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1/*
2 ChibiOS - Copyright (C) 2016..2019 Rocco Marco Guglielmi
3
4 This file is part of ChibiOS.
5
6 ChibiOS is free software; you can redistribute it and/or modify
7 it under the terms of the GNU General Public License as published by
8 the Free Software Foundation; either version 3 of the License, or
9 (at your option) any later version.
10
11 ChibiOS is distributed in the hope that it will be useful,
12 but WITHOUT ANY WARRANTY; without even the implied warranty of
13 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14 GNU General Public License for more details.
15
16 You should have received a copy of the GNU General Public License
17 along with this program. If not, see <http://www.gnu.org/licenses/>.
18
19*/
20
21/**
22 * @file lis3dsh.h
23 * @brief LIS3DSH MEMS interface module header.
24 *
25 * @addtogroup LIS3DSH
26 * @ingroup EX_ST
27 * @{
28 */
29
30#ifndef _LIS3DSH_H_
31#define _LIS3DSH_H_
32
33#include "ex_accelerometer.h"
34
35/*===========================================================================*/
36/* Driver constants. */
37/*===========================================================================*/
38
39/**
40 * @name Version identification
41 * @{
42 */
43/**
44 * @brief LIS3DSH driver version string.
45 */
46#define EX_LIS3DSH_VERSION "1.1.2"
47
48/**
49 * @brief LIS3DSH driver version major number.
50 */
51#define EX_LIS3DSH_MAJOR 1
52
53/**
54 * @brief LIS3DSH driver version minor number.
55 */
56#define EX_LIS3DSH_MINOR 1
57
58/**
59 * @brief LIS3DSH driver version patch number.
60 */
61#define EX_LIS3DSH_PATCH 2
62/** @} */
63
64/**
65 * @brief LIS3DSH accelerometer subsystem characteristics.
66 * @note Sensitivity is expressed as milli-G/LSB whereas
67 * 1 milli-G = 0.00980665 m/s^2.
68 * @note Bias is expressed as milli-G.
69 *
70 * @{
71 */
72#define LIS3DSH_ACC_NUMBER_OF_AXES 3U
73
74#define LIS3DSH_ACC_2G 2.0f
75#define LIS3DSH_ACC_4G 4.0f
76#define LIS3DSH_ACC_6G 6.0f
77#define LIS3DSH_ACC_8G 8.0f
78#define LIS3DSH_ACC_16G 16.0f
79
80#define LIS3DSH_ACC_SENS_2G 0.06f
81#define LIS3DSH_ACC_SENS_4G 0.12f
82#define LIS3DSH_ACC_SENS_6G 0.18f
83#define LIS3DSH_ACC_SENS_8G 0.24f
84#define LIS3DSH_ACC_SENS_16G 0.73f
85
86#define LIS3DSH_ACC_BIAS 0.0f
87/** @} */
88
89/**
90 * @name LIS3DSH communication interfaces related bit masks
91 * @{
92 */
93#define LIS3DSH_DI_MASK 0xFF
94#define LIS3DSH_DI(n) (1 << n)
95#define LIS3DSH_AD_MASK 0x3F
96#define LIS3DSH_AD(n) (1 << n)
97#define LIS3DSH_MS (1 << 6)
98#define LIS3DSH_RW (1 << 7)
99/** @} */
100
101/**
102 * @name LIS3DSH register addresses
103 * @{
104 */
105#define LIS3DSH_AD_OUT_T 0x0C
106#define LIS3DSH_AD_INFO1 0x0D
107#define LIS3DSH_AD_INFO2 0x0E
108#define LIS3DSH_AD_WHO_AM_I 0x0F
109#define LIS3DSH_AD_OFF_X 0x10
110#define LIS3DSH_AD_OFF_Y 0x11
