diff options
Diffstat (limited to 'os/various/devices_lib/mems')
| -rw-r--r-- | os/various/devices_lib/mems/l3gd20.c | 123 | ||||
| -rw-r--r-- | os/various/devices_lib/mems/l3gd20.h | 243 | ||||
| -rw-r--r-- | os/various/devices_lib/mems/lis3mdl.c | 151 | ||||
| -rw-r--r-- | os/various/devices_lib/mems/lis3mdl.h | 258 | ||||
| -rw-r--r-- | os/various/devices_lib/mems/lsm303dlhc.c | 205 | ||||
| -rw-r--r-- | os/various/devices_lib/mems/lsm303dlhc.h | 352 | ||||
| -rw-r--r-- | os/various/devices_lib/mems/lsm6ds0.c | 184 | ||||
| -rw-r--r-- | os/various/devices_lib/mems/lsm6ds0.h | 482 |
8 files changed, 1998 insertions, 0 deletions
diff --git a/os/various/devices_lib/mems/l3gd20.c b/os/various/devices_lib/mems/l3gd20.c new file mode 100644 index 0000000..1cc52c9 --- /dev/null +++ b/os/various/devices_lib/mems/l3gd20.c @@ -0,0 +1,123 @@ +/* + Pretty LAYer for ChibiOS/RT - Copyright (C) 2015 Rocco Marco Guglielmi + + This file is part of PLAY for ChibiOS/RT. + + PLAY is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 3 of the License, or + (at your option) any later version. + + PLAY is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see <http://www.gnu.org/licenses/>. +*/ + +/* + Special thanks to Giovanni Di Sirio for teachings, his moral support and + friendship. Note that some or every piece of this file could be part of + the ChibiOS project that is intellectual property of Giovanni Di Sirio. + Please refer to ChibiOS/RT license before use this file. + + For suggestion or Bug report - roccomarco.guglielmi@playembedded.org + */ + +/** + * @file l3gd20.c + * @brief L3GD20 MEMS interface module code. + * + * @addtogroup l3gd20 + * @{ + */ + +#include "ch.h" +#include "hal.h" + +#include "l3gd20.h" + +/*===========================================================================*/ +/* Driver local definitions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver exported variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local variables and types. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local functions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver exported functions. */ +/*===========================================================================*/ + +/** + * @brief Reads a generic register value. + * @pre The SPI interface must be initialized and the driver started. + * + * @param[in] spip pointer to the SPI interface + * @param[in] reg register number + * @return register value. + */ +uint8_t l3gd20ReadRegister(SPIDriver *spip, uint8_t reg) { + uint8_t txbuf[2] = {L3GD20_RW | reg, 0xFF}; + uint8_t rxbuf[2] = {0x00, 0x00}; + spiSelect(spip); + spiExchange(spip, 2, txbuf, rxbuf); + spiUnselect(spip); + return rxbuf[1]; +} + + +void l3gd20WriteRegister(SPIDriver *spip, uint8_t reg, uint8_t value) { + + switch (reg) { + + default: + /* Reserved register must not be written, according to the datasheet + * this could permanently damage the device. + */ + chDbgAssert(FALSE, "lg3d20WriteRegister(), reserved register"); + case L3GD20_AD_WHO_AM_I: + case L3GD20_AD_OUT_TEMP : + case L3GD20_AD_STATUS_REG: + case L3GD20_AD_OUT_X_L: + case L3GD20_AD_OUT_X_H: + case L3GD20_AD_OUT_Y_L: + case L3GD20_AD_OUT_Y_H: + case L3GD20_AD_OUT_Z_L: + case L3GD20_AD_OUT_Z_H: + case L3GD20_AD_FIFO_SRC_REG: + case L3GD20_AD_INT1_SRC: + /* Read only registers cannot be written, the command is ignored.*/ + return; + case L3GD20_AD_CTRL_REG1: + case L3GD20_AD_CTRL_REG2: + case L3GD20_AD_CTRL_REG3: + case L3GD20_AD_CTRL_REG4: + case L3GD20_AD_CTRL_REG5: + case L3GD20_AD_REFERENCE: + case L3GD20_AD_FIFO_CTRL_REG: + case L3GD20_AD_INT1_CFG: + case L3GD20_AD_INT1_TSH_XH: + case L3GD20_AD_INT1_TSH_XL: + case L3GD20_AD_INT1_TSH_YH: + case L3GD20_AD_INT1_TSH_YL: + case L3GD20_AD_INT1_TSH_ZH: + case L3GD20_AD_INT1_TSH_ZL: + case L3GD20_AD_INT1_DURATION: + spiSelect(spip); + uint8_t txbuf[2] = {reg, value}; + spiSend(spip, 2, txbuf); + spiUnselect(spip); + } +} +/** @} */ diff --git a/os/various/devices_lib/mems/l3gd20.h b/os/various/devices_lib/mems/l3gd20.h new file mode 100644 index 0000000..08d9092 --- /dev/null +++ b/os/various/devices_lib/mems/l3gd20.h @@ -0,0 +1,243 @@ +/* + Pretty LAYer for ChibiOS/RT - Copyright (C) 2015 Rocco Marco Guglielmi + + This file is part of PLAY for ChibiOS/RT. + + PLAY is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 3 of the License, or + (at your option) any later version. + + PLAY is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see <http://www.gnu.org/licenses/>. +*/ + +/* + Special thanks to Giovanni Di Sirio for teachings, his moral support and + friendship. Note that some or every piece of this file could be part of + the ChibiOS project that is intellectual property of Giovanni Di Sirio. + Please refer to ChibiOS/RT license before use this file. + + For suggestion or Bug report - roccomarco.guglielmi@playembedded.org + */ + +/** + * @file l3gd20.h + * @brief L3GD20 MEMS interface module header. + * + * @{ + */ + +#ifndef _L3GD20_H_ +#define _L3GD20_H_ + +/*===========================================================================*/ +/* Driver constants. */ +/*===========================================================================*/ + +#define L3GD20_SENS_250DPS ((float)131.072f) /*!< gyroscope sensitivity with 250 dps full scale [LSB/dps] */ +#define L3GD20_SENS_500DPS ((float)65.536f) /*!< gyroscope sensitivity with 500 dps full scale [LSB/dps] */ +#define L3GD20_SENS_2000DPS ((float)16.384f) /*!< gyroscope sensitivity with 2000 dps full scale [LSB/dps] */ +/** + * @name L3GD20 register names + * @{ + */ +/******************************************************************************/ +/* */ +/* L3GD20 on board MEMS */ +/* */ +/******************************************************************************/ +/******************* Bit definition for SPI communication *******************/ +#define L3GD20_DI ((uint8_t)0xFF) /*!