Updated l3gd20 files, added working draft of lsm6ds0
git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9079 35acf78f-673a-0410-8e92-d51de3d6d3f4
This commit is contained in:
Rocco Marco Guglielmi
parent
ad75d9621f
commit
c27d4ae937
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@ -287,11 +287,16 @@ static msg_t calibrate(void *ip) {
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return MSG_OK;
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return MSG_OK;
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}
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}
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static const struct L3GD20VMT vmt = {
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static const struct BaseSensorVMT vmtse = {
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get_axes_number, read_raw, read_cooked
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};
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static const struct BaseGyroscopeVMT vmtgy = {
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get_axes_number, read_raw, read_cooked,
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get_axes_number, read_raw, read_cooked,
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reset_calibration, calibrate
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reset_calibration, calibrate
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};
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};
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver exported functions. */
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/* Driver exported functions. */
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/*===========================================================================*/
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/*===========================================================================*/
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@ -306,7 +311,9 @@ static const struct L3GD20VMT vmt = {
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void l3gd20ObjectInit(L3GD20Driver *devp) {
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void l3gd20ObjectInit(L3GD20Driver *devp) {
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uint32_t i;
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uint32_t i;
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devp->vmt = &vmt;
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devp->vmtse = &vmtse;
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devp->vmtgy = &vmtgy;
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devp->vmt = (struct L3GD20VMT*) &vmtgy;
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devp->state = L3GD20_STOP;
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devp->state = L3GD20_STOP;
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devp->config = NULL;
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devp->config = NULL;
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for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
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for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
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@ -278,6 +278,10 @@ struct L3GD20VMT {
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* driver implementation.
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* driver implementation.
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*/
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*/
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struct L3GD20Driver {
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struct L3GD20Driver {
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/** @brief Virtual Methods Table.*/
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const struct BaseSensorVMT *vmtse;
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/** @brief Virtual Methods Table.*/
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const struct BaseGyroscopeVMT *vmtgy;
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/** @brief Virtual Methods Table.*/
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/** @brief Virtual Methods Table.*/
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const struct L3GD20VMT *vmt;
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const struct L3GD20VMT *vmt;
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_l3gd20_data
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_l3gd20_data
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@ -0,0 +1,501 @@
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/*
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ChibiOS - Copyright (C) 2016 Rocco Marco Guglielmi
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This file is part of ChibiOS.
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ChibiOS is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 3 of the License, or
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(at your option) any later version.
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ChibiOS is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file lsm6ds0.c
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* @brief LSM6DS0 MEMS interface module code.
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*
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* @addtogroup lsm6ds0
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* @{
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*/
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#include "ch.h"
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#include "hal.h"
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#include "lsm6ds0.h"
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/*===========================================================================*/
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/* Driver local definitions. */
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/*===========================================================================*/
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#define LSM6DS0_ACC_SENS_2G ((float)0.061f)
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#define LSM6DS0_ACC_SENS_4G ((float)0.122f)
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#define LSM6DS0_ACC_SENS_8G ((float)0.244f)
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#define LSM6DS0_ACC_SENS_16G ((float)0.732f)
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#define LSM6DS0_GYRO_SENS_245DPS ((float)0.00875f)
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#define LSM6DS0_GYRO_SENS_500DPS ((float)0.01750f)
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#define LSM6DS0_GYRO_SENS_2000DPS ((float)0.07000f)
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#define LSM6DS0_DI ((uint8_t)0xFF)
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#define LSM6DS0_DI_0 ((uint8_t)0x01)
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#define LSM6DS0_DI_1 ((uint8_t)0x02)
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#define LSM6DS0_DI_2 ((uint8_t)0x04)
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#define LSM6DS0_DI_3 ((uint8_t)0x08)
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#define LSM6DS0_DI_4 ((uint8_t)0x10)
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#define LSM6DS0_DI_5 ((uint8_t)0x20)
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#define LSM6DS0_DI_6 ((uint8_t)0x40)
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#define LSM6DS0_DI_7 ((uint8_t)0x80)
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#define LSM6DS0_AD_0 ((uint8_t)0x01)
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#define LSM6DS0_AD_1 ((uint8_t)0x02)
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#define LSM6DS0_AD_2 ((uint8_t)0x04)
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#define LSM6DS0_AD_3 ((uint8_t)0x08)
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#define LSM6DS0_AD_4 ((uint8_t)0x10)
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#define LSM6DS0_AD_5 ((uint8_t)0x20)
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#define LSM6DS0_AD_6 ((uint8_t)0x40)
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#define LSM6DS0_RW ((uint8_t)0x80)
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#define LSM6DS0_AD_ACT_THS ((uint8_t)0x04)
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#define LSM6DS0_AD_ACT_DUR ((uint8_t)0x05)
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#define LSM6DS0_AD_INT_GEN_CFG_XL ((uint8_t)0x06)
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#define LSM6DS0_AD_INT_GEN_THS_X_XL ((uint8_t)0x07)
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#define LSM6DS0_AD_INT_GEN_THS_Y_XL ((uint8_t)0x08)
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#define LSM6DS0_AD_INT_GEN_THS_Z_XL ((uint8_t)0x09)
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#define LSM6DS0_AD_INT_GEN_DUR_XL ((uint8_t)0x0A)
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#define LSM6DS0_AD_REFERENCE_G ((uint8_t)0x0B)
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#define LSM6DS0_AD_INT_CTRL ((uint8_t)0x0C)
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#define LSM6DS0_AD_WHO_AM_I ((uint8_t)0x0F)
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#define LSM6DS0_AD_CTRL_REG1_G ((uint8_t)0x10)
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#define LSM6DS0_AD_CTRL_REG2_G ((uint8_t)0x11)
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#define LSM6DS0_AD_CTRL_REG3_G ((uint8_t)0x12)
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#define LSM6DS0_AD_ORIENT_CFG_G ((uint8_t)0x13)
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#define LSM6DS0_AD_INT_GEN_SRC_G ((uint8_t)0x14)
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#define LSM6DS0_AD_OUT_TEMP_L ((uint8_t)0x15)
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#define LSM6DS0_AD_OUT_TEMP_H ((uint8_t)0x16)
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#define LSM6DS0_AD_STATUS_REG1 ((uint8_t)0x17)
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#define LSM6DS0_AD_OUT_X_L_G ((uint8_t)0x18)
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#define LSM6DS0_AD_OUT_X_H_G ((uint8_t)0x19)
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#define LSM6DS0_AD_OUT_Y_L_G ((uint8_t)0x1A)
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#define LSM6DS0_AD_OUT_Y_H_G ((uint8_t)0x1B)
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#define LSM6DS0_AD_OUT_Z_L_G ((uint8_t)0x1C)
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#define LSM6DS0_AD_OUT_Z_H_G ((uint8_t)0x1D)
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#define LSM6DS0_AD_CTRL_REG4 ((uint8_t)0x1E)
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#define LSM6DS0_AD_CTRL_REG5_XL ((uint8_t)0x1F)
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#define LSM6DS0_AD_CTRL_REG6_XL ((uint8_t)0x20)
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#define LSM6DS0_AD_CTRL_REG7_XL ((uint8_t)0x21)
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#define LSM6DS0_AD_CTRL_REG8 ((uint8_t)0x22)
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#define LSM6DS0_AD_CTRL_REG9 ((uint8_t)0x23)
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#define LSM6DS0_AD_CTRL_REG10 ((uint8_t)0x24)
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#define LSM6DS0_AD_INT_GEN_SRC_XL ((uint8_t)0x26)
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#define LSM6DS0_AD_STATUS_REG2 ((uint8_t)0x27)
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#define LSM6DS0_AD_OUT_X_L_XL ((uint8_t)0x28)
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#define LSM6DS0_AD_OUT_X_H_XL ((uint8_t)0x29)
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#define LSM6DS0_AD_OUT_Y_L_XL ((uint8_t)0x2A)
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#define LSM6DS0_AD_OUT_Y_H_XL ((uint8_t)0x2B)
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#define LSM6DS0_AD_OUT_Z_L_XL ((uint8_t)0x2C)
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#define LSM6DS0_AD_OUT_Z_H_XL ((uint8_t)0x2D)
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#define LSM6DS0_AD_FIFO_CTRL ((uint8_t)0x2E)
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#define LSM6DS0_AD_FIFO_SRC ((uint8_t)0x2F)
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#define LSM6DS0_AD_INT_GEN_CFG_G ((uint8_t)0x30)
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#define LSM6DS0_AD_INT_GEN_THS_XH_G ((uint8_t)0x31)
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#define LSM6DS0_AD_INT_GEN_THS_XL_G ((uint8_t)0x32)
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#define LSM6DS0_AD_INT_GEN_THS_YH_G ((uint8_t)0x33)
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#define LSM6DS0_AD_INT_GEN_THS_YL_G ((uint8_t)0x34)
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#define LSM6DS0_AD_INT_GEN_THS_ZH_G ((uint8_t)0x35)
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#define LSM6DS0_AD_INT_GEN_THS_ZL_G ((uint8_t)0x36)
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#define LSM6DS0_AD_INT_GEN_DUR_G ((uint8_t)0x37)
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#define LSM6DS0_CTRL_REG1_G_FS_MASK ((uint8_t)0x18)
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#define LSM6DS0_CTRL_REG6_XL_FS_MASK ((uint8_t)0x18)
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#define TO_G ((float)0.001f)
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#define TO_SI ((float)0.00981f)
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/*===========================================================================*/
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/* Driver exported variables. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver local variables and types. */
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/*===========================================================================*/
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/**
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* @brief LSM6DS0 address increment mode.
