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Improved LSM6DS0 driver and related demo: added multiple register read/write. 

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9818 35acf78f-673a-0410-8e92-d51de3d6d3f4
This commit is contained in:
Rocco Marco Guglielmi 2016-09-28 18:12:29 +00:00
parent 73419a9adb
commit 3369e1e04c
4 changed files with 345 additions and 299 deletions
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605
os/ex/ST/lsm6ds0.c
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@ -15,7 +15,7 @@
You should have received a copy of the GNU General Public License You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>. along with this program. If not, see <http://www.gnu.org/licenses/>.
*/ */
/** /**
@ -41,22 +41,6 @@
/* Driver local variables and types. */ /* Driver local variables and types. */
/*===========================================================================*/ /*===========================================================================*/
/**
* @brief LSM6DS0 address increment mode.
*/
typedef enum {
LSM6DS0_IF_ADD_INC_DIS = 0x00, /**< Address increment disabled. */
LSM6DS0_IF_ADD_INC_EN = 0x04 /**< Address increment disabled. */
}lsm6ds0_id_add_inc_t;
/**
* @brief LSM6DS0 gyroscope subsystem sleep mode.
*/
typedef enum {
LSM6DS0_GYRO_SLP_DISABLED = 0x00, /**< Gyroscope in normal mode. */
LSM6DS0_GYRO_SLP_ENABLED = 0x40 /**< Gyroscope in sleep mode. */
}lsm6ds0_gyro_slp_t;
/*===========================================================================*/ /*===========================================================================*/
/* Driver local functions. */ /* Driver local functions. */
/*===========================================================================*/ /*===========================================================================*/
@ -67,32 +51,19 @@ typedef enum {
* @pre The I2C interface must be initialized and the driver started. * @pre The I2C interface must be initialized and the driver started.
* @note IF_ADD_INC bit must be 1 in CTRL_REG8 * @note IF_ADD_INC bit must be 1 in CTRL_REG8
* *
* @param[in] i2cp pointer to the I2C interface * @param[in] i2cp pointer to the I2C interface
* @param[in] sad slave address without R bit * @param[in] sad slave address without R bit
* @param[in] reg first sub-register address * @param[in] reg first sub-register address
* @return the read value. * @param[out] rxbuf pointer to an output buffer
* @param[in] n number of consecutive register to read
* @return the operation status.
* @notapi
*/ */
uint8_t lsm6ds0I2CReadRegister(I2CDriver *i2cp, lsm6ds0_sad_t sad, uint8_t reg, msg_t lsm6ds0I2CReadRegister(I2CDriver *i2cp, lsm6ds0_sad_t sad, uint8_t reg,
msg_t* msgp) { uint8_t* rxbuf, size_t n) {
msg_t msg;
uint8_t txbuf = reg; return i2cMasterTransmitTimeout(i2cp, sad, &reg, 1, rxbuf, n,
#if defined(STM32F103_MCUCONF) TIME_INFINITE);
uint8_t rxbuf[2];
msg = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 2,
TIME_INFINITE);
if(msgp != NULL){
*msgp = msg;
}
return rxbuf[0];
#else
uint8_t rxbuf;
msg = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, &rxbuf, 1,
TIME_INFINITE);
if(msgp != NULL){
*msgp = msg;
}
return rxbuf;
#endif
} }
/** /**
@ -101,17 +72,16 @@ uint8_t lsm6ds0I2CReadRegister(I2CDriver *i2cp, lsm6ds0_sad_t sad, uint8_t reg,
* *
* @param[in] i2cp pointer to the I2C interface * @param[in] i2cp pointer to the I2C interface
* @param[in] sad slave address without R bit * @param[in] sad slave address without R bit
* @param[in] sub sub-register address * @param[in] txbuf buffer containing sub-address value in first position
* @param[in] value the value to be written * and values to write
* @param[in] n size of txbuf less one (not considering the first
* element)
* @return the operation status. * @return the operation status.
* @notapi
*/ */
msg_t lsm6ds0I2CWriteRegister(I2CDriver *i2cp, lsm6ds0_sad_t sad, uint8_t reg, #define lsm6ds0I2CWriteRegister(i2cp, sad, txbuf, n) \
uint8_t value) { i2cMasterTransmitTimeout(i2cp, sad, txbuf, n + 1, NULL, 0, \
uint8_t txbuf[2]; TIME_INFINITE)
txbuf[0] = reg;
txbuf[1] = value;
return i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, NULL, 0, TIME_INFINITE);
}
#endif /* LSM6DS0_USE_I2C */ #endif /* LSM6DS0_USE_I2C */
/* /*
@ -134,7 +104,7 @@ static size_t sens_get_axes_number(void *ip) {
osalDbgCheck(ip != NULL); osalDbgCheck(ip != NULL);
if (((LSM6DS0Driver *)ip)->config->acccfg != NULL) if (((LSM6DS0Driver *)ip)->config->acccfg != NULL)
size += acc_get_axes_number(ip); size += acc_get_axes_number(ip);
if (((LSM6DS0Driver *)ip)->config->gyrocfg != NULL) if (((LSM6DS0Driver *)ip)->config->gyrocfg != NULL)
size += gyro_get_axes_number(ip); size += gyro_get_axes_number(ip);
return size; return size;
@ -142,7 +112,8 @@ static size_t sens_get_axes_number(void *ip) {
static msg_t acc_read_raw(void *ip, int32_t* axes) { static msg_t acc_read_raw(void *ip, int32_t* axes) {
int16_t tmp; int16_t tmp;