< DI[7:0] Data input */ +#define L3GD20_DI_0 ((uint8_t)0x01) /*!< bit 0 */ +#define L3GD20_DI_1 ((uint8_t)0x02) /*!< bit 1 */ +#define L3GD20_DI_2 ((uint8_t)0x04) /*!< bit 2 */ +#define L3GD20_DI_3 ((uint8_t)0x08) /*!< bit 3 */ +#define L3GD20_DI_4 ((uint8_t)0x10) /*!< bit 4 */ +#define L3GD20_DI_5 ((uint8_t)0x20) /*!< bit 5 */ +#define L3GD20_DI_6 ((uint8_t)0x40) /*!< bit 6 */ +#define L3GD20_DI_7 ((uint8_t)0x80) /*!< bit 7 */ + +#define L3GD20_AD ((uint8_t)0x3F) /*!< AD[5:0] Address Data */ +#define L3GD20_AD_0 ((uint8_t)0x01) /*!< bit 0 */ +#define L3GD20_AD_1 ((uint8_t)0x02) /*!< bit 1 */ +#define L3GD20_AD_2 ((uint8_t)0x04) /*!< bit 2 */ +#define L3GD20_AD_3 ((uint8_t)0x08) /*!< bit 3 */ +#define L3GD20_AD_4 ((uint8_t)0x10) /*!< bit 4 */ +#define L3GD20_AD_5 ((uint8_t)0x20) /*!< bit 5 */ + +#define L3GD20_MS ((uint8_t)0x40) /*!< Multiple read write */ +#define L3GD20_RW ((uint8_t)0x80) /*!< Read Write, 1 0 */ + +/****************** Bit definition for Registers Addresses *******************/ +#define L3GD20_AD_WHO_AM_I ((uint8_t)0x0F) /*!< WHO I AM */ +#define L3GD20_AD_CTRL_REG1 ((uint8_t)0x20) /*!< CONTROL REGISTER 1 */ +#define L3GD20_AD_CTRL_REG2 ((uint8_t)0x21) /*!< CONTROL REGISTER 2 */ +#define L3GD20_AD_CTRL_REG3 ((uint8_t)0x22) /*!< CONTROL REGISTER 3 */ +#define L3GD20_AD_CTRL_REG4 ((uint8_t)0x23) /*!< CONTROL REGISTER 4 */ +#define L3GD20_AD_CTRL_REG5 ((uint8_t)0x24) /*!< CONTROL REGISTER 5 */ +#define L3GD20_AD_REFERENCE ((uint8_t)0x25) /*!< REFERENCE/DATACAPTURE */ +#define L3GD20_AD_OUT_TEMP ((uint8_t)0x26) /*!< MEMS ONBOARD TEMP SENSOR */ +#define L3GD20_AD_STATUS_REG ((uint8_t)0x27) /*!< STATUS REGISTER */ +#define L3GD20_AD_OUT_X_L ((uint8_t)0x28) /*!< OUTPUT X-AXIS LOW */ +#define L3GD20_AD_OUT_X_H ((uint8_t)0x29) /*!< OUTPUT X-AXIS HIGH */ +#define L3GD20_AD_OUT_Y_L ((uint8_t)0x2A) /*!< OUTPUT Y-AXIS LOW */ +#define L3GD20_AD_OUT_Y_H ((uint8_t)0x2B) /*!< OUTPUT Y-AXIS HIGH */ +#define L3GD20_AD_OUT_Z_L ((uint8_t)0x2C) /*!< OUTPUT Z-AXIS LOW */ +#define L3GD20_AD_OUT_Z_H ((uint8_t)0x2D) /*!< OUTPUT Z-AXIS HIGH */ +#define L3GD20_AD_FIFO_CTRL_REG ((uint8_t)0x2E) /*!< FIFO CONTROL REGISTER */ +#define L3GD20_AD_FIFO_SRC_REG ((uint8_t)0x2F) /*!< FIFO SOURCE REGISTER */ +#define L3GD20_AD_INT1_CFG ((uint8_t)0x30) /*!< INTERRUPT1 CONFIG REGISTER */ +#define L3GD20_AD_INT1_SRC ((uint8_t)0x31) /*!< INTERRUPT1 SOURCE REGISTER */ +#define L3GD20_AD_INT1_TSH_XH ((uint8_t)0x32) /*!< INTERRUPT1 THRESHOLD X-AXIS HIGH */ +#define L3GD20_AD_INT1_TSH_XL ((uint8_t)0x33) /*!< INTERRUPT1 THRESHOLD X-AXIS LOW */ +#define L3GD20_AD_INT1_TSH_YH ((uint8_t)0x34) /*!< INTERRUPT1 THRESHOLD Y-AXIS HIGH */ +#define L3GD20_AD_INT1_TSH_YL ((uint8_t)0x35) /*!< INTERRUPT1 THRESHOLD Y-AXIS LOW */ +#define L3GD20_AD_INT1_TSH_ZH ((uint8_t)0x36) /*!< INTERRUPT1 THRESHOLD Z-AXIS HIGH */ +#define L3GD20_AD_INT1_TSH_ZL ((uint8_t)0x37) /*!< INTERRUPT1 THRESHOLD Z-AXIS LOW */ +#define L3GD20_AD_INT1_DURATION ((uint8_t)0x38) /*!< INTERRUPT1 DURATION */ + +/** @} */ + +/*===========================================================================*/ +/* Driver pre-compile time settings. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver data structures and types. */ +/*===========================================================================*/ + +/** + * @name Gyroscope data structures and types + * @{ + */ + +/** + * @brief Gyroscope Output Data Rate + */ +typedef enum { + L3GD20_ODR_95Hz_Fc_12_5 = 0x00, /*!< Output Data Rate = 95 Hz - LPF Cut-Off = 12.5 Hz */ + L3GD20_ODR_95Hz_Fc_25 = 0x10, /*!< Output Data Rate = 95 Hz - LPF Cut-Off = 25 Hz */ + L3GD20_ODR_190Hz_Fc_12_5 = 0x40, /*!< Output Data Rate = 190 Hz - LPF Cut-Off = 12.5 Hz */ + L3GD20_ODR_190Hz_Fc_25 = 0x50, /*!< Output Data Rate = 190 Hz - LPF Cut-Off = 25 Hz */ + L3GD20_ODR_190Hz_Fc_50 = 0x60, /*!< Output Data Rate = 190 Hz - LPF Cut-Off = 50 Hz */ + L3GD20_ODR_190Hz_Fc_70 = 0x70, /*!< Output Data Rate = 190 Hz - LPF Cut-Off = 70 Hz */ + L3GD20_ODR_380Hz_Fc_20 = 0x80, /*!< Output Data Rate = 380 Hz - LPF Cut-Off = 20 Hz */ + L3GD20_ODR_380Hz_Fc_25 = 0x90, /*!< Output Data Rate = 380 Hz - LPF Cut-Off = 25 Hz */ + L3GD20_ODR_380Hz_Fc_50 = 0xA0, /*!< Output Data Rate = 380 Hz - LPF Cut-Off = 50 Hz */ + L3GD20_ODR_380Hz_Fc_100 = 0xB0, /*!< Output Data Rate = 380 Hz - LPF Cut-Off = 100 Hz */ + L3GD20_ODR_760Hz_Fc_30 = 0xC0, /*!< Output Data Rate = 760 Hz - LPF Cut-Off = 30 Hz */ + L3GD20_ODR_760Hz_Fc_35 = 0xD0, /*!< Output Data Rate = 760 Hz - LPF Cut-Off = 35 Hz */ + L3GD20_ODR_760Hz_Fc_50 = 0xE0, /*!< Output Data Rate = 760 Hz - LPF Cut-Off = 50 Hz */ + L3GD20_ODR_760Hz_Fc_100 = 0xF0 /*!< Output Data Rate = 760 Hz - LPF Cut-Off = 100 Hz */ +}L3GD20_ODR_t; + +/** + * @brief Gyroscope Power Mode + */ +typedef enum { + L3GD20_PM_POWER_DOWN = 0x00, /*!< Normal mode enabled */ + L3GD20_PM_SLEEP_NORMAL = 0x08 /*!< Low Power mode enabled */ +}L3GD20_PM_t; + +/** + * @brief Gyroscope Full Scale + */ +typedef enum { + L3GD20_FS_250DPS = 0x00, /*!< ±250 dps */ + L3GD20_FS_500DPS = 0x10, /*!< ±500 dps */ + L3GD20_FS_2000DPS = 0x20 /*!< ±200 dps */ +}L3GD20_FS_t; + +/** + * @brief Gyroscope Axes Enabling + */ +typedef enum { + L3GD20_AE_DISABLED = 0x00, /*!< All disabled */ + L3GD20_AE_X = 0x01, /*!< Only X */ + L3GD20_AE_Y = 0x02, /*!< Only Y */ + L3GD20_AE_XY = 0x03, /*!< X & Y */ + L3GD20_AE_Z = 0x04, /*!< Only Z */ + L3GD20_AE_XZ = 0x05, /*!< X & Z */ + L3GD20_AE_YZ = 0x06, /*!< Y & Z */ + L3GD20_AE_XYZ = 0x07 /*!< All enabled */ +}L3GD20_AE_t; + +/** + * @brief Gyroscope Block Data Update + */ +typedef enum { + L3GD20_BDU_CONTINOUS = 0x00, /*!< Continuos Update */ + L3GD20_BDU_BLOCKED = 0x80 /*!< Single Update: output registers not updated until MSB and LSB reading */ +}L3GD20_BDU_t; + +/** + * @brief Gyroscope Endianness + */ +typedef enum { + L3GD20_End_LITTLE = 0x00, /*!