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*/
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typedef enum {
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LSM6DS0_IF_ADD_INC_DIS = 0x00, /**< Address increment disabled. */
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LSM6DS0_IF_ADD_INC_EN = 0x04 /**< Address increment disabled. */
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}lsm6ds0_id_add_inc_t;
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/**
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* @brief LSM6DS0 gyroscope subsystem sleep mode.
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*/
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typedef enum {
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LSM6DS0_GYRO_SLP_DISABLED = 0x00, /**< Gyroscope in normal mode. */
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LSM6DS0_GYRO_SLP_ENABLED = 0x40 /**< Gyroscope in sleep mode. */
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}lsm6ds0_gyro_slp_t;
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/*===========================================================================*/
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/* Driver local functions. */
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/*===========================================================================*/
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#if (LSM6DS0_USE_I2C) || defined(__DOXYGEN__)
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/**
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* @brief Reads registers value using I2C.
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* @pre The I2C interface must be initialized and the driver started.
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* @note IF_ADD_INC bit must be 1 in CTRL_REG8
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*
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* @param[in] i2cp pointer to the I2C interface
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* @param[in] sad slave address without R bit
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* @param[in] reg first sub-register address
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* @return the read value.
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*/
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uint8_t lsm6ds0I2CReadRegister(I2CDriver *i2cp, lsm6ds0_sad_t sad, uint8_t reg,
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msg_t* msgp) {
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msg_t msg;
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#if defined(STM32F103_MCUCONF)
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uint8_t rxbuf[2];
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msg = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 2,
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TIME_INFINITE);
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if(msgp != NULL){
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*msgp = msg;
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}
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return rxbuf[0];
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#else
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uint8_t txbuf, rxbuf;
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txbuf = reg;
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msg = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, &rxbuf, 1,
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TIME_INFINITE);
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if(msgp != NULL){
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*msgp = msg;
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}
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return rxbuf;
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#endif
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}
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/**
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* @brief Writes a value into a register using I2C.
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* @pre The I2C interface must be initialized and the driver started.
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*
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* @param[in] i2cp pointer to the I2C interface
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* @param[in] sad slave address without R bit
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* @param[in] sub sub-register address
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* @param[in] value the value to be written
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* @return the operation status.
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*/
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msg_t lsm6ds0I2CWriteRegister(I2CDriver *i2cp, lsm6ds0_sad_t sad, uint8_t reg,
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uint8_t value) {
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uint8_t rxbuf;
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uint8_t txbuf[2];
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switch (reg) {
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default:
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/* Reserved register must not be written, according to the datasheet
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* this could permanently damage the device.
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*/
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osalDbgAssert(FALSE, "lsm6ds0WriteRegisterI2C(), reserved register");
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case LSM6DS0_AD_WHO_AM_I:
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case LSM6DS0_AD_INT_GEN_SRC_G:
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case LSM6DS0_AD_OUT_TEMP_L:
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case LSM6DS0_AD_OUT_TEMP_H:
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case LSM6DS0_AD_STATUS_REG1:
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case LSM6DS0_AD_OUT_X_L_G:
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case LSM6DS0_AD_OUT_X_H_G:
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case LSM6DS0_AD_OUT_Y_L_G:
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case LSM6DS0_AD_OUT_Y_H_G:
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case LSM6DS0_AD_OUT_Z_L_G:
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case LSM6DS0_AD_OUT_Z_H_G:
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case LSM6DS0_AD_INT_GEN_SRC_XL:
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case LSM6DS0_AD_STATUS_REG2:
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case LSM6DS0_AD_OUT_X_L_XL:
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case LSM6DS0_AD_OUT_X_H_XL:
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case LSM6DS0_AD_OUT_Y_L_XL:
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case LSM6DS0_AD_OUT_Y_H_XL:
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case LSM6DS0_AD_OUT_Z_L_XL:
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case LSM6DS0_AD_OUT_Z_H_XL:
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case LSM6DS0_AD_FIFO_SRC:
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/* Read only registers cannot be written, the command is ignored.*/
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return MSG_RESET;
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case LSM6DS0_AD_ACT_THS:
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case LSM6DS0_AD_ACT_DUR:
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case LSM6DS0_AD_INT_GEN_CFG_XL:
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case LSM6DS0_AD_INT_GEN_THS_X_XL:
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case LSM6DS0_AD_INT_GEN_THS_Y_XL:
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case LSM6DS0_AD_INT_GEN_THS_Z_XL:
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case LSM6DS0_AD_INT_GEN_DUR_XL:
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case LSM6DS0_AD_REFERENCE_G:
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case LSM6DS0_AD_INT_CTRL:
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case LSM6DS0_AD_CTRL_REG1_G:
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case LSM6DS0_AD_CTRL_REG2_G:
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case LSM6DS0_AD_CTRL_REG3_G:
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case LSM6DS0_AD_ORIENT_CFG_G:
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case LSM6DS0_AD_CTRL_REG4:
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case LSM6DS0_AD_CTRL_REG5_XL:
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case LSM6DS0_AD_CTRL_REG6_XL:
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case LSM6DS0_AD_CTRL_REG7_XL:
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case LSM6DS0_AD_CTRL_REG8:
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case LSM6DS0_AD_CTRL_REG9:
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case LSM6DS0_AD_CTRL_REG10:
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case LSM6DS0_AD_FIFO_CTRL:
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case LSM6DS0_AD_INT_GEN_CFG_G:
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case LSM6DS0_AD_INT_GEN_THS_XH_G:
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case LSM6DS0_AD_INT_GEN_THS_XL_G:
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case LSM6DS0_AD_INT_GEN_THS_YH_G:
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case LSM6DS0_AD_INT_GEN_THS_YL_G:
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case LSM6DS0_AD_INT_GEN_THS_ZH_G:
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case LSM6DS0_AD_INT_GEN_THS_ZL_G:
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||||||
|
case LSM6DS0_AD_INT_GEN_DUR_G:
|
||||||
|
txbuf[0] = reg;
|
||||||
|
txbuf[1] = value;
|
||||||
|
return i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0, TIME_INFINITE);
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
#endif /* LSM6DS0_USE_I2C */
|
||||||
|
|
||||||
|
/*
|
||||||
|
* Interface implementation.