msg_t msg = MSG_OK; uint8_t i, buff[2 * LSM6DS0_ACC_NUMBER_OF_AXES];
msg_t msg = MSG_OK;
osalDbgCheck(((ip != NULL) && (axes != NULL)) && osalDbgCheck(((ip != NULL) && (axes != NULL)) &&
(((LSM6DS0Driver *)ip)->config->acccfg != NULL)); (((LSM6DS0Driver *)ip)->config->acccfg != NULL));
osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY), osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),
@ -156,57 +127,36 @@ static msg_t acc_read_raw(void *ip, int32_t* axes) {
i2cStart(((LSM6DS0Driver *)ip)->config->i2cp, i2cStart(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->i2ccfg); ((LSM6DS0Driver *)ip)->config->i2ccfg);
#endif /* LSM6DS0_SHARED_I2C */ #endif /* LSM6DS0_SHARED_I2C */
tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp, msg = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->slaveaddress, ((LSM6DS0Driver *)ip)->config->slaveaddress,
LSM6DS0_AD_OUT_X_L_XL, NULL); LSM6DS0_AD_OUT_X_L_XL, buff, 2 * LSM6DS0_ACC_NUMBER_OF_AXES);
if (msg != MSG_OK)
return msg;
tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->slaveaddress,
LSM6DS0_AD_OUT_X_H_XL, NULL) << 8;
if (msg != MSG_OK)
return msg;
axes[0] = (int32_t)tmp;
tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->slaveaddress,
LSM6DS0_AD_OUT_Y_L_XL, NULL);
if (msg != MSG_OK)
return msg;
tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->slaveaddress,
LSM6DS0_AD_OUT_Y_H_XL, 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_XL, NULL);
if (msg != MSG_OK)
return msg;
tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->slaveaddress,
LSM6DS0_AD_OUT_Z_H_XL, NULL) << 8;
if (msg != MSG_OK)
return msg;
axes[2] = (int32_t)tmp;
#if LSM6DS0_SHARED_I2C #if LSM6DS0_SHARED_I2C
i2cReleaseBus(((LSM6DS0Driver *)ip)->config->i2cp); i2cReleaseBus(((LSM6DS0Driver *)ip)->config->i2cp);
#endif /* LSM6DS0_SHARED_I2C */ #endif /* LSM6DS0_SHARED_I2C */
#endif /* LSM6DS0_USE_I2C */ #endif /* LSM6DS0_USE_I2C */
return MSG_OK;
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) {
if(msg == MSG_OK) {
tmp = buff[2*i] + (buff[2*i+1] << 8);
axes[i] = (int32_t)tmp;
}
else{
axes[i] = 0;
}
}
return msg;
} }
static msg_t gyro_read_raw(void *ip, int32_t* axes) { static msg_t gyro_read_raw(void *ip, int32_t* axes) {
int16_t tmp; int16_t tmp;
msg_t msg = MSG_OK; uint8_t i, buff[2 * LSM6DS0_GYRO_NUMBER_OF_AXES];
msg_t msg = MSG_OK;
osalDbgCheck(((ip != NULL) && (axes != NULL)) && osalDbgCheck(((ip != NULL) && (axes != NULL)) &&
(((LSM6DS0Driver *)ip)->config->gyrocfg != NULL)); (((LSM6DS0Driver *)ip)->config->gyrocfg != NULL));
osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY), osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),
"gyro_read_raw(), invalid state"); "gyro_read_raw(), invalid state");
#if LSM6DS0_USE_I2C #if LSM6DS0_USE_I2C
osalDbgAssert((((LSM6DS0Driver *)ip)->config->i2cp->state == I2C_READY), osalDbgAssert((((LSM6DS0Driver *)ip)->config->i2cp->state == I2C_READY),
"gyro_read_raw(), channel not ready"); "gyro_read_raw(), channel not ready");
#if LSM6DS0_SHARED_I2C #if LSM6DS0_SHARED_I2C
@ -214,63 +164,41 @@ static msg_t gyro_read_raw(void *ip, int32_t* axes) {
i2cStart(((LSM6DS0Driver *)ip)->config->i2cp, i2cStart(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->i2ccfg); ((LSM6DS0Driver *)ip)->config->i2ccfg);
#endif /* LSM6DS0_SHARED_I2C */ #endif /* LSM6DS0_SHARED_I2C */
tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp, msg = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->slaveaddress, ((LSM6DS0Driver *)ip)->config->slaveaddress,
LSM6DS0_AD_OUT_X_L_G, NULL); LSM6DS0_AD_OUT_X_L_G, buff, 2 * LSM6DS0_GYRO_NUMBER_OF_AXES);
if (msg != MSG_OK)
return msg;
tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->slaveaddress,
LSM6DS0_AD_OUT_X_H_G, NULL) << 8;
if (msg != MSG_OK)
return msg;
axes[0] = (int32_t)tmp;
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 #if LSM6DS0_SHARED_I2C
i2cReleaseBus(((LSM6DS0Driver *)ip)->config->i2cp); i2cReleaseBus(((LSM6DS0Driver *)ip)->config->i2cp);
#endif /* LSM6DS0_SHARED_I2C */ #endif /* LSM6DS0_SHARED_I2C */
#endif /* LSM6DS0_USE_I2C */ #endif /* LSM6DS0_USE_I2C */
return MSG_OK;
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) {
if(msg == MSG_OK) {
tmp = buff[2*i] + (buff[2*i+1] << 8);
axes[i] = (int32_t)tmp;
}
else{
axes[i] = 0;
}
}
return msg;
} }
static msg_t sens_read_raw(void *ip, int32_t axes[]) { static msg_t sens_read_raw(void *ip, int32_t axes[]) {
int32_t* bp = axes; int32_t* bp = axes;
msg_t msg; msg_t msg;
if (((LSM6DS0Driver *)ip)->config->acccfg != NULL) { if (((LSM6DS0Driver *)ip)->config->acccfg != NULL) {
msg = acc_read_raw(ip, bp); msg = acc_read_raw(ip, bp);
if(msg != MSG_OK) if(msg != MSG_OK)
return msg; return msg;
bp += LSM6DS0_ACC_NUMBER_OF_AXES; bp += LSM6DS0_ACC_NUMBER_OF_AXES;
} }
if (((LSM6DS0Driver *)ip)->config->gyrocfg != NULL) { if (((LSM6DS0Driver *)ip)->config->gyrocfg != NULL) {
msg = gyro_read_raw(ip, bp); msg = gyro_read_raw(ip, bp);
} }
return msg; return msg;
} }