< Little Endian: data LSB @ lower address */ + L3GD20_End_BIG = 0x40 /*!< Big Endian: data MSB @ lower address */ +}L3GD20_End_t; + + +/** + * @brief Gyroscope configuration structure. + */ +typedef struct { + /** + * @brief Gyroscope fullscale value. + */ + L3GD20_FS_t fullscale; + /** + * @brief Gyroscope power mode selection. + */ + L3GD20_PM_t powermode; + /** + * @brief Gyroscope output data rate selection. + */ + L3GD20_ODR_t outputdatarate; + /** + * @brief Gyroscope axes enabling. + */ + L3GD20_AE_t axesenabling; + /** + * @brief Gyroscope endianess. + */ + L3GD20_End_t endianess; + /** + * @brief Gyroscope block data update. + */ + L3GD20_BDU_t blockdataupdate; +} L3GD20_Config; +/** @} */ +/*===========================================================================*/ +/* Driver macros. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +#ifdef __cplusplus +extern "C" { +#endif + + uint8_t l3gd20ReadRegister(SPIDriver *spip, uint8_t reg); + void l3gd20WriteRegister(SPIDriver *spip, uint8_t reg, uint8_t value); +#ifdef __cplusplus +} +#endif + +#endif /* _L3GD20_H_ */ + +/** @} */ + diff --git a/os/various/devices_lib/mems/lis3mdl.c b/os/various/devices_lib/mems/lis3mdl.c new file mode 100644 index 0000000..99b71e4 --- /dev/null +++ b/os/various/devices_lib/mems/lis3mdl.c @@ -0,0 +1,151 @@ +/* + Pretty LAYer for ChibiOS/RT - Copyright (C) 2015 Rocco Marco Guglielmi + + This file is part of PLAY for ChibiOS/RT. + + PLAY is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 3 of the License, or + (at your option) any later version. + + PLAY is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see <http://www.gnu.org/licenses/>. +*/ + +/* + Special thanks to Giovanni Di Sirio for teachings, his moral support and + friendship. Note that some or every piece of this file could be part of + the ChibiOS project that is intellectual property of Giovanni Di Sirio. + Please refer to ChibiOS/RT license before use this file. + + For suggestion or Bug report - roccomarco.guglielmi@playembedded.org + */ + +/** + * @file lis3mdl.c + * @brief LIS3MDL MEMS interface module through I2C code. + * + * @addtogroup lis3mdl + * @{ + */ + +#include "ch.h" +#include "hal.h" + +#include "lis3mdl.h" + +/*===========================================================================*/ +/* Driver local definitions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver exported variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local variables and types. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local functions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver exported functions. */ +/*===========================================================================*/ + +/** + * @brief Reads a generic sub-register value. + * @pre The I2C interface must be initialized and the driver started. + * + * @param[in] i2cp pointer to the I2C interface + * @param[in] sad slave address without R bit + * @param[in] sub sub-register address + * @param[in] message pointer to message + * @return register value. + */ +uint8_t lis3mdlReadRegister(I2CDriver *i2cp, uint8_t sad, uint8_t sub, + msg_t* message) { + + uint8_t txbuf, rxbuf[2]; +#if defined(STM32F103_MCUCONF) + txbuf = LSM303DLHC_SUB_MSB | sub; + if(message != NULL){ + *message = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 2, + TIME_INFINITE); + } + else{ + i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 2, TIME_INFINITE); + } + return rxbuf[0]; +#else + txbuf = sub; + if(message != NULL){ + *message = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 1, + TIME_INFINITE); + } + else{ + i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 1, TIME_INFINITE); + } + return rxbuf[0]; +#endif +} + +/** + * @brief Writes a value into a register. + * @pre The I2C interface must be initialized and the driver started. + * + * @param[in] i2cp pointer to the I2C interface + * @param[in] sad slave address without R bit + * @param[in] sub sub-register address + * @param[in] value the value to be written + * @param[out] message pointer to message + */ +void lis3mdlWriteRegister(I2CDriver *i2cp, uint8_t sad, uint8_t sub, + uint8_t value, msg_t* message) { + + uint8_t txbuf[2]; + uint8_t rxbuf; + switch (sub) { + default: + /* Reserved register must not be written, according to the datasheet + * this could permanently damage the device. + */ + chDbgAssert(FALSE, "lis3mdlWriteRegister(), reserved register"); + case LIS3MDL_SUB_WHO_AM_I: + case LIS3MDL_SUB_STATUS_REG: + case LIS3MDL_SUB_OUT_X_L: + case LIS3MDL_SUB_OUT_X_H: + case LIS3MDL_SUB_OUT_Y_L: + case LIS3MDL_SUB_OUT_Y_H: + case LIS3MDL_SUB_OUT_Z_L: + case LIS3MDL_SUB_OUT_Z_H: + case LIS3MDL_SUB_INT_SOURCE: + case LIS3MDL_SUB_INT_THS_L: + case LIS3MDL_SUB_INT_THS_H: + /* Read only registers cannot be written, the command is ignored.*/ + return; + case LIS3MDL_SUB_CTRL_REG1: + case LIS3MDL_SUB_CTRL_REG2: + case LIS3MDL_SUB_CTRL_REG3: + case LIS3MDL_SUB_CTRL_REG4: + case LIS3MDL_SUB_CTRL_REG5: + case LIS3MDL_SUB_INT_CFG: + txbuf[0] = sub; + txbuf[1] = value; + if(message != NULL){ + *message = i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0, + TIME_INFINITE); + } + else{ + i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0, TIME_INFINITE); + } + break; + } +} +/** @} */ diff --git a/os/various/devices_lib/mems/lis3mdl.h b/os/various/devices_lib/mems/lis3mdl.h new file mode 100644 index 0000000..e55978e --- /dev/null +++ b/os/various/devices_lib/mems/lis3mdl.h @@ -0,0 +1,258 @@ +/* + Pretty LAYer for ChibiOS/RT - Copyright (C) 2015 Rocco Marco Guglielmi + + This file is part of PLAY for ChibiOS/RT. + + PLAY is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 3 of the License, or + (at your option) any later version. + + PLAY is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see <http://www.gnu.org/licenses/>. +*/ + +/* + Special thanks to Giovanni Di Sirio for teachings, his moral support and + friendship. Note that some or every piece of this file could be part of + the ChibiOS project that is intellectual property of Giovanni Di Sirio. + Please refer to ChibiOS/RT license before use this file. + + For suggestion or Bug report - roccomarco.guglielmi@playembedded.org + */ + +/** + * @file lis3mdl.h + * @brief LIS3MDL MEMS interface module header. + * + * @{ + */ + +#ifndef _LIS3MDL_H_ +#define _LIS3MDL_H_ + +/*===========================================================================*/ +/* Driver constants. */ +/*===========================================================================*/ + +#define LIS3MDL_COMP_SENS_4GA ((float)6842.0f) /*!