UpdatedEX: LSM6DS0 driver updated to v1.0.0
git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9758 35acf78f-673a-0410-8e92-d51de3d6d3f4
This commit is contained in:
Rocco Marco Guglielmi
parent
0cb5879d1d
commit
eb63492a0c
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@ -33,93 +33,6 @@
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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_TEMP_SENS ((float)16.0f)
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#define LSM6DS0_TEMP_SENS_OFF ((float)25.0f)
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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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@ -194,70 +107,10 @@ uint8_t lsm6ds0I2CReadRegister(I2CDriver *i2cp, lsm6ds0_sad_t sad, uint8_t reg,
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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:
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txbuf[0] = reg;
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txbuf[1] = value;
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return i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0, TIME_INFINITE);
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break;
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}
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txbuf[0] = reg;
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txbuf[1] = value;
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return i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, NULL, 0, TIME_INFINITE);
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}
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#endif /* LSM6DS0_USE_I2C */
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@ -289,6 +142,7 @@ static size_t sens_get_axes_number(void *ip) {
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static msg_t acc_read_raw(void *ip, int32_t axes[]) {
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int16_t tmp;
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msg_t msg = MSG_OK;
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osalDbgCheck(((ip != NULL) && (axes != NULL)) &&
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(((LSM6DS0Driver *)ip)->config->acccfg != NULL));
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osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),
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@ -302,33 +156,41 @@ static msg_t acc_read_raw(void *ip, int32_t axes[]) {
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i2cStart(((LSM6DS0Driver *)ip)->config->i2cp,
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((LSM6DS0Driver *)ip)->config->i2ccfg);
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#endif /* LSM6DS0_SHARED_I2C */
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if(((LSM6DS0Driver *)ip)->config->acccfg->axesenabling & LSM6DS0_ACC_AE_X){
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tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
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((LSM6DS0Driver *)ip)->config->slaveaddress,
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LSM6DS0_AD_OUT_X_L_XL, NULL);
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tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
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((LSM6DS0Driver *)ip)->config->slaveaddress,
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LSM6DS0_AD_OUT_X_H_XL, NULL) << 8;
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axes[0] = (int32_t)tmp - ((LSM6DS0Driver *)ip)->accbias[0];
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}
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if(((LSM6DS0Driver *)ip)->config->acccfg->axesenabling & LSM6DS0_ACC_AE_Y){
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tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
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((LSM6DS0Driver *)ip)->config->slaveaddress,
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LSM6DS0_AD_OUT_Y_L_XL, NULL);
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tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
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((LSM6DS0Driver *)ip)->config->slaveaddress,
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LSM6DS0_AD_OUT_Y_H_XL, NULL) << 8;
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axes[1] = (int32_t)tmp - ((LSM6DS0Driver *)ip)->accbias[1];
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}
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if(((LSM6DS0Driver *)ip)->config->acccfg->axesenabling & LSM6DS0_ACC_AE_Z){
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tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
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((LSM6DS0Driver *)ip)->config->slaveaddress,
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LSM6DS0_AD_OUT_Z_L_XL, NULL);
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tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
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((LSM6DS0Driver *)ip)->config->slaveaddress,
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LSM6DS0_AD_OUT_Z_H_XL, NULL) << 8;
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axes[2] = (int32_t)tmp - ((LSM6DS0Driver *)ip)->accbias[2];
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}
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tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
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((LSM6DS0Driver *)ip)->config->slaveaddress,
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LSM6DS0_AD_OUT_X_L_XL, NULL);
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if (msg != MSG_OK)
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return msg;
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tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
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((LSM6DS0Driver *)ip)->config->slaveaddress,
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LSM6DS0_AD_OUT_X_H_XL, NULL) << 8;
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if (msg != MSG_OK)
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return msg;
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axes[0] = (int32_t)tmp;
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tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
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((LSM6DS0Driver *)ip)->config->slaveaddress,
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LSM6DS0_AD_OUT_Y_L_XL, NULL);
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if (msg != MSG_OK)
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return msg;
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tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
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((LSM6DS0Driver *)ip)->config->slaveaddress,
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LSM6DS0_AD_OUT_Y_H_XL, NULL) << 8;
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if (msg != MSG_OK)
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return msg;
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axes[1] = (int32_t)tmp;