static msg_t acc_read_cooked(void *ip, float axes[]) { static msg_t acc_read_cooked(void *ip, float axes[]) {
uint32_t i; uint32_t i;
int32_t raw[LSM6DS0_ACC_NUMBER_OF_AXES]; int32_t raw[LSM6DS0_ACC_NUMBER_OF_AXES];
@ -304,7 +232,7 @@ static msg_t gyro_read_cooked(void *ip, float axes[]) {
msg = gyro_read_raw(ip, raw); msg = gyro_read_raw(ip, raw);
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES ; i++){ for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES ; i++){
axes[i] = raw[i] * ((LSM6DS0Driver *)ip)->gyrosensitivity[i]; axes[i] = raw[i] * ((LSM6DS0Driver *)ip)->gyrosensitivity[i];
axes[i] -= ((LSM6DS0Driver *)ip)->gyrobias[i]; axes[i] -= ((LSM6DS0Driver *)ip)->gyrobias[i];
} }
return msg; return msg;
} }
@ -313,10 +241,10 @@ static msg_t sens_read_cooked(void *ip, float axes[]) {
float* bp = axes; float* bp = axes;
msg_t msg; msg_t msg;
if (((LSM6DS0Driver *)ip)->config->acccfg != NULL) { if (((LSM6DS0Driver *)ip)->config->acccfg != NULL) {
msg = acc_read_cooked(ip, bp); msg = acc_read_cooked(ip, bp);
if(msg != MSG_OK) if(msg != MSG_OK)
return msg; return msg;
bp += LSM6DS0_ACC_NUMBER_OF_AXES; bp += LSM6DS0_ACC_NUMBER_OF_AXES;
} }
if (((LSM6DS0Driver *)ip)->config->gyrocfg != NULL) { if (((LSM6DS0Driver *)ip)->config->gyrocfg != NULL) {
msg = gyro_read_cooked(ip, bp); msg = gyro_read_cooked(ip, bp);
@ -327,7 +255,7 @@ static msg_t sens_read_cooked(void *ip, float axes[]) {
static msg_t gyro_sample_bias(void *ip) { static msg_t gyro_sample_bias(void *ip) {
uint32_t i, j; uint32_t i, j;
int32_t raw[LSM6DS0_GYRO_NUMBER_OF_AXES]; int32_t raw[LSM6DS0_GYRO_NUMBER_OF_AXES];
int32_t buff[LSM6DS0_GYRO_NUMBER_OF_AXES] = {0, 0, 0}; float buff[LSM6DS0_GYRO_NUMBER_OF_AXES] = {0.0f, 0.0f, 0.0f};
msg_t msg; msg_t msg;
osalDbgCheck(ip != NULL); osalDbgCheck(ip != NULL);
@ -337,8 +265,8 @@ static msg_t gyro_sample_bias(void *ip) {
for(i = 0; i < LSM6DS0_GYRO_BIAS_ACQ_TIMES; i++){ for(i = 0; i < LSM6DS0_GYRO_BIAS_ACQ_TIMES; i++){
msg = gyro_read_raw(ip, raw); msg = gyro_read_raw(ip, raw);
if(msg != MSG_OK) if(msg != MSG_OK)
return msg; return msg;
for(j = 0; j < LSM6DS0_GYRO_NUMBER_OF_AXES; j++){ for(j = 0; j < LSM6DS0_GYRO_NUMBER_OF_AXES; j++){
buff[j] += raw[j]; buff[j] += raw[j];
} }
@ -347,7 +275,7 @@ static msg_t gyro_sample_bias(void *ip) {
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++){ 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] = buff[i] / LSM6DS0_GYRO_BIAS_ACQ_TIMES;
((LSM6DS0Driver *)ip)->gyrobias[i] *= ((LSM6DS0Driver *)ip)->gyrosensitivity[i]; ((LSM6DS0Driver *)ip)->gyrobias[i] *= ((LSM6DS0Driver *)ip)->gyrosensitivity[i];
} }
return msg; return msg;
} }
@ -392,7 +320,7 @@ static msg_t acc_reset_bias(void *ip) {
"acc_reset_bias(), invalid state"); "acc_reset_bias(), invalid state");
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
((LSM6DS0Driver *)ip)->accbias[i] = 0; ((LSM6DS0Driver *)ip)->accbias[i] = 0.0f;
return MSG_OK; return MSG_OK;
} }
@ -406,7 +334,7 @@ static msg_t gyro_reset_bias(void *ip) {
"gyro_reset_bias(), invalid state"); "gyro_reset_bias(), invalid state");
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++)
((LSM6DS0Driver *)ip)->gyrobias[i] = 0; ((LSM6DS0Driver *)ip)->gyrobias[i] = 0.0f;
return MSG_OK; return MSG_OK;
} }
@ -450,16 +378,16 @@ static msg_t acc_reset_sensivity(void *ip) {
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
((LSM6DS0Driver *)ip)->accsensitivity[i] = LSM6DS0_ACC_SENS_2G; ((LSM6DS0Driver *)ip)->accsensitivity[i] = LSM6DS0_ACC_SENS_2G;
else if(((LSM6DS0Driver *)ip)->config->acccfg->fullscale == LSM6DS0_ACC_FS_4G) else if(((LSM6DS0Driver *)ip)->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++)
((LSM6DS0Driver *)ip)->accsensitivity[i] = LSM6DS0_ACC_SENS_4G; ((LSM6DS0Driver *)ip)->accsensitivity[i] = LSM6DS0_ACC_SENS_4G;
else if(((LSM6DS0Driver *)ip)->config->acccfg->fullscale == LSM6DS0_ACC_FS_8G) else if(((LSM6DS0Driver *)ip)->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++)
((LSM6DS0Driver *)ip)->accsensitivity[i] = LSM6DS0_ACC_SENS_8G; ((LSM6DS0Driver *)ip)->accsensitivity[i] = LSM6DS0_ACC_SENS_8G;
else if(((LSM6DS0Driver *)ip)->config->acccfg->fullscale == LSM6DS0_ACC_FS_16G) else if(((LSM6DS0Driver *)ip)->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++)
((LSM6DS0Driver *)ip)->accsensitivity[i] = LSM6DS0_ACC_SENS_16G; ((LSM6DS0Driver *)ip)->accsensitivity[i] = LSM6DS0_ACC_SENS_16G;
else { else {
osalDbgAssert(FALSE, "reset_sensivity(), accelerometer full scale issue"); osalDbgAssert(FALSE, "acc_reset_sensivity(), accelerometer full scale issue");
return MSG_RESET; return MSG_RESET;
} }
return MSG_OK; return MSG_OK;
@ -477,13 +405,13 @@ static msg_t gyro_reset_sensivity(void *ip) {
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
((LSM6DS0Driver *)ip)->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_245DPS; ((LSM6DS0Driver *)ip)->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_245DPS;