< compass sensitivity with 4 GA full scale [LSB / Ga] */ +#define LIS3MDL_COMP_SENS_8GA ((float)3421.0f) /*!< compass sensitivity with 8 GA full scale [LSB / Ga] */ +#define LIS3MDL_COMP_SENS_12GA ((float)2281.0f) /*!< compass sensitivity with 12 GA full scale [LSB / Ga] */ +#define LIS3MDL_COMP_SENS_16GA ((float)1711.0f) /*!< compass sensitivity with 16 GA full scale [LSB / Ga] */ +/** + * @name LIS3MDL register names + * @{ + */ +/******************************************************************************/ +/* */ +/* LIS3MDL on board MEMS */ +/* */ +/******************************************************************************/ +/***************** Bit definition for I2C/SPI communication *****************/ +#define LIS3MDL_SUB ((uint8_t)0x7F) /*!< SUB[6:0] Sub-registers address Mask */ +#define LIS3MDL_SUB_0 ((uint8_t)0x01) /*!< bit 0 */ +#define LIS3MDL_SUB_1 ((uint8_t)0x02) /*!< bit 1 */ +#define LIS3MDL_SUB_2 ((uint8_t)0x08) /*!< bit 3 */ +#define LIS3MDL_SUB_4 ((uint8_t)0x10) /*!< bit 4 */ +#define LIS3MDL_SUB_5 ((uint8_t)0x20) /*!< bit 5 */ +#define LIS3MDL_SUB_6 ((uint8_t)0x40) /*!< bit 6 */ + +#define LIS3MDL_SUB_MSB ((uint8_t)0x80) /*!< Multiple data read\write bit */ + +/**************** Bit definition SUB-Registers Addresses ********************/ +#define LIS3MDL_SUB_WHO_AM_I ((uint8_t)0x0F) /*!< CONTROL REGISTER 1 */ +#define LIS3MDL_SUB_CTRL_REG1 ((uint8_t)0x20) /*!< CONTROL REGISTER 1 */ +#define LIS3MDL_SUB_CTRL_REG2 ((uint8_t)0x21) /*!< CONTROL REGISTER 2 */ +#define LIS3MDL_SUB_CTRL_REG3 ((uint8_t)0x22) /*!< CONTROL REGISTER 3 */ +#define LIS3MDL_SUB_CTRL_REG4 ((uint8_t)0x23) /*!< CONTROL REGISTER 4 */ +#define LIS3MDL_SUB_CTRL_REG5 ((uint8_t)0x24) /*!< CONTROL REGISTER 5 */ +#define LIS3MDL_SUB_STATUS_REG ((uint8_t)0x27) /*!< STATUS REGISTER */ +#define LIS3MDL_SUB_OUT_X_L ((uint8_t)0x28) /*!< OUTPUT X-AXIS LOW */ +#define LIS3MDL_SUB_OUT_X_H ((uint8_t)0x29) /*!< OUTPUT X-AXIS HIGH */ +#define LIS3MDL_SUB_OUT_Y_L ((uint8_t)0x2A) /*!< OUTPUT Y-AXIS LOW */ +#define LIS3MDL_SUB_OUT_Y_H ((uint8_t)0x2B) /*!< OUTPUT Y-AXIS HIGH */ +#define LIS3MDL_SUB_OUT_Z_L ((uint8_t)0x2C) /*!< OUTPUT Z-AXIS LOW */ +#define LIS3MDL_SUB_OUT_Z_H ((uint8_t)0x2D) /*!< OUTPUT Z-AXIS HIGH */ +#define LIS3MDL_SUB_INT_CFG ((uint8_t)0x30) /*!< INTERRUPT1 CONFIG */ +#define LIS3MDL_SUB_INT_SOURCE ((uint8_t)0x31) /*!< INTERRUPT1 SOURCE */ +#define LIS3MDL_SUB_INT_THS_L ((uint8_t)0x32) /*!< INTERRUPT1 THRESHOLD */ +#define LIS3MDL_SUB_INT_THS_H ((uint8_t)0x33) /*!< INTERRUPT1 DURATION */ + +/** @} */ + +/*===========================================================================*/ +/* Driver pre-compile time settings. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver data structures and types. */ +/*===========================================================================*/ + +/** + * @name Compass data structures and types + * @{ + */ + +/** + * @brief Compass Slave Address + */ +typedef enum { + LIS3MDL_SAD_GND = 0x1C, /*!< COMPASS Slave Address when SA1 is to GND */ + LIS3MDL_SAD_VCC = 0x1E /*!< COMPASS Slave Address when SA1 is to VCC */ +}LIS3MDL_SAD_t; + +/** + * @brief Compass Operation Mode for X and Y axes + */ +typedef enum { + LIS3MDL_OMXY_LOW_POWER = 0x00, /*!< Operation Mode XY low power */ + LIS3MDL_OMXY_MEDIUM_PERFORMANCE = 0x20, /*!< Operation Mode XY medium performance */ + LIS3MDL_OMXY_HIGH_PERFORMANCE = 0x40, /*!< Operation Mode XY high performance */ + LIS3MDL_OMXY_ULTRA_PERFORMANCE = 0x60 /*!< Operation Mode XY ultra performance */ +}LIS3MDL_OMXY_t; + +/** + * @brief Compass Output Data Rate + */ +typedef enum { + LIS3MDL_ODR_0_625Hz = 0x00, /*!< Output Data Rate = 0.625 Hz */ + LIS3MDL_ODR_1_25Hz = 0x04, /*!< Output Data Rate = 1.25 Hz */ + LIS3MDL_ODR_2_5Hz = 0x08, /*!< Output Data Rate = 2.5 Hz */ + LIS3MDL_ODR_5Hz = 0x0C, /*!< Output Data Rate = 5 Hz */ + LIS3MDL_ODR_10Hz = 0x10, /*!< Output Data Rate = 10 Hz */ + LIS3MDL_ODR_20Hz = 0x14, /*!< Output Data Rate = 20 Hz */ + LIS3MDL_ODR_40Hz = 0x18, /*!< Output Data Rate = 40 Hz */ + LIS3MDL_ODR_80Hz = 0x1C /*!< Output Data Rate = 80 Hz */ +}LIS3MDL_ODR_t; + +/** + * @brief Compass Full Scale + */ +typedef enum { + LIS3MDL_FS_4GA = 0x00, /*!< ±4 Gauss */ + LIS3MDL_FS_8GA = 0x02, /*!< ±8 Gauss */ + LIS3MDL_FS_12GA = 0x04, /*!< ±12 Gauss */ + LIS3MDL_FS_16GA = 0x0C /*!< ±16 Gauss */ +}LIS3MDL_FS_t; + +/** + * @brief Compass Low Mode configuration + */ +typedef enum { + LIS3MDL_LOW_POWER_DISABLED = 0x00, /*!< Low Power mode disabled */ + LIS3MDL_LOW_POWER_ENABLED = 0x20 /*!< Low Power mode enabled */ +}LIS3MDL_PM_t; + +/** + * @brief Compass Mode + */ +typedef enum { + LIS3MDL_MD_CONTINOUS_CONVERSION = 0x00, /*!< Continous conversion mode */ + LIS3MDL_MD_SINGLE_CONVERSION = 0x01, /*!< Single conversion mode */ + LIS3MDL_MD_POWER_DOWN = 0x02 /*!< Power down mode */ +}LIS3MDL_MD_t; + + +/** + * @brief Compass Operation Mode for Z axis + */ +typedef enum { + LIS3MDL_OMZ_LOW_POWER = 0x00, /*!