111#define LIS3DSH_AD_OFF_Z 0x12
112#define LIS3DSH_AD_CS_X 0x13
113#define LIS3DSH_AD_CS_Y 0x14
114#define LIS3DSH_AD_CS_Z 0x15
115#define LIS3DSH_AD_LC_L 0x16
116#define LIS3DSH_AD_LC_H 0x17
117#define LIS3DSH_AD_STAT 0x18
118#define LIS3DSH_AD_PEAK1 0x19
119#define LIS3DSH_AD_PEAK2 0x1A
120#define LIS3DSH_AD_VFC_1 0x1B
121#define LIS3DSH_AD_VFC_2 0x1C
122#define LIS3DSH_AD_VFC_3 0x1D
123#define LIS3DSH_AD_VFC_4 0x1E
124#define LIS3DSH_AD_THRS3 0x1F
125#define LIS3DSH_AD_CTRL_REG4 0x20
126#define LIS3DSH_AD_CTRL_REG1 0x21
127#define LIS3DSH_AD_CTRL_REG2 0x22
128#define LIS3DSH_AD_CTRL_REG3 0x23
129#define LIS3DSH_AD_CTRL_REG5 0x24
130#define LIS3DSH_AD_CTRL_REG6 0x25
131#define LIS3DSH_AD_STATUS 0x27
132#define LIS3DSH_AD_OUT_X_L 0x28
133#define LIS3DSH_AD_OUT_X_H 0x29
134#define LIS3DSH_AD_OUT_Y_L 0x2A
135#define LIS3DSH_AD_OUT_Y_H 0x2B
136#define LIS3DSH_AD_OUT_Z_L 0x2C
137#define LIS3DSH_AD_OUT_Z_H 0x2D
138#define LIS3DSH_AD_FIFO_CTRL 0x2E
139#define LIS3DSH_AD_FIFO_SRC 0x2F
140#define LIS3DSH_AD_ST1_0 0x40
141#define LIS3DSH_AD_ST1_1 0x41
142#define LIS3DSH_AD_ST1_2 0x42
143#define LIS3DSH_AD_ST1_3 0x43
144#define LIS3DSH_AD_ST1_4 0x44
145#define LIS3DSH_AD_ST1_5 0x45
146#define LIS3DSH_AD_ST1_6 0x46
147#define LIS3DSH_AD_ST1_7 0x47
148#define LIS3DSH_AD_ST1_8 0x48
149#define LIS3DSH_AD_ST1_9 0x49
150#define LIS3DSH_AD_ST1_A 0x4A
151#define LIS3DSH_AD_ST1_B 0x4B
152#define LIS3DSH_AD_ST1_C 0x4C
153#define LIS3DSH_AD_ST1_D 0x4D
154#define LIS3DSH_AD_ST1_E 0x4E
155#define LIS3DSH_AD_ST1_F 0x4F
156#define LIS3DSH_AD_TIM4_1 0x50
157#define LIS3DSH_AD_TIM3_1 0x51
158#define LIS3DSH_AD_TIM2_1_L 0x52
159#define LIS3DSH_AD_TIM2_1_H 0x53
160#define LIS3DSH_AD_TIM1_1_L 0x54
161#define LIS3DSH_AD_TIM1_1_H 0x55
162#define LIS3DSH_AD_THRS2_1 0x56
163#define LIS3DSH_AD_THRS1_1 0x57
164#define LIS3DSH_AD_MASK1_B 0x59
165#define LIS3DSH_AD_MASK1_A 0x5A
166#define LIS3DSH_AD_SETT1 0x5B
167#define LIS3DSH_AD_PR1 0x5C
168#define LIS3DSH_AD_TC1_L 0x5D
169#define LIS3DSH_AD_TC1_H 0x5E
170#define LIS3DSH_AD_OUTS1 0x5F
171#define LIS3DSH_AD_ST2_0 0x60
172#define LIS3DSH_AD_ST2_1 0x61
173#define LIS3DSH_AD_ST2_2 0x62
174#define LIS3DSH_AD_ST2_3 0x63
175#define LIS3DSH_AD_ST2_4 0x64
176#define LIS3DSH_AD_ST2_5 0x65
177#define LIS3DSH_AD_ST2_6 0x66
178#define LIS3DSH_AD_ST2_7 0x67
179#define LIS3DSH_AD_ST2_8 0x68
180#define LIS3DSH_AD_ST2_9 0x69
181#define LIS3DSH_AD_ST2_A 0x6A
182#define LIS3DSH_AD_ST2_B 0x6B
183#define LIS3DSH_AD_ST2_C 0x6C
184#define LIS3DSH_AD_ST2_D 0x6D
185#define LIS3DSH_AD_ST2_E 0x6E
186#define LIS3DSH_AD_ST2_F 0x6F
187#define LIS3DSH_AD_TIM4_2 0x70
188#define LIS3DSH_AD_TIM3_2 0x71
189#define LIS3DSH_AD_TIM2_2_L 0x72
190#define LIS3DSH_AD_TIM2_2_H 0x73
191#define LIS3DSH_AD_TIM1_2_L 0x74
192#define LIS3DSH_AD_TIM1_2_H 0x75
193#define LIS3DSH_AD_THRS2_2 0x76
