mirror of https://github.com/rusefi/ChibiOS.git
820 lines
27 KiB
C
820 lines
27 KiB
C
/*
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ChibiOS - Copyright (C) 2016 Rocco Marco Guglielmi
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This file is part of ChibiOS.
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ChibiOS is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 3 of the License, or
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(at your option) any later version.
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ChibiOS is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file lsm6ds0.h
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* @brief LSM6DS0 MEMS interface module header.
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*
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* @addtogroup LSM6DS0
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* @ingroup EX_ST
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* @{
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*/
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#ifndef _LSM6DS0_H_
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#define _LSM6DS0_H_
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#include "hal_accelerometer.h"
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#include "hal_gyroscope.h"
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/*===========================================================================*/
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/* Driver constants. */
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/*===========================================================================*/
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/**
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* @name Version identification
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* @{
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*/
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/**
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* @brief LSM6DS0 driver version string.
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*/
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#define EX_LSM6DS0_VERSION "1.0.4"
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/**
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* @brief LSM6DS0 driver version major number.
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*/
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#define EX_LSM6DS0_MAJOR 1
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/**
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* @brief LSM6DS0 driver version minor number.
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*/
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#define EX_LSM6DS0_MINOR 0
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/**
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* @brief LSM6DS0 driver version patch number.
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*/
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#define EX_LSM6DS0_PATCH 4
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/** @} */
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/**
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* @brief LSM6DS0 accelerometer subsystem characteristics.
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*
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* @{
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*/
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#define LSM6DS0_ACC_NUMBER_OF_AXES 3U
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#define LSM6DS0_ACC_2G 2.0f
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#define LSM6DS0_ACC_4G 4.0f
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#define LSM6DS0_ACC_8G 8.0f
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#define LSM6DS0_ACC_16G 16.0f
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#define LSM6DS0_ACC_SENS_2G 0.061f
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#define LSM6DS0_ACC_SENS_4G 0.122f
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#define LSM6DS0_ACC_SENS_8G 0.244f
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#define LSM6DS0_ACC_SENS_16G 0.732f
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/** @} */
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/**
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* @brief LSM6DS0 gyroscope subsystem characteristics.
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*
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* @{
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*/
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#define LSM6DS0_GYRO_NUMBER_OF_AXES 3U
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#define LSM6DS0_GYRO_245DPS 245.0f
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#define LSM6DS0_GYRO_500DPS 500.0f
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#define LSM6DS0_GYRO_2000DPS 2000.0f
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#define LSM6DS0_GYRO_SENS_245DPS 0.00875f
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#define LSM6DS0_GYRO_SENS_500DPS 0.01750f
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#define LSM6DS0_GYRO_SENS_2000DPS 0.07000f
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/** @} */
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/**
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* @name LSM6DS0 communication interfaces related bit masks
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* @{
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*/
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#define LSM6DS0_DI_MASK 0xFF
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#define LSM6DS0_DI(n) (1 << n)
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#define LSM6DS0_AD_MASK 0x7F
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#define LSM6DS0_AD(n) (1 << n)
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#define LSM6DS0_MS (1 << 7)
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/** @} */
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/**
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* @name LSM6DS0 register addresses
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* @{
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*/
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#define LSM6DS0_AD_ACT_THS 0x04
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#define LSM6DS0_AD_ACT_DUR 0x05
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#define LSM6DS0_AD_INT_GEN_CFG_XL 0x06
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#define LSM6DS0_AD_INT_GEN_THS_X_XL 0x07
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#define LSM6DS0_AD_INT_GEN_THS_Y_XL 0x08
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#define LSM6DS0_AD_INT_GEN_THS_Z_XL 0x09
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#define LSM6DS0_AD_INT_GEN_DUR_XL 0x0A
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#define LSM6DS0_AD_REFERENCE_G 0x0B
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#define LSM6DS0_AD_INT_CTRL 0x0C
