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LSM6DS3 Cleanup

This commit is contained in:
Mitch Lustig 2020-05-29 16:49:33 -07:00
parent b827ad855b
commit 2a1c8ddc67
1 changed files with 8 additions and 14 deletions
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22
imu/lsm6ds3.c
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@ -49,15 +49,14 @@ void lsm6ds3_init(stm32_gpio_t *sda_gpio, int sda_pin,
read_callback = 0;
//#define LSM6DS3_ACC_GYRO_WHO_AM_I_REG 0X0F
m_i2c_bb.sda_gpio = sda_gpio;
m_i2c_bb.sda_pin = sda_pin;
m_i2c_bb.scl_gpio = scl_gpio;
m_i2c_bb.scl_pin = scl_pin;
i2c_bb_init(&m_i2c_bb);
uint8_t rxb[2];
uint8_t txb[2];
uint8_t rxb[2];
txb[0] = LSM6DS3_ACC_GYRO_WHO_AM_I_REG;
lsm6ds3_addr = LSM6DS3_ACC_GYRO_ADDR_A;
@ -78,30 +77,27 @@ void lsm6ds3_init(stm32_gpio_t *sda_gpio, int sda_pin,
txb[0] = LSM6DS3_ACC_GYRO_CTRL1_XL;
txb[1] = LSM6DS3_ACC_GYRO_BW_XL_400Hz | LSM6DS3_ACC_GYRO_FS_XL_16g | LSM6DS3_ACC_GYRO_ODR_XL_6660Hz;
res = i2c_bb_tx_rx(&m_i2c_bb, lsm6ds3_addr, txb, 2, rxb, 1);
if(res){
commands_printf("LSM6DS3 Accel Config Set");
}else{
if(!res){
commands_printf("LSM6DS3 Accel Config FAILED");
return;
}
// Set all gyro speeds to MAX
txb[0] = LSM6DS3_ACC_GYRO_CTRL2_G;
txb[1] = LSM6DS3_ACC_GYRO_FS_G_2000dps | LSM6DS3_ACC_GYRO_ODR_G_1660Hz;
res = i2c_bb_tx_rx(&m_i2c_bb, lsm6ds3_addr, txb, 2, rxb, 1);
if(res){
commands_printf("LSM6DS3 Gyro Config Set");
}else{
if(!res){
commands_printf("LSM6DS3 Gyro Config FAILED");
return;
}
// Set ODR???
txb[0] = LSM6DS3_ACC_GYRO_CTRL4_C;
txb[1] = LSM6DS3_ACC_GYRO_BW_SCAL_ODR_ENABLED;
res = i2c_bb_tx_rx(&m_i2c_bb, lsm6ds3_addr, txb, 1, rxb, 1);
if(res){
commands_printf("LSM6DS3 ODR Config Set");
}else{
if(!res){
commands_printf("LSM6DS3 ODR Config FAILED");
return;
}
terminal_register_command_callback(
@ -114,7 +110,6 @@ void lsm6ds3_init(stm32_gpio_t *sda_gpio, int sda_pin,
}
void lsm6ds3_stop(void) {
commands_printf("LSM6DS3 Terminating");
if(lsm6ds3_thread_ref != NULL){
chThdTerminate(lsm6ds3_thread_ref);
chThdWait(lsm6ds3_thread_ref);
@ -128,14 +123,13 @@ void lsm6ds3_set_read_callback(void(*func)(float *accel, float *gyro, float *mag
}
static uint8_t read_single_reg(uint8_t reg) {
uint8_t rxb[2];
uint8_t txb[2];
uint8_t rxb[2];
txb[0] = reg;
bool res = i2c_bb_tx_rx(&m_i2c_bb, lsm6ds3_addr, txb, 1, rxb, 2);
if (res) {
commands_printf("Reg 0x%02x: (0x%02x) (0x%02x)\n", reg, rxb[0], rxb[1]);
return rxb[0];
} else {
return 0;