else if(((LSM6DS0Driver *)ip)->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_500DPS) else if(((LSM6DS0Driver *)ip)->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_500DPS)
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
((LSM6DS0Driver *)ip)->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_500DPS; ((LSM6DS0Driver *)ip)->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_500DPS;
else if(((LSM6DS0Driver *)ip)->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_2000DPS) else if(((LSM6DS0Driver *)ip)->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_2000DPS)
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
((LSM6DS0Driver *)ip)->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_2000DPS; ((LSM6DS0Driver *)ip)->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_2000DPS;
else { else {
osalDbgAssert(FALSE, "reset_sensivity(), gyroscope full scale issue"); osalDbgAssert(FALSE, "gyro_reset_sensivity(), gyroscope full scale issue");
return MSG_RESET; return MSG_RESET;
} }
return MSG_OK; return MSG_OK;
@ -491,7 +419,7 @@ static msg_t gyro_reset_sensivity(void *ip) {
static msg_t acc_set_full_scale(void *ip, lsm6ds0_acc_fs_t fs) { static msg_t acc_set_full_scale(void *ip, lsm6ds0_acc_fs_t fs) {
float newfs, scale; float newfs, scale;
uint8_t i, cr; uint8_t i, cr[2];
msg_t msg; msg_t msg;
if(fs == LSM6DS0_ACC_FS_2G) { if(fs == LSM6DS0_ACC_FS_2G) {
@ -503,7 +431,7 @@ static msg_t acc_set_full_scale(void *ip, lsm6ds0_acc_fs_t fs) {
else if(fs == LSM6DS0_ACC_FS_8G) { else if(fs == LSM6DS0_ACC_FS_8G) {
newfs = LSM6DS0_ACC_8G; newfs = LSM6DS0_ACC_8G;
} }
else if(fs == LSM6DS0_ACC_FS_16G) { else if(fs == LSM6DS0_ACC_FS_16G) {
newfs = LSM6DS0_ACC_16G; newfs = LSM6DS0_ACC_16G;
} }
else { else {
@ -514,33 +442,52 @@ static msg_t acc_set_full_scale(void *ip, lsm6ds0_acc_fs_t fs) {
scale = newfs / ((LSM6DS0Driver *)ip)->accfullscale; scale = newfs / ((LSM6DS0Driver *)ip)->accfullscale;
((LSM6DS0Driver *)ip)->accfullscale = newfs; ((LSM6DS0Driver *)ip)->accfullscale = newfs;
#if LSM6DS0_SHARED_I2C
i2cAcquireBus(((LSM6DS0Driver *)ip)->config->i2cp);
i2cStart(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->i2ccfg);
#endif /* LSM6DS0_SHARED_I2C */
/* Updating register.*/ /* Updating register.*/
cr = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp, msg = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->slaveaddress, ((LSM6DS0Driver *)ip)->config->slaveaddress,
LSM6DS0_AD_CTRL_REG6_XL, &msg); LSM6DS0_AD_CTRL_REG6_XL, &cr[1], 1);
if(msg != MSG_OK) #if LSM6DS0_SHARED_I2C
return msg; i2cReleaseBus(((LSM6DS0Driver *)ip)->config->i2cp);
#endif /* LSM6DS0_SHARED_I2C */
cr &= ~(LSM6DS0_CTRL_REG6_XL_FS_MASK); if(msg != MSG_OK)
cr |= fs;
msg = lsm6ds0I2CWriteRegister(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->slaveaddress,
LSM6DS0_AD_CTRL_REG6_XL, cr);
if(msg != MSG_OK)
return msg; return msg;
cr[0] = LSM6DS0_AD_CTRL_REG6_XL;
cr[1] &= ~(LSM6DS0_CTRL_REG6_XL_FS_MASK);
cr[1] |= fs;
#if LSM6DS0_SHARED_I2C
i2cAcquireBus(((LSM6DS0Driver *)ip)->config->i2cp);
i2cStart(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->i2ccfg);
#endif /* LSM6DS0_SHARED_I2C */
msg = lsm6ds0I2CWriteRegister(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->slaveaddress, cr, 1);
#if LSM6DS0_SHARED_I2C
i2cReleaseBus(((LSM6DS0Driver *)ip)->config->i2cp);
#endif /* LSM6DS0_SHARED_I2C */
if(msg != MSG_OK)
return msg;
/* Scaling sensitivity and bias. Re-calibration is suggested anyway. */ /* Scaling sensitivity and bias. Re-calibration is suggested anyway. */
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) { for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) {
((LSM6DS0Driver *)ip)->accsensitivity[i] *= scale; ((LSM6DS0Driver *)ip)->accsensitivity[i] *= scale;
((LSM6DS0Driver *)ip)->accbias[i] *= scale; ((LSM6DS0Driver *)ip)->accbias[i] *= scale;
} }
} }
return MSG_OK; return msg;
} }
static msg_t gyro_set_full_scale(void *ip, lsm6ds0_gyro_fs_t fs) { static msg_t gyro_set_full_scale(void *ip, lsm6ds0_gyro_fs_t fs) {
float newfs, scale; float newfs, scale;
uint8_t i, cr; uint8_t i, cr[2];
msg_t msg; msg_t msg;
if(fs == LSM6DS0_GYRO_FS_245DPS) { if(fs == LSM6DS0_GYRO_FS_245DPS) {
@ -559,29 +506,51 @@ static msg_t gyro_set_full_scale(void *ip, lsm6ds0_gyro_fs_t fs) {
if(newfs != ((LSM6DS0Driver *)ip)->gyrofullscale) { if(newfs != ((LSM6DS0Driver *)ip)->gyrofullscale) {
scale = newfs / ((LSM6DS0Driver *)ip)->gyrofullscale; scale = newfs / ((LSM6DS0Driver *)ip)->gyrofullscale;
((LSM6DS0Driver *)ip)->gyrofullscale = newfs; ((LSM6DS0Driver *)ip)->gyrofullscale = newfs;
#if LSM6DS0_SHARED_I2C
i2cAcquireBus(((LSM6DS0Driver *)ip)->config->i2cp);
i2cStart(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->i2ccfg);
#endif /* LSM6DS0_SHARED_I2C */
/* Updating register.*/ /* Updating register.*/
cr = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp, msg = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->slaveaddress, ((LSM6DS0Driver *)ip)->config->slaveaddress,