194#define LIS3DSH_AD_THRS1_2 0x77
195#define LIS3DSH_AD_DES2 0x78
196#define LIS3DSH_AD_MASK2_B 0x79
197#define LIS3DSH_AD_MASK2_A 0x7A
198#define LIS3DSH_AD_SETT2 0x7B
199#define LIS3DSH_AD_PR2 0x7C
200#define LIS3DSH_AD_TC2_L 0x7D
201#define LIS3DSH_AD_TC2_H 0x7E
202#define LIS3DSH_AD_OUTS2 0x7F
203/** @} */
204
205/**
206 * @name LIS3DSH_CTRL_REG1 register bits definitions
207 * @{
208 */
209#define LIS3DSH_CTRL_REG1_MASK 0xE9
210#define LIS3DSH_CTRL_REG1_SM1_EN (1 << 0)
211#define LIS3DSH_CTRL_REG1_SM1_PIN (1 << 3)
212#define LIS3DSH_CTRL_REG1_HYST0_1 (1 << 5)
213#define LIS3DSH_CTRL_REG1_HYST1_1 (1 << 6)
214#define LIS3DSH_CTRL_REG1_HYST2_1 (1 << 7)
215/** @} */
216
217/**
218 * @name LIS3DSH_CTRL_REG2 register bits definitions
219 * @{
220 */
221#define LIS3DSH_CTRL_REG2_MASK 0xE9
222#define LIS3DSH_CTRL_REG2_SM2_EN (1 << 0)
223#define LIS3DSH_CTRL_REG2_SM2_PIN (1 << 3)
224#define LIS3DSH_CTRL_REG2_HYST0_2 (1 << 5)
225#define LIS3DSH_CTRL_REG2_HYST1_2 (1 << 6)
226#define LIS3DSH_CTRL_REG2_HYST2_2 (1 << 7)
227/** @} */
228
229/**
230 * @name LIS3DSH_CTRL_REG3 register bits definitions
231 * @{
232 */
233#define LIS3DSH_CTRL_REG3_MASK 0xFF
234#define LIS3DSH_CTRL_REG3_STRT (1 << 0)
235#define LIS3DSH_CTRL_REG3_VFILT (1 << 2)
236#define LIS3DSH_CTRL_REG3_INT1_EN (1 << 3)
237#define LIS3DSH_CTRL_REG3_INT2_EN (1 << 4)
238#define LIS3DSH_CTRL_REG3_IEL (1 << 5)
239#define LIS3DSH_CTRL_REG3_IEA (1 << 6)
240#define LIS3DSH_CTRL_REG3_DR_EN (1 << 7)
241/** @} */
242
243/**
244 * @name LIS3DSH_CTRL_REG4 register bits definitions
245 * @{
246 */
247#define LIS3DSH_CTRL_REG4_MASK 0xFF
248#define LIS3DSH_CTRL_REG4_XEN (1 << 0)
249#define LIS3DSH_CTRL_REG4_YEN (1 << 1)
250#define LIS3DSH_CTRL_REG4_ZEN (1 << 2)
251#define LIS3DSH_CTRL_REG4_BDU (1 << 3)
252#define LIS3DSH_CTRL_REG4_ODR_0 (1 << 4)
253#define LIS3DSH_CTRL_REG4_ODR_1 (1 << 5)
254#define LIS3DSH_CTRL_REG4_ODR_2 (1 << 6)
255#define LIS3DSH_CTRL_REG4_ODR_3 (1 << 7)
256/** @} */
257
258/**
259 * @name LIS3DSH_CTRL_REG5 register bits definitions
260 * @{
261 */
262#define LIS3DSH_CTRL_REG5_MASK 0xFF
263#define LIS3DSH_CTRL_REG5_SIM (1 << 0)
264#define LIS3DSH_CTRL_REG5_ST1 (1 << 1)
265#define LIS3DSH_CTRL_REG5_ST2 (1 << 2)
266#define LIS3DSH_CTRL_REG5_FS_MASK 0x38
267#define LIS3DSH_CTRL_REG5_FS0 (1 << 3)
268#define LIS3DSH_CTRL_REG5_FS1 (1 << 4)
269#define LIS3DSH_CTRL_REG5_FS2 (1 << 5)
270#define LIS3DSH_CTRL_REG5_BW1 (1 << 6)
271#define LIS3DSH_CTRL_REG5_BW2 (1 << 7)
272/** @} */
273
274/**
275 * @name LIS3DSH_CTRL_REG6 register bits definitions
276 * @{
277 */
278#define LIS3DSH_CTRL_REG6_MASK 0xFF
279#define LIS3DSH_CTRL_REG6_P2_BOOT (1 << 0)
280#define LIS3DSH_CTRL_REG6_P1_OVRUN (1 << 1)
281#define LIS3DSH_CTRL_REG6_P1_WTM (1 << 2)
282#define LIS3DSH_CTRL_REG6_P1_EMPTY (1 << 3)
283#define LIS3DSH_CTRL_REG6_ADD_INC (1 << 4)