< Operation Mode Z low power */ + LIS3MDL_OMZ_MEDIUM_PERFORMANCE = 0x04, /*!< Operation Mode Z medium performance */ + LIS3MDL_OMZ_HIGH_PERFORMANCE = 0x08, /*!< Operation Mode Z high performance */ + LIS3MDL_OMZ_ULTRA_PERFORMANCE = 0x0C /*!< Operation Mode Z ultra performance */ +}LIS3MDL_OMZ_t; + +/** + * @brief Compass Endianness + */ +typedef enum { + LIS3MDL_End_LITTLE = 0x00, /*!< Little Endian: data LSB @ lower address */ + LIS3MDL_End_BIG = 0x02 /*!< Big Endian: data MSB @ lower address */ +}LIS3MDL_End_t; + +/** + * @brief Compass Block Data Update + */ +typedef enum { + LIS3MDL_BDU_CONTINOUS = 0x00, /*!< Continuos Update */ + LIS3MDL_BDU_BLOCKED = 0x40 /*!< Single Update: output registers not updated until MSB and LSB reading */ +}LIS3MDL_BDU_t; + + + + +/** + * @brief Gyroscope configuration structure. + */ +typedef struct { + /** + * @brief Compass Slave Address + */ + LIS3MDL_SAD_t slaveaddress; + /** + * @brief Compass Operation Mode for X and Y axes + */ + LIS3MDL_OMXY_t opmodexy; + /** + * @brief Compass Output Data Rate + */ + LIS3MDL_ODR_t outputdatarate; + /** + * @brief Compass Full Scale + */ + LIS3MDL_FS_t fullscale; + /** + * @brief Compass Low Mode configuration + */ + LIS3MDL_PM_t lowpowermode; + /** + * @brief Compass Mode + */ + LIS3MDL_MD_t mode; + /** + * @brief Compass Operation Mode for Z axis + */ + LIS3MDL_OMZ_t opmodez; + /** + * @brief Compass Endianness + */ + LIS3MDL_End_t endianess; + /** + * @brief Compass Block Data Update + */ + LIS3MDL_BDU_t blockdataupdate; +} LIS3MDL_Config; +/** @} */ +/*===========================================================================*/ +/* Driver macros. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +#ifdef __cplusplus +extern "C" { +#endif + + uint8_t lis3mdlReadRegister(I2CDriver *i2cp, uint8_t sad, uint8_t sub, + msg_t* message); + void lis3mdlWriteRegister(I2CDriver *i2cp, uint8_t sad, uint8_t sub, + uint8_t value, msg_t* message); +#ifdef __cplusplus +} +#endif + +#endif /* _LIS3MDL_H_ */ + +/** @} */ diff --git a/os/various/devices_lib/mems/lsm303dlhc.c b/os/various/devices_lib/mems/lsm303dlhc.c new file mode 100644 index 0000000..070c49c --- /dev/null +++ b/os/various/devices_lib/mems/lsm303dlhc.c @@ -0,0 +1,205 @@ +/* + Pretty LAYer for ChibiOS/RT - Copyright (C) 2015 Rocco Marco Guglielmi + + This file is part of PLAY for ChibiOS/RT. + + PLAY is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 3 of the License, or + (at your option) any later version. + + PLAY is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see <http://www.gnu.org/licenses/>. +*/ + +/* + Special thanks to Giovanni Di Sirio for teachings, his moral support and + friendship. Note that some or every piece of this file could be part of + the ChibiOS project that is intellectual property of Giovanni Di Sirio. + Please refer to ChibiOS/RT license before use this file. + + For suggestion or Bug report - roccomarco.guglielmi@playembedded.org + */ + +/** + * @file lsm303dlhc.c + * @brief LSM303DLHC MEMS interface module through I2C code. + * + * @addtogroup lsm303dlhc + * @{ + */ + +#include "ch.h" +#include "hal.h" + +#include "lsm303dlhc.h" + +/*===========================================================================*/ +/* Driver local definitions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver exported variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local variables and types. */ +/*===========================================================================*/ + + +/*===========================================================================*/ +/* Driver local functions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver exported functions. */ +/*===========================================================================*/ + +/** + * @brief Reads a generic sub-register value. + * @pre The I2C interface must be initialized and the driver started. + * + * @param[in] i2cp pointer to the I2C interface + * @param[in] sad slave address without R bit + * @param[in] sub sub-register address + * @param[in] message pointer to message + * @return register value. + */ +uint8_t lsm303dlhcReadRegister(I2CDriver *i2cp, uint8_t sad, uint8_t sub, + msg_t* message) { + + uint8_t txbuf, rxbuf[2]; +#if defined(STM32F103_MCUCONF) + txbuf = LSM303DLHC_SUB_MSB | sub; + if(message != NULL){ + *message = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 2, + TIME_INFINITE); + } + else{ + i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 2, TIME_INFINITE); + } + return rxbuf[0]; +#else + txbuf = sub; + if(message != NULL){ + *message = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 1, + TIME_INFINITE); + } + else{ + i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 1, TIME_INFINITE); + } + return rxbuf[0]; +#endif + + +} + +/** + * @brief Writes a value into a register. + * @pre The I2C interface must be initialized and the driver started. + * + * @param[in] i2cp pointer to the I2C interface + * @param[in] sad slave address without R bit + * @param[in] sub sub-register address + * @param[in] value the value to be written + * @param[out] message pointer to message + */ +void lsm303dlhcWriteRegister(I2CDriver *i2cp,uint8_t sad, uint8_t sub, + uint8_t value, msg_t* message) { + + uint8_t txbuf[2]; + uint8_t rxbuf; + if(sad == LSM303DLHC_SAD_ACCEL){ + switch (sub) { + default: + /* Reserved register must not be written, according to the datasheet + * this could permanently damage the device. + */ + chDbgAssert(FALSE, "lsm303dlhcWriteRegister(), reserved register"); + case LSM303DLHC_SUB_ACC_STATUS_REG: + case LSM303DLHC_SUB_ACC_OUT_X_L: + case LSM303DLHC_SUB_ACC_OUT_X_H: + case LSM303DLHC_SUB_ACC_OUT_Y_L: + case LSM303DLHC_SUB_ACC_OUT_Y_H: + case LSM303DLHC_SUB_ACC_OUT_Z_L: + case LSM303DLHC_SUB_ACC_OUT_Z_H: + case LSM303DLHC_SUB_ACC_FIFO_SRC_REG: + case LSM303DLHC_SUB_ACC_INT1_SOURCE: + case LSM303DLHC_SUB_ACC_INT2_SOURCE: + case LSM303DLHC_SUB_ACC_CLICK_SRC: + /* Read only registers cannot be written, the command is ignored.