1 files changed, 566 insertions, 0 deletions

diff --git a/lib/chibios/os/ex/devices/ST/lis302dl.h b/lib/chibios/os/ex/devices/ST/lis302dl.h
new file mode 100644
index 000000000..7a316b64d
--- /dev/null
+++ b/lib/chibios/os/ex/devices/ST/lis302dl.h
@@ -0,0 +1,566 @@
+/*
+    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 <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 "ex_accelerometer.h"
+
+/*===========================================================================*/
+/* Driver constants.                                                         */
+/*===========================================================================*/
+
+/**
+ * @name    Version identification
+ * @{
+ */
+/**
+ * @brief   LIS302DL driver version string.
+ */
+#define EX_LIS302DL_VERSION                 "1.1.1"
+
+/**
+ * @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                   1
+/** @} */
+
+/**
+ * @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 advanced configurations switch.
+ * @details If set to @p TRUE more configurations are available.
+ * @note    The default is @p FALSE.
+ */
+#if !defined(LIS302DL_USE_ADVANCED) || defined(__DOXYGEN__)
+#define LIS302DL_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
+
+/*
+ * CHTODO: 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_ */
+
+/** @} */
+