284#define LIS3DSH_CTRL_REG6_WTM_EN (1 << 5)
285#define LIS3DSH_CTRL_REG6_FIFO_EN (1 << 6)
286#define LIS3DSH_CTRL_REG6_BOOT (1 << 7)
287/** @} */
288
289/*===========================================================================*/
290/* Driver pre-compile time settings. */
291/*===========================================================================*/
292
293/**
294 * @name Configuration options
295 * @{
296 */
297/**
298 * @brief LIS3DSH SPI interface switch.
299 * @details If set to @p TRUE the support for SPI is included.
300 * @note The default is @p TRUE.
301 */
302#if !defined(LIS3DSH_USE_SPI) || defined(__DOXYGEN__)
303#define LIS3DSH_USE_SPI TRUE
304#endif
305
306/**
307 * @brief LIS3DSH shared SPI switch.
308 * @details If set to @p TRUE the device acquires SPI bus ownership
309 * on each transaction.
310 * @note The default is @p FALSE. Requires SPI_USE_MUTUAL_EXCLUSION.
311 */
312#if !defined(LIS3DSH_SHARED_SPI) || defined(__DOXYGEN__)
313#define LIS3DSH_SHARED_SPI FALSE
314#endif
315
316/**
317 * @brief LIS3DSH I2C interface switch.
318 * @details If set to @p TRUE the support for I2C is included.
319 * @note The default is @p FALSE.
320 */
321#if !defined(LIS3DSH_USE_I2C) || defined(__DOXYGEN__)
322#define LIS3DSH_USE_I2C FALSE
323#endif
324
325/**
326 * @brief LIS3DSH shared I2C switch.
327 * @details If set to @p TRUE the device acquires I2C bus ownership
328 * on each transaction.
329 * @note The default is @p FALSE. Requires I2C_USE_MUTUAL_EXCLUSION.
330 */
331#if !defined(LIS3DSH_SHARED_I2C) || defined(__DOXYGEN__)
332#define LIS3DSH_SHARED_I2C FALSE
333#endif
334
335/**
336 * @brief LIS3DSH advanced configurations switch.
337 * @details If set to @p TRUE more configurations are available.
338 * @note The default is @p FALSE.
339 */
340#if !defined(LIS3DSH_USE_ADVANCED) || defined(__DOXYGEN__)
341#define LIS3DSH_USE_ADVANCED FALSE
342#endif
343/** @} */
344
345/*===========================================================================*/
346/* Derived constants and error checks. */
347/*===========================================================================*/
348
349#if !(LIS3DSH_USE_SPI ^ LIS3DSH_USE_I2C)
350#error "LIS3DSH_USE_SPI and LIS3DSH_USE_I2C cannot be both true or both false"
351#endif
352
353#if LIS3DSH_USE_SPI && !HAL_USE_SPI
354#error "LIS3DSH_USE_SPI requires HAL_USE_SPI"
355#endif
356
357#if LIS3DSH_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION
358#error "LIS3DSH_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION"
359#endif
360
361#if LIS3DSH_USE_I2C && !HAL_USE_I2C
362#error "LIS3DSH_USE_I2C requires HAL_USE_I2C"
363#endif
364
365#if LIS3DSH_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION
366#error "LIS3DSH_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION"
367#endif
368
369/*
370 * CHTODO: Add support for LIS3DSH over I2C.