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#define LSM6DS0_AD_WHO_AM_I 0x0F
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#define LSM6DS0_AD_CTRL_REG1_G 0x10
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#define LSM6DS0_AD_CTRL_REG2_G 0x11
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#define LSM6DS0_AD_CTRL_REG3_G 0x12
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#define LSM6DS0_AD_ORIENT_CFG_G 0x13
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#define LSM6DS0_AD_INT_GEN_SRC_G 0x14
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#define LSM6DS0_AD_OUT_TEMP_L 0x15
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#define LSM6DS0_AD_OUT_TEMP_H 0x16
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#define LSM6DS0_AD_STATUS_REG1 0x17
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#define LSM6DS0_AD_OUT_X_L_G 0x18
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#define LSM6DS0_AD_OUT_X_H_G 0x19
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#define LSM6DS0_AD_OUT_Y_L_G 0x1A
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#define LSM6DS0_AD_OUT_Y_H_G 0x1B
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#define LSM6DS0_AD_OUT_Z_L_G 0x1C
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#define LSM6DS0_AD_OUT_Z_H_G 0x1D
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#define LSM6DS0_AD_CTRL_REG4 0x1E
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#define LSM6DS0_AD_CTRL_REG5_XL 0x1F
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#define LSM6DS0_AD_CTRL_REG6_XL 0x20
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#define LSM6DS0_AD_CTRL_REG7_XL 0x21
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#define LSM6DS0_AD_CTRL_REG8 0x22
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#define LSM6DS0_AD_CTRL_REG9 0x23
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#define LSM6DS0_AD_CTRL_REG10 0x24
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#define LSM6DS0_AD_INT_GEN_SRC_XL 0x26
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#define LSM6DS0_AD_STATUS_REG2 0x27
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#define LSM6DS0_AD_OUT_X_L_XL 0x28
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#define LSM6DS0_AD_OUT_X_H_XL 0x29
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#define LSM6DS0_AD_OUT_Y_L_XL 0x2A
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#define LSM6DS0_AD_OUT_Y_H_XL 0x2B
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#define LSM6DS0_AD_OUT_Z_L_XL 0x2C
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#define LSM6DS0_AD_OUT_Z_H_XL 0x2D
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#define LSM6DS0_AD_FIFO_CTRL 0x2E
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#define LSM6DS0_AD_FIFO_SRC 0x2F
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#define LSM6DS0_AD_INT_GEN_CFG_G 0x30
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#define LSM6DS0_AD_INT_GEN_THS_XH_G 0x31
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#define LSM6DS0_AD_INT_GEN_THS_XL_G 0x32
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#define LSM6DS0_AD_INT_GEN_THS_YH_G 0x33
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#define LSM6DS0_AD_INT_GEN_THS_YL_G 0x34
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#define LSM6DS0_AD_INT_GEN_THS_ZH_G 0x35
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#define LSM6DS0_AD_INT_GEN_THS_ZL_G 0x36
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#define LSM6DS0_AD_INT_GEN_DUR_G 0x37
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/** @} */
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/**
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* @name LSM6DS0_AD_CTRL_REG1_G register bits definitions
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* @{
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*/
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#define LSM6DS0_CTRL_REG1_G 0xFA
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#define LSM6DS0_CTRL_REG1_G_BW_G0 (1 << 0)
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#define LSM6DS0_CTRL_REG1_G_BW_G1 (1 << 1)
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#define LSM6DS0_CTRL_REG1_G_FS_MASK 0x1F
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#define LSM6DS0_CTRL_REG1_G_FS_G0 (1 << 3)
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#define LSM6DS0_CTRL_REG1_G_FS_G1 (1 << 4)
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#define LSM6DS0_CTRL_REG1_G_ODR_G0 (1 << 5)
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#define LSM6DS0_CTRL_REG1_G_ODR_G1 (1 << 6)
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#define LSM6DS0_CTRL_REG1_G_ODR_G2 (1 << 7)
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/** @} */
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/**
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* @name LSM6DS0_AD_CTRL_REG2_G register bits definitions
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* @{
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*/
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#define LSM6DS0_CTRL_REG2_G 0x0F
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#define LSM6DS0_CTRL_REG2_G_OUT_SEL0 (1 << 0)
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#define LSM6DS0_CTRL_REG2_G_OUT_SEL1 (1 << 1)
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#define LSM6DS0_CTRL_REG2_G_INT_SEL0 (1 << 2)
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#define LSM6DS0_CTRL_REG2_G_INT_SEL1 (1 << 3)
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/** @} */
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/**
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* @name LSM6DS0_AD_CTRL_REG3_G register bits definitions
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* @{
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*/
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#define LSM6DS0_CTRL_REG3_G 0x64
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#define LSM6DS0_CTRL_REG3_G_HP_CF0_G (1 << 0)
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#define LSM6DS0_CTRL_REG3_G_HP_CF1_G (1 << 1)
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#define LSM6DS0_CTRL_REG3_G_HP_CF2_G (1 << 2)
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#define LSM6DS0_CTRL_REG3_G_HP_CF3_G (1 << 3)
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#define LSM6DS0_CTRL_REG3_G_HP_EN (1 << 6)
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#define LSM6DS0_CTRL_REG3_G_LP_MODE (1 << 7)
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/** @} */
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/**
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* @name LSM6DS0_AD_CTRL_REG4 register bits definitions
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* @{
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*/
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#define LSM6DS0_CTRL_REG4 0x3A
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#define LSM6DS0_CTRL_REG4_4D_XL1 (1 << 0)
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#define LSM6DS0_CTRL_REG4_LIR_XL1 (1 << 1)
