Adjustments to LSM6DSL Driver (Still incomplete)
git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@11737 110e8d01-0319-4d1e-a829-52ad28d1bb01
This commit is contained in:
Rocco Marco Guglielmi
parent
99e37a0531
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682ff1867b
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@ -502,9 +502,9 @@ typedef enum {
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*/
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typedef enum {
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LSM6DSL_ACC_FS_2G = 0x00, /**< Full scale ±2g. */
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LSM6DSL_ACC_FS_4G = 0x10, /**< Full scale ±4g. */
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LSM6DSL_ACC_FS_8G = 0x18, /**< Full scale ±8g. */
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LSM6DSL_ACC_FS_16G = 0x08 /**< Full scale ±16g. */
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LSM6DSL_ACC_FS_4G = 0x40, /**< Full scale ±4g. */
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LSM6DSL_ACC_FS_8G = 0x80, /**< Full scale ±8g. */
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LSM6DSL_ACC_FS_16G = 0xC0 /**< Full scale ±16g. */
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} lsm6dsl_acc_fs_t;
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/**
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@ -512,55 +512,53 @@ typedef enum {
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*/
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typedef enum {
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LSM6DSL_ACC_ODR_PD = 0x00, /**< Power down */
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LSM6DSL_ACC_ODR_10Hz = 0x20, /**< ODR 10 Hz */
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LSM6DSL_ACC_ODR_50Hz = 0x40, /**< ODR 50 Hz */
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LSM6DSL_ACC_ODR_119Hz = 0x60, /**< ODR 119 Hz */
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LSM6DSL_ACC_ODR_238Hz = 0x80, /**< ODR 238 Hz */
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LSM6DSL_ACC_ODR_476Hz = 0xA0, /**< ODR 476 Hz */
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LSM6DSL_ACC_ODR_952Hz = 0xC0 /**< ODR 952 Hz */
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LSM6DSL_ACC_ODR_1P6Hz = 0xB0, /**< ODR 1.6 Hz (Low Power only) */
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LSM6DSL_ACC_ODR_12P5Hz = 0x10, /**< ODR 12.5 Hz */
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LSM6DSL_ACC_ODR_26Hz = 0x20, /**< ODR 26 Hz */
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LSM6DSL_ACC_ODR_52Hz = 0x30, /**< ODR 52 Hz */
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LSM6DSL_ACC_ODR_104Hz = 0x40, /**< ODR 104 Hz */
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LSM6DSL_ACC_ODR_208Hz = 0x50, /**< ODR 208 Hz */
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LSM6DSL_ACC_ODR_416Hz = 0x60, /**< ODR 416 Hz */
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LSM6DSL_ACC_ODR_833Hz = 0x70 /**< ODR 833 Hz */
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LSM6DSL_ACC_ODR_1P66Hz = 0x80 /**< ODR 1.66 kHz */
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LSM6DSL_ACC_ODR_3P33Hz = 0x90 /**< ODR 3.33 kHz */
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LSM6DSL_ACC_ODR_6P66Hz = 0xA0 /**< ODR 6.66 kHz */
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} lsm6dsl_acc_odr_t;
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/**
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* @brief LSM6DSL accelerometer subsystem decimation mode.
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* @brief LSM6DSL accelerometer subsystem output data rate.
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*/
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typedef enum {
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LSM6DSL_ACC_DEC_DISABLED = 0x00, /**< Decimation disabled. */
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LSM6DSL_ACC_DEC_X2 = 0x40, /**< Output updated every 2 samples. */
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LSM6DSL_ACC_DEC_X4 = 0x80, /**< Output updated every 4 samples. */
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LSM6DSL_ACC_DEC_X8 = 0xC0 /**< Output updated every 8 samples. */
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} lsm6dsl_acc_dec_t;
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LSM6DSL_ACC_LP_DISABLED = 0x00, /**< Low power disabled */
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LSM6DSL_ACC_LP_ENABLED = 0x10 /**< Low power enabled */
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} lsm6dsl_acc_lp_t;
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/**
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* @brief LSM6DSL gyroscope subsystem full scale.