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tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
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((LSM6DS0Driver *)ip)->config->slaveaddress,
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LSM6DS0_AD_OUT_Z_L_XL, NULL);
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if (msg != MSG_OK)
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return msg;
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tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
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((LSM6DS0Driver *)ip)->config->slaveaddress,
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LSM6DS0_AD_OUT_Z_H_XL, NULL) << 8;
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if (msg != MSG_OK)
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return msg;
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axes[2] = (int32_t)tmp;
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#if LSM6DS0_SHARED_I2C
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i2cReleaseBus(((LSM6DS0Driver *)ip)->config->i2cp);
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#endif /* LSM6DS0_SHARED_I2C */
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@ -338,6 +200,7 @@ static msg_t acc_read_raw(void *ip, int32_t axes[]) {
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static msg_t gyro_read_raw(void *ip, int32_t axes[]) {
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int16_t tmp;
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msg_t msg = MSG_OK;
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osalDbgCheck(((ip != NULL) && (axes != NULL)) &&
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(((LSM6DS0Driver *)ip)->config->gyrocfg != NULL));
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osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),
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@ -351,33 +214,41 @@ static msg_t gyro_read_raw(void *ip, int32_t axes[]) {
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i2cStart(((LSM6DS0Driver *)ip)->config->i2cp,
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((LSM6DS0Driver *)ip)->config->i2ccfg);
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#endif /* LSM6DS0_SHARED_I2C */
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if(((LSM6DS0Driver *)ip)->config->gyrocfg->axesenabling & LSM6DS0_GYRO_AE_X){
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tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
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((LSM6DS0Driver *)ip)->config->slaveaddress,
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LSM6DS0_AD_OUT_X_L_G, NULL);
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tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
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((LSM6DS0Driver *)ip)->config->slaveaddress,
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tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
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((LSM6DS0Driver *)ip)->config->slaveaddress,
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LSM6DS0_AD_OUT_X_L_G, NULL);
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if (msg != MSG_OK)
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return msg;
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tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
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((LSM6DS0Driver *)ip)->config->slaveaddress,
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LSM6DS0_AD_OUT_X_H_G, NULL) << 8;
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axes[0] = (int32_t)tmp - ((LSM6DS0Driver *)ip)->gyrobias[0];
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}
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if(((LSM6DS0Driver *)ip)->config->acccfg->axesenabling & LSM6DS0_GYRO_AE_Y){
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tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
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((LSM6DS0Driver *)ip)->config->slaveaddress,
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LSM6DS0_AD_OUT_Y_L_G, NULL);
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tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
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((LSM6DS0Driver *)ip)->config->slaveaddress,
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LSM6DS0_AD_OUT_Y_H_G, NULL) << 8;
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axes[1] = (int32_t)tmp - ((LSM6DS0Driver *)ip)->gyrobias[1];
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}
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if(((LSM6DS0Driver *)ip)->config->acccfg->axesenabling & LSM6DS0_GYRO_AE_Z){
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tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
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((LSM6DS0Driver *)ip)->config->slaveaddress,
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LSM6DS0_AD_OUT_Z_L_G, NULL);
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tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
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((LSM6DS0Driver *)ip)->config->slaveaddress,
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LSM6DS0_AD_OUT_Z_H_G, NULL) << 8;
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axes[2] = (int32_t)tmp - ((LSM6DS0Driver *)ip)->gyrobias[2];
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}
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if (msg != MSG_OK)
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return msg;
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axes[0] = (int32_t)tmp;
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tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
|
||||
((LSM6DS0Driver *)ip)->config->slaveaddress,
|
||||
LSM6DS0_AD_OUT_Y_L_G, NULL);
|
||||
if (msg != MSG_OK)
|
||||
return msg;
|
||||
tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
|
||||
((LSM6DS0Driver *)ip)->config->slaveaddress,
|
||||
LSM6DS0_AD_OUT_Y_H_G, NULL) << 8;
|
||||
if (msg != MSG_OK)
|
||||
return msg;
|
||||
axes[1] = (int32_t)tmp;
|
||||
|
||||
tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
|
||||
((LSM6DS0Driver *)ip)->config->slaveaddress,
|
||||
LSM6DS0_AD_OUT_Z_L_G, NULL);
|
||||
if (msg != MSG_OK)
|
||||
return msg;
|
||||
tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
|
||||
((LSM6DS0Driver *)ip)->config->slaveaddress,
|
||||
LSM6DS0_AD_OUT_Z_H_G, NULL) << 8;
|
||||
if (msg != MSG_OK)
|
||||
return msg;
|
||||
axes[2] = (int32_t)tmp;
|
||||
#if LSM6DS0_SHARED_I2C
|
||||
i2cReleaseBus(((LSM6DS0Driver *)ip)->config->i2cp);
|
||||
#endif /* LSM6DS0_SHARED_I2C */
|
||||
|
|
@ -414,12 +285,7 @@ static msg_t acc_read_cooked(void *ip, float axes[]) {
|
|||
msg = acc_read_raw(ip, raw);
|
||||
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES ; i++){
|
||||
axes[i] = raw[i] * ((LSM6DS0Driver *)ip)->accsensitivity[i];
|
||||
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;
|
||||
}
|
||||
axes[i] -= ((LSM6DS0Driver *)ip)->accbias[i];
|
||||
}
|
||||
return msg;
|
||||
}
|
||||
|
|
@ -438,6 +304,7 @@ static msg_t gyro_read_cooked(void *ip, float axes[]) {
|
|||