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#define LSM6DS0_CTRL_REG4_XEN_G (1 << 3)
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#define LSM6DS0_CTRL_REG4_YEN_G (1 << 4)
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#define LSM6DS0_CTRL_REG4_ZEN_G (1 << 5)
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/** @} */
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/**
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* @name LSM6DS0_AD_CTRL_REG5_XL register bits definitions
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* @{
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*/
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#define LSM6DS0_CTRL_REG5_XL 0xF8
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#define LSM6DS0_CTRL_REG5_XL_XEN_XL (1 << 3)
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#define LSM6DS0_CTRL_REG5_XL_YEN_XL (1 << 4)
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#define LSM6DS0_CTRL_REG5_XL_ZEN_XL (1 << 5)
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#define LSM6DS0_CTRL_REG5_XL_DEC0 (1 << 6)
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#define LSM6DS0_CTRL_REG5_XL_DEC1 (1 << 7)
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/** @} */
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/**
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* @name LSM6DS0_AD_CTRL_REG6_XL register bits definitions
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* @{
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*/
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#define LSM6DS0_CTRL_REG6_XL 0xFF
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#define LSM6DS0_CTRL_REG6_XL_BW_XL0 (1 << 0)
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#define LSM6DS0_CTRL_REG6_XL_BW_XL1 (1 << 1)
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#define LSM6DS0_CTRL_REG6_XL_BW_SCAL_ODR (1 << 2)
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#define LSM6DS0_CTRL_REG6_XL_FS_MASK 0x1F
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#define LSM6DS0_CTRL_REG6_XL_FS0_XL (1 << 3)
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#define LSM6DS0_CTRL_REG6_XL_FS1_XL (1 << 4)
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#define LSM6DS0_CTRL_REG6_XL_ODR_XL0 (1 << 5)
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#define LSM6DS0_CTRL_REG6_XL_ODR_XL1 (1 << 6)
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#define LSM6DS0_CTRL_REG6_XL_ODR_XL2 (1 << 7)
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/** @} */
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/**
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* @name LSM6DS0_AD_CTRL_REG7_XL register bits definitions
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* @{
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*/
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#define LSM6DS0_CTRL_REG7_XL 0xE5
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#define LSM6DS0_CTRL_REG7_XL_HPIS1 (1 << 0)
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#define LSM6DS0_CTRL_REG7_XL_FDS (1 << 2)
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#define LSM6DS0_CTRL_REG7_XL_DCF0 (1 << 5)
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#define LSM6DS0_CTRL_REG7_XL_DCF1 (1 << 6)
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#define LSM6DS0_CTRL_REG7_XL_HR (1 << 7)
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/** @} */
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/**
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* @name LSM6DS0_AD_CTRL_REG8 register bits definitions
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* @{
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*/
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#define LSM6DS0_CTRL_REG8 0xFF
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#define LSM6DS0_CTRL_REG8_SW_RESET (1 << 0)
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#define LSM6DS0_CTRL_REG8_BLE (1 << 1)
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#define LSM6DS0_CTRL_REG8_IF_ADD_INC (1 << 2)
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#define LSM6DS0_CTRL_REG8_SIM (1 << 3)
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#define LSM6DS0_CTRL_REG8_PP_OD (1 << 4)
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#define LSM6DS0_CTRL_REG8_H_LACTIVE (1 << 5)
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#define LSM6DS0_CTRL_REG8_BDU (1 << 6)
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#define LSM6DS0_CTRL_REG8_BOOT (1 << 7)
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/** @} */
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/**
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* @name LSM6DS0_AD_CTRL_REG9 register bits definitions
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* @{
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*/
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#define LSM6DS0_CTRL_REG9 0x5F
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#define LSM6DS0_CTRL_REG9_STOP_ON_FTH (1 << 0)
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#define LSM6DS0_CTRL_REG9_FIFO_EN (1 << 1)
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#define LSM6DS0_CTRL_REG9_I2C_DISABLE (1 << 2)
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#define LSM6DS0_CTRL_REG9_DRDY_MASK_BIT (1 << 3)
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#define LSM6DS0_CTRL_REG9_FIFO_TEMP_EN (1 << 4)
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#define LSM6DS0_CTRL_REG9_SLEEP_G (1 << 6)
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/** @} */
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/**
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* @name LSM6DS0_AD_CTRL_REG10 register bits definitions
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* @{
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*/
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#define LSM6DS0_CTRL_REG10 0x05
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#define LSM6DS0_CTRL_REG10_ST_XL (1 << 0)
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#define LSM6DS0_CTRL_REG10_ST_G (1 << 2)
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/** @} */
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//TODO: ADD more LSM6DS0 register bits definitions
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/*===========================================================================*/
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/* Driver pre-compile time settings. */
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/*===========================================================================*/
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/**
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* @name Configuration options
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* @{
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*/
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/**
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* @brief LSM6DS0 SPI interface selector.