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*/
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typedef enum {
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LSM6DSL_GYRO_FS_245DPS = 0x00, /**< Full scale ±245 degree per second */
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LSM6DSL_GYRO_FS_500DPS = 0x08, /**< Full scale ±500 degree per second */
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LSM6DSL_GYRO_FS_2000DPS = 0x18 /**< Full scale ±2000 degree per second */
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LSM6DSL_GYRO_FS_125DPS = 0x02, /**< Full scale ±125 degree per second */
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LSM6DSL_GYRO_FS_250DPS = 0x00, /**< Full scale ±250 degree per second */
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LSM6DSL_GYRO_FS_500DPS = 0x04, /**< Full scale ±500 degree per second */
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LSM6DSL_GYRO_FS_1000DPS = 0x08 /**< Full scale ±1000 degree per second */
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LSM6DSL_GYRO_FS_2000DPS = 0x0C /**< Full scale ±2000 degree per second */
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} lsm6dsl_gyro_fs_t;
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/**
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* @brief LSM6DSL gyroscope subsystem output data rate.
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* @brief LSM6DSL gyroscope subsystem output data rate.
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*/
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typedef enum {
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LSM6DSL_GYRO_ODR_PD = 0x00,
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LSM6DSL_GYRO_ODR_95HZ_FC_25 = 0x10,
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LSM6DSL_GYRO_ODR_14_9HZ_FC_5 = 0X20,
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LSM6DSL_GYRO_ODR_59_5HZ_FC_16 = 0X40,
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LSM6DSL_GYRO_ODR_119HZ_FC_14 = 0X60,
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LSM6DSL_GYRO_ODR_119HZ_FC_31 = 0X61,
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LSM6DSL_GYRO_ODR_238HZ_FC_14 = 0X80,
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LSM6DSL_GYRO_ODR_238HZ_FC_29 = 0X81,
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LSM6DSL_GYRO_ODR_238HZ_FC_63 = 0X82,
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LSM6DSL_GYRO_ODR_238HZ_FC_78 = 0X83,
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LSM6DSL_GYRO_ODR_476HZ_FC_21 = 0XA0,
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LSM6DSL_GYRO_ODR_476HZ_FC_28 = 0XA1,
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LSM6DSL_GYRO_ODR_476HZ_FC_57 = 0XA2,
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LSM6DSL_GYRO_ODR_476HZ_FC_100 = 0XA3,
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LSM6DSL_GYRO_ODR_952HZ_FC_33 = 0XC0,
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LSM6DSL_GYRO_ODR_952HZ_FC_40 = 0XC1,
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LSM6DSL_GYRO_ODR_952HZ_FC_58 = 0XC2,
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LSM6DSL_GYRO_ODR_952HZ_FC_100 = 0XC3
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LSM6DSL_GYRO_ODR_PD = 0x00, /**< Power down */
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LSM6DSL_GYRO_ODR_12P5Hz = 0x10, /**< ODR 12.5 Hz */
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LSM6DSL_GYRO_ODR_26Hz = 0x20, /**< ODR 26 Hz */
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LSM6DSL_GYRO_ODR_52Hz = 0x30, /**< ODR 52 Hz */
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LSM6DSL_GYRO_ODR_104Hz = 0x40, /**< ODR 104 Hz */
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LSM6DSL_GYRO_ODR_208Hz = 0x50, /**< ODR 208 Hz */
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LSM6DSL_GYRO_ODR_416Hz = 0x60, /**< ODR 416 Hz */
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LSM6DSL_GYRO_ODR_833Hz = 0x70 /**< ODR 833 Hz */
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LSM6DSL_GYRO_ODR_1P66Hz = 0x80 /**< ODR 1.66 kHz */
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LSM6DSL_GYRO_ODR_3P33Hz = 0x90 /**< ODR 3.33 kHz */
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LSM6DSL_GYRO_ODR_6P66Hz = 0xA0 /**< ODR 6.66 kHz */
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} lsm6dsl_gyro_odr_t;
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/**
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@ -575,34 +573,12 @@ typedef enum {
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* @brief LSM6DSL gyroscope subsystem output selection.