*/ + return; + case LSM303DLHC_SUB_ACC_CTRL_REG1: + case LSM303DLHC_SUB_ACC_CTRL_REG2: + case LSM303DLHC_SUB_ACC_CTRL_REG3: + case LSM303DLHC_SUB_ACC_CTRL_REG4: + case LSM303DLHC_SUB_ACC_CTRL_REG5: + case LSM303DLHC_SUB_ACC_CTRL_REG6: + case LSM303DLHC_SUB_ACC_REFERENCE: + case LSM303DLHC_SUB_ACC_FIFO_CTRL_REG: + case LSM303DLHC_SUB_ACC_INT1_CFG: + case LSM303DLHC_SUB_ACC_INT1_THS: + case LSM303DLHC_SUB_ACC_INT1_DURATION: + case LSM303DLHC_SUB_ACC_INT2_CFG: + case LSM303DLHC_SUB_ACC_INT2_THS: + case LSM303DLHC_SUB_ACC_INT2_DURATION: + case LSM303DLHC_SUB_ACC_CLICK_CFG: + case LSM303DLHC_SUB_ACC_CLICK_THS: + case LSM303DLHC_SUB_ACC_TIME_LIMIT: + case LSM303DLHC_SUB_ACC_TIME_LATENCY: + case LSM303DLHC_SUB_ACC_TIME_WINDOW: + txbuf[0] = sub; + txbuf[1] = value; + if(message != NULL){ + *message = i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0, + TIME_INFINITE); + } + else{ + i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0, TIME_INFINITE); + } + break; + } + } + else if(sad == LSM303DLHC_SAD_COMPASS){ + switch (sub) { + default: + /* Reserved register must not be written, according to the datasheet + * this could permanently damage the device. + */ + chDbgAssert(FALSE, "lsm303dlhcWriteRegister(), reserved register"); + case LSM303DLHC_SUB_COMP_OUT_X_H: + case LSM303DLHC_SUB_COMP_OUT_X_L: + case LSM303DLHC_SUB_COMP_OUT_Z_H: + case LSM303DLHC_SUB_COMP_OUT_Z_L: + case LSM303DLHC_SUB_COMP_OUT_Y_H: + case LSM303DLHC_SUB_COMP_OUT_Y_L: + case LSM303DLHC_SUB_COMP_SR_REG: + case LSM303DLHC_SUB_COMP_IRA_REG: + case LSM303DLHC_SUB_COMP_IRB_REG: + case LSM303DLHC_SUB_COMP_IRC_REG: + case LSM303DLHC_SUB_COMP_TEMP_OUT_H: + case LSM303DLHC_SUB_COMP_TEMP_OUT_L: + /* Read only registers cannot be written, the command is ignored.*/ + return; + case LSM303DLHC_SUB_COMP_CRA_REG: + case LSM303DLHC_SUB_COMP_CRB_REG: + case LSM303DLHC_SUB_COMP_MR_REG: + txbuf[0] = sub; + txbuf[1] = value; + if(message != NULL){ + *message = i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0, + TIME_INFINITE); + } + else{ + i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0, TIME_INFINITE); + } + break; + } + } +} +/** @} */ diff --git a/os/various/devices_lib/mems/lsm303dlhc.h b/os/various/devices_lib/mems/lsm303dlhc.h new file mode 100644 index 0000000..46b51bc --- /dev/null +++ b/os/various/devices_lib/mems/lsm303dlhc.h @@ -0,0 +1,352 @@ +/* + Pretty LAYer for ChibiOS/RT - Copyright (C) 2015 Rocco Marco Guglielmi + + This file is part of PLAY for ChibiOS/RT. + + PLAY is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 3 of the License, or + (at your option) any later version. + + PLAY is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see <http://www.gnu.org/licenses/>. +*/ + +/* + Special thanks to Giovanni Di Sirio for teachings, his moral support and + friendship. Note that some or every piece of this file could be part of + the ChibiOS project that is intellectual property of Giovanni Di Sirio. + Please refer to ChibiOS/RT license before use this file. + + For suggestion or Bug report - roccomarco.guglielmi@playembedded.org + */ + +/** + * @file lsm303dlhc.h + * @brief LSM303DLHC MEMS interface module through I2C header. + * + * @addtogroup lsm303dlhc + * @{ + */ + +#ifndef _LSM303DLHC_H_ +#define _LSM303DLHC_H_ + +/*===========================================================================*/ +/* Driver constants. */ +/*===========================================================================*/ + +#define LSM303DLHC_ACC_SENS_2G ((float)1671.836f) /*!< Accelerometer sensitivity with 2 G full scale [LSB * s^2 / m] */ +#define LSM303DLHC_ACC_SENS_4G ((float)835.918f) /*!< Accelerometer sensitivity with 4 G full scale [LSB * s^2 / m] */ +#define LSM303DLHC_ACC_SENS_8G ((float)417.959f) /*!< Accelerometer sensitivity with 8 G full scale [LSB * s^2 / m] */ +#define LSM303DLHC_ACC_SENS_16G ((float)208.979f) /*!< Accelerometer sensitivity with 16 G full scale [LSB * s^2 / m] */ + +#define LSM303DLHC_COMP_SENS_XY_1_3GA ((float)1100.0f) /*!< Compass sensitivity with 1.3 GA full scale [LSB / Ga] */ +#define LSM303DLHC_COMP_SENS_XY_1_9GA ((float)855.0f) /*!< Compass sensitivity with 1.9 GA full scale [LSB / Ga] */ +#define LSM303DLHC_COMP_SENS_XY_2_5GA ((float)670.0f) /*!< Compass sensitivity with 2.5 GA full scale [LSB / Ga] */ +#define LSM303DLHC_COMP_SENS_XY_4_0GA ((float)450.0f) /*!< Compass sensitivity with 4.0 GA full scale [LSB / Ga] */ +#define LSM303DLHC_COMP_SENS_XY_4_7GA ((float)400.0f) /*!< Compass sensitivity with 4.7 GA full scale [LSB / Ga] */ +#define LSM303DLHC_COMP_SENS_XY_5_6GA ((float)330.0f) /*!< Compass sensitivity with 5.6 GA full scale [LSB / Ga] */ +#define LSM303DLHC_COMP_SENS_XY_8_1GA ((float)230.0f) /*!< Compass sensitivity with 8.1 GA full scale [LSB / Ga] */ + +#define LSM303DLHC_COMP_SENS_Z_1_3GA ((float)980.0f) /*!< Compass sensitivity with 1.3 GA full scale [LSB / Ga] */ +#define LSM303DLHC_COMP_SENS_Z_1_9GA ((float)765.0f) /*!< Compass sensitivity with 1.9 GA full scale [LSB / Ga] */ +#define LSM303DLHC_COMP_SENS_Z_2_5GA ((float)600.0f) /*!< Compass sensitivity with 2.5 GA full scale [LSB / Ga] */ +#define LSM303DLHC_COMP_SENS_Z_4_0GA ((float)400.0f) /*!< Compass sensitivity with 4.0 GA full scale [LSB / Ga] */ +#define LSM303DLHC_COMP_SENS_Z_4_7GA ((float)355.0f) /*!< Compass sensitivity with 4.7 GA full scale [LSB / Ga] */ +#define LSM303DLHC_COMP_SENS_Z_5_6GA ((float)295.0f) /*!< Compass sensitivity with 5.6 GA full scale [LSB / Ga] */ +#define LSM303DLHC_COMP_SENS_Z_8_1GA ((float)205.0f) /*!