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* @details If set to @p TRUE the support for SPI is included.
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* @note The default is @p FALSE.
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*/
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#if !defined(LSM6DS0_USE_SPI) || defined(__DOXYGEN__)
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#define LSM6DS0_USE_SPI FALSE
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#endif
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/**
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* @brief LSM6DS0 I2C interface selector.
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* @details If set to @p TRUE the support for I2C is included.
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* @note The default is @p TRUE.
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*/
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#if !defined(LSM6DS0_USE_I2C) || defined(__DOXYGEN__)
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#define LSM6DS0_USE_I2C TRUE
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#endif
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/**
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* @brief LSM6DS0 shared I2C switch.
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* @details If set to @p TRUE the device acquires I2C bus ownership
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* on each transaction.
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* @note The default is @p FALSE. Requires I2C_USE_MUTUAL_EXCLUSION.
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*/
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#if !defined(LSM6DS0_SHARED_I2C) || defined(__DOXYGEN__)
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#define LSM6DS0_SHARED_I2C FALSE
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#endif
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/**
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* @brief LSM6DS0 subsystem advanced configurations switch.
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* @details If set to @p TRUE more configurations are available.
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* @note The default is @p FALSE.
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*/
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#if !defined(LSM6DS0_USE_ADVANCED) || defined(__DOXYGEN__)
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#define LSM6DS0_USE_ADVANCED FALSE
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#endif
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/**
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* @brief LSM6DS0 accelerometer subsystem advanced configurations
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* switch.
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* @details If set to @p TRUE more configurations are available.
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* @note The default is @p FALSE.
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*/
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#if !defined(LSM6DS0_ACC_USE_ADVANCED) || defined(__DOXYGEN__)
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#define LSM6DS0_ACC_USE_ADVANCED FALSE
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#endif
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/**
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* @brief LSM6DS0 gyroscope subsystem advanced configurations
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* switch.
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* @details If set to @p TRUE more configurations are available.
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* @note The default is @p FALSE.
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*/
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#if !defined(LSM6DS0_GYRO_USE_ADVANCED) || defined(__DOXYGEN__)
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#define LSM6DS0_GYRO_USE_ADVANCED FALSE
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#endif
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/**
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* @brief Number of acquisitions for gyroscope bias removal.
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* @details This is the number of acquisitions performed to compute the
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* bias. A repetition is required in order to remove noise.
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*/
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#if !defined(LSM6DS0_GYRO_BIAS_ACQ_TIMES) || defined(__DOXYGEN__)
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#define LSM6DS0_GYRO_BIAS_ACQ_TIMES 50
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#endif
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/**
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* @brief Settling time for gyroscope bias removal.
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* @details This is the time between each bias acquisition.
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*/
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#if !defined(LSM6DS0_GYRO_BIAS_SETTLING_uS) || defined(__DOXYGEN__)
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#define LSM6DS0_GYRO_BIAS_SETTLING_uS 5000
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#endif
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/** @} */
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/*===========================================================================*/
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/* Derived constants and error checks. */
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/*===========================================================================*/
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#if LSM6DS0_USE_SPI && LSM6DS0_USE_I2C
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#error "LSM6DS0_USE_SPI and LSM6DS0_USE_I2C cannot be both true"
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#endif
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#if LSM6DS0_USE_SPI && !HAL_USE_SPI
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#error "LSM6DS0_USE_SPI requires HAL_USE_SPI"
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#endif
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#if LSM6DS0_USE_I2C && !HAL_USE_I2C
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#error "LSM6DS0_USE_I2C requires HAL_USE_I2C"
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#endif
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#if LSM6DS0_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION
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#error "LSM6DS0_SHARED_SPI requires I2C_USE_MUTUAL_EXCLUSION"
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#endif
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/*===========================================================================*/
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/* Driver data structures and types. */
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/*===========================================================================*/
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/**
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* @name LSM6DS0 accelerometer subsystem data structures and types.
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* @{
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*/
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/**
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* @brief LSM6DS0 accelerometer subsystem full scale.
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*/
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typedef enum {
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LSM6DS0_ACC_FS_2G = 0x00, /**< Full scale <20>2g. */
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LSM6DS0_ACC_FS_4G = 0x10, /**< Full scale <20>4g. */
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LSM6DS0_ACC_FS_8G = 0x18, /**< Full scale <20>8g. */
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LSM6DS0_ACC_FS_16G = 0x08 /**< Full scale <20>16g. */
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} lsm6ds0_acc_fs_t;
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/**
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* @brief LSM6DS0 accelerometer subsystem output data rate.