371 */
372#if LIS3DSH_USE_I2C
373#error "LIS3DSH over I2C still not supported"
374#endif
375
376/*===========================================================================*/
377/* Driver data structures and types. */
378/*===========================================================================*/
379
380/**
381 * @name LIS3DSH data structures and types
382 * @{
383 */
384/**
385 * @brief Structure representing a LIS3DSH driver.
386 */
387typedef struct LIS3DSHDriver LIS3DSHDriver;
388
389/**
390 * @brief LIS3DSH full scale.
391 */
392typedef enum {
393 LIS3DSH_ACC_FS_2G = 0x00, /**< Full scale �2g. */
394 LIS3DSH_ACC_FS_4G = 0x08, /**< Full scale �4g. */
395 LIS3DSH_ACC_FS_6G = 0x10, /**< Full scale �6g. */
396 LIS3DSH_ACC_FS_8G = 0x18, /**< Full scale �8g. */
397 LIS3DSH_ACC_FS_16G = 0x20 /**< Full scale �16g. */
398}lis3dsh_acc_fs_t;
399
400/**
401 * @brief LIS3DSH output data rate.
402 */
403typedef enum {
404 LIS3DSH_ACC_ODR_PD = 0x00, /**< ODR 100 Hz. */
405 LIS3DSH_ACC_ODR_3_125HZ = 0x10, /**< ODR 3.125 Hz. */
406 LIS3DSH_ACC_ODR_6_25HZ = 0x20, /**< ODR 6.25 Hz. */
407 LIS3DSH_ACC_ODR_12_5HZ = 0x30, /**< ODR 12.5 Hz. */
408 LIS3DSH_ACC_ODR_25HZ = 0x40, /**< ODR 25 Hz. */
409 LIS3DSH_ACC_ODR_50HZ = 0x50, /**< ODR 50 Hz. */
410 LIS3DSH_ACC_ODR_100HZ = 0x60, /**< ODR 100 Hz. */
411 LIS3DSH_ACC_ODR_400HZ = 0x70, /**< ODR 400 Hz. */
412 LIS3DSH_ACC_ODR_800HZ = 0x80, /**< ODR 800 Hz. */
413 LIS3DSH_ACC_ODR_1600HZ = 0x90 /**< ODR 1600 Hz. */
414}lis3dsh_acc_odr_t;
415
416/**
417 * @brief LIS3DSH anti-aliasing bandwidth.
418 */
419typedef enum {
420 LIS3DSH_ACC_BW_800HZ = 0x00, /**< AA filter BW 800Hz. */
421 LIS3DSH_ACC_BW_200HZ = 0x40, /**< AA filter BW 200Hz. */
422 LIS3DSH_ACC_BW_400HZ = 0x80, /**< AA filter BW 400Hz. */
423 LIS3DSH_ACC_BW_50HZ = 0xC0 /**< AA filter BW 50Hz. */
424}lis3dsh_acc_bw_t;
425
426/**
427 * @brief LIS3DSH block data update.
428 */
429typedef enum {
430 LIS3DSH_ACC_BDU_CONTINUOUS = 0x00,/**< Block data continuously updated. */
431 LIS3DSH_ACC_BDU_BLOCKED = 0x80 /**< Block data updated after reading. */
432} lis3dsh_acc_bdu_t;
433
434/**
435 * @brief Driver state machine possible states.
436 */
437typedef enum {
438 LIS3DSH_UNINIT = 0, /**< Not initialized. */
439 LIS3DSH_STOP = 1, /**< Stopped. */
440 LIS3DSH_READY = 2, /**< Ready. */
441} lis3dsh_state_t;
442
443/**
444 * @brief LIS3DSH configuration structure.
445 */
446typedef struct {
447
448#if (LIS3DSH_USE_SPI) || defined(__DOXYGEN__)
449 /**
450 * @brief SPI driver associated to this LIS3DSH.
451 */
452 SPIDriver *spip;
453 /**
454 * @brief SPI configuration associated to this LIS3DSH.
455 */
456 const SPIConfig *spicfg;
457#endif /* LIS3DSH_USE_SPI */
458#if (LIS3DSH_USE_I2C) || defined(__DOXYGEN__)
459 /**
460 * @brief I2C driver associated to this LIS3DSH.
461 */
462 I2CDriver *i2cp;
463 /**
464 * @brief I2C configuration associated to this LIS3DSH.