< Compass sensitivity with 8.1 GA full scale [LSB / Ga] */ +/** + * @name LSM303DLHC register names + * @{ + */ +/******************************************************************************/ +/* */ +/* LSM303DLHC on board MEMS */ +/* */ +/******************************************************************************/ +/******************* Bit definition for I2C communication *******************/ +#define LSM303DLHC_SAD ((uint8_t)0x7F) /*!< SAD[6:0] Slave Address Mask */ +#define LSM303DLHC_SAD_ACCEL ((uint8_t)0x19) /*!< ACCELEROMETER Slave Address */ +#define LSM303DLHC_SAD_COMPASS ((uint8_t)0x1E) /*!< MAGNETOMETER Slave Address */ + +#define LSM303DLHC_SUB ((uint8_t)0x7F) /*!< SUB[6:0] Sub-registers address Mask */ +#define LSM303DLHC_SUB_0 ((uint8_t)0x01) /*!< bit 0 */ +#define LSM303DLHC_SUB_1 ((uint8_t)0x02) /*!< bit 1 */ +#define LSM303DLHC_SUB_2 ((uint8_t)0x08) /*!< bit 3 */ +#define LSM303DLHC_SUB_4 ((uint8_t)0x10) /*!< bit 4 */ +#define LSM303DLHC_SUB_5 ((uint8_t)0x20) /*!< bit 5 */ +#define LSM303DLHC_SUB_6 ((uint8_t)0x40) /*!< bit 6 */ + +#define LSM303DLHC_SUB_MSB ((uint8_t)0x80) /*!< Multiple data read\write bit */ + +/******** Bit definition for Accelerometer SUB-Registers Addresses **********/ +#define LSM303DLHC_SUB_ACC_CTRL_REG1 ((uint8_t)0x20) /*!< CONTROL REGISTER 1 FOR ACCELEROMETER */ +#define LSM303DLHC_SUB_ACC_CTRL_REG2 ((uint8_t)0x21) /*!< CONTROL REGISTER 2 FOR ACCELEROMETER */ +#define LSM303DLHC_SUB_ACC_CTRL_REG3 ((uint8_t)0x22) /*!< CONTROL REGISTER 3 FOR ACCELEROMETER */ +#define LSM303DLHC_SUB_ACC_CTRL_REG4 ((uint8_t)0x23) /*!< CONTROL REGISTER 4 FOR ACCELEROMETER */ +#define LSM303DLHC_SUB_ACC_CTRL_REG5 ((uint8_t)0x24) /*!< CONTROL REGISTER 5 FOR ACCELEROMETER */ +#define LSM303DLHC_SUB_ACC_CTRL_REG6 ((uint8_t)0x25) /*!< CONTROL REGISTER 6 FOR ACCELEROMETER */ +#define LSM303DLHC_SUB_ACC_REFERENCE ((uint8_t)0x26) /*!< REFERENCE/DATACAPTURE FOR ACCELEROMETER */ +#define LSM303DLHC_SUB_ACC_STATUS_REG ((uint8_t)0x27) /*!< STATUS REGISTER FOR ACCELEROMETER */ +#define LSM303DLHC_SUB_ACC_OUT_X_L ((uint8_t)0x28) /*!< OUTPUT X-AXIS LOW FOR ACCELEROMETER */ +#define LSM303DLHC_SUB_ACC_OUT_X_H ((uint8_t)0x29) /*!< OUTPUT X-AXIS HIGH FOR ACCELEROMETER */ +#define LSM303DLHC_SUB_ACC_OUT_Y_L ((uint8_t)0x2A) /*!< OUTPUT Y-AXIS LOW FOR ACCELEROMETER */ +#define LSM303DLHC_SUB_ACC_OUT_Y_H ((uint8_t)0x2B) /*!< OUTPUT Y-AXIS HIGH FOR ACCELEROMETER */ +#define LSM303DLHC_SUB_ACC_OUT_Z_L ((uint8_t)0x2C) /*!< OUTPUT Z-AXIS LOW FOR ACCELEROMETER */ +#define LSM303DLHC_SUB_ACC_OUT_Z_H ((uint8_t)0x2D) /*!< OUTPUT Z-AXIS HIGH FOR ACCELEROMETER */ +#define LSM303DLHC_SUB_ACC_FIFO_CTRL_REG ((uint8_t)0x2E) /*!< FIFO CONTROL REGISTER FOR ACCELEROMETER */ +#define LSM303DLHC_SUB_ACC_FIFO_SRC_REG ((uint8_t)0x2F) /*!< FIFO SOURCE REGISTER FOR ACCELEROMETER */ +#define LSM303DLHC_SUB_ACC_INT1_CFG ((uint8_t)0x30) /*!< INTERRUPT1 CONFIG FOR ACCELEROMETER */ +#define LSM303DLHC_SUB_ACC_INT1_SOURCE ((uint8_t)0x31) /*!< INTERRUPT1 SOURCE FOR ACCELEROMETER */ +#define LSM303DLHC_SUB_ACC_INT1_THS ((uint8_t)0x32) /*!< INTERRUPT1 THRESHOLD FOR ACCELEROMETER */ +#define LSM303DLHC_SUB_ACC_INT1_DURATION ((uint8_t)0x33) /*!< INTERRUPT1 DURATION FOR ACCELEROMETER */ +#define LSM303DLHC_SUB_ACC_INT2_CFG ((uint8_t)0x34) /*!< INTERRUPT2 CONFIG FOR ACCELEROMETER */ +#define LSM303DLHC_SUB_ACC_INT2_SOURCE ((uint8_t)0x35) /*!< INTERRUPT2 SOURCE FOR ACCELEROMETER */ +#define LSM303DLHC_SUB_ACC_INT2_THS ((uint8_t)0x36) /*!< INTERRUPT2 THRESHOLD FOR ACCELEROMETER */ +#define LSM303DLHC_SUB_ACC_INT2_DURATION ((uint8_t)0x37) /*!< INTERRUPT2 DURATION FOR ACCELEROMETER */ +#define LSM303DLHC_SUB_ACC_CLICK_CFG ((uint8_t)0x38) /*!< CLICK CONFIG FOR ACCELEROMETER */ +#define LSM303DLHC_SUB_ACC_CLICK_SRC ((uint8_t)0x39) /*!< CLICK SOURCE FOR ACCELEROMETER */ +#define LSM303DLHC_SUB_ACC_CLICK_THS ((uint8_t)0x3A) /*!< CLICK THRESHOLD FOR ACCELEROMETER */ +#define LSM303DLHC_SUB_ACC_TIME_LIMIT ((uint8_t)0x3B) /*!< TIME LIMIT FOR ACCELEROMETER */ +#define LSM303DLHC_SUB_ACC_TIME_LATENCY ((uint8_t)0x3C) /*!< TIME LATENCY FOR ACCELEROMETER */ +#define LSM303DLHC_SUB_ACC_TIME_WINDOW ((uint8_t)0x3D) /*!< TIME WINDOW FOR ACCELEROMETER */ + +/********* Bit definition for Compass SUB-Registers Addresses **********/ +#define LSM303DLHC_SUB_COMP_CRA_REG ((uint8_t)0x00) /*!< CONTROL REGISTER A FOR MAGNETOMETER */ +#define LSM303DLHC_SUB_COMP_CRB_REG ((uint8_t)0x01) /*!< CONTROL REGISTER B FOR MAGNETOMETER */ +#define LSM303DLHC_SUB_COMP_MR_REG ((uint8_t)0x02) /*!< STATUS REGISTER FOR MAGNETOMETER */ +#define LSM303DLHC_SUB_COMP_OUT_X_H ((uint8_t)0x03) /*!< OUTPUT X-AXIS HIGH FOR MAGNETOMETER */ +#define LSM303DLHC_SUB_COMP_OUT_X_L ((uint8_t)0x04) /*!< OUTPUT X-AXIS LOW FOR MAGNETOMETER */ +#define LSM303DLHC_SUB_COMP_OUT_Z_H ((uint8_t)0x05) /*!< OUTPUT Z-AXIS HIGH FOR MAGNETOMETER */ +#define LSM303DLHC_SUB_COMP_OUT_Z_L ((uint8_t)0x06) /*!< OUTPUT Z-AXIS LOW FOR MAGNETOMETER */ +#define LSM303DLHC_SUB_COMP_OUT_Y_H ((uint8_t)0x07) /*!< OUTPUT Y-AXIS HIGH FOR MAGNETOMETER */ +#define LSM303DLHC_SUB_COMP_OUT_Y_L ((uint8_t)0x08) /*!< OUTPUT Y-AXIS LOW FOR MAGNETOMETER */ +#define LSM303DLHC_SUB_COMP_SR_REG ((uint8_t)0x09) /*!< SR REGISTER FOR MAGNETOMETER */ +#define LSM303DLHC_SUB_COMP_IRA_REG ((uint8_t)0x0A) /*!< IR A REGISTER FOR MAGNETOMETER */ +#define LSM303DLHC_SUB_COMP_IRB_REG ((uint8_t)0x0B) /*!< IR B REGISTER FOR MAGNETOMETER */ +#define LSM303DLHC_SUB_COMP_IRC_REG ((uint8_t)0x0C) /*!< IR C REGISTER FOR MAGNETOMETER */ +#define LSM303DLHC_SUB_COMP_TEMP_OUT_H ((uint8_t)0x31) /*!< OUTPUT TEMP HIGH FOR MAGNETOMETER */ +#define LSM303DLHC_SUB_COMP_TEMP_OUT_L ((uint8_t)0x32) /*!< OUTPUT TEMP LOW FOR MAGNETOMETER */ + +/** @} */ + +/*===========================================================================*/ +/* Driver pre-compile time settings. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver data structures and types. */ +/*===========================================================================*/ + +/** + * @name Accelerometer data structures and types + * @{ + */ + +/** + * @brief Accelerometer Output Data Rate + */ +typedef enum +{ + LSM303DLHC_ACC_ODR_PD = 0x00, /*!< Power down */ + LSM303DLHC_ACC_ODR_1Hz = 0x10, /*!< Output Data Rate = 1 Hz */ + LSM303DLHC_ACC_ODR_10Hz = 0x20, /*!< Output Data Rate = 10 Hz */ + LSM303DLHC_ACC_ODR_25Hz = 0x30, /*!< Output Data Rate = 25 Hz */ + LSM303DLHC_ACC_ODR_50Hz = 0x40, /*!< Output Data Rate = 50 Hz */ + LSM303DLHC_ACC_ODR_100Hz = 0x50, /*!< Output Data Rate = 100 Hz */ + LSM303DLHC_ACC_ODR_200Hz = 0x60, /*!< Output Data Rate = 200 Hz */ + LSM303DLHC_ACC_ODR_400Hz = 0x70, /*!< Output Data Rate = 400 Hz */ + LSM303DLHC_ACC_ODR_1620Hz = 0x80, /*!< Output Data Rate = 1620 Hz Low Power mode only */ + LSM303DLHC_ACC_ODR_1344Hz = 0x90 /*!< Output Data Rate = 1344 Hz in Normal mode and 5376 Hz in Low Power Mode */ +}LSM303DLHC_ACC_ODR_t; + +/** + * @brief Accelerometer Power Mode + */ +typedef enum +{ + LSM303DLHC_ACC_PM_NORMAL = 0x00, /*!< Normal mode enabled */ + LSM303DLHC_ACC_PM_LOW_POWER = 0x08 /*!< Low Power mode enabled */ +}LSM303DLHC_ACC_PM_t; + +/** + * @brief Accelerometer Full Scale + */ +typedef enum +{ + LSM303DLHC_ACC_FS_2G = 0x00, /*!< ±2 g m/s^2 */ + LSM303DLHC_ACC_FS_4G = 0x10, /*!< ±4 g m/s^2 */ + LSM303DLHC_ACC_FS_8G = 0x20, /*!< ±8 g m/s^2 */ + LSM303DLHC_ACC_FS_16G = 0x30 /*!< ±16 g m/s^2 */ +}LSM303DLHC_ACC_FS_t; + +/** + * @brief Accelerometer Axes Enabling + */ +typedef enum{ + LSM303DLHC_ACC_AE_DISABLED = 0x00, /*!< Axes all disabled */ + LSM303DLHC_ACC_AE_X = 0x01, /*!< Only X-axis enabled */ + LSM303DLHC_ACC_AE_Y = 0x02, /*!< Only Y-axis enabled */ + LSM303DLHC_ACC_AE_XY = 0x03, /*!< X & Y axes enabled */ + LSM303DLHC_ACC_AE_Z = 0x04, /*!< Only Z-axis enabled */ + LSM303DLHC_ACC_AE_XZ = 0x05, /*!< X & Z axes enabled */ + LSM303DLHC_ACC_AE_YZ = 0x06, /*!< Y & Z axes enabled */ + LSM303DLHC_ACC_AE_XYZ = 0x07 /*!< All axes enabled */ +}LSM303DLHC_ACC_AE_t; + +/** + * @brief Accelerometer Block Data Update + */ +typedef enum +{ + LSM303DLHC_ACC_BDU_CONTINOUS = 0x00, /*!< Continuos Update */ + LSM303DLHC_ACC_BDU_BLOCKED = 0x80 /*!< Single Update: output registers not updated until MSB and LSB reading */ +}LSM303DLHC_ACC_BDU_t; + +/** + * @brief Accelerometer Endianness + */ +typedef enum +{ + LSM303DLHC_ACC_End_LITTLE = 0x00, /*!< Little Endian: data LSB @ lower address */ + LSM303DLHC_ACC_End_BIG = 0x40 /*!< Big Endian: data MSB @ lower address */ +}LSM303DLHC_ACC_End_t; + +/** + * @brief Accelerometer High Resolution mode + */ +typedef enum +{ + LSM303DLHC_ACC_HR_Enabled = 0x08, /*!< High resolution output mode enabled */ + LSM303DLHC_ACC_HR_Disabled = 0x00 /*!< High resolution output mode disabled */ +}LSM303DLHC_ACC_HR_t; + +/** + * @brief Accelerometer configuration structure. + */ +typedef struct { + /** + * @brief Accelerometer fullscale value. + */ + LSM303DLHC_ACC_FS_t fullscale; + /** + * @brief Accelerometer power mode selection. + */ + LSM303DLHC_ACC_PM_t powermode; + /** + * @brief Accelerometer output data rate selection. + */ + LSM303DLHC_ACC_ODR_t outputdatarate; + /** + * @brief Accelerometer axes enabling. + */ + LSM303DLHC_ACC_AE_t axesenabling; + /** + * @brief Accelerometer block data update. + */ + LSM303DLHC_ACC_BDU_t blockdataupdate; + /** + * @brief Accelerometer block data update. + */ + LSM303DLHC_ACC_HR_t highresmode; +} LSM303DLHC_ACC_Config; +/** @} */ + + +/** + * @name Compass data types + * @{ + */ + +/** + * @brief Compass Output Data Rate + */ +typedef enum +{ + LSM303DLHC_COMP_ODR_0_75_Hz = 0x00, /*!< Output Data Rate = 0.75 Hz */ + LSM303DLHC_COMP_ODR_1_5_Hz = 0x04, /*!< Output Data Rate = 1.5 Hz */ + LSM303DLHC_COMP_ODR_3_0_Hz = 0x08, /*!< Output Data Rate = 3 Hz */ + LSM303DLHC_COMP_ODR_7_5_Hz = 0x0C, /*!< Output Data Rate = 7.5 Hz */ + LSM303DLHC_COMP_ODR_15_Hz = 0x10, /*!< Output Data Rate = 15 Hz */ + LSM303DLHC_COMP_ODR_30_Hz = 0x14, /*!< Output Data Rate = 30 Hz */ + LSM303DLHC_COMP_ODR_75_Hz = 0x18, /*!< Output Data Rate = 75 Hz */ + LSM303DLHC_COMP_ODR_220_Hz = 0x1C /*!< Output Data Rate = 220 Hz */ +}LSM303DLHC_COMP_ODR_t; + + +/** + * @brief Compass Full Scale + */ +typedef enum +{ + LSM303DLHC_COMP_FS_1_3_GA = 0x20, /*!< Full scale = ±1.3 Gauss */ + LSM303DLHC_COMP_FS_1_9_GA = 0x40, /*!< Full scale = ±1.9 Gauss */ + LSM303DLHC_COMP_FS_2_5_GA = 0x60, /*!< Full scale = ±2.5 Gauss */ + LSM303DLHC_COMP_FS_4_0_GA = 0x80, /*!< Full scale = ±4.0 Gauss */ + LSM303DLHC_COMP_FS_4_7_GA = 0xA0, /*!< Full scale = ±4.7 Gauss */ + LSM303DLHC_COMP_FS_5_6_GA = 0xC0, /*!< Full scale = ±5.6 Gauss */ + LSM303DLHC_COMP_FS_8_1_GA = 0xE0 /*!< Full scale = ±8.1 Gauss */ +}LSM303DLHC_COMP_FS_t; + + +/** + * @brief Compass Working Mode + */ +typedef enum +{ + LSM303DLHC_COMP_WM_CONTINUOS = 0x00, /*!< Continuous-Conversion Mode */ + LSM303DLHC_COMP_WM_BLOCKED = 0x01, /*!< Single-Conversion Mode */ + LSM303DLHC_COMP_WM_SLEEP = 0x02 /*!< Sleep Mode */ +}LSM303DLHC_COMP_WM_t; + +/** + * @brief Compass configuration structure. + */ +typedef struct { + /** + * @brief Compass fullscale value. + */ + LSM303DLHC_COMP_FS_t fullscale; + /** + * @brief Compass output data rate selection. + */ + LSM303DLHC_COMP_ODR_t outputdatarate; + /** + * @brief Compass working mode. + */ + LSM303DLHC_COMP_WM_t workingmode; +} LSM303DLHC_COMP_Config; +/** @} */ +/*===========================================================================*/ +/* Driver macros. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +#ifdef __cplusplus +extern "C" { +#endif + + uint8_t lsm303dlhcReadRegister(I2CDriver *i2cp, uint8_t sad, uint8_t sub, + msg_t* message); + void lsm303dlhcWriteRegister(I2CDriver *i2cp,uint8_t sad, uint8_t sub, + uint8_t value, msg_t* message); + +#ifdef __cplusplus +} +#endif +#