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*/
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typedef enum {
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LSM6DS0_ACC_ODR_PD = 0x00, /**< Power down */
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LSM6DS0_ACC_ODR_10Hz = 0x20, /**< ODR 10 Hz */
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LSM6DS0_ACC_ODR_50Hz = 0x40, /**< ODR 50 Hz */
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LSM6DS0_ACC_ODR_119Hz = 0x60, /**< ODR 119 Hz */
|
||
LSM6DS0_ACC_ODR_238Hz = 0x80, /**< ODR 238 Hz */
|
||
LSM6DS0_ACC_ODR_476Hz = 0xA0, /**< ODR 476 Hz */
|
||
LSM6DS0_ACC_ODR_952Hz = 0xC0 /**< ODR 952 Hz */
|
||
} lsm6ds0_acc_odr_t;
|
||
|
||
/**
|
||
* @brief LSM6DS0 accelerometer subsystem decimation mode.
|
||
*/
|
||
typedef enum {
|
||
LSM6DS0_ACC_DEC_DISABLED = 0x00, /**< Decimation disabled. */
|
||
LSM6DS0_ACC_DEC_X2 = 0x40, /**< Output updated every 2 samples. */
|
||
LSM6DS0_ACC_DEC_X4 = 0x80, /**< Output updated every 4 samples. */
|
||
LSM6DS0_ACC_DEC_X8 = 0xC0 /**< Output updated every 8 samples. */
|
||
} lsm6ds0_acc_dec_t;
|
||
|
||
/**
|
||
* @brief LSM6DS0 accelerometer subsystem configuration structure.
|
||
*/
|
||
typedef struct {
|
||
/**
|
||
* @brief LSM6DS0 accelerometer initial sensitivity.
|
||
*/
|
||
float* sensitivity;
|
||
/**
|
||
* @brief LSM6DS0 accelerometer initial bias.
|
||
*/
|
||
float* bias;
|
||
/**
|
||
* @brief LSM6DS0 accelerometer subsystem full scale.
|
||
*/
|
||
lsm6ds0_acc_fs_t fullscale;
|
||
/**
|
||
* @brief LSM6DS0 accelerometer subsystem output data rate.
|
||
*/
|
||
lsm6ds0_acc_odr_t outdatarate;
|
||
#if LSM6DS0_ACC_USE_ADVANCED || defined(__DOXYGEN__)
|
||
/**
|
||
* @brief LSM6DS0 accelerometer subsystem decimation mode.
|
||
*/
|
||
lsm6ds0_acc_dec_t decmode;
|
||
#endif /* LSM6DS0_ACC_USE_ADVANCED */
|
||
} LSM6DS0AccConfig;
|
||
/** @} */
|
||
|
||
/**
|
||
* @name LSM6DS0 gyroscope subsystem data structures and types.
|
||
* @{
|
||
*/
|
||
/**
|
||
* @brief LSM6DS0 gyroscope subsystem full scale.
|
||
*/
|
||
typedef enum {
|
||
LSM6DS0_GYRO_FS_245DPS = 0x00, /**< Full scale <20>245 degree per second */
|
||
LSM6DS0_GYRO_FS_500DPS = 0x08, /**< Full scale <20>500 degree per second */
|
||
LSM6DS0_GYRO_FS_2000DPS = 0x18 /**< Full scale <20>2000 degree per second */
|
||
} lsm6ds0_gyro_fs_t;
|
||
|
||
/**
|
||
* @brief LSM6DS0 gyroscope subsystem output data rate.
|
||
*/
|
||
typedef enum {
|
||
LSM6DS0_GYRO_ODR_PD = 0x00,
|
||
LSM6DS0_GYRO_ODR_95HZ_FC_25 = 0x10,
|
||
LSM6DS0_GYRO_ODR_14_9HZ_FC_5 = 0X20,
|
||
LSM6DS0_GYRO_ODR_59_5HZ_FC_16 = 0X40,
|
||
LSM6DS0_GYRO_ODR_119HZ_FC_14 = 0X60,
|
||
LSM6DS0_GYRO_ODR_119HZ_FC_31 = 0X61,
|
||
LSM6DS0_GYRO_ODR_238HZ_FC_14 = 0X80,
|
||
LSM6DS0_GYRO_ODR_238HZ_FC_29 = 0X81,
|
||
LSM6DS0_GYRO_ODR_238HZ_FC_63 = 0X82,
|
||
LSM6DS0_GYRO_ODR_238HZ_FC_78 = 0X83,
|
||
LSM6DS0_GYRO_ODR_476HZ_FC_21 = 0XA0,
|
||
LSM6DS0_GYRO_ODR_476HZ_FC_28 = 0XA1,
|
||
LSM6DS0_GYRO_ODR_476HZ_FC_57 = 0XA2,
|
||
LSM6DS0_GYRO_ODR_476HZ_FC_100 = 0XA3,
|
||
LSM6DS0_GYRO_ODR_952HZ_FC_33 = 0XC0,
|
||
LSM6DS0_GYRO_ODR_952HZ_FC_40 = 0XC1,
|
||
LSM6DS0_GYRO_ODR_952HZ_FC_58 = 0XC2,
|
||
LSM6DS0_GYRO_ODR_952HZ_FC_100 = 0XC3
|
||
} lsm6ds0_gyro_odr_t;
|
||
|
||
/**
|
||
* @brief LSM6DS0 gyroscope subsystem low mode configuration.