465 */
466 const I2CConfig *i2ccfg;
467#endif /* LIS3DSH_USE_I2C */
468 /**
469 * @brief LIS3DSH accelerometer subsystem initial sensitivity.
470 */
471 float *accsensitivity;
472 /**
473 * @brief LIS3DSH accelerometer subsystem initial bias.
474 */
475 float *accbias;
476 /**
477 * @brief LIS3DSH accelerometer subsystem initial full scale.
478 */
479 lis3dsh_acc_fs_t accfullscale;
480 /**
481 * @brief LIS3DSH output data rate selection.
482 */
483 lis3dsh_acc_odr_t accoutputdatarate;
484#if LIS3DSH_USE_ADVANCED || defined(__DOXYGEN__)
485 /**
486 * @brief LIS3DSH anti-aliasing bandwidth.
487 */
488 lis3dsh_acc_bw_t accantialiasing;
489 /**
490 * @brief LIS3DSH block data update.
491 */
492 lis3dsh_acc_bdu_t accblockdataupdate;
493#endif
494} LIS3DSHConfig;
495
496/**
497 * @brief @p LIS3DSH specific methods.
498 */
499#define _lis3dsh_methods_alone \
500 /* Change full scale value of LIS3DSH accelerometer subsystem.*/ \
501 msg_t (*acc_set_full_scale)(LIS3DSHDriver *devp, lis3dsh_acc_fs_t fs);
502
503
504/**
505 * @brief @p LIS3DSH specific methods with inherited ones.
506 */
507#define _lis3dsh_methods \
508 _base_object_methods \
509 _lis3dsh_methods_alone
510
511/**
512 * @extends BaseObjectVMT
513 *
514 * @brief @p LIS3DSH virtual methods table.
515 */
516struct LIS3DSHVMT {
517 _lis3dsh_methods
518};
519
520/**
521 * @brief @p LIS3DSHDriver specific data.
522 */
523#define _lis3dsh_data \
524 _base_sensor_data \
525 /* Driver state.*/ \
526 lis3dsh_state_t state; \
527 /* Current configuration data.*/ \
528 const LIS3DSHConfig *config; \
529 /* Accelerometer subsystem axes number.*/ \
530 size_t accaxes; \
531 /* Accelerometer subsystem current sensitivity.*/ \
532 float accsensitivity[LIS3DSH_ACC_NUMBER_OF_AXES]; \
533 /* Accelerometer subsystem current bias .*/ \
534 float accbias[LIS3DSH_ACC_NUMBER_OF_AXES]; \
535 /* Accelerometer subsystem current full scale value.*/ \
536 float accfullscale;
537
538/**
539 * @brief LIS3DSH 3-axis accelerometer class.
540 */
541struct LIS3DSHDriver {
542 /** @brief Virtual Methods Table.*/
543 const struct LIS3DSHVMT *vmt;
544 /** @brief Base accelerometer interface.*/
545 BaseAccelerometer acc_if;
546 _lis3dsh_data
547};
548/** @} */
549
550/*===========================================================================*/
551/* Driver macros. */
552/*===========================================================================*/
553
554/**
555 * @brief Return the number of axes of the BaseAccelerometer.
556 *
557 * @param[in] devp pointer to @p LIS3DSHDriver.
558 *
559 * @return the number of axes.
560 *
561 * @api
562 */
563#define lis3dshAccelerometerGetAxesNumber(devp) \
564 accelerometerGetAxesNumber(&((devp)->acc_if))
565
566/**
567 * @brief Retrieves raw data from the BaseAccelerometer.
568 * @note This data is retrieved from MEMS register without any algebraical
569 * manipulation.
570 * @note The axes array must be at least the same size of the
571 * BaseAccelerometer axes number.
572 *
573 * @param[in] devp pointer to @p LIS3DSHDriver.
574 * @param[out] axes a buffer which would be filled with raw data.
575 *
576 * @return The operation status.
577 * @retval MSG_OK if the function succeeded.
578 * @retval MSG_RESET if one or more I2C errors occurred, the errors can
579 * be retrieved using @p i2cGetErrors().
580 * @retval MSG_TIMEOUT if a timeout occurred before operation end.
581 *
582 * @api
583 */
584#define lis3dshAccelerometerReadRaw(devp, axes) \
585 accelerometerReadRaw(&((devp)->acc_if), axes)
586
587/**
588 * @brief Retrieves cooked data from the BaseAccelerometer.