|
||||||
|
*/
|
||||||
|
static size_t acc_get_axes_number(void *ip) {
|
||||||
|
|
||||||
|
osalDbgCheck(ip != NULL);
|
||||||
|
return LSM6DS0_ACC_NUMBER_OF_AXES;
|
||||||
|
}
|
||||||
|
|
||||||
|
static msg_t acc_read_raw(void *ip, int32_t axes[LSM6DS0_ACC_NUMBER_OF_AXES]) {
|
||||||
|
|
||||||
|
osalDbgCheck((ip != NULL) && (axes != NULL));
|
||||||
|
|
||||||
|
osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),
|
||||||
|
"acc_read_raw(), invalid state");
|
||||||
|
|
||||||
|
#if LSM6DS0_USE_I2C
|
||||||
|
osalDbgAssert((((LSM6DS0Driver *)ip)->config->i2cp->state == I2C_READY),
|
||||||
|
"acc_read_raw(), channel not ready");
|
||||||
|
#if LSM6DS0_SHARED_I2C
|
||||||
|
i2cAcquireBus(((LSM6DS0Driver *)ip)->config->i2cp);
|
||||||
|
i2cStart(((LSM6DS0Driver *)ip)->config->i2cp,
|
||||||
|
((LSM6DS0Driver *)ip)->config->i2ccfg);
|
||||||
|
#endif /* LSM6DS0_SHARED_I2C */
|
||||||
|
if(((LSM6DS0Driver *)ip)->config->acccfg->axesenabling & LSM6DS0_ACC_AE_X){
|
||||||
|
axes[0] = (int16_t)(lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
|
||||||
|
((LSM6DS0Driver *)ip)->config->slaveaddress,
|
||||||
|
LSM6DS0_AD_OUT_X_L_XL, NULL));
|
||||||
|
axes[0] += (int16_t)(lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
|
||||||
|
((LSM6DS0Driver *)ip)->config->slaveaddress,
|
||||||
|
LSM6DS0_AD_OUT_X_H_XL, NULL) << 8);
|
||||||
|
}
|
||||||
|
if(((LSM6DS0Driver *)ip)->config->acccfg->axesenabling & LSM6DS0_ACC_AE_Y){
|
||||||
|
axes[1] = (int16_t)(lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
|
||||||
|
((LSM6DS0Driver *)ip)->config->slaveaddress,
|
||||||
|
LSM6DS0_AD_OUT_Y_L_XL, NULL));
|
||||||
|
axes[1] += (int16_t)(lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
|
||||||
|
((LSM6DS0Driver *)ip)->config->slaveaddress,
|
||||||
|
LSM6DS0_AD_OUT_Y_H_XL, NULL) << 8);
|
||||||
|
}
|
||||||
|
if(((LSM6DS0Driver *)ip)->config->acccfg->axesenabling & LSM6DS0_ACC_AE_Z){
|
||||||
|
axes[2] = (int16_t)(lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
|
||||||
|
((LSM6DS0Driver *)ip)->config->slaveaddress,
|
||||||
|
LSM6DS0_AD_OUT_Z_L_XL, NULL));
|
||||||
|
axes[2] += (int16_t)(lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
|
||||||
|
((LSM6DS0Driver *)ip)->config->slaveaddress,
|
||||||
|
LSM6DS0_AD_OUT_Z_H_XL, NULL) << 8);
|
||||||
|
}
|
||||||
|
#if LSM6DS0_SHARED_I2C
|
||||||
|
i2cReleaseBus(((LSM6DS0Driver *)ip)->config->i2cp);
|
||||||
|
#endif /* LSM6DS0_SHARED_I2C */
|
||||||
|
#endif
|
||||||
|
return MSG_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
static msg_t acc_read_cooked(void *ip, float axes[]) {
|
||||||
|
uint32_t i;
|
||||||
|
int32_t raw[LSM6DS0_ACC_NUMBER_OF_AXES];
|
||||||
|
msg_t msg;
|
||||||
|
|
||||||
|
osalDbgCheck((ip != NULL) && (axes != NULL));
|
||||||
|
|
||||||
|
osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),
|
||||||
|
"read_cooked(), invalid state");
|
||||||
|
|
||||||
|
msg = acc_read_raw(ip, raw);
|
||||||
|
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES ; i++){
|
||||||
|
axes[i] = raw[i] * ((LSM6DS0Driver *)ip)->accsens;
|
||||||
|
if(((LSM6DS0Driver *)ip)->config->acccfg->unit == LSM6DS0_ACC_UNIT_G){
|
||||||
|
axes[i] *= TO_G;
|
||||||
|
}
|
||||||
|
else if(((LSM6DS0Driver *)ip)->config->acccfg->unit == LSM6DS0_ACC_UNIT_SI){
|
||||||
|
axes[i] *= TO_SI;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
return msg;
|
||||||
|
}
|
||||||
|
|
||||||
|
static const struct LSM6DS0ACCVMT accvmt = {
|
||||||
|
acc_get_axes_number, acc_read_raw, acc_read_cooked
|
||||||
|
};
|
||||||
|
|
||||||
|
/*===========================================================================*/
|
||||||
|
/* Driver exported functions. */
|
||||||
|
/*===========================================================================*/
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Initializes an instance.
|
||||||
|
*
|
||||||
|
* @param[out] devp pointer to the @p LSM6DS0Driver object
|
||||||
|
*
|
||||||
|
* @init
|
||||||
|
*/
|
||||||
|
void lsm6ds0ObjectInit(LSM6DS0Driver *devp) {
|
||||||
|
|
||||||
|
devp->vmtac = &accvmt;
|
||||||
|
devp->state = LSM6DS0_STOP;
|
||||||
|
devp->config = NULL;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Configures and activates LSM6DS0 Complex Driver peripheral.