|
||
*/
|
||
typedef enum {
|
||
LSM6DS0_GYRO_LP_DISABLED = 0x00, /**< Low power mode disabled. */
|
||
LSM6DS0_GYRO_LP_ENABLED = 0x80 /**< Low power mode enabled. */
|
||
} lsm6ds0_gyro_lp_t;
|
||
|
||
/**
|
||
* @brief LSM6DS0 gyroscope subsystem output selection.
|
||
*/
|
||
typedef enum {
|
||
LSM6DS0_GYRO_OUT_SEL_0 = 0x00, /**< Low pass filter 1. */
|
||
LSM6DS0_GYRO_OUT_SEL_1 = 0x01, /**< High pass filter 1 if enabled. */
|
||
LSM6DS0_GYRO_OUT_SEL_2 = 0x02 /**< Low pass filter 2. */
|
||
} lsm6ds0_gyro_out_sel_t;
|
||
|
||
/**
|
||
* @brief LSM6DS0 gyroscope subsystem high pass filter.
|
||
*/
|
||
typedef enum {
|
||
LSM6DS0_GYRO_HP_DISABLED = 0x00, /**< High pass filter disabled. */
|
||
LSM6DS0_GYRO_HP_ENABLED = 0x40 /**< High pass filter enabled. */
|
||
} lsm6ds0_gyro_hp_t;
|
||
|
||
/**
|
||
* @brief LSM6DS0 gyroscope subsystem high pass filter configuration.
|
||
*/
|
||
typedef enum {
|
||
LSM6DS0_GYRO_HPCF_0 = 0x00, /**< Refer to table 48 of RM */
|
||
LSM6DS0_GYRO_HPCF_1 = 0x01,
|
||
LSM6DS0_GYRO_HPCF_2 = 0x02,
|
||
LSM6DS0_GYRO_HPCF_3 = 0x03,
|
||
LSM6DS0_GYRO_HPCF_4 = 0x04,
|
||
LSM6DS0_GYRO_HPCF_5 = 0x05,
|
||
LSM6DS0_GYRO_HPCF_6 = 0x06,
|
||
LSM6DS0_GYRO_HPCF_7 = 0x07,
|
||
LSM6DS0_GYRO_HPCF_8 = 0x08,
|
||
LSM6DS0_GYRO_HPCF_9 = 0x09
|
||
} lsm6ds0_gyro_hpcf_t;
|
||
|
||
/**
|
||
* @brief LSM6DS0 gyroscope subsystem configuration structure.
|
||
*/
|
||
typedef struct {
|
||
/**
|
||
* @brief LSM6DS0 gyroscope initial sensitivity.
|
||
*/
|
||
float* sensitivity;
|
||
/**
|
||
* @brief LSM6DS0 gyroscope initial bias.
|
||
*/
|
||
float* bias;
|
||
/**
|
||
* @brief LSM6DS0 gyroscope subsystem full scale.
|
||
*/
|
||
lsm6ds0_gyro_fs_t fullscale;
|
||
/**
|
||
* @brief LSM6DS0 gyroscope subsystem output data rate.
|
||
*/
|
||
lsm6ds0_gyro_odr_t outdatarate;
|
||
#if LSM6DS0_GYRO_USE_ADVANCED || defined(__DOXYGEN__)
|
||
/**
|
||
* @brief LSM6DS0 gyroscope subsystem low mode configuration.
|
||
*/
|
||
lsm6ds0_gyro_lp_t lowmodecfg;
|
||
/**
|
||
* @brief LSM6DS0 gyroscope subsystem output selection.
|
||
*/
|
||
lsm6ds0_gyro_out_sel_t outsel;
|
||
/**
|
||
* @brief LSM6DS0 gyroscope subsystem high pass filter.
|
||
*/
|
||
lsm6ds0_gyro_hp_t hpfenable;
|
||
/**
|
||
* @brief LSM6DS0 gyroscope subsystem high pass filter configuration.