LSM6DS0_AD_CTRL_REG1_G, &msg); LSM6DS0_AD_CTRL_REG1_G, &cr[1], 1);
if(msg != MSG_OK)
return msg; #if LSM6DS0_SHARED_I2C
i2cReleaseBus(((LSM6DS0Driver *)ip)->config->i2cp);
cr &= ~(LSM6DS0_CTRL_REG1_G_FS_MASK); #endif /* LSM6DS0_SHARED_I2C */
cr |= fs; if(msg != MSG_OK)
msg = lsm6ds0I2CWriteRegister(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->slaveaddress,
LSM6DS0_AD_CTRL_REG1_G, cr);
if(msg != MSG_OK)
return msg; return msg;
cr[0] = LSM6DS0_AD_CTRL_REG1_G;
cr[1] &= ~(LSM6DS0_CTRL_REG1_G_FS_MASK);
cr[1] |= fs;
#if LSM6DS0_SHARED_I2C
i2cAcquireBus(((LSM6DS0Driver *)ip)->config->i2cp);
i2cStart(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->i2ccfg);
#endif /* LSM6DS0_SHARED_I2C */
msg = lsm6ds0I2CWriteRegister(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->slaveaddress,
cr, 1);
#if LSM6DS0_SHARED_I2C
i2cReleaseBus(((LSM6DS0Driver *)ip)->config->i2cp);
#endif /* LSM6DS0_SHARED_I2C */
if(msg != MSG_OK)
return msg;
/* Scaling sensitivity and bias. Re-calibration is suggested anyway. */ /* Scaling sensitivity and bias. Re-calibration is suggested anyway. */
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) { for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) {
((LSM6DS0Driver *)ip)->gyrosensitivity[i] *= scale; ((LSM6DS0Driver *)ip)->gyrosensitivity[i] *= scale;
((LSM6DS0Driver *)ip)->gyrobias[i] *= scale; ((LSM6DS0Driver *)ip)->gyrobias[i] *= scale;
} }
} }
return MSG_OK; return msg;
} }
static const struct BaseSensorVMT vmt_basesensor = { static const struct BaseSensorVMT vmt_basesensor = {
@ -631,9 +600,9 @@ void lsm6ds0ObjectInit(LSM6DS0Driver *devp) {
devp->vmt_lsm6ds0gyro = &vmt_lsm6ds0gyro; devp->vmt_lsm6ds0gyro = &vmt_lsm6ds0gyro;
devp->config = NULL; devp->config = NULL;
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
devp->accbias[i] = 0; devp->accbias[i] = 0.0f;
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++)
devp->gyrobias[i] = 0; devp->gyrobias[i] = 0.0f;
devp->state = LSM6DS0_STOP; devp->state = LSM6DS0_STOP;
} }
@ -647,147 +616,210 @@ void lsm6ds0ObjectInit(LSM6DS0Driver *devp) {
*/ */
void lsm6ds0Start(LSM6DS0Driver *devp, const LSM6DS0Config *config) { void lsm6ds0Start(LSM6DS0Driver *devp, const LSM6DS0Config *config) {
uint32_t i; uint32_t i;
uint8_t cr; uint8_t cr[5];
osalDbgCheck((devp != NULL) && (config != NULL)); osalDbgCheck((devp != NULL) && (config != NULL) &&
((devp->config->acccfg != NULL) ||
(devp->config->gyrocfg != NULL)));
osalDbgAssert((devp->state == LSM6DS0_STOP) || (devp->state == LSM6DS0_READY), osalDbgAssert((devp->state == LSM6DS0_STOP) || (devp->state == LSM6DS0_READY),
"lsm6ds0Start(), invalid state"); "lsm6ds0Start(), invalid state");
devp->config = config; devp->config = config;
/* Control register 8 configuration block.*/
{
cr[0] = LSM6DS0_AD_CTRL_REG8;
cr[1] = LSM6DS0_CTRL_REG8_IF_ADD_INC;
#if LSM6DS0_USE_ADVANCED || defined(__DOXYGEN__)
cr[1] |= devp->config->endianness | devp->config->blockdataupdate;
#endif
}
#if LSM6DS0_USE_I2C #if LSM6DS0_USE_I2C
#if LSM6DS0_SHARED_I2C #if LSM6DS0_SHARED_I2C
i2cAcquireBus((devp)->config->i2cp); i2cAcquireBus((devp)->config->i2cp);
#endif /* LSM6DS0_SHARED_I2C */ #endif /* LSM6DS0_SHARED_I2C */
i2cStart((devp)->config->i2cp,
(devp)->config->i2ccfg); i2cStart((devp)->config->i2cp, (devp)->config->i2ccfg);
lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
cr, 1);
#if LSM6DS0_SHARED_I2C
i2cReleaseBus((devp)->config->i2cp);
#endif /* LSM6DS0_SHARED_I2C */
#endif /* LSM6DS0_USE_I2C */
if((devp)->config->acccfg != NULL) { if((devp)->config->acccfg != NULL) {
cr[0] = LSM6DS0_AD_CTRL_REG5_XL;
/* Control register 5 configuration block.*/ /* Control register 5 configuration block.*/
{ {
cr = LSM6DS0_CTRL_REG5_XL_XEN_XL | LSM6DS0_CTRL_REG5_XL_YEN_XL | cr[1] = LSM6DS0_CTRL_REG5_XL_XEN_XL | LSM6DS0_CTRL_REG5_XL_YEN_XL |
LSM6DS0_CTRL_REG5_XL_ZEN_XL; LSM6DS0_CTRL_REG5_XL_ZEN_XL;
#if LSM6DS0_ACC_USE_ADVANCED || defined(__DOXYGEN__) #if LSM6DS0_ACC_USE_ADVANCED || defined(__DOXYGEN__)
cr |= devp->config->acccfg->decmode; cr[1] |= devp->config->acccfg->decmode;
#endif #endif
lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
LSM6DS0_AD_CTRL_REG5_XL, cr);
} }
/* Control register 6 configuration block.*/ /* Control register 6 configuration block.*/
{ {
cr = devp->config->acccfg->outdatarate | cr[2] = devp->config->acccfg->outdatarate |
devp->config->acccfg->fullscale; devp->config->acccfg->fullscale;
lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
LSM6DS0_AD_CTRL_REG6_XL, cr);
} }
#if LSM6DS0_USE_I2C
#if LSM6DS0_SHARED_I2C
i2cAcquireBus((devp)->config->i2cp);
i2cStart((devp)->config->i2cp, (devp)->config->i2ccfg);
#endif /* LSM6DS0_SHARED_I2C */
lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
cr, 2);
#if LSM6DS0_SHARED_I2C
i2cReleaseBus((devp)->config->i2cp);
#endif /* LSM6DS0_SHARED_I2C */
#endif /* LSM6DS0_USE_I2C */
} }
if((devp)->config->gyrocfg != NULL) { if((devp)->config->gyrocfg != NULL) {
cr[0] = LSM6DS0_AD_CTRL_REG1_G;