589 * @note This data is manipulated according to the formula
590 * cooked = (raw * sensitivity) - bias.
591 * @note Final data is expressed as milli-G.
592 * @note The axes array must be at least the same size of the
593 * BaseAccelerometer axes number.
594 *
595 * @param[in] devp pointer to @p LIS3DSHDriver.
596 * @param[out] axes a buffer which would be filled with cooked data.
597 *
598 * @return The operation status.
599 * @retval MSG_OK if the function succeeded.
600 * @retval MSG_RESET if one or more I2C errors occurred, the errors can
601 * be retrieved using @p i2cGetErrors().
602 * @retval MSG_TIMEOUT if a timeout occurred before operation end.
603 *
604 * @api
605 */
606#define lis3dshAccelerometerReadCooked(devp, axes) \
607 accelerometerReadCooked(&((devp)->acc_if), axes)
608
609/**
610 * @brief Set bias values for the BaseAccelerometer.
611 * @note Bias must be expressed as milli-G.
612 * @note The bias buffer must be at least the same size of the
613 * BaseAccelerometer axes number.
614 *
615 * @param[in] devp pointer to @p LIS3DSHDriver.
616 * @param[in] bp a buffer which contains biases.
617 *
618 * @return The operation status.
619 * @retval MSG_OK if the function succeeded.
620 *
621 * @api
622 */
623#define lis3dshAccelerometerSetBias(devp, bp) \
624 accelerometerSetBias(&((devp)->acc_if), bp)
625
626/**
627 * @brief Reset bias values for the BaseAccelerometer.
628 * @note Default biases value are obtained from device datasheet when
629 * available otherwise they are considered zero.
630 *
631 * @param[in] devp pointer to @p LIS3DSHDriver.
632 *
633 * @return The operation status.
634 * @retval MSG_OK if the function succeeded.
635 *
636 * @api
637 */
638#define lis3dshAccelerometerResetBias(devp) \
639 accelerometerResetBias(&((devp)->acc_if))
640
641/**
642 * @brief Set sensitivity values for the BaseAccelerometer.
643 * @note Sensitivity must be expressed as milli-G/LSB.
644 * @note The sensitivity buffer must be at least the same size of the
645 * BaseAccelerometer axes number.
646 *
647 * @param[in] devp pointer to @p LIS3DSHDriver.
648 * @param[in] sp a buffer which contains sensitivities.
649 *
650 * @return The operation status.
651 * @retval MSG_OK if the function succeeded.
652 *
653 * @api
654 */
655#define lis3dshAccelerometerSetSensitivity(devp, sp) \
656 accelerometerSetSensitivity(&((devp)->acc_if), sp)
657
658/**
659 * @brief Reset sensitivity values for the BaseAccelerometer.
660 * @note Default sensitivities value are obtained from device datasheet.
661 *
662 * @param[in] devp pointer to @p LIS3DSHDriver.
663 *
664 * @return The operation status.
665 * @retval MSG_OK if the function succeeded.
666 * @retval MSG_RESET otherwise.
667 *
668 * @api
669 */
670#define lis3dshAccelerometerResetSensitivity(devp) \
671 accelerometerResetSensitivity(&((devp)->acc_if))
672
673/**
674 * @brief Changes the LIS3DSHDriver accelerometer fullscale value.
675 * @note This function also rescale sensitivities and biases based on
676 * previous and next fullscale value.
677 * @note A recalibration is highly suggested after calling this function.
678 *
679 * @param[in] devp pointer to @p LIS3DSHDriver.
680 * @param[in] fs new fullscale value.
681 *
682 * @return The operation status.
683 * @retval MSG_OK if the function succeeded.
684 * @retval MSG_RESET otherwise.
685 *
686 * @api
687 */
688#define lis3dshAccelerometerSetFullScale(devp, fs) \
689 (devp)->vmt->acc_set_full_scale(devp, fs)
690
691/*===========================================================================*/
692/* External declarations. */
693/*===========================================================================*/
694
695#ifdef __cplusplus
696extern "C" {
697#endif
698 void lis3dshObjectInit(LIS3DSHDriver *devp);
699 void lis3dshStart(LIS3DSHDriver *devp, const LIS3DSHConfig *config);
700 void lis3dshStop(LIS3DSHDriver *devp);
701#ifdef __cplusplus
702}
703#endif
704
705#endif /* _LIS3DSH_H_ */
706
707/** @} */
708
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