|
||
*/
|
||
lsm6ds0_gyro_hpcf_t hpcfg;
|
||
#endif /* LSM6DS0_GYRO_USE_ADVANCED */
|
||
} LSM6DS0GyroConfig;
|
||
/** @} */
|
||
|
||
/**
|
||
* @name LSM6DS0 main system data structures and types.
|
||
* @{
|
||
*/
|
||
/**
|
||
* @brief Accelerometer and Gyroscope Slave Address.
|
||
*/
|
||
typedef enum {
|
||
LSM6DS0_SAD_GND = 0x6A, /**< SAD pin connected to GND. */
|
||
LSM6DS0_SAD_VCC = 0x6B /**< SAD pin connected to VCC. */
|
||
} lsm6ds0_sad_t;
|
||
|
||
/**
|
||
* @brief LSM6DS0 block data update.
|
||
*/
|
||
typedef enum {
|
||
LSM6DS0_BDU_CONTINUOUS = 0x00, /**< Block data continuously updated. */
|
||
LSM6DS0_BDU_BLOCKED = 0x40 /**< Block data updated after reading. */
|
||
} lsm6ds0_bdu_t;
|
||
|
||
/**
|
||
* @brief LSM6DS0 endianness.
|
||
*/
|
||
typedef enum {
|
||
LSM6DS0_END_LITTLE = 0x00, /**< Little endian. */
|
||
LSM6DS0_END_BIG = 0x20 /**< Big endian. */
|
||
} lsm6ds0_end_t;
|
||
|
||
/**
|
||
* @brief Driver state machine possible states.
|
||
*/
|
||
typedef enum {
|
||
LSM6DS0_UNINIT = 0, /**< Not initialized. */
|
||
LSM6DS0_STOP = 1, /**< Stopped. */
|
||
LSM6DS0_READY = 2, /**< Ready. */
|
||
} lsm6ds0_state_t;
|
||
|
||
/**
|
||
* @brief LSM6DS0 configuration structure.
|
||
*/
|
||
typedef struct {
|
||
#if (LSM6DS0_USE_SPI) || defined(__DOXYGEN__)
|
||
/**
|
||
* @brief SPI driver associated to this LSM6DS0.
|
||
*/
|
||
SPIDriver *spip;
|
||
/**
|
||
* @brief SPI configuration associated to this LSM6DS0 accelerometer
|
||
* subsystem.
|
||
*/
|
||
const SPIConfig *accspicfg;
|
||
/**
|
||
* @brief SPI configuration associated to this LSM6DS0 compass
|
||
* subsystem.
|
||
*/
|
||
const SPIConfig *gyrospicfg;
|
||
#endif /* LSM6DS0_USE_SPI */
|
||
#if (LSM6DS0_USE_I2C) || defined(__DOXYGEN__)
|
||
/**
|
||
* @brief I2C driver associated to this LSM6DS0.
|
||
*/
|
||
I2CDriver *i2cp;
|
||
/**
|
||
* @brief I2C configuration associated to this LSM6DS0 accelerometer
|
||
* subsystem.
|
||
*/
|
||
const I2CConfig *i2ccfg;
|
||
#endif /* LSM6DS0_USE_I2C */
|
||
/**
|
||
* @brief LSM6DS0 accelerometer subsystem configuration structure
|
||
*/
|
||
const LSM6DS0AccConfig *acccfg;
|
||
/**
|
||
* @brief LSM6DS0 gyroscope subsystem configuration structure
|
||
*/
|
||
const LSM6DS0GyroConfig *gyrocfg;
|
||
/**
|
||
* @brief Accelerometer and Gyroscope Slave Address
|
||
*/
|
||
lsm6ds0_sad_t slaveaddress;
|
||
#if (LSM6DS0_USE_ADVANCED) || defined(__DOXYGEN__)
|
||
/**
|
||
* @brief LSM6DS0 block data update
|
||
*/
|
||
lsm6ds0_bdu_t blockdataupdate;
|
||
/**
|
||
* @brief LSM6DS0 endianness
|
||
*/
|
||
lsm6ds0_end_t endianness;
|
||
#endif /* LSM6DS0_USE_ADVANCED */
|
||
} LSM6DS0Config;
|
||
|
||
/**
|
||
* @brief @p LSM6DS0 accelerometer subsystem specific methods.
|
||
*/
|
||
#define _lsm6ds0_accelerometer_methods_alone \
|
||
/* Change full scale value of LSM6DS0 accelerometer subsystem .*/ \
|
||
msg_t (*set_full_scale)(void *instance, lsm6ds0_acc_fs_t fs);
|
||
|
||
|
||
/**
|
||
* @brief @p LSM6DS0 accelerometer subsystem specific methods with inherited
|
||
* ones.
