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158 | ------------------------------------------------------------------------------
-- --
-- Copyright (C) 2020, AdaCore --
-- --
-- Redistribution and use in source and binary forms, with or without --
-- modification, are permitted provided that the following conditions are --
-- met: --
-- 1. Redistributions of source code must retain the above copyright --
-- notice, this list of conditions and the following disclaimer. --
-- 2. Redistributions in binary form must reproduce the above copyright --
-- notice, this list of conditions and the following disclaimer in --
-- the documentation and/or other materials provided with the --
-- distribution. --
-- 3. Neither the name of the copyright holder nor the names of its --
-- contributors may be used to endorse or promote products derived --
-- from this software without specific prior written permission. --
-- --
-- THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS --
-- "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT --
-- LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR --
-- A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT --
-- HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, --
-- SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT --
-- LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, --
-- DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY --
-- THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT --
-- (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE --
-- OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. --
-- --
------------------------------------------------------------------------------
with HAL; use HAL;
with HAL.I2C; use HAL.I2C;
private with Ada.Unchecked_Conversion;
package LSM303AGR is
-- TODO: support other power modes HiRes/LoPower,
-- Specifically allowing them in configure procedure
-- and adjusting conversions after reading the
-- accelerometer sensor.
-- TODO: Add magnetometer support.
type Register_Address is new UInt8;
type Device_Identifier is new UInt8;
type Data_Rate is
(PowerDown, Freq_1, Freq_10, Freq_25, Freq_50, Freq_100, Freq_200,
Freq_400, Low_Power, Hi_Res_1k6_Low_power_5k3);
type Axis_Data is range -2**9 .. 2**9 - 1 with Size => 10;
type All_Axes_Data is record
X, Y, Z : Axis_Data;
end record;
type LSM303AGR_Accelerometer (Port : not null Any_I2C_Port) is
tagged limited private;
function Check_Accelerometer_Device_Id
(This : LSM303AGR_Accelerometer) return Boolean;
function Check_Magnetometer_Device_Id
(This : LSM303AGR_Accelerometer) return Boolean;
procedure Configure (This : LSM303AGR_Accelerometer; Date_Rate : Data_Rate);
function Read_Accelerometer
(This : LSM303AGR_Accelerometer) return All_Axes_Data;
private
type LSM303AGR_Accelerometer (Port : not null Any_I2C_Port)
is tagged limited null record;
for Data_Rate use
(PowerDown => 0, Freq_1 => 1, Freq_10 => 2, Freq_25 => 3, Freq_50 => 4,
Freq_100 => 5, Freq_200 => 6, Freq_400 => 7, Low_Power => 8,
Hi_Res_1k6_Low_power_5k3 => 9);
Accelerometer_Address : constant I2C_Address := 16#32#;
Accelerometer_Device_Id : constant Device_Identifier := 2#0011_0011#;
Magnetometer_Address : constant I2C_Address := 16#3C#;
Magnetometer_Device_Id : constant Device_Identifier := 2#0100_0000#;
WHO_AM_I_A : constant Register_Address := 16#0F#;
WHO_AM_I_M : constant Register_Address := 16#4F#;
CTRL_REG1_A : constant Register_Address := 16#20#;
CTRL_REG2_A : constant Register_Address := 16#21#;
CTRL_REG3_A : constant Register_Address := 16#22#;
CTRL_REG4_A : constant Register_Address := 16#23#;
CTRL_REG5_A : constant Register_Address := 16#24#;
CTRL_REG6_A : constant Register_Address := 16#25#;
DATACAPTURE_A : constant Register_Address := 16#26#;
STATUS_REG_A : constant Register_Address := 16#27#;
OUT_X_L_A : constant Register_Address := 16#28#;
OUT_X_H_A : constant Register_Address := 16#29#;
OUT_Y_L_A : constant Register_Address := 16#2A#;
OUT_Y_H_A : constant Register_Address := 16#2B#;
OUT_Z_L_A : constant Register_Address := 16#2C#;
OUT_Z_H_A : constant Register_Address := 16#2D#;
MULTI_BYTE_READ : constant := 2#1000_0000#;
NORMAL_MODE_DIVISOR : constant := 6;
type CTRL_REG1_A_Register is record
Xen : Bit := 0;
Yen : Bit := 0;
Zen : Bit := 0;
LPen : Bit := 0;
ODR : UInt4 := 0;
end record;
for CTRL_REG1_A_Register use record
Xen at 0 range 0 .. 0;
Yen at 0 range 1 .. 1;
Zen at 0 range 2 .. 2;
LPen at 0 range 3 .. 3;
ODR at 0 range 4 .. 7;
end record;
function To_UInt8 is new Ada.Unchecked_Conversion
(CTRL_REG1_A_Register, UInt8);
function To_Reg is new Ada.Unchecked_Conversion
(UInt8, CTRL_REG1_A_Register);
type STATUS_REG_A_Register is record
ZYXOVR : Bit := 0;
ZOVR : Bit := 0;
YOVR : Bit := 0;
XOVR : Bit := 0;
ZYXDA : Bit := 0;
ZDA : Bit := 0;
YDA : Bit := 0;
XDA : Bit := 0;
end record;
for STATUS_REG_A_Register use record
XDA at 0 range 0 .. 0;
YDA at 0 range 1 .. 1;
ZDA at 0 range 2 .. 2;
ZYXDA at 0 range 3 .. 3;
XOVR at 0 range 4 .. 4;
YOVR at 0 range 5 .. 5;
ZOVR at 0 range 6 .. 6;
ZYXOVR at 0 range 7 .. 7;
end record;
function To_UInt8 is new Ada.Unchecked_Conversion
(STATUS_REG_A_Register, UInt8);
function To_Reg is new Ada.Unchecked_Conversion
(UInt8, STATUS_REG_A_Register);
end LSM303AGR;
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