|
||||||
|
*
|
||||||
|
* @param[in] devp pointer to the @p LSM6DS0Driver object
|
||||||
|
* @param[in] config pointer to the @p LSM6DS0Config object
|
||||||
|
*
|
||||||
|
* @api
|
||||||
|
*/
|
||||||
|
void lsm6ds0Start(LSM6DS0Driver *devp, const LSM6DS0Config *config) {
|
||||||
|
osalDbgCheck((devp != NULL) && (config != NULL));
|
||||||
|
|
||||||
|
osalDbgAssert((devp->state == LSM6DS0_STOP) || (devp->state == LSM6DS0_READY),
|
||||||
|
"lsm6ds0Start(), invalid state");
|
||||||
|
|
||||||
|
devp->config = config;
|
||||||
|
|
||||||
|
#if LSM6DS0_USE_I2C
|
||||||
|
#if LSM6DS0_SHARED_I2C
|
||||||
|
i2cAcquireBus((devp)->config->i2cp);
|
||||||
|
#endif /* LSM6DS0_SHARED_I2C */
|
||||||
|
i2cStart((devp)->config->i2cp,
|
||||||
|
(devp)->config->i2ccfg);
|
||||||
|
if((devp)->config->acccfg != NULL) {
|
||||||
|
lsm6ds0I2CWriteRegister(devp->config->i2cp,
|
||||||
|
devp->config->slaveaddress,
|
||||||
|
LSM6DS0_AD_CTRL_REG5_XL,
|
||||||
|
devp->config->acccfg->decmode |
|
||||||
|
devp->config->acccfg->axesenabling);
|
||||||
|
lsm6ds0I2CWriteRegister(devp->config->i2cp,
|
||||||
|
devp->config->slaveaddress,
|
||||||
|
LSM6DS0_AD_CTRL_REG6_XL,
|
||||||
|
devp->config->acccfg->outdatarate |
|
||||||
|
devp->config->acccfg->fullscale );
|
||||||
|
}
|
||||||
|
if((devp)->config->gyrocfg != NULL) {
|
||||||
|
lsm6ds0I2CWriteRegister(devp->config->i2cp,
|
||||||
|
devp->config->slaveaddress,
|
||||||
|
LSM6DS0_AD_CTRL_REG1_G,
|
||||||
|
devp->config->gyrocfg->fullscale |
|
||||||
|
devp->config->gyrocfg->outdatarate);
|
||||||
|
lsm6ds0I2CWriteRegister(devp->config->i2cp,
|
||||||
|
devp->config->slaveaddress,
|
||||||
|
LSM6DS0_AD_CTRL_REG2_G,
|
||||||
|
devp->config->gyrocfg->outsel);
|
||||||
|
lsm6ds0I2CWriteRegister(devp->config->i2cp,
|
||||||
|
devp->config->slaveaddress,
|
||||||
|
LSM6DS0_AD_CTRL_REG3_G,
|
||||||
|
devp->config->gyrocfg->hpfenable |
|
||||||
|
devp->config->gyrocfg->lowmodecfg |
|
||||||
|
devp->config->gyrocfg->hpcfg);
|
||||||
|
lsm6ds0I2CWriteRegister(devp->config->i2cp,
|
||||||
|
devp->config->slaveaddress,
|
||||||
|
LSM6DS0_AD_CTRL_REG4,
|
||||||
|
devp->config->gyrocfg->axesenabling);
|
||||||
|
lsm6ds0I2CWriteRegister(devp->config->i2cp,
|
||||||
|
devp->config->slaveaddress,
|
||||||
|
LSM6DS0_AD_CTRL_REG9,
|
||||||
|
LSM6DS0_GYRO_SLP_DISABLED);
|
||||||
|
}
|
||||||
|
lsm6ds0I2CWriteRegister(devp->config->i2cp,
|
||||||
|
devp->config->slaveaddress,
|
||||||
|
LSM6DS0_AD_CTRL_REG8,
|
||||||
|
devp->config->endianness |
|
||||||
|
devp->config->blockdataupdate);
|
||||||
|
#if LSM6DS0_SHARED_I2C
|
||||||
|
i2cReleaseBus((devp)->config->i2cp);
|
||||||
|
#endif /* LSM6DS0_SHARED_I2C */
|
||||||
|
#endif /* LSM6DS0_USE_I2C */
|
||||||
|
/* Storing sensitivity information according to full scale value */
|
||||||
|
if((devp)->config->acccfg != NULL) {
|
||||||
|
if(devp->config->acccfg->fullscale == LSM6DS0_ACC_FS_2G)
|
||||||
|
devp->accsens = LSM6DS0_ACC_SENS_2G;
|
||||||
|
else if(devp->config->acccfg->fullscale == LSM6DS0_ACC_FS_4G)
|
||||||
|
devp->accsens = LSM6DS0_ACC_SENS_4G;
|
||||||
|
else if(devp->config->acccfg->fullscale == LSM6DS0_ACC_FS_8G)
|
||||||
|
devp->accsens = LSM6DS0_ACC_SENS_8G;
|
||||||
|
else if(devp->config->acccfg->fullscale == LSM6DS0_ACC_FS_16G)
|
||||||
|
devp->accsens = LSM6DS0_ACC_SENS_16G;
|
||||||
|
else
|
||||||
|
osalDbgAssert(FALSE, "lsm6ds0Start(), accelerometer full scale issue");
|
||||||
|
}
|
||||||
|
if((devp)->config->gyrocfg != NULL) {
|
||||||
|
if(devp->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_245DSP)
|
||||||
|
devp->gyrosens = LSM6DS0_GYRO_SENS_245DPS;
|
||||||
|
else if(devp->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_500DSP)
|
||||||
|
devp->gyrosens = LSM6DS0_GYRO_SENS_500DPS;
|
||||||
|
else if(devp->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_2000DSP)
|
||||||
|
devp->gyrosens = LSM6DS0_GYRO_SENS_2000DPS;
|
||||||
|
else
|
||||||
|
osalDbgAssert(FALSE, "lsm6ds0Start(), gyroscope full scale issue");
|
||||||
|
}
|
||||||
|
/* This is the Gyroscope transient recovery time */
|
||||||
|
osalThreadSleepMilliseconds(5);
|
||||||
|
|
||||||
|
devp->state = LSM6DS0_READY;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Deactivates the LSM6DS0 Complex Driver peripheral.
|
||||||
|
*
|
||||||
|
* @param[in] devp pointer to the @p LSM6DS0Driver object
|
||||||
|
*
|
||||||
|
* @api
|
||||||
|
*/
|
||||||
|
void lsm6ds0Stop(LSM6DS0Driver *devp) {
|
||||||
|
|
||||||
|
osalDbgCheck(devp != NULL);
|
||||||
|
|
||||||
|
osalDbgAssert((devp->state == LSM6DS0_STOP) || (devp->state == LSM6DS0_READY),
|
||||||
|
"lsm6ds0Stop(), invalid state");
|
||||||
|
|
||||||
|
#if (LSM6DS0_USE_I2C)
|
||||||
|
if (devp->state == LSM6DS0_STOP) {
|
||||||
|
#if LSM6DS0_SHARED_I2C
|
||||||
|
i2cAcquireBus((devp)->config->i2cp);
|
||||||
|
i2cStart((devp)->config->i2cp,
|
||||||
|
(devp)->config->i2ccfg);
|
||||||
|
#endif /* LSM6DS0_SHARED_I2C */
|
||||||
|
if((devp)->config->acccfg != NULL) {
|
||||||
|
lsm6ds0I2CWriteRegister(devp->config->i2cp,
|
||||||
|
devp->config->slaveaddress,
|
||||||
|
LSM6DS0_AD_CTRL_REG6_XL,
|
||||||
|
LSM6DS0_ACC_ODR_PD);
|
||||||
|
}
|
||||||
|
if((devp)->config->gyrocfg != NULL) {
|
||||||
|
lsm6ds0I2CWriteRegister(devp->config->i2cp,
|
||||||
|
devp->config->slaveaddress,
|
||||||
|
LSM6DS0_AD_CTRL_REG9,
|
||||||
|
LSM6DS0_GYRO_SLP_ENABLED);
|
||||||
|
}
|
||||||
|
i2cStop((devp)->config->i2cp);
|
||||||
|
#if LSM6DS0_SHARED_I2C
|
||||||
|
i2cReleaseBus((devp)->config->i2cp);
|
||||||
|
#endif /* LSM6DS0_SHARED_I2C */
|
||||||
|
}
|
||||||
|
#endif /* LSM6DS0_USE_I2C */
|
||||||
|
devp->state = LSM6DS0_STOP;
|
||||||
|
}
|
||||||
|
/** @} */
|
||||||
|
|
@ -0,0 +1,555 @@
|
||||||
|
/*
|
||||||
|
ChibiOS - Copyright (C) 2016 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 lsm6ds0.h
|
||||||
|
* @brief LSM6DS0 MEMS interface module header.