msg = gyro_read_raw(ip, raw);
|
||||
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES ; i++){
|
||||
axes[i] = raw[i] * ((LSM6DS0Driver *)ip)->gyrosensitivity[i];
|
||||
axes[i] -= ((LSM6DS0Driver *)ip)->gyrobias[i];
|
||||
}
|
||||
return msg;
|
||||
}
|
||||
|
|
@ -470,8 +337,8 @@ static msg_t gyro_sample_bias(void *ip) {
|
|||
|
||||
for(i = 0; i < LSM6DS0_GYRO_BIAS_ACQ_TIMES; i++){
|
||||
msg = gyro_read_raw(ip, raw);
|
||||
if(msg != MSG_OK)
|
||||
return msg;
|
||||
if(msg != MSG_OK)
|
||||
return msg;
|
||||
for(j = 0; j < LSM6DS0_GYRO_NUMBER_OF_AXES; j++){
|
||||
buff[j] += raw[j];
|
||||
}
|
||||
|
|
@ -480,6 +347,7 @@ static msg_t gyro_sample_bias(void *ip) {
|
|||
|
||||
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++){
|
||||
((LSM6DS0Driver *)ip)->gyrobias[i] = buff[i] / LSM6DS0_GYRO_BIAS_ACQ_TIMES;
|
||||
((LSM6DS0Driver *)ip)->gyrobias[i] *= ((LSM6DS0Driver *)ip)->gyrosensitivity[i];
|
||||
}
|
||||
return msg;
|
||||
}
|
||||
|
|
@ -605,13 +473,13 @@ static msg_t gyro_reset_sensivity(void *ip) {
|
|||
osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),
|
||||
"gyro_reset_sensivity(), invalid state");
|
||||
|
||||
if(((LSM6DS0Driver *)ip)->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_245DSP)
|
||||
if(((LSM6DS0Driver *)ip)->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_245DPS)
|
||||
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
|
||||
((LSM6DS0Driver *)ip)->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_245DPS;
|
||||
else if(((LSM6DS0Driver *)ip)->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_500DSP)
|
||||
else if(((LSM6DS0Driver *)ip)->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_500DPS)
|
||||
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
|
||||
((LSM6DS0Driver *)ip)->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_500DPS;
|
||||
else if(((LSM6DS0Driver *)ip)->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_2000DSP)
|
||||
else if(((LSM6DS0Driver *)ip)->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_2000DPS)
|
||||
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
|
||||
((LSM6DS0Driver *)ip)->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_2000DPS;
|
||||
else {
|
||||
|
|
@ -621,27 +489,98 @@ static msg_t gyro_reset_sensivity(void *ip) {
|
|||
return MSG_OK;
|
||||
}
|
||||
|
||||
static msg_t sens_get_temperature(void *ip, float* tempp) {
|
||||
int16_t temp;
|
||||
#if LSM6DS0_USE_I2C
|
||||
osalDbgAssert((((LSM6DS0Driver *)ip)->config->i2cp->state == I2C_READY),
|
||||
"gyro_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 */
|
||||
temp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
|
||||
static msg_t acc_set_full_scale(void *ip, lsm6ds0_acc_fs_t fs) {
|
||||
float newfs, scale;
|
||||
uint8_t i, cr;
|
||||
msg_t msg;
|
||||
|
||||
if(fs == LSM6DS0_ACC_FS_2G) {
|
||||
newfs = LSM6DS0_ACC_2G;
|
||||
}
|
||||
else if(fs == LSM6DS0_ACC_FS_4G) {
|
||||
newfs = LSM6DS0_ACC_4G;
|
||||
}
|
||||
else if(fs == LSM6DS0_ACC_FS_8G) {
|
||||
newfs = LSM6DS0_ACC_8G;
|
||||
}
|
||||
else if(fs == LSM6DS0_ACC_FS_16G) {
|
||||
newfs = LSM6DS0_ACC_16G;
|
||||
}
|
||||
else {
|
||||
return MSG_RESET;
|
||||
}
|
||||
|
||||
if(newfs != ((LSM6DS0Driver *)ip)->accfullscale) {
|
||||
scale = newfs / ((LSM6DS0Driver *)ip)->accfullscale;
|
||||
((LSM6DS0Driver *)ip)->accfullscale = newfs;
|
||||
|
||||
/* Updating register.*/
|
||||
cr = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
|
||||
((LSM6DS0Driver *)ip)->config->slaveaddress,
|
||||
LSM6DS0_AD_OUT_TEMP_L, NULL);
|
||||
temp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
|
||||
((LSM6DS0Driver *)ip)->config->slaveaddress,
|
||||
LSM6DS0_AD_OUT_TEMP_H, NULL) << 8;
|
||||
#if LSM6DS0_SHARED_I2C
|
||||
i2cReleaseBus(((LSM6DS0Driver *)ip)->config->i2cp);
|
||||
#endif /* LSM6DS0_SHARED_I2C */
|
||||
#endif /* LSM6DS0_USE_I2C */
|
||||
*tempp = ((float)temp / LSM6DS0_TEMP_SENS) + LSM6DS0_TEMP_SENS_OFF;
|
||||
LSM6DS0_AD_CTRL_REG6_XL, &msg);
|
||||
if(msg != MSG_OK)
|
||||
return msg;
|
||||
|
||||
cr &= ~(LSM6DS0_CTRL_REG6_XL_FS_MASK);
|
||||
cr |= fs;
|
||||
msg = lsm6ds0I2CWriteRegister(((LSM6DS0Driver *)ip)->config->i2cp,
|
||||
((LSM6DS0Driver *)ip)->config->slaveaddress,
|
||||
LSM6DS0_AD_CTRL_REG6_XL, cr);
|
||||
if(msg != MSG_OK)
|
||||
return msg;
|
||||
|
||||
/* Scaling sensitivity and bias. Re-calibration is suggested anyway. */
|
||||
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) {
|
||||
((LSM6DS0Driver *)ip)->accsensitivity[i] *= scale;
|
||||
((LSM6DS0Driver *)ip)->accbias[i] *= scale;
|
||||
}
|
||||
}
|
||||
return MSG_OK;
|
||||
}
|
||||
|
||||
static msg_t gyro_set_full_scale(void *ip, lsm6ds0_gyro_fs_t fs) {
|
||||
float newfs, scale;
|
||||
uint8_t i, cr;
|
||||
msg_t msg;
|
||||
|
||||
if(fs == LSM6DS0_GYRO_FS_245DPS) {
|
||||
newfs = LSM6DS0_GYRO_245DPS;
|
||||
}
|
||||
else if(fs == LSM6DS0_GYRO_FS_500DPS) {
|
||||
newfs = LSM6DS0_GYRO_500DPS;
|
||||
}
|
||||
else if(fs == LSM6DS0_GYRO_FS_2000DPS) {
|
||||
newfs = LSM6DS0_GYRO_2000DPS;
|
||||
}
|
||||
else {
|
||||
return MSG_RESET;
|
||||
}
|
||||
|
||||
if(newfs != ((LSM6DS0Driver *)ip)->gyrofullscale) {
|
||||
scale = newfs / ((LSM6DS0Driver *)ip)->gyrofullscale;
|
||||
((LSM6DS0Driver *)ip)->gyrofullscale = newfs;
|
||||
|
||||
/* Updating register.*/
|
||||
cr = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
|
||||
((LSM6DS0Driver *)ip)->config->slaveaddress,
|
||||
LSM6DS0_AD_CTRL_REG1_G, &msg);
|
||||
if(msg != MSG_OK)
|
||||
return msg;
|
||||
|
||||
cr &= ~(LSM6DS0_CTRL_REG1_G_FS_MASK);
|
||||
cr |= fs;
|
||||
msg = lsm6ds0I2CWriteRegister(((LSM6DS0Driver *)ip)->config->i2cp,
|
||||
((LSM6DS0Driver *)ip)->config->slaveaddress,
|
||||
LSM6DS0_AD_CTRL_REG1_G, cr);
|
||||
if(msg != MSG_OK)
|
||||
return msg;
|
||||
|
||||
/* Scaling sensitivity and bias. Re-calibration is suggested anyway. */
|
||||
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) {
|
||||
((LSM6DS0Driver *)ip)->gyrosensitivity[i] *= scale;
|
||||
((LSM6DS0Driver *)ip)->gyrobias[i] *= scale;
|
||||
}
|
||||
}
|
||||
return MSG_OK;
|
||||
}
|
||||
|
||||
|
|
@ -662,13 +601,14 @@ static const struct BaseAccelerometerVMT vmt_baseaccelerometer = {
|
|||
|
||||
static const struct LSM6DS0ACCVMT vmt_lsm6ds0acc = {
|
||||
acc_get_axes_number, acc_read_raw, acc_read_cooked,
|
||||
acc_set_bias, acc_reset_bias, acc_set_sensivity, acc_reset_sensivity
|
||||
acc_set_bias, acc_reset_bias, acc_set_sensivity, acc_reset_sensivity,
|
||||
acc_set_full_scale
|
||||
};
|
||||
|
||||
static const struct LSM6DS0GYROVMT vmt_lsm6ds0gyro = {
|
||||
gyro_get_axes_number, gyro_read_raw, gyro_read_cooked,
|
||||
gyro_sample_bias, gyro_set_bias, gyro_reset_bias,
|
||||
gyro_set_sensivity, gyro_reset_sensivity, sens_get_temperature
|
||||
gyro_set_sensivity, gyro_reset_sensivity, gyro_set_full_scale
|
||||
};
|
||||
|
||||
/*===========================================================================*/
|
||||
|
|
@ -707,6 +647,7 @@ void lsm6ds0ObjectInit(LSM6DS0Driver *devp) {
|
|||
*/
|
||||
void lsm6ds0Start(LSM6DS0Driver *devp, const LSM6DS0Config *config) {
|
||||
uint32_t i;
|
||||
uint8_t cr;
|
||||
osalDbgCheck((devp != NULL) && (config != NULL));
|
||||
|
||||
osalDbgAssert((devp->state == LSM6DS0_STOP) || (devp->state == LSM6DS0_READY),
|
||||