/* Control register 1 configuration block.*/ /* Control register 1 configuration block.*/
{ {
cr = devp->config->gyrocfg->fullscale | cr[1] = devp->config->gyrocfg->fullscale |
devp->config->gyrocfg->outdatarate; devp->config->gyrocfg->outdatarate;
#if LSM6DS0_GYRO_USE_ADVANCED || defined(__DOXYGEN__) #if LSM6DS0_GYRO_USE_ADVANCED || defined(__DOXYGEN__)
cr |= devp->config->acccfg->decmode; cr[1] |= devp->config->acccfg->decmode;
#endif #endif
lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
LSM6DS0_AD_CTRL_REG1_G, cr);
} }
/* Control register 2 configuration block.*/ /* Control register 2 configuration block.*/
{ {
cr = 0; cr[2] = 0;
#if LSM6DS0_GYRO_USE_ADVANCED || defined(__DOXYGEN__) #if LSM6DS0_GYRO_USE_ADVANCED || defined(__DOXYGEN__)
cr |= devp->config->gyrocfg->outsel; cr[2] |= devp->config->gyrocfg->outsel;
#endif #endif
lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
LSM6DS0_AD_CTRL_REG2_G, cr);
} }
/* Control register 3 configuration block.*/ /* Control register 3 configuration block.*/
{ {
cr = 0; cr[3] = 0;
#if LSM6DS0_GYRO_USE_ADVANCED || defined(__DOXYGEN__) #if LSM6DS0_GYRO_USE_ADVANCED || defined(__DOXYGEN__)
cr |= devp->config->gyrocfg->hpfenable | cr[3] |= devp->config->gyrocfg->hpfenable |
devp->config->gyrocfg->lowmodecfg | devp->config->gyrocfg->lowmodecfg |
devp->config->gyrocfg->hpcfg; devp->config->gyrocfg->hpcfg;
#endif #endif
lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
LSM6DS0_AD_CTRL_REG3_G, cr);
} }
/* Control register 4 configuration block.*/ /* Control register 4 configuration block.*/
{ {
cr = LSM6DS0_CTRL_REG4_XEN_G | LSM6DS0_CTRL_REG4_YEN_G | cr[4] = LSM6DS0_CTRL_REG4_XEN_G | LSM6DS0_CTRL_REG4_YEN_G |
LSM6DS0_CTRL_REG4_ZEN_G; LSM6DS0_CTRL_REG4_ZEN_G;
lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
LSM6DS0_AD_CTRL_REG4, cr);
} }
#if LSM6DS0_USE_I2C
#if LSM6DS0_SHARED_I2C
i2cAcquireBus((devp)->config->i2cp);
i2cStart((devp)->config->i2cp, (devp)->config->i2ccfg);
#endif /* LSM6DS0_SHARED_I2C */
lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
cr, 4);
#if LSM6DS0_SHARED_I2C
i2cReleaseBus((devp)->config->i2cp);
#endif /* LSM6DS0_SHARED_I2C */
#endif /* LSM6DS0_USE_I2C */
cr[0] = LSM6DS0_AD_CTRL_REG9;
/* Control register 9 configuration block.*/ /* Control register 9 configuration block.*/
{ {
cr = LSM6DS0_GYRO_SLP_DISABLED; cr[1] = 0;
lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
LSM6DS0_AD_CTRL_REG9, cr);
} }
#if LSM6DS0_USE_I2C
#if LSM6DS0_SHARED_I2C
i2cAcquireBus((devp)->config->i2cp);
i2cStart((devp)->config->i2cp, (devp)->config->i2ccfg);
#endif /* LSM6DS0_SHARED_I2C */
lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
cr, 1);
#if LSM6DS0_SHARED_I2C
i2cReleaseBus((devp)->config->i2cp);
#endif /* LSM6DS0_SHARED_I2C */
#endif /* LSM6DS0_USE_I2C */
} }
/* 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);
}
#if LSM6DS0_SHARED_I2C
i2cReleaseBus((devp)->config->i2cp);
#endif /* LSM6DS0_SHARED_I2C */
#endif /* LSM6DS0_USE_I2C */
/* Storing sensitivity information according to full scale value */ /* Storing sensitivity information according to full scale value */
if((devp)->config->acccfg != NULL) { if((devp)->config->acccfg != NULL) {
if(devp->config->acccfg->fullscale == LSM6DS0_ACC_FS_2G) 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; if((devp)->config->acccfg->bias == NULL)
devp->accfullscale = LSM6DS0_ACC_2G; devp->accsensitivity[i] = LSM6DS0_ACC_SENS_2G;
else
devp->accsensitivity[i] = devp->config->acccfg->sensitivity[i];
} }
else if(devp->config->acccfg->fullscale == LSM6DS0_ACC_FS_4G) devp->accfullscale = LSM6DS0_ACC_2G;
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++){ }
devp->accsensitivity[i] = LSM6DS0_ACC_SENS_4G; else if(devp->config->acccfg->fullscale == LSM6DS0_ACC_FS_4G) {
devp->accfullscale = LSM6DS0_ACC_4G; for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) {
if((devp)->config->acccfg->bias == NULL)
devp->accsensitivity[i] = LSM6DS0_ACC_SENS_4G;
else
devp->accsensitivity[i] = devp->config->acccfg->sensitivity[i];
} }
else if(devp->config->acccfg->fullscale == LSM6DS0_ACC_FS_8G) devp->accfullscale = LSM6DS0_ACC_4G;
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++){ }
devp->accsensitivity[i] = LSM6DS0_ACC_SENS_8G; else if(devp->config->acccfg->fullscale == LSM6DS0_ACC_FS_8G) {
devp->accfullscale = LSM6DS0_ACC_8G; for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) {
if((devp)->config->acccfg->bias == NULL)
devp->accsensitivity[i] = LSM6DS0_ACC_SENS_8G;
else
devp->accsensitivity[i] = devp->config->acccfg->sensitivity[i];
} }
else if(devp->config->acccfg->fullscale == LSM6DS0_ACC_FS_16G) devp->accfullscale = LSM6DS0_ACC_8G;
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++){ }
devp->accsensitivity[i] = LSM6DS0_ACC_SENS_16G; else if(devp->config->acccfg->fullscale == LSM6DS0_ACC_FS_16G) {
devp->accfullscale = LSM6DS0_ACC_16G; for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) {
if((devp)->config->acccfg->bias == NULL)