|
||||||
|
*
|
||||||
|
* @{
|
||||||
|
*/
|
||||||
|
#ifndef _LSM6DS0_H_
|
||||||
|
#define _LSM6DS0_H_
|
||||||
|
|
||||||
|
#include "hal_accelerometer.h"
|
||||||
|
#include "hal_gyroscope.h"
|
||||||
|
|
||||||
|
/*===========================================================================*/
|
||||||
|
/* Driver constants. */
|
||||||
|
/*===========================================================================*/
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief LSM6DS0 accelerometer subsystem number of axes.
|
||||||
|
*/
|
||||||
|
#define LSM6DS0_ACC_NUMBER_OF_AXES ((size_t) 3U)
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief LSM6DS0 gyroscope subsystem number of axes.
|
||||||
|
*/
|
||||||
|
#define LSM6DS0_GYRO_NUMBER_OF_AXES ((size_t) 3U)
|
||||||
|
|
||||||
|
/*===========================================================================*/
|
||||||
|
/* Driver pre-compile time settings. */
|
||||||
|
/*===========================================================================*/
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @name Configuration options
|
||||||
|
* @{
|
||||||
|
*/
|
||||||
|
/**
|
||||||
|
* @brief LSM6DS0 SPI interface selector.
|
||||||
|
* @details If set to @p TRUE the support for SPI is included.
|
||||||
|
* @note The default is @p FALSE.
|
||||||
|
*/
|
||||||
|
#if !defined(LSM6DS0_USE_SPI) || defined(__DOXYGEN__)
|
||||||
|
#define LSM6DS0_USE_SPI FALSE
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief LSM6DS0 I2C interface selector.
|
||||||
|
* @details If set to @p TRUE the support for I2C is included.
|
||||||
|
* @note The default is @p TRUE.
|
||||||
|
*/
|
||||||
|
#if !defined(LSM6DS0_USE_I2C) || defined(__DOXYGEN__)
|
||||||
|
#define LSM6DS0_USE_I2C TRUE
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief LSM6DS0 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(LSM6DS0_SHARED_I2C) || defined(__DOXYGEN__)
|
||||||
|
#define LSM6DS0_SHARED_I2C FALSE
|
||||||
|
#endif
|
||||||
|
/** @} */
|
||||||
|
|
||||||
|
/*===========================================================================*/
|
||||||
|
/* Derived constants and error checks. */
|
||||||
|
/*===========================================================================*/
|
||||||
|
|
||||||
|
#if LSM6DS0_USE_SPI && LSM6DS0_USE_I2C
|
||||||
|
#error "LSM6DS0_USE_SPI and LSM6DS0_USE_I2C cannot be both true"
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#if LSM6DS0_USE_SPI && !HAL_USE_SPI
|
||||||
|
#error "LSM6DS0_USE_SPI requires HAL_USE_SPI"
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#if LSM6DS0_USE_I2C && !HAL_USE_I2C
|
||||||
|
#error "LSM6DS0_USE_I2C requires HAL_USE_I2C"
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#if LSM6DS0_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION
|
||||||
|
#error "LSM6DS0_SHARED_SPI requires I2C_USE_MUTUAL_EXCLUSION"
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/*===========================================================================*/
|
||||||
|
/* Driver data structures and types. */
|
||||||
|
/*===========================================================================*/
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @name LSM6DS0 data structures and types
|
||||||
|
* @{
|
||||||
|
*/
|
||||||
|
/**
|
||||||
|
* @name LSM6DS0 accelerometer subsystem data structures and types
|
||||||
|
* @{
|
||||||
|
*/
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief LSM6DS0 accelerometer subsystem full scale
|
||||||
|
*/
|
||||||
|
typedef enum {
|
||||||
|
LSM6DS0_ACC_FS_2G = 0x00, /**< Full scale ±2g. */
|
||||||
|
LSM6DS0_ACC_FS_4G = 0x10, /**< Full scale ±4g. */
|
||||||
|
LSM6DS0_ACC_FS_8G = 0x18, /**< Full scale ±8g. */
|
||||||
|
LSM6DS0_ACC_FS_16G = 0x08 /**< Full scale ±16g. */
|
||||||
|
}lsm6ds0_acc_fs_t;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief LSM6DS0 accelerometer subsystem output data rate
|
||||||
|
*/
|
||||||
|
typedef enum {
|
||||||
|
LSM6DS0_ACC_ODR_PD = 0x00, /**< Power down */
|
||||||
|
LSM6DS0_ACC_ODR_10Hz = 0x20, /**< ODR 10 Hz */
|
||||||
|
LSM6DS0_ACC_ODR_50Hz = 0x40, /**< ODR 50 Hz */
|
||||||
|
LSM6DS0_ACC_ODR_119Hz = 0x60, /**< ODR 119 Hz */
|
||||||
|
LSM6DS0_ACC_ODR_238Hz = 0x80, /**< ODR 238 Hz */
|
||||||
|
LSM6DS0_ACC_ODR_476Hz = 0xA0, /**< ODR 476 Hz */
|
||||||
|
LSM6DS0_ACC_ODR_952Hz = 0xC0 /**< ODR 952 Hz */
|
||||||
|
}lsm6ds0_acc_odr_t;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief LSM6DS0 accelerometer subsystem axes enabling
|
||||||
|
*/
|
||||||
|
typedef enum {
|
||||||
|
LSM6DS0_ACC_AE_DISABLED = 0x00, /**< All axes disabled. */
|
||||||
|
LSM6DS0_ACC_AE_X = 0x08, /**< Only X-axis enabled. */
|
||||||
|
LSM6DS0_ACC_AE_Y = 0x10, /**< Only Y-axis enabled. */
|
||||||
|
LSM6DS0_ACC_AE_XY = 0x18, /**< X and Y axes enabled. */
|
||||||
|
LSM6DS0_ACC_AE_Z = 0x20, /**< Only Z-axis enabled. */
|
||||||
|
LSM6DS0_ACC_AE_XZ = 0x28, /**< X and Z axes enabled. */
|
||||||
|
LSM6DS0_ACC_AE_YZ = 0x30, /**< Y and Z axes enabled. */
|
||||||
|
LSM6DS0_ACC_AE_XYZ = 0x38 /**< All axes enabled. */
|
||||||
|
} lsm6ds0_acc_ae_t;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief LSM6DS0 accelerometer subsystem anti aliasing filter bandwidth
|
||||||
|