|
|
@ -721,47 +662,87 @@ void lsm6ds0Start(LSM6DS0Driver *devp, const LSM6DS0Config *config) {
|
|||
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 );
|
||||
/* Control register 5 configuration block.*/
|
||||
{
|
||||
cr = LSM6DS0_CTRL_REG5_XL_XEN_XL | LSM6DS0_CTRL_REG5_XL_YEN_XL |
|
||||
LSM6DS0_CTRL_REG5_XL_ZEN_XL;
|
||||
#if LSM6DS0_ACC_USE_ADVANCED || defined(__DOXYGEN__)
|
||||
cr |= devp->config->acccfg->decmode;
|
||||
|
||||
#endif
|
||||
lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
|
||||
LSM6DS0_AD_CTRL_REG5_XL, cr);
|
||||
}
|
||||
/* Control register 6 configuration block.*/
|
||||
{
|
||||
cr = devp->config->acccfg->outdatarate |
|
||||
devp->config->acccfg->fullscale;
|
||||
lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
|
||||
LSM6DS0_AD_CTRL_REG6_XL, cr);
|
||||
}
|
||||
}
|
||||
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);
|
||||
/* Control register 1 configuration block.*/
|
||||
{
|
||||
cr = devp->config->gyrocfg->fullscale |
|
||||
devp->config->gyrocfg->outdatarate;
|
||||
#if LSM6DS0_GYRO_USE_ADVANCED || defined(__DOXYGEN__)
|
||||
cr |= devp->config->acccfg->decmode;
|
||||
|
||||
#endif
|
||||
lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
|
||||
LSM6DS0_AD_CTRL_REG1_G, cr);
|
||||
}
|
||||
|
||||
/* Control register 2 configuration block.*/
|
||||
{
|
||||
cr = 0;
|
||||
#if LSM6DS0_GYRO_USE_ADVANCED || defined(__DOXYGEN__)
|
||||
cr |= devp->config->gyrocfg->outsel;
|
||||
|
||||
#endif
|
||||
lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
|
||||
LSM6DS0_AD_CTRL_REG2_G, cr);
|
||||
}
|
||||
|
||||
/* Control register 3 configuration block.*/
|
||||
{
|
||||
cr = 0;
|
||||
#if LSM6DS0_GYRO_USE_ADVANCED || defined(__DOXYGEN__)
|
||||
cr |= devp->config->gyrocfg->hpfenable |
|
||||
devp->config->gyrocfg->lowmodecfg |
|
||||
devp->config->gyrocfg->hpcfg;
|
||||
|
||||
#endif
|
||||
lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
|
||||
LSM6DS0_AD_CTRL_REG3_G, cr);
|
||||
}
|
||||
|
||||
/* Control register 4 configuration block.*/
|
||||
{
|
||||
cr = LSM6DS0_CTRL_REG4_XEN_G | LSM6DS0_CTRL_REG4_YEN_G |
|
||||
LSM6DS0_CTRL_REG4_ZEN_G;
|
||||
lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
|
||||
LSM6DS0_AD_CTRL_REG4, cr);
|
||||
}
|
||||
|
||||
/* Control register 9 configuration block.*/
|
||||
{
|
||||
cr = LSM6DS0_GYRO_SLP_DISABLED;
|
||||
lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
|
||||
LSM6DS0_AD_CTRL_REG9, cr);
|
||||
}
|
||||
}
|
||||
|
||||
/* Control register 8 configuration block.*/
|
||||
{
|
||||
cr = 0;
|
||||
#if LSM6DS0_USE_ADVANCED || defined(__DOXYGEN__)
|
||||
cr |= devp->config->endianness | devp->config->blockdataupdate;
|
||||
#endif
|
||||
lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
|
||||
LSM6DS0_AD_CTRL_REG8, cr);
|
||||
}
|
||||
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 */
|
||||
|
|
@ -769,30 +750,44 @@ void lsm6ds0Start(LSM6DS0Driver *devp, const LSM6DS0Config *config) {
|
|||
/* Storing sensitivity information according to full scale value */
|
||||
if((devp)->config->acccfg != NULL) {
|
||||
if(devp->config->acccfg->fullscale == LSM6DS0_ACC_FS_2G)
|
||||
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
|
||||
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) {
|
||||
devp->accsensitivity[i] = LSM6DS0_ACC_SENS_2G;
|
||||
devp->accfullscale = LSM6DS0_ACC_2G;
|
||||
}
|
||||
else if(devp->config->acccfg->fullscale == LSM6DS0_ACC_FS_4G)
|
||||
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
|
||||
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++){
|
||||
devp->accsensitivity[i] = LSM6DS0_ACC_SENS_4G;
|
||||
devp->accfullscale = LSM6DS0_ACC_4G;
|
||||
}
|
||||
else if(devp->config->acccfg->fullscale == LSM6DS0_ACC_FS_8G)
|
||||
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
|
||||
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++){
|
||||
devp->accsensitivity[i] = LSM6DS0_ACC_SENS_8G;
|
||||
devp->accfullscale = LSM6DS0_ACC_8G;
|
||||
}
|
||||
else if(devp->config->acccfg->fullscale == LSM6DS0_ACC_FS_16G)
|
||||
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
|
||||
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++){
|
||||
devp->accsensitivity[i] = LSM6DS0_ACC_SENS_16G;
|
||||
devp->accfullscale = LSM6DS0_ACC_16G;
|
||||
}
|
||||
else
|
||||
osalDbgAssert(FALSE, "lsm6ds0Start(), accelerometer full scale issue");
|
||||
}
|
||||
if((devp)->config->gyrocfg != NULL) {
|
||||
if(devp->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_245DSP)
|
||||
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++)
|
||||
if(devp->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_245DPS)
|
||||
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) {
|
||||
devp->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_245DPS;
|
||||
else if(devp->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_500DSP)
|
||||
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++)
|
||||
devp->gyrofullscale = LSM6DS0_GYRO_245DPS;
|
||||
}
|
||||
else if(devp->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_500DPS)
|
||||
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) {
|
||||
devp->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_500DPS;
|
||||
else if(devp->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_2000DSP)
|
||||
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++)
|
||||
devp->gyrofullscale = LSM6DS0_GYRO_500DPS;
|
||||
}
|
||||
else if(devp->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_2000DPS)
|
||||
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) {
|
||||
devp->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_2000DPS;
|
||||
devp->gyrofullscale = LSM6DS0_GYRO_2000DPS;
|
||||
}
|
||||
else
|
||||
osalDbgAssert(FALSE, "lsm6ds0Start(), gyroscope full scale issue");
|
||||
}
|
||||
|
|
|
|||
|
|
@ -35,14 +35,260 @@
|
|||
/*===========================================================================*/
|
||||
|
||||
/**
|
||||
* @brief LSM6DS0 accelerometer subsystem number of axes.
|
||||
* @name Version identification
|
||||
* @{
|
||||
*/
|
||||
#define LSM6DS0_ACC_NUMBER_OF_AXES ((size_t) 3U)
|
||||
/**
|
||||
* @brief LSM6DS0 driver version string.
|
||||
*/
|
||||
#define EX_LSM6DS0_VERSION "1.0.0"
|
||||
|
||||
/**
|
||||
* @brief LSM6DS0 gyroscope subsystem number of axes.
|
||||
* @brief LSM6DS0 driver version major number.
|
||||
*/
|
||||
#define LSM6DS0_GYRO_NUMBER_OF_AXES ((size_t) 3U)
|
||||
#define EX_LSM6DS0_MAJOR 1
|
||||
|
||||
/**
|
||||
* @brief LSM6DS0 driver version minor number.
|
||||
*/
|
||||
#define EX_LSM6DS0_MINOR 0
|
||||
|
||||
/**
|
||||
* @brief LSM6DS0 driver version patch number.
|
||||
*/
|
||||
#define EX_LSM6DS0_PATCH 0
|
||||
/** @} */
|
||||
|
||||
/**
|
||||
* @brief LSM6DS0 accelerometer subsystem characteristics.
|
||||
*
|
||||
* @{
|
||||
*/
|
||||
#define LSM6DS0_ACC_NUMBER_OF_AXES 3U
|
||||
|
||||
#define LSM6DS0_ACC_2G 2.0f
|
||||
#define LSM6DS0_ACC_4G 4.0f
|
||||
#define LSM6DS0_ACC_8G 8.0f
|
||||
#define LSM6DS0_ACC_16G 16.0f
|
||||
|
||||
#define LSM6DS0_ACC_SENS_2G 0.061f
|
||||
#define LSM6DS0_ACC_SENS_4G 0.122f
|
||||
#define LSM6DS0_ACC_SENS_8G 0.244f
|
||||
#define LSM6DS0_ACC_SENS_16G 0.732f
|
||||
/** @} */
|
||||
|
||||
/**
|
||||
* @brief LSM6DS0 gyroscope subsystem characteristics.