devp->accsensitivity[i] = LSM6DS0_ACC_SENS_16G;
else
devp->accsensitivity[i] = devp->config->acccfg->sensitivity[i];
} }
devp->accfullscale = LSM6DS0_ACC_16G;
}
else else
osalDbgAssert(FALSE, "lsm6ds0Start(), accelerometer full scale issue"); osalDbgAssert(FALSE, "lsm6ds0Start(), accelerometer full scale issue");
} }
if((devp)->config->gyrocfg != NULL) { if((devp)->config->gyrocfg != NULL) {
if(devp->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_245DPS) if(devp->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_245DPS) {
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) { for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) {
devp->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_245DPS; if((devp)->config->acccfg->bias == NULL)
devp->gyrofullscale = LSM6DS0_GYRO_245DPS; devp->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_245DPS;
else
devp->gyrosensitivity[i] = devp->config->gyrocfg->sensitivity[i];
} }
else if(devp->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_500DPS) 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++) { for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) {
devp->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_500DPS; if((devp)->config->acccfg->bias == NULL)
devp->gyrofullscale = LSM6DS0_GYRO_500DPS; devp->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_500DPS;
else
devp->gyrosensitivity[i] = devp->config->gyrocfg->sensitivity[i];
} }
else if(devp->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_2000DPS) 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++) { for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) {
devp->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_2000DPS; if((devp)->config->acccfg->bias == NULL)
devp->gyrofullscale = LSM6DS0_GYRO_2000DPS; devp->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_2000DPS;
else
devp->gyrosensitivity[i] = devp->config->gyrocfg->sensitivity[i];
} }
devp->gyrofullscale = LSM6DS0_GYRO_2000DPS;
}
else else
osalDbgAssert(FALSE, "lsm6ds0Start(), gyroscope full scale issue"); osalDbgAssert(FALSE, "lsm6ds0Start(), gyroscope full scale issue");
} }
@ -805,37 +837,56 @@ void lsm6ds0Start(LSM6DS0Driver *devp, const LSM6DS0Config *config) {
* @api * @api
*/ */
void lsm6ds0Stop(LSM6DS0Driver *devp) { void lsm6ds0Stop(LSM6DS0Driver *devp) {
uint8_t cr[2];
osalDbgCheck(devp != NULL); osalDbgCheck(devp != NULL);
osalDbgAssert((devp->state == LSM6DS0_STOP) || (devp->state == LSM6DS0_READY), osalDbgAssert((devp->state == LSM6DS0_STOP) || (devp->state == LSM6DS0_READY),
"lsm6ds0Stop(), invalid state"); "lsm6ds0Stop(), invalid state");
#if (LSM6DS0_USE_I2C) if (devp->state == LSM6DS0_READY) {
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) { if((devp)->config->acccfg != NULL) {
lsm6ds0I2CWriteRegister(devp->config->i2cp, cr[0] = LSM6DS0_AD_CTRL_REG6_XL;
devp->config->slaveaddress, /* Control register 6 configuration block.*/
LSM6DS0_AD_CTRL_REG6_XL, {
LSM6DS0_ACC_ODR_PD); cr[1] = 0;
}
#if LSM6DS0_USE_I2C
#if LSM6DS0_SHARED_I2C
i2cAcquireBus((devp)->config->i2cp);
i2cStart((devp)->config->i2cp, (devp)->config->i2ccfg);
#endif /* LSM6DS0_SHARED_I2C */
lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
cr, 1);
#if LSM6DS0_SHARED_I2C
i2cReleaseBus((devp)->config->i2cp);
#endif /* LSM6DS0_SHARED_I2C */
#endif /* LSM6DS0_USE_I2C */
} }
if((devp)->config->gyrocfg != NULL) { if((devp)->config->gyrocfg != NULL) {
lsm6ds0I2CWriteRegister(devp->config->i2cp, cr[0] = LSM6DS0_AD_CTRL_REG9;
devp->config->slaveaddress, /* Control register 9 configuration block.*/
LSM6DS0_AD_CTRL_REG9, {
LSM6DS0_GYRO_SLP_ENABLED); cr[1] = LSM6DS0_CTRL_REG9_SLEEP_G;
} }
#if LSM6DS0_USE_I2C
#if LSM6DS0_SHARED_I2C
i2cAcquireBus((devp)->config->i2cp);
i2cStart((devp)->config->i2cp, (devp)->config->i2ccfg);
#endif /* LSM6DS0_SHARED_I2C */
lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
cr, 1);
i2cStop((devp)->config->i2cp); i2cStop((devp)->config->i2cp);
#if LSM6DS0_SHARED_I2C #if LSM6DS0_SHARED_I2C
i2cReleaseBus((devp)->config->i2cp); i2cReleaseBus((devp)->config->i2cp);
#endif /* LSM6DS0_SHARED_I2C */ #endif /* LSM6DS0_SHARED_I2C */
}
#endif /* LSM6DS0_USE_I2C */ #endif /* LSM6DS0_USE_I2C */
}
}
devp->state = LSM6DS0_STOP; devp->state = LSM6DS0_STOP;
} }
/** @} */ /** @} */

18
os/ex/ST/lsm6ds0.h
View File

@ -15,7 +15,7 @@
You should have received a copy of the GNU General Public License You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>. along with this program. If not, see <http://www.gnu.org/licenses/>.
*/ */
/** /**
@ -41,7 +41,7 @@
/** /**
* @brief LSM6DS0 driver version string. * @brief LSM6DS0 driver version string.
*/ */
#define EX_LSM6DS0_VERSION "1.0.2" #define EX_LSM6DS0_VERSION "1.0.3"
/** /**
* @brief LSM6DS0 driver version major number. * @brief LSM6DS0 driver version major number.
@ -56,7 +56,7 @@
/** /**
* @brief LSM6DS0 driver version patch number. * @brief LSM6DS0 driver version patch number.