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*/
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typedef enum {
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LSM6DSL_GYRO_OUT_SEL_0 = 0x00, /**< Low pass filter 1. */
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LSM6DSL_GYRO_OUT_SEL_1 = 0x01, /**< High pass filter 1 if enabled. */
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LSM6DSL_GYRO_OUT_SEL_2 = 0x02 /**< Low pass filter 2. */
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} lsm6dsl_gyro_out_sel_t;
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/**
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* @brief LSM6DSL gyroscope subsystem high pass filter.
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*/
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typedef enum {
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LSM6DSL_GYRO_HP_DISABLED = 0x00, /**< High pass filter disabled. */
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LSM6DSL_GYRO_HP_ENABLED = 0x40 /**< High pass filter enabled. */
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} lsm6dsl_gyro_hp_t;
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/**
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* @brief LSM6DSL gyroscope subsystem high pass filter configuration.
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*/
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typedef enum {
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LSM6DSL_GYRO_HPCF_0 = 0x00, /**< Refer to table 48 of RM */
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LSM6DSL_GYRO_HPCF_1 = 0x01,
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LSM6DSL_GYRO_HPCF_2 = 0x02,
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LSM6DSL_GYRO_HPCF_3 = 0x03,
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LSM6DSL_GYRO_HPCF_4 = 0x04,
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LSM6DSL_GYRO_HPCF_5 = 0x05,
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LSM6DSL_GYRO_HPCF_6 = 0x06,
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LSM6DSL_GYRO_HPCF_7 = 0x07,
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LSM6DSL_GYRO_HPCF_8 = 0x08,
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LSM6DSL_GYRO_HPCF_9 = 0x09
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} lsm6dsl_gyro_hpcf_t;
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LSM6DSL_GYRO_LPF_DISABLED = -1, /**< Low pass filter disabled. */
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LSM6DSL_GYRO_LPF_FTYPE0 = 0x00, /**< Refer to table 68 of Datasheet. */
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LSM6DSL_GYRO_LPF_FTYPE1 = 0x01, /**< Refer to table 68 of Datasheet. */
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LSM6DSL_GYRO_LPF_FTYPE2 = 0x10, /**< Refer to table 68 of Datasheet. */
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LSM6DSL_GYRO_LPF_FTYPE3 = 0x11, /**< Refer to table 68 of Datasheet. */
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} lsm6dsl_gyro_lpf_t;
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/**
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* @brief LSM6DSL block data update.
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@ -677,9 +653,9 @@ typedef struct {
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lsm6dsl_acc_odr_t accoutdatarate;
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#if LSM6DSL_ACC_USE_ADVANCED || defined(__DOXYGEN__)
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/**
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* @brief LSM6DSL accelerometer subsystem decimation mode.
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* @brief LSM6DSL accelerometer subsystem low power mode.
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*/
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lsm6dsl_acc_dec_t accdecmode;
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lsm6dsl_acc_lp_t acclpmode;
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#endif /* LSM6DSL_ACC_USE_ADVANCED */
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/**
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* @brief LSM6DSL gyroscope subsystem initial sensitivity.
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@ -701,20 +677,12 @@ typedef struct {
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/**
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* @brief LSM6DSL gyroscope subsystem low mode configuration.
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*/
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lsm6dsl_gyro_lp_t gyrolowmodecfg;
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lsm6dsl_gyro_lp_t gyrolpmode;
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/**
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* @brief LSM6DSL gyroscope subsystem output selection.
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* @brief LSM6DSL gyroscope subsystem low pass filter configuration.
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*/
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lsm6dsl_gyro_out_sel_t gyrooutsel;
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/**
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* @brief LSM6DSL gyroscope subsystem high pass filter.
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*/
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lsm6dsl_gyro_hp_t gyrohpfenable;
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/**
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* @brief LSM6DSL gyroscope subsystem high pass filter configuration.
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*/
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lsm6dsl_gyro_hpcf_t gyrohpcfg;
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#endif /* LSM6DSL_GYRO_USE_ADVANCED */
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lsm6dsl_gyro_lpf_t gyrolowpassfilter;
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#endif /* LSM6DSL_GYRO_USE_ADVANCED */
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#if (LSM6DSL_USE_ADVANCED) || defined(__DOXYGEN__)
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/**
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* @brief LSM6DSL block data update
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