|
||||
*
|
||||
* @{
|
||||
*/
|
||||
#define LSM6DS0_GYRO_NUMBER_OF_AXES 3U
|
||||
|
||||
#define LSM6DS0_GYRO_245DPS 245.0f
|
||||
#define LSM6DS0_GYRO_500DPS 500.0f
|
||||
#define LSM6DS0_GYRO_2000DPS 2000.0f
|
||||
|
||||
#define LSM6DS0_GYRO_SENS_245DPS 0.00875f
|
||||
#define LSM6DS0_GYRO_SENS_500DPS 0.01750f
|
||||
#define LSM6DS0_GYRO_SENS_2000DPS 0.07000f
|
||||
/** @} */
|
||||
|
||||
/**
|
||||
* @name LSM6DS0 communication interfaces related bit masks
|
||||
* @{
|
||||
*/
|
||||
#define LSM6DS0_DI_MASK 0xFF /**< Data In mask */
|
||||
#define LSM6DS0_DI(n) (1 << n) /**< Data In bit n */
|
||||
#define LSM6DS0_AD_MASK 0x7F /**< Address Data mask */
|
||||
#define LSM6DS0_AD(n) (1 << n) /**< Address Data bit n */
|
||||
#define LSM6DS0_MS (1 << 7) /**< Multiple read write */
|
||||
/** @} */
|
||||
|
||||
/**
|
||||
* @name LSM6DS0 register addresses
|
||||
* @{
|
||||
*/
|
||||
#define LSM6DS0_AD_ACT_THS 0x04
|
||||
#define LSM6DS0_AD_ACT_DUR 0x05
|
||||
#define LSM6DS0_AD_INT_GEN_CFG_XL 0x06
|
||||
#define LSM6DS0_AD_INT_GEN_THS_X_XL 0x07
|
||||
#define LSM6DS0_AD_INT_GEN_THS_Y_XL 0x08
|
||||
#define LSM6DS0_AD_INT_GEN_THS_Z_XL 0x09
|
||||
#define LSM6DS0_AD_INT_GEN_DUR_XL 0x0A
|
||||
#define LSM6DS0_AD_REFERENCE_G 0x0B
|
||||
#define LSM6DS0_AD_INT_CTRL 0x0C
|
||||
#define LSM6DS0_AD_WHO_AM_I 0x0F
|
||||
#define LSM6DS0_AD_CTRL_REG1_G 0x10
|
||||
#define LSM6DS0_AD_CTRL_REG2_G 0x11
|
||||
#define LSM6DS0_AD_CTRL_REG3_G 0x12
|
||||
#define LSM6DS0_AD_ORIENT_CFG_G 0x13
|
||||
#define LSM6DS0_AD_INT_GEN_SRC_G 0x14
|
||||
#define LSM6DS0_AD_OUT_TEMP_L 0x15
|
||||
#define LSM6DS0_AD_OUT_TEMP_H 0x16
|
||||
#define LSM6DS0_AD_STATUS_REG1 0x17
|
||||
#define LSM6DS0_AD_OUT_X_L_G 0x18
|
||||
#define LSM6DS0_AD_OUT_X_H_G 0x19
|
||||
#define LSM6DS0_AD_OUT_Y_L_G 0x1A
|
||||
#define LSM6DS0_AD_OUT_Y_H_G 0x1B
|
||||
#define LSM6DS0_AD_OUT_Z_L_G 0x1C
|
||||
#define LSM6DS0_AD_OUT_Z_H_G 0x1D
|
||||
#define LSM6DS0_AD_CTRL_REG4 0x1E
|
||||
#define LSM6DS0_AD_CTRL_REG5_XL 0x1F
|
||||
#define LSM6DS0_AD_CTRL_REG6_XL 0x20
|
||||
#define LSM6DS0_AD_CTRL_REG7_XL 0x21
|
||||
#define LSM6DS0_AD_CTRL_REG8 0x22
|
||||
#define LSM6DS0_AD_CTRL_REG9 0x23
|
||||
#define LSM6DS0_AD_CTRL_REG10 0x24
|
||||
#define LSM6DS0_AD_INT_GEN_SRC_XL 0x26
|
||||
#define LSM6DS0_AD_STATUS_REG2 0x27
|
||||
#define LSM6DS0_AD_OUT_X_L_XL 0x28
|
||||
#define LSM6DS0_AD_OUT_X_H_XL 0x29
|
||||
#define LSM6DS0_AD_OUT_Y_L_XL 0x2A
|
||||
#define LSM6DS0_AD_OUT_Y_H_XL 0x2B
|
||||
#define LSM6DS0_AD_OUT_Z_L_XL 0x2C
|
||||
#define LSM6DS0_AD_OUT_Z_H_XL 0x2D
|
||||
#define LSM6DS0_AD_FIFO_CTRL 0x2E
|
||||
#define LSM6DS0_AD_FIFO_SRC 0x2F
|
||||
#define LSM6DS0_AD_INT_GEN_CFG_G 0x30
|
||||
#define LSM6DS0_AD_INT_GEN_THS_XH_G 0x31
|
||||
#define LSM6DS0_AD_INT_GEN_THS_XL_G 0x32
|
||||
#define LSM6DS0_AD_INT_GEN_THS_YH_G 0x33
|
||||
#define LSM6DS0_AD_INT_GEN_THS_YL_G 0x34
|
||||
#define LSM6DS0_AD_INT_GEN_THS_ZH_G 0x35
|
||||
#define LSM6DS0_AD_INT_GEN_THS_ZL_G 0x36
|
||||
#define LSM6DS0_AD_INT_GEN_DUR_G 0x37
|
||||
/** @} */
|
||||
|
||||
/**
|
||||
* @name LSM6DS0_AD_CTRL_REG1_G register bits definitions
|
||||
* @{
|
||||
*/
|
||||
#define LSM6DS0_CTRL_REG1_G 0xFA
|
||||
#define LSM6DS0_CTRL_REG1_G_BW_G0 (1 << 0)
|
||||
#define LSM6DS0_CTRL_REG1_G_BW_G1 (1 << 1)
|
||||
#define LSM6DS0_CTRL_REG1_G_FS_MASK 0x1F
|
||||
#define LSM6DS0_CTRL_REG1_G_FS_G0 (1 << 3)
|
||||
#define LSM6DS0_CTRL_REG1_G_FS_G1 (1 << 4)
|
||||
#define LSM6DS0_CTRL_REG1_G_ODR_G0 (1 << 5)
|
||||
#define LSM6DS0_CTRL_REG1_G_ODR_G1 (1 << 6)
|
||||
#define LSM6DS0_CTRL_REG1_G_ODR_G2 (1 << 7)
|
||||
/** @} */
|
||||
|
||||
/**
|
||||
* @name LSM6DS0_AD_CTRL_REG2_G register bits definitions
|
||||
* @{
|
||||
*/
|
||||
#define LSM6DS0_CTRL_REG2_G 0x0F
|
||||
#define LSM6DS0_CTRL_REG2_G_OUT_SEL0 (1 << 0)
|
||||
#define LSM6DS0_CTRL_REG2_G_OUT_SEL1 (1 << 1)
|
||||
#define LSM6DS0_CTRL_REG2_G_INT_SEL0 (1 << 2)
|
||||
#define LSM6DS0_CTRL_REG2_G_INT_SEL1 (1 << 3)
|
||||
/** @} */
|
||||
|
||||
/**
|
||||
* @name LSM6DS0_AD_CTRL_REG3_G register bits definitions
|
||||
* @{
|
||||
*/
|
||||
#define LSM6DS0_CTRL_REG3_G 0x64
|
||||
#define LSM6DS0_CTRL_REG3_G_HP_CF0_G (1 << 0)
|
||||
#define LSM6DS0_CTRL_REG3_G_HP_CF1_G (1 << 1)
|
||||
#define LSM6DS0_CTRL_REG3_G_HP_CF2_G (1 << 2)
|
||||
#define LSM6DS0_CTRL_REG3_G_HP_CF3_G (1 << 3)
|
||||
#define LSM6DS0_CTRL_REG3_G_HP_EN (1 << 6)
|
||||
#define LSM6DS0_CTRL_REG3_G_LP_MODE (1 << 7)
|
||||
/** @} */
|
||||
|
||||
/**
|
||||