*/ */
#define EX_LSM6DS0_PATCH 2 #define EX_LSM6DS0_PATCH 3
/** @} */ /** @} */
/** /**
@ -441,11 +441,11 @@ typedef struct {
/** /**
* @brief LSM6DS0 accelerometer initial sensitivity. * @brief LSM6DS0 accelerometer initial sensitivity.
*/ */
float sensitivity[LSM6DS0_ACC_NUMBER_OF_AXES]; float* sensitivity;
/** /**
* @brief LSM6DS0 accelerometer initial bias. * @brief LSM6DS0 accelerometer initial bias.
*/ */
float bias[LSM6DS0_ACC_NUMBER_OF_AXES]; float* bias;
/** /**
* @brief LSM6DS0 accelerometer subsystem full scale. * @brief LSM6DS0 accelerometer subsystem full scale.
*/ */
@ -548,11 +548,11 @@ typedef struct {
/** /**
* @brief LSM6DS0 gyroscope initial sensitivity. * @brief LSM6DS0 gyroscope initial sensitivity.
*/ */
float sensitivity[LSM6DS0_ACC_NUMBER_OF_AXES]; float* sensitivity;
/** /**
* @brief LSM6DS0 gyroscope initial bias. * @brief LSM6DS0 gyroscope initial bias.
*/ */
float bias[LSM6DS0_ACC_NUMBER_OF_AXES]; float* bias;
/** /**
* @brief LSM6DS0 gyroscope subsystem full scale. * @brief LSM6DS0 gyroscope subsystem full scale.
*/ */
@ -578,7 +578,7 @@ typedef struct {
* @brief LSM6DS0 gyroscope subsystem high pass filter configuration. * @brief LSM6DS0 gyroscope subsystem high pass filter configuration.
*/ */
lsm6ds0_gyro_hpcf_t hpcfg; lsm6ds0_gyro_hpcf_t hpcfg;
#endif /* LSM6DS0_GYRO_USE_ADVANCED */ #endif /* LSM6DS0_GYRO_USE_ADVANCED */
} LSM6DS0GyroConfig; } LSM6DS0GyroConfig;
/** @} */ /** @} */
@ -785,7 +785,7 @@ struct LSM6DS0Driver {
*/ */
#define gyroscopeSetFullScale(ip, fs) \ #define gyroscopeSetFullScale(ip, fs) \
(ip)->vmt_lsm6ds0gyro->set_full_scale(ip, fs) (ip)->vmt_lsm6ds0gyro->set_full_scale(ip, fs)
/*===========================================================================*/ /*===========================================================================*/
/* External declarations. */ /* External declarations. */
/*===========================================================================*/ /*===========================================================================*/

2
testhal/STM32/STM32F4xx/I2C-LSM6DS0/Makefile
View File

@ -202,7 +202,7 @@ CPPWARN = -Wall -Wextra -Wundef
# List all user C define here, like -D_DEBUG=1 # List all user C define here, like -D_DEBUG=1
UDEFS = -DCHPRINTF_USE_FLOAT=1 -DSHELL_CMD_TEST_ENABLED=0 \ UDEFS = -DCHPRINTF_USE_FLOAT=1 -DSHELL_CMD_TEST_ENABLED=0 \
-DLSM6DS0_USE_ADVANCED=0 -DLSM6DS0_GYRO_USE_ADVANCED=0 \ -DLSM6DS0_USE_ADVANCED=0 -DLSM6DS0_GYRO_USE_ADVANCED=0 \
-DLSM6DS0_ACC_USE_ADVANCED=0 -DLSM6DS0_ACC_USE_ADVANCED=0 -DLSM6DS0_SHARED_I2C=0
# Define ASM defines here # Define ASM defines here
UADEFS = UADEFS =

19
testhal/STM32/STM32F4xx/I2C-LSM6DS0/main.c
View File

@ -44,25 +44,20 @@ static const I2CConfig i2ccfg = {
}; };
static const LSM6DS0AccConfig lsm6ds0acccfg = { static const LSM6DS0AccConfig lsm6ds0acccfg = {
{0, 0, 0}, /* Use default sensitivity.*/ NULL, /* Use default sensitivity.*/
{0, 0, 0}, /* Use default bias.*/ NULL, /* Use default bias.*/
LSM6DS0_ACC_FS_2G, /* Full scale value 2g.*/ LSM6DS0_ACC_FS_2G, /* Full scale value 2g.*/
LSM6DS0_ACC_ODR_50Hz, /* Output data rate 100 Hz.*/ LSM6DS0_ACC_ODR_50Hz, /* Output data rate 100 Hz.*/
#if LSM6DS0_ACC_USE_ADVANCED || defined(__DOXYGEN__) #if LSM6DS0_ACC_USE_ADVANCED || defined(__DOXYGEN__)
LSM6DS0_ACC_OBW_AA, LSM6DS0_ACC_DEC_X4,
LSM6DS0_ACC_HR_ENABLED,
LSM6DS0_ACC_FDS_DISABLED,
LSM6DS0_ACC_DCF_9,
LSM6DS0_ACC_AABW_AUTO,
LSM6DS0_ACC_DEC_DISABLED,
#endif #endif
}; };
static const LSM6DS0GyroConfig lsm6ds0gyrocfg = { static const LSM6DS0GyroConfig lsm6ds0gyrocfg = {
{0, 0, 0}, /* Use default sensitivity.*/ NULL, /* Use default sensitivity.*/
{0, 0, 0}, /* Use default bias.*/ NULL, /* Use default bias.*/
LSM6DS0_GYRO_FS_245DPS, /* Full scale value 245DPS.*/ LSM6DS0_GYRO_FS_245DPS, /* Full scale value 245DPS.*/
LSM6DS0_GYRO_ODR_119HZ_FC_31 /* Output data rate 119 Hz.*/ LSM6DS0_GYRO_ODR_119HZ_FC_31, /* Output data rate 119 Hz.*/
#if LSM6DS0_GYRO_USE_ADVANCED || defined(__DOXYGEN__) #if LSM6DS0_GYRO_USE_ADVANCED || defined(__DOXYGEN__)
LSM6DS0_GYRO_LP_DISABLED, LSM6DS0_GYRO_LP_DISABLED,
LSM6DS0_GYRO_OUT_SEL_0, LSM6DS0_GYRO_OUT_SEL_0,