|
||
*/
|
||
#define _lsm6ds0_accelerometer_methods \
|
||
_base_accelerometer_methods \
|
||
_lsm6ds0_accelerometer_methods_alone
|
||
|
||
/**
|
||
* @brief @p LSM6DS0 gyroscope subsystem specific methods.
|
||
*/
|
||
#define _lsm6ds0_gyroscope_methods_alone \
|
||
/* Change full scale value of LSM6DS0 gyroscope subsystem .*/ \
|
||
msg_t (*set_full_scale)(void *instance, lsm6ds0_gyro_fs_t fs);
|
||
|
||
|
||
/**
|
||
* @brief @p LSM6DS0 gyroscope subsystem specific methods with inherited ones.
|
||
*/
|
||
#define _lsm6ds0_gyroscope_methods \
|
||
_base_gyroscope_methods \
|
||
_lsm6ds0_gyroscope_methods_alone
|
||
|
||
/**
|
||
* @extends BaseAccelerometerVMT
|
||
*
|
||
* @brief @p LSM6DS0 accelerometer virtual methods table.
|
||
*/
|
||
struct LSM6DS0AccelerometerVMT {
|
||
_lsm6ds0_accelerometer_methods
|
||
};
|
||
|
||
/**
|
||
* @extends BaseCompassVMT
|
||
*
|
||
* @brief @p LSM6DS0 gyroscope virtual methods table.
|
||
*/
|
||
struct LSM6DS0GyroscopeVMT {
|
||
_lsm6ds0_gyroscope_methods
|
||
};
|
||
|
||
/**
|
||
* @brief @p LSM6DS0Driver specific data.
|
||
*/
|
||
#define _lsm6ds0_data \
|
||
/* Driver state.*/ \
|
||
lsm6ds0_state_t state; \
|
||
/* Current configuration data.*/ \
|
||
const LSM6DS0Config *config; \
|
||
/* Current accelerometer sensitivity.*/ \
|
||
float accsensitivity[LSM6DS0_ACC_NUMBER_OF_AXES]; \
|
||
/* Accelerometer bias data.*/ \
|
||
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.*/ \
|
||
float gyrobias[LSM6DS0_GYRO_NUMBER_OF_AXES]; \
|
||
/* Current gyroscope full scale value.*/ \
|
||
float gyrofullscale;
|
||
|
||
/**
|
||
* @brief LSM6DS0 6-axis accelerometer/gyroscope class.
|
||
*/
|
||
struct LSM6DS0Driver {
|
||
/** @brief BaseSensor Virtual Methods Table. */
|
||
const struct BaseSensorVMT *vmt_sensor;
|
||
_base_sensor_data
|
||
/** @brief LSM6DS0 Accelerometer Virtual Methods Table. */
|
||
const struct LSM6DS0AccelerometerVMT *vmt_accelerometer;
|
||
_base_accelerometer_data
|
||
/** @brief LSM6DS0 Gyroscope Virtual Methods Table. */
|
||
const struct LSM6DS0GyroscopeVMT *vmt_gyroscope;
|
||
_base_gyroscope_data
|
||
_lsm6ds0_data
|
||
};
|
||
|
||
/**
|
||
* @brief Structure representing a LSM6DS0 driver.
|
||
*/
|
||
typedef struct LSM6DS0Driver LSM6DS0Driver;
|
||
/** @} */
|
||
|
||
/*===========================================================================*/
|
||
/* Driver macros. */
|
||
/*===========================================================================*/
|
||
|
||
/**
|
||
* @brief Change accelerometer fullscale value.
|
||
*
|
||
* @param[in] ip pointer to a @p LSM6DS0Driver 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 accelerometerSetFullScale(ip, fs) \
|
||
(ip)->vmt_accelerometer->set_full_scale(ip, fs)
|
||
|
||
/**
|
||
* @brief Change compass fullscale value.
|
||
*
|
||
* @param[in] ip pointer to a @p LSM6DS0Driver 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_gyroscope->set_full_scale(ip, fs)
|
||
|
||
/*===========================================================================*/
|
||
/* External declarations. */
|
||
/*===========================================================================*/
|
||
|
||
#ifdef __cplusplus
|
||
extern "C" {
|
||
#endif
|
||
void lsm6ds0ObjectInit(LSM6DS0Driver *devp);
|
||
void lsm6ds0Start(LSM6DS0Driver *devp, const LSM6DS0Config *config);
|
||
void lsm6ds0Stop(LSM6DS0Driver *devp);
|
||
#ifdef __cplusplus
|
||
}
|
||
#endif
|
||
|
||
#endif /* _LSM6DS0_H_ */
|
||
|
||
/** @} */
|