* @name LSM6DS0_AD_CTRL_REG4 register bits definitions
|
||||
* @{
|
||||
*/
|
||||
#define LSM6DS0_CTRL_REG4 0x3A
|
||||
#define LSM6DS0_CTRL_REG4_4D_XL1 (1 << 0)
|
||||
#define LSM6DS0_CTRL_REG4_LIR_XL1 (1 << 1)
|
||||
#define LSM6DS0_CTRL_REG4_XEN_G (1 << 3)
|
||||
#define LSM6DS0_CTRL_REG4_YEN_G (1 << 4)
|
||||
#define LSM6DS0_CTRL_REG4_ZEN_G (1 << 5)
|
||||
/** @} */
|
||||
|
||||
/**
|
||||
* @name LSM6DS0_AD_CTRL_REG5_XL register bits definitions
|
||||
* @{
|
||||
*/
|
||||
#define LSM6DS0_CTRL_REG5_XL 0xF8
|
||||
#define LSM6DS0_CTRL_REG5_XL_XEN_XL (1 << 3)
|
||||
#define LSM6DS0_CTRL_REG5_XL_YEN_XL (1 << 4)
|
||||
#define LSM6DS0_CTRL_REG5_XL_ZEN_XL (1 << 5)
|
||||
#define LSM6DS0_CTRL_REG5_XL_DEC0 (1 << 6)
|
||||
#define LSM6DS0_CTRL_REG5_XL_DEC1 (1 << 7)
|
||||
/** @} */
|
||||
|
||||
/**
|
||||
* @name LSM6DS0_AD_CTRL_REG6_XL register bits definitions
|
||||
* @{
|
||||
*/
|
||||
#define LSM6DS0_CTRL_REG6_XL 0xFF
|
||||
#define LSM6DS0_CTRL_REG6_XL_BW_XL0 (1 << 0)
|
||||
#define LSM6DS0_CTRL_REG6_XL_BW_XL1 (1 << 1)
|
||||
#define LSM6DS0_CTRL_REG6_XL_BW_SCAL_ODR (1 << 2)
|
||||
#define LSM6DS0_CTRL_REG6_XL_FS_MASK 0x1F
|
||||
#define LSM6DS0_CTRL_REG6_XL_FS0_XL (1 << 3)
|
||||
#define LSM6DS0_CTRL_REG6_XL_FS1_XL (1 << 4)
|
||||
#define LSM6DS0_CTRL_REG6_XL_ODR_XL0 (1 << 5)
|
||||
#define LSM6DS0_CTRL_REG6_XL_ODR_XL1 (1 << 6)
|
||||
#define LSM6DS0_CTRL_REG6_XL_ODR_XL2 (1 << 7)
|
||||
/** @} */
|
||||
|
||||
/**
|
||||
* @name LSM6DS0_AD_CTRL_REG7_XL register bits definitions
|
||||
* @{
|
||||
*/
|
||||
#define LSM6DS0_CTRL_REG7_XL 0xE5
|
||||
#define LSM6DS0_CTRL_REG7_XL_HPIS1 (1 << 0)
|
||||
#define LSM6DS0_CTRL_REG7_XL_FDS (1 << 2)
|
||||
#define LSM6DS0_CTRL_REG7_XL_DCF0 (1 << 5)
|
||||
#define LSM6DS0_CTRL_REG7_XL_DCF1 (1 << 6)
|
||||
#define LSM6DS0_CTRL_REG7_XL_HR (1 << 7)
|
||||
/** @} */
|
||||
|
||||
/**
|
||||
* @name LSM6DS0_AD_CTRL_REG8 register bits definitions
|
||||
* @{
|
||||
*/
|
||||
#define LSM6DS0_CTRL_REG8 0xFF
|
||||
#define LSM6DS0_CTRL_REG8_SW_RESET (1 << 0)
|
||||
#define LSM6DS0_CTRL_REG8_BLE (1 << 1)
|
||||
#define LSM6DS0_CTRL_REG8_IF_ADD_INC (1 << 2)
|
||||
#define LSM6DS0_CTRL_REG8_SIM (1 << 3)
|
||||
#define LSM6DS0_CTRL_REG8_PP_OD (1 << 4)
|
||||
#define LSM6DS0_CTRL_REG8_H_LACTIVE (1 << 5)
|
||||
#define LSM6DS0_CTRL_REG8_BDU (1 << 6)
|
||||
#define LSM6DS0_CTRL_REG8_BOOT (1 << 7)
|
||||
/** @} */
|
||||
|
||||
/**
|
||||
* @name LSM6DS0_AD_CTRL_REG9 register bits definitions
|
||||
* @{
|
||||
*/
|
||||
#define LSM6DS0_CTRL_REG9 0x5F
|
||||
#define LSM6DS0_CTRL_REG9_STOP_ON_FTH (1 << 0)
|
||||
#define LSM6DS0_CTRL_REG9_FIFO_EN (1 << 1)
|
||||
#define LSM6DS0_CTRL_REG9_I2C_DISABLE (1 << 2)
|
||||
#define LSM6DS0_CTRL_REG9_DRDY_MASK_BIT (1 << 3)
|
||||
#define LSM6DS0_CTRL_REG9_FIFO_TEMP_EN (1 << 4)
|
||||
#define LSM6DS0_CTRL_REG9_SLEEP_G (1 << 6)
|
||||
/** @} */
|
||||
|
||||
/**
|
||||
* @name LSM6DS0_AD_CTRL_REG10 register bits definitions
|
||||
* @{
|
||||
*/
|
||||
#define LSM6DS0_CTRL_REG10 0x05
|
||||
#define LSM6DS0_CTRL_REG10_ST_XL (1 << 0)
|
||||
#define LSM6DS0_CTRL_REG10_ST_G (1 << 2)
|
||||
|
||||
/** @} */
|
||||
|
||||
//TODO: ADD more LSM6DS0 register bits definitions
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Driver pre-compile time settings. */
|
||||
|
|
@ -80,6 +326,35 @@
|
|||
#define LSM6DS0_SHARED_I2C FALSE
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief LSM6DS0 subsystem advanced configurations switch.
|
||||
* @details If set to @p TRUE more configurations are available.
|
||||
* @note The default is @p FALSE.
|
||||
*/
|
||||
#if !defined(LSM6DS0_USE_ADVANCED) || defined(__DOXYGEN__)
|
||||
#define LSM6DS0_USE_ADVANCED FALSE
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief LSM6DS0 accelerometer subsystem advanced configurations
|
||||
* switch.
|
||||
* @details If set to @p TRUE more configurations are available.
|
||||
* @note The default is @p FALSE.
|
||||
*/
|
||||
#if !defined(LSM6DS0_ACC_USE_ADVANCED) || defined(__DOXYGEN__)
|
||||
#define LSM6DS0_ACC_USE_ADVANCED FALSE
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief LSM6DS0 gyroscope subsystem advanced configurations
|
||||
* switch.
|
||||
* @details If set to @p TRUE more configurations are available.
|
||||
* @note The default is @p FALSE.
|
||||
*/
|
||||
#if !defined(LSM6DS0_GYRO_USE_ADVANCED) || defined(__DOXYGEN__)
|
||||
#define LSM6DS0_GYRO_USE_ADVANCED FALSE
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief Number of acquisitions for gyroscope bias removal.
