axis [AXIS_X | AXIS_Y | AXIS_Z]
|
228 |
*
|
229 |
* @return Measured accelaration in in milli g for the given axis
|
230 |
*/
|
231 |
int16_t getAccelerationForce(const uint8_t axis);
|
232 |
|
233 |
/**
|
234 |
* Check the presence of the accelerometer by reading
|
235 |
* the identifier register and comparing it to the standard
|
236 |
* value
|
237 |
*
|
238 |
* @return [CHECK_OK | CHECK_FAIL]
|
239 |
*/
|
240 |
uint8_t getCheck(); |
241 |
|
242 |
/**
|
243 |
* Do the build in self-test of the device by applying
|
244 |
* an electrostatic force and measuring the amplitude.
|
245 |
* The result is then checked against the standard values
|
246 |
* of the manual
|
247 |
* TODO Check if it works correct
|
248 |
*
|
249 |
* @param config A working config as template (if NULL, predefined config is taken)
|
250 |
*/
|
251 |
void printSelfTest(LIS331DLHConfig* config);
|
252 |
|
253 |
protected:
|
254 |
virtual msg_t main();
|
255 |
|
256 |
private:
|
257 |
inline void updateSensorData(); |
258 |
|
259 |
private:
|
260 |
|
261 |
HWSPIDriver* driver; |
262 |
chibios_rt::EvtSource eventSource; |
263 |
int16_t accelerations[AXIS_Z - AXIS_X + 1];
|
264 |
/**
|
265 |
* Stores the configuration [FS_2G | FS_4G | FS_8G] of
|
266 |
* the current setup
|
267 |
*/
|
268 |
uint8_t currentFullScaleConfiguration; |
269 |
|
270 |
|
271 |
}; |
272 |
|
273 |
} /* amiro */
|
274 |
|
275 |
#endif /* LIS331DLH_HPP_ */ |