*/
|
||||||
|
typedef enum {
|
||||||
|
LSM6DS0_ACC_OBW_ODR = 0x00, /**< Depending on ODR. */
|
||||||
|
LSM6DS0_ACC_OBW_AA = 0x04 /**< Same of the Anti aliasing. */
|
||||||
|
} lsm6ds0_acc_obw_t;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief LSM6DS0 accelerometer subsystem high resolution mode
|
||||||
|
*/
|
||||||
|
typedef enum {
|
||||||
|
LSM6DS0_ACC_HR_DISABLED = 0x00, /**< High resolution mode disabled. */
|
||||||
|
LSM6DS0_ACC_HR_ENABLED = 0x80 /**< High resolution mode enabled. */
|
||||||
|
} lsm6ds0_acc_hr_t;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief LSM6DS0 accelerometer subsystem filtered data selection
|
||||||
|
*/
|
||||||
|
typedef enum {
|
||||||
|
LSM6DS0_ACC_FDS_ENABLED = 0x00, /**< Internal filter bypassed. */
|
||||||
|
LSM6DS0_ACC_FDS_DISABLED = 0x04 /**< Internal filter not bypassed. */
|
||||||
|
} lsm6ds0_acc_fds_t;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief LSM6DS0 accelerometer subsystem digital filter
|
||||||
|
*/
|
||||||
|
typedef enum {
|
||||||
|
LSM6DS0_ACC_DCF_400 = 0x00, /**< Low pass cutoff freq. ODR/400 Hz. */
|
||||||
|
LSM6DS0_ACC_DCF_100 = 0x20, /**< Low pass cutoff freq. ODR/100 Hz. */
|
||||||
|
LSM6DS0_ACC_DCF_50 = 0x60, /**< Low pass cutoff freq. ODR/50 Hz. */
|
||||||
|
LSM6DS0_ACC_DCF_9 = 0x40 /**< Low pass cutoff freq. ODR/9 Hz. */
|
||||||
|
} lsm6ds0_acc_dcf_t;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief LSM6DS0 accelerometer subsystem anti aliasing filter bandwidth
|
||||||
|
*/
|
||||||
|
typedef enum {
|
||||||
|
LSM6DS0_ACC_AABW_408Hz = 0x00, /**< Anti Aliasing filter BW 408Hz. */
|
||||||
|
LSM6DS0_ACC_AABW_211Hz = 0x01, /**< Anti Aliasing filter BW 211Hz. */
|
||||||
|
LSM6DS0_ACC_AABW_105Hz = 0x02, /**< Anti Aliasing filter BW 105Hz. */
|
||||||
|
LSM6DS0_ACC_AABW_50Hz = 0x03, /**< Anti Aliasing filter BW 50Hz. */
|
||||||
|
LSM6DS0_ACC_AABW_AUTO = 0x04 /**< Anti Aliasing filter BW auto. */
|
||||||
|
} lsm6ds0_acc_aabw_t;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief LSM6DS0 accelerometer subsystem decimation mode
|
||||||
|
*/
|
||||||
|
typedef enum {
|
||||||
|
LSM6DS0_ACC_DEC_DISABLED = 0x00, /**< Decimation disabled. */
|
||||||
|
LSM6DS0_ACC_DEC_X2 = 0x40, /**< Output updated every 2 samples. */
|
||||||
|
LSM6DS0_ACC_DEC_X4 = 0x80, /**< Output updated every 4 samples. */
|
||||||
|
LSM6DS0_ACC_DEC_X8 = 0xC0 /**< Output updated every 8 samples. */
|
||||||
|
} lsm6ds0_acc_dec_t;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief LSM6DS0 accelerometer subsystem unit
|
||||||
|
*/
|
||||||
|
typedef enum {
|
||||||
|
LSM6DS0_ACC_UNIT_G = 0x00, /**< Cooked data in g. */
|
||||||
|
LSM6DS0_ACC_UNIT_MG = 0x01, /**< Cooked data in mg. */
|
||||||
|
LSM6DS0_ACC_UNIT_SI = 0x02, /**< Cooked data in m/s^2. */
|
||||||
|
} lsm6ds0_acc_unit_t;
|
||||||
|
/**
|
||||||
|
* @brief LSM6DS0 accelerometer subsystem configuration structure.
|
||||||
|
*/
|
||||||
|
typedef struct {
|
||||||
|
/**
|
||||||
|
* @brief LSM6DS0 accelerometer subsystem full scale
|
||||||
|
*/
|
||||||
|
lsm6ds0_acc_fs_t fullscale;
|
||||||
|
/**
|
||||||
|
* @brief LSM6DS0 accelerometer subsystem output data rate
|
||||||
|
*/
|
||||||
|
lsm6ds0_acc_odr_t outdatarate;
|
||||||
|
/**
|
||||||
|
* @brief LSM6DS0 accelerometer subsystem axes enabling
|
||||||
|
*/
|
||||||
|
lsm6ds0_acc_ae_t axesenabling;
|
||||||
|
/**
|
||||||
|
* @brief LSM6DS0 accelerometer subsystem output bandwidth
|
||||||
|
*/
|
||||||
|
lsm6ds0_acc_obw_t outbandwidth;
|
||||||
|
/**
|
||||||
|
* @brief LSM6DS0 accelerometer subsystem high resolution mode
|
||||||
|
*/
|
||||||
|
lsm6ds0_acc_hr_t highresmode;
|
||||||
|
/**
|
||||||
|
* @brief LSM6DS0 accelerometer subsystem filtered data selection
|
||||||
|
*/
|
||||||
|
lsm6ds0_acc_fds_t filtdatasel;
|
||||||
|
/**
|
||||||
|
* @brief LSM6DS0 accelerometer subsystem digital filter
|
||||||
|
*/
|
||||||
|
lsm6ds0_acc_dcf_t digifilter;
|
||||||
|
/**
|
||||||
|
* @brief LSM6DS0 accelerometer subsystem anti aliasing filter bandwidth
|
||||||
|
*/
|
||||||
|
lsm6ds0_acc_aabw_t aabandwidth;
|
||||||
|
/**
|
||||||
|
* @brief LSM6DS0 accelerometer subsystem decimation mode
|
||||||
|
*/
|
||||||
|
lsm6ds0_acc_dec_t decmode;
|
||||||
|
/**
|
||||||
|
* @brief LSM6DS0 accelerometer subsystem unit
|
||||||
|
*/
|
||||||
|
lsm6ds0_acc_unit_t unit;
|
||||||
|
} LSM6DS0AccConfig;
|
||||||
|
/** @} */
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @name LSM6DS0 gyroscope subsystem data structures and types
|
||||||
|
* @{
|
||||||
|
*/
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief LSM6DS0 gyroscope subsystem full scale
|
||||||
|
*/
|
||||||
|
typedef enum {
|
||||||
|
LSM6DS0_GYRO_FS_245DSP = 0x00, /**< Full scale ±245 degree per second */
|
||||||
|
LSM6DS0_GYRO_FS_500DSP = 0x08, /**< Full scale ±500 degree per second */
|
||||||
|
LSM6DS0_GYRO_FS_2000DSP = 0x18 /**< Full scale ±2000 degree per second */
|
||||||
|
}lsm6ds0_gyro_fs_t;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief LSM6DS0 gyroscope subsystem output data rate
|
||||||
|
*/
|
||||||
|
typedef enum {
|
||||||
|
LSM6DS0_GYRO_ODR_PD = 0x00,
|
||||||
|
LSM6DS0_GYRO_ODR_95HZ_FC_25 = 0x10,
|
||||||
|
LSM6DS0_GYRO_ODR_14_9HZ_FC_5 = 0X20,
|
||||||
|
LSM6DS0_GYRO_ODR_59_5HZ_FC_16 = 0X40,
|
||||||
|
LSM6DS0_GYRO_ODR_119HZ_FC_14 = 0X60,
|
||||||
|
LSM6DS0_GYRO_ODR_119HZ_FC_31 = 0X61,
|
||||||
|
LSM6DS0_GYRO_ODR_238HZ_FC_14 = 0X80,
|
||||||
|
LSM6DS0_GYRO_ODR_238HZ_FC_29 = 0X81,
|
||||||
|
LSM6DS0_GYRO_ODR_238HZ_FC_63 = 0X82,
|
||||||
|
LSM6DS0_GYRO_ODR_238HZ_FC_78 = 0X83,
|
||||||
|
LSM6DS0_GYRO_ODR_476HZ_FC_21 = 0XA0,
|
||||||
|
LSM6DS0_GYRO_ODR_476HZ_FC_28 = 0XA1,
|
||||||
|
LSM6DS0_GYRO_ODR_476HZ_FC_57 = 0XA2,
|
||||||
|
LSM6DS0_GYRO_ODR_476HZ_FC_100 = 0XA3,
|
||||||
|
LSM6DS0_GYRO_ODR_952HZ_FC_33 = 0XC0,
|
||||||
|
LSM6DS0_GYRO_ODR_952HZ_FC_40 = 0XC1,
|
||||||
|
LSM6DS0_GYRO_ODR_952HZ_FC_58 = 0XC2,
|
||||||
|
LSM6DS0_GYRO_ODR_952HZ_FC_100 = 0XC3
|
||||||
|
}lsm6ds0_gyro_odr_t;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief LSM6DS0 gyroscope subsystem axes enabling
|
||||||
|
*/
|
||||||
|
typedef enum {
|
||||||
|
LSM6DS0_GYRO_AE_DISABLED = 0x00, /**< All axes disabled. */
|
||||||
|
LSM6DS0_GYRO_AE_X = 0x08, /**< Only X-axis enabled. */
|
||||||
|
LSM6DS0_GYRO_AE_Y = 0x10, /**< Only Y-axis enabled. */
|
||||||
|
LSM6DS0_GYRO_AE_XY = 0x18, /**< X and Y axes enabled. */
|
||||||
|
LSM6DS0_GYRO_AE_Z = 0x20, /**< Only Z-axis enabled. */
|
||||||
|
LSM6DS0_GYRO_AE_XZ = 0x28, /**< X and Z axes enabled. */
|
||||||
|
LSM6DS0_GYRO_AE_YZ = 0x30, /**< Y and Z axes enabled. */
|
||||||
|
LSM6DS0_GYRO_AE_XYZ = 0x38 /**< All axes enabled. */
|
||||||
|
} lsm6ds0_gyro_ae_t;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief LSM6DS0 gyroscope subsystem low mode configuration
|
||||||
|
*/
|
||||||
|
typedef enum {
|
||||||
|
LSM6DS0_GYRO_LP_DISABLED = 0x00, /**< Low power mode disabled. */
|
||||||
|
LSM6DS0_GYRO_LP_ENABLED = 0x80 /**< Low power mode enabled. */
|
||||||
|
} lsm6ds0_gyro_lp_t;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief LSM6DS0 gyroscope subsystem output selection
|
||||||
|
*/
|
||||||
|
typedef enum {
|
||||||
|
LSM6DS0_GYRO_OUT_SEL_0 = 0x00, /**< Low pass filter 1. */
|
||||||
|
LSM6DS0_GYRO_OUT_SEL_1 = 0x01, /**< High pass filter 1 if enabled. */
|
||||||
|
LSM6DS0_GYRO_OUT_SEL_2 = 0x02 /**< Low pass filter 2. */
|
||||||
|
} lsm6ds0_gyro_out_sel_t;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief LSM6DS0 gyroscope subsystem high pass filter
|
||||||
|
*/
|
||||||
|
typedef enum {
|
||||||
|
LSM6DS0_GYRO_HP_DISABLED = 0x00, /**< High pass filter disabled. */
|
||||||
|
LSM6DS0_GYRO_HP_ENABLED = 0x40 /**< High pass filter enabled. */
|
||||||
|
} lsm6ds0_gyro_hp_t;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief LSM6DS0 gyroscope subsystem high pass filter configuration
|
||||||
|
*/
|
||||||
|
typedef enum {
|
||||||
|
LSM6DS0_GYRO_HPCF_0 = 0x00, /**< Refer to table 48 of RM */
|
||||||
|
LSM6DS0_GYRO_HPCF_1 = 0x01,
|
||||||
|
LSM6DS0_GYRO_HPCF_2 = 0x02,
|
||||||
|
LSM6DS0_GYRO_HPCF_3 = 0x03,
|
||||||
|
LSM6DS0_GYRO_HPCF_4 = 0x04,
|
||||||
|
LSM6DS0_GYRO_HPCF_5 = 0x05,
|
||||||
|
LSM6DS0_GYRO_HPCF_6 = 0x06,
|
||||||
|
LSM6DS0_GYRO_HPCF_7 = 0x07,
|
||||||
|
LSM6DS0_GYRO_HPCF_8 = 0x08,
|
||||||
|
LSM6DS0_GYRO_HPCF_9 = 0x09
|
||||||
|
} lsm6ds0_gyro_hpcf_t;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief LSM6DS0 gyroscope subsystem configuration structure.
|
||||||
|
*/
|
||||||
|
typedef struct {
|
||||||
|
/**
|
||||||
|
* @brief LSM6DS0 gyroscope subsystem full scale
|
||||||
|
*/
|
||||||
|
lsm6ds0_gyro_fs_t fullscale;
|
||||||
|
/**
|
||||||
|
* @brief LSM6DS0 gyroscope subsystem output data rate
|
||||||
|
*/
|
||||||
|
lsm6ds0_gyro_odr_t outdatarate;
|
||||||
|
/**
|
||||||
|
* @brief LSM6DS0 gyroscope subsystem axes enabling
|
||||||
|
*/
|
||||||
|
lsm6ds0_gyro_ae_t axesenabling;
|
||||||
|
/**
|
||||||
|
* @brief LSM6DS0 gyroscope subsystem low mode configuration
|
||||||
|
*/
|
||||||
|
lsm6ds0_gyro_lp_t lowmodecfg;
|
||||||
|
/**
|
||||||
|
* @brief LSM6DS0 gyroscope subsystem output selection
|
||||||
|
*/
|
||||||
|
lsm6ds0_gyro_out_sel_t outsel;
|
||||||
|
/**
|
||||||
|
* @brief LSM6DS0 gyroscope subsystem high pass filter
|
||||||
|
*/
|
||||||
|
lsm6ds0_gyro_hp_t hpfenable;
|
||||||
|
/**
|
||||||
|
* @brief LSM6DS0 gyroscope subsystem high pass filter configuration
|
||||||
|
*/
|
||||||
|
lsm6ds0_gyro_hpcf_t hpcfg;
|
||||||
|
} LSM6DS0GyroConfig;
|
||||||
|
/** @} */
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Accelerometer and Gyroscope Slave Address
|
||||||
|
*/
|
||||||
|
typedef enum {
|
||||||
|
LSM6DS0_SAD_GND = 0x6A, /**< SAD pin connected to GND. */
|
||||||
|
LSM6DS0_SAD_VCC = 0x6B /**< SAD pin connected to VCC. */
|
||||||
|
}lsm6ds0_sad_t;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief LSM6DS0 block data update
|
||||||
|
*/
|
||||||
|
typedef enum {
|
||||||
|
LSM6DS0_BDU_CONTINOUS = 0x00, /**< Block data continuously updated. */
|
||||||
|
LSM6DS0_BDU_BLOCKED = 0x40 /**< Block data updated after reading. */
|
||||||
|
}lsm6ds0_bdu_t;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief LSM6DS0 endianness
|
||||||
|
*/
|
||||||
|
typedef enum {
|
||||||
|
LSM6DS0_END_LITTLE = 0x00, /**< Little endian. */
|
||||||
|
LSM6DS0_END_BIG = 0x20 /**< Big endian. */
|
||||||
|
} lsm6ds0_end_t;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Driver state machine possible states.
|
||||||
|
*/
|
||||||
|
typedef enum {
|
||||||
|
LSM6DS0_UNINIT = 0, /**< Not initialized. */
|
||||||
|
LSM6DS0_STOP = 1, /**< Stopped. */
|
||||||
|
LSM6DS0_READY = 2, /**< Ready. */
|
||||||
|
} lsm6ds0_state_t;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief LSM6DS0 configuration structure.
|
||||||
|
*/
|
||||||
|
typedef struct {
|
||||||
|
#if (LSM6DS0_USE_SPI) || defined(__DOXYGEN__)
|
||||||
|
/**
|
||||||
|
* @brief SPI driver associated to this LSM6DS0.
|
||||||
|
*/
|
||||||
|
SPIDriver *spip;
|
||||||
|
/**
|
||||||
|
* @brief SPI configuration associated to this LSM6DS0 accelerometer
|
||||||
|
* subsystem.
|
||||||
|
*/
|
||||||
|
const SPIConfig *accspicfg;
|
||||||
|
/**
|
||||||
|
* @brief SPI configuration associated to this LSM6DS0 compass
|
||||||
|
* subsystem.
|
||||||
|
*/
|
||||||
|
const SPIConfig *gyrospicfg;
|
||||||
|
#endif /* LSM6DS0_USE_SPI */
|
||||||
|
#if (LSM6DS0_USE_I2C) || defined(__DOXYGEN__)
|
||||||
|
/**
|
||||||
|
* @brief I2C driver associated to this LSM6DS0.
|
||||||
|
*/
|
||||||
|
I2CDriver *i2cp;
|
||||||
|
/**
|
||||||
|
* @brief I2C configuration associated to this LSM6DS0 accelerometer
|
||||||
|
* subsystem.
|
||||||
|
*/
|
||||||
|
const I2CConfig *i2ccfg;
|
||||||
|
#endif /* LSM6DS0_USE_I2C */
|
||||||
|
/**
|
||||||
|
* @brief LSM6DS0 accelerometer subsystem configuration structure
|
||||||
|
*/
|
||||||
|
const LSM6DS0AccConfig *acccfg;
|
||||||
|
/**
|
||||||
|
* @brief LSM6DS0 gyroscope subsystem configuration structure
|
||||||
|
*/
|
||||||
|
const LSM6DS0GyroConfig *gyrocfg;
|
||||||
|
/**
|
||||||
|
* @brief Accelerometer and Gyroscope Slave Address
|
||||||
|
*/
|
||||||
|
lsm6ds0_sad_t slaveaddress;
|
||||||
|
/**
|
||||||
|
* @brief LSM6DS0 block data update
|
||||||
|
*/
|
||||||
|
lsm6ds0_bdu_t blockdataupdate;
|
||||||
|
/**
|
||||||
|
* @brief LSM6DS0 endianness
|
||||||
|
*/
|
||||||
|
lsm6ds0_end_t endianness;
|
||||||
|
} LSM6DS0Config;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Structure representing a LSM6DS0 driver.
|
||||||
|
*/
|
||||||
|
typedef struct LSM6DS0Driver LSM6DS0Driver;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief @p LSM6DS0 accelerometer subsystem specific methods.
|
||||||
|
*/
|
||||||
|
#define _lsm6ds0_acc_methods \
|
||||||
|
_base_accelerometer_methods
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief @p LSM6DS0 gyroscope subsystem specific methods.
|
||||||
|
*/
|
||||||
|
#define _lsm6ds0_gyro_methods \
|
||||||
|
_base_gyroscope_methods
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @extends BaseAccelerometerVMT
|
||||||
|
*
|
||||||
|
* @brief @p LSM6DS0 accelerometer virtual methods table.
|
||||||
|
*/
|
||||||
|
struct LSM6DS0ACCVMT {
|
||||||
|
_lsm6ds0_acc_methods
|
||||||
|
};
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @extends BaseCompassVMT
|
||||||
|
*
|
||||||
|
* @brief @p LSM6DS0 gyroscope virtual methods table.
|
||||||
|
*/
|
||||||
|
struct LSM6DS0GYROVMT {
|
||||||
|
_lsm6ds0_gyro_methods
|
||||||
|
};
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief @p LSM6DS0Driver specific data.
|
||||||
|
*/
|
||||||
|
#define _lsm6ds0_data \
|
||||||
|
_base_accelerometer_data \
|
||||||
|
_base_gyroscope_data \
|
||||||
|
/* Driver state.*/ \
|
||||||
|
lsm6ds0_state_t state; \
|
||||||
|
/* Current configuration data.*/ \
|
||||||
|
const LSM6DS0Config *config; \
|
||||||
|
/* Current accelerometer sensitivity.*/ \
|
||||||
|
float accsens; \
|
||||||
|
/* Current gyroscope sensitivity.*/ \
|
||||||
|
float gyrosens;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief LSM6DS0 6-axis accelerometer/gyroscope class.
|
||||||
|
*/
|
||||||
|
struct LSM6DS0Driver {
|
||||||
|
/** @brief Accelerometer Virtual Methods Table.*/
|
||||||
|
const struct LSM6DS0ACCVMT *vmtac;
|
||||||
|
/** @brief Gyroscope Virtual Methods Table.*/
|
||||||
|
const struct LSM6DS0GYROVMT *vmtgy;
|
||||||
|
_lsm6ds0_data
|
||||||
|
};
|
||||||
|
/** @} */
|
||||||
|
|
||||||
|
/*===========================================================================*/
|
||||||
|
/* Driver macros. */
|
||||||
|
/*===========================================================================*/
|
||||||
|
|
||||||
|
/*===========================================================================*/
|
||||||
|
/* External declarations. */
|
||||||
|
/*===========================================================================*/
|
||||||
|
|
||||||
|
#ifdef __cplusplus
|
||||||
|
extern "C" {
|
||||||
|
#endif
|
||||||
|
void lsm6ds0ObjectInit(LSM6DS0Driver *devp);
|
||||||
|
void lsm6ds0Start(LSM6DS0Driver *devp, const LSM6DS0Config *config);
|
||||||
|
void lsm6ds0Stop(LSM6DS0Driver *devp);
|
||||||
|
#ifdef __cplusplus
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#endif /* _LSM6DS0_H_ */
|
||||||
|
|
||||||
|
/** @} */
|
||||||
|
|
@ -0,0 +1,6 @@
|
||||||
|
# List of all the LSM6DS0 device files.
|
||||||
|
LSM6DS0SRC := $(CHIBIOS)/os/ex/ST/lsm6ds0.c
|
||||||
|
|
||||||
|
# Required include directories
|
||||||
|
LSM6DS0INC := $(CHIBIOS)/os/hal/lib/peripherals/include \
|
||||||
|
$(CHIBIOS)/os/ex/ST
|
||||||
Loading…
Reference in New Issue