|
||||
* @details This is the number of acquisitions performed to compute the
|
||||
|
|
@ -126,7 +401,6 @@
|
|||
* @name LSM6DS0 accelerometer subsystem data structures and types.
|
||||
* @{
|
||||
*/
|
||||
|
||||
/**
|
||||
* @brief LSM6DS0 accelerometer subsystem full scale.
|
||||
*/
|
||||
|
|
@ -150,65 +424,6 @@ typedef enum {
|
|||
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.
|
||||
*/
|
||||
|
|
@ -219,77 +434,50 @@ typedef enum {
|
|||
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.
|
||||
* @brief LSM6DS0 accelerometer initial sensitivity.
|
||||
*/
|
||||
lsm6ds0_acc_fs_t fullscale;
|
||||
float sensitivity[LSM6DS0_ACC_NUMBER_OF_AXES];
|
||||
/**
|
||||
* @brief LSM6DS0 accelerometer subsystem output data rate.
|
||||
* @brief LSM6DS0 accelerometer initial bias.
|
||||
*/
|
||||
lsm6ds0_acc_odr_t outdatarate;
|
||||
float bias[LSM6DS0_ACC_NUMBER_OF_AXES];
|
||||
/**
|
||||
* @brief LSM6DS0 accelerometer subsystem axes enabling.
|
||||
* @brief LSM6DS0 accelerometer subsystem full scale.
|
||||
*/
|
||||
lsm6ds0_acc_ae_t axesenabling;
|
||||
lsm6ds0_acc_fs_t fullscale;
|
||||
/**
|
||||
* @brief LSM6DS0 accelerometer subsystem output bandwidth.
|
||||
* @brief LSM6DS0 accelerometer subsystem output data rate.
|
||||
*/
|
||||
lsm6ds0_acc_obw_t outbandwidth;
|
||||
lsm6ds0_acc_odr_t outdatarate;
|
||||
#if LSM6DS0_ACC_USE_ADVANCED || defined(__DOXYGEN__)
|
||||
/**
|
||||
* @brief LSM6DS0 accelerometer subsystem high resolution mode.
|
||||
* @brief LSM6DS0 accelerometer subsystem decimation 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;
|
||||
lsm6ds0_acc_dec_t decmode;
|
||||
#endif /* LSM6DS0_ACC_USE_ADVANCED */
|
||||
} LSM6DS0AccConfig;
|
||||
/** @} */
|
||||
|
||||
/**
|
||||
* @name LSM6DS0 gyroscope subsystem data structures and types.
|
||||
* @name LSM6DS0 gyroscope subsystem data structures and types.
|
||||
* @{
|
||||
*/
|
||||
/**
|
||||
* @brief LSM6DS0 gyroscope subsystem full scale.
|
||||
* @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_245DPS = 0x00, /**< Full scale ±245 degree per second */
|
||||
LSM6DS0_GYRO_FS_500DPS = 0x08, /**< Full scale ±500 degree per second */
|
||||
LSM6DS0_GYRO_FS_2000DPS = 0x18 /**< Full scale ±2000 degree per second */
|
||||
} lsm6ds0_gyro_fs_t;
|
||||
|
||||
/**
|
||||
* @brief LSM6DS0 gyroscope subsystem output data rate.
|
||||
* @brief LSM6DS0 gyroscope subsystem output data rate.
|
||||
*/
|
||||
typedef enum {
|
||||
LSM6DS0_GYRO_ODR_PD = 0x00,
|
||||
|
|
@ -313,21 +501,7 @@ typedef enum {
|
|||
} 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.
|
||||
* @brief LSM6DS0 gyroscope subsystem low mode configuration.
|
||||
*/
|
||||
typedef enum {
|
||||
LSM6DS0_GYRO_LP_DISABLED = 0x00, /**< Low power mode disabled. */
|
||||
|
|
@ -368,42 +542,48 @@ typedef enum {
|
|||
} lsm6ds0_gyro_hpcf_t;
|
||||
|
||||
/**
|
||||
* @brief LSM6DS0 gyroscope subsystem configuration structure.
|
||||
* @brief LSM6DS0 gyroscope subsystem configuration structure.
|
||||
*/
|
||||
typedef struct {
|
||||
/**
|
||||
* @brief LSM6DS0 gyroscope subsystem full scale.
|
||||
* @brief LSM6DS0 gyroscope initial sensitivity.
|
||||
*/
|
||||
lsm6ds0_gyro_fs_t fullscale;
|
||||
float sensitivity[LSM6DS0_ACC_NUMBER_OF_AXES];
|
||||
/**
|
||||
* @brief LSM6DS0 gyroscope subsystem output data rate.
|
||||
* @brief LSM6DS0 gyroscope initial bias.
|
||||
*/
|
||||
lsm6ds0_gyro_odr_t outdatarate;
|
||||
float bias[LSM6DS0_ACC_NUMBER_OF_AXES];
|
||||
/**
|
||||
* @brief LSM6DS0 gyroscope subsystem axes enabling.
|
||||
* @brief LSM6DS0 gyroscope subsystem full scale.
|
||||
*/
|
||||
lsm6ds0_gyro_ae_t axesenabling;
|
||||
lsm6ds0_gyro_fs_t fullscale;
|
||||
/**
|
||||
* @brief LSM6DS0 gyroscope subsystem low mode configuration.
|
||||
* @brief LSM6DS0 gyroscope subsystem output data rate.
|
||||
*/
|
||||
lsm6ds0_gyro_lp_t lowmodecfg;
|
||||
lsm6ds0_gyro_odr_t outdatarate;
|
||||
#if LSM6DS0_GYRO_USE_ADVANCED || defined(__DOXYGEN__)
|
||||
/**
|
||||
* @brief LSM6DS0 gyroscope subsystem output selection.
|
||||
* @brief LSM6DS0 gyroscope subsystem low mode configuration.
|
||||
*/
|
||||
lsm6ds0_gyro_out_sel_t outsel;
|
||||
lsm6ds0_gyro_lp_t lowmodecfg;
|
||||
/**
|
||||
* @brief LSM6DS0 gyroscope subsystem high pass filter.
|
||||
* @brief LSM6DS0 gyroscope subsystem output selection.
|
||||
*/
|
||||
lsm6ds0_gyro_hp_t hpfenable;
|
||||
lsm6ds0_gyro_out_sel_t outsel;
|
||||
/**
|
||||
* @brief LSM6DS0 gyroscope subsystem high pass filter configuration.
|
||||
* @brief LSM6DS0 gyroscope subsystem high pass filter.
|
||||
*/
|
||||
lsm6ds0_gyro_hpcf_t hpcfg;
|
||||
lsm6ds0_gyro_hp_t hpfenable;
|
||||
/**
|
||||
* @brief LSM6DS0 gyroscope subsystem high pass filter configuration.
|
||||
*/
|
||||
lsm6ds0_gyro_hpcf_t hpcfg;
|
||||
#endif /* LSM6DS0_GYRO_USE_ADVANCED */
|
||||
} LSM6DS0GyroConfig;
|
||||
/** @} */
|
||||
|
||||
/**
|
||||
* @name LSM6DS0 main system data structures and types.
|
||||
* @name LSM6DS0 main system data structures and types.
|
||||
* @{
|
||||
*/
|
||||
/**
|
||||
|
|
@ -415,7 +595,7 @@ typedef enum {
|
|||
} lsm6ds0_sad_t;
|
||||
|
||||
/**
|
||||
* @brief LSM6DS0 block data update.
|
||||
* @brief LSM6DS0 block data update.
|
||||
*/
|
||||
typedef enum {
|
||||
LSM6DS0_BDU_CONTINUOUS = 0x00, /**< Block data continuously updated. */
|
||||
|
|
@ -423,7 +603,7 @@ typedef enum {
|
|||
} lsm6ds0_bdu_t;
|
||||
|
||||
/**
|
||||
* @brief LSM6DS0 endianness.
|
||||
* @brief LSM6DS0 endianness.
|
||||
*/
|
||||
typedef enum {
|
||||
LSM6DS0_END_LITTLE = 0x00, /**< Little endian. */
|
||||
|
|
@ -440,7 +620,7 @@ typedef enum {
|
|||
} lsm6ds0_state_t;
|
||||
|
||||
/**
|
||||
* @brief LSM6DS0 configuration structure.
|
||||
* @brief LSM6DS0 configuration structure.
|
||||
*/
|
||||
typedef struct {
|
||||
#if (LSM6DS0_USE_SPI) || defined(__DOXYGEN__)
|
||||
|
|
@ -471,25 +651,27 @@ typedef struct {
|
|||
const I2CConfig *i2ccfg;
|
||||
#endif /* LSM6DS0_USE_I2C */
|
||||
/**
|
||||
* @brief LSM6DS0 accelerometer subsystem configuration structure
|
||||
* @brief LSM6DS0 accelerometer subsystem configuration structure
|
||||
*/
|
||||
const LSM6DS0AccConfig *acccfg;
|
||||
/**
|
||||
* @brief LSM6DS0 gyroscope subsystem configuration structure
|
||||
* @brief LSM6DS0 gyroscope subsystem configuration structure
|
||||
*/
|
||||
const LSM6DS0GyroConfig *gyrocfg;
|
||||
/**
|
||||
* @brief Accelerometer and Gyroscope Slave Address
|
||||
*/
|
||||
lsm6ds0_sad_t slaveaddress;
|
||||
#if (LSM6DS0_USE_ADVANCED) || defined(__DOXYGEN__)
|
||||
/**
|
||||
* @brief LSM6DS0 block data update
|
||||
* @brief LSM6DS0 block data update
|
||||
*/
|
||||
lsm6ds0_bdu_t blockdataupdate;
|
||||
/**
|
||||
* @brief LSM6DS0 endianness
|
||||
* @brief LSM6DS0 endianness
|
||||
*/
|
||||
lsm6ds0_end_t endianness;
|
||||
#endif /* LSM6DS0_USE_ADVANCED */
|
||||
} LSM6DS0Config;
|
||||
|
||||
/**
|
||||
|
|
@ -501,15 +683,17 @@ typedef struct LSM6DS0Driver LSM6DS0Driver;
|
|||
* @brief @p LSM6DS0 accelerometer subsystem specific methods.
|
||||
*/
|
||||
#define _lsm6ds0_acc_methods \
|
||||
_base_accelerometer_methods
|
||||
_base_accelerometer_methods \
|
||||
/* Change full scale value of LSM6DS0 accelerometer subsystem .*/ \
|
||||
msg_t (*set_full_scale)(void *instance, lsm6ds0_acc_fs_t fs);
|
||||
|
||||
/**
|
||||
* @brief @p LSM6DS0 gyroscope subsystem specific methods.
|
||||
*/
|
||||
#define _lsm6ds0_gyro_methods \
|
||||
_base_gyroscope_methods \
|
||||
/* Retrieve the temperature of LSM6DS0 chip.*/ \
|
||||
msg_t (*get_temperature)(void *instance, float* temperature);
|
||||
/* Change full scale value of LSM6DS0 gyroscope subsystem .*/ \
|
||||
msg_t (*set_full_scale)(void *instance, lsm6ds0_gyro_fs_t fs);
|
||||
|
||||
/**
|
||||
* @extends BaseAccelerometerVMT
|
||||
|
|
@ -542,14 +726,18 @@ struct LSM6DS0GYROVMT {
|
|||
/* Current accelerometer sensitivity.*/ \
|
||||
float accsensitivity[LSM6DS0_ACC_NUMBER_OF_AXES]; \
|
||||
/* Accelerometer bias data.*/ \
|
||||
int32_t accbias[LSM6DS0_ACC_NUMBER_OF_AXES]; \
|
||||
float accbias[LSM6DS0_ACC_NUMBER_OF_AXES]; \
|
||||
/* Current accelerometer full scale value.*/ \
|
||||
float accfullscale; \
|
||||
/* Current gyroscope sensitivity.*/ \
|
||||
float gyrosensitivity[LSM6DS0_GYRO_NUMBER_OF_AXES]; \
|
||||
/* Bias data.*/ \
|
||||
int32_t gyrobias[LSM6DS0_GYRO_NUMBER_OF_AXES];
|
||||
float gyrobias[LSM6DS0_GYRO_NUMBER_OF_AXES]; \
|
||||
/* Current gyroscope full scale value.*/ \
|
||||
float gyrofullscale;
|
||||
|
||||
/**
|
||||
* @brief LSM6DS0 6-axis accelerometer/gyroscope class.
|
||||
* @brief LSM6DS0 6-axis accelerometer/gyroscope class.
|
||||
*/
|
||||
struct LSM6DS0Driver {
|
||||
/** @brief BaseSensor Virtual Methods Table. */
|
||||
|
|
@ -571,19 +759,32 @@ struct LSM6DS0Driver {
|
|||
/*===========================================================================*/
|
||||
|
||||
/**
|
||||
* @brief Get current MEMS temperature.
|
||||
* @detail This information is very useful especially for high accuracy IMU
|
||||
* @brief Change accelerometer fullscale value.
|
||||
*
|
||||
* @param[in] ip pointer to a @p BaseGyroscope class.
|
||||
* @param[out] temp the MEMS temperature as single precision floating.
|
||||
* @param[in] ip pointer to a @p BaseAccelerometer class.
|
||||
* @param[in] fs the new full scale value.
|
||||
*
|
||||
* @return The operation status.
|
||||
* @retval MSG_OK if the function succeeded.
|
||||
* @retval MSG_RESET if one or more errors occurred.
|
||||
* @api
|
||||
*/
|
||||
#define gyroscopeGetTemp(ip, tpp) \
|
||||
(ip)->vmt_lsm6ds0gyro->get_temperature(ip, tpp)
|
||||
#define accelerometerSetFullScale(ip, fs) \
|
||||
(ip)->vmt_lsm6ds0acc->set_full_scale(ip, fs)
|
||||
|
||||
/**
|
||||
* @brief Change compass fullscale value.
|
||||
*
|
||||
* @param[in] ip pointer to a @p BaseGyroscope class.
|
||||
* @param[in] fs the new full scale value.
|
||||
*
|
||||
* @return The operation status.
|
||||
* @retval MSG_OK if the function succeeded.
|
||||
* @retval MSG_RESET if one or more errors occurred.
|
||||
* @api
|
||||
*/
|
||||
#define gyroscopeSetFullScale(ip, fs) \
|
||||
(ip)->vmt_lsm6ds0gyro->set_full_scale(ip, fs)
|
||||
|
||||
/*===========================================================================*/
|
||||
/* External declarations. */
|
||||
|
|
|
|||
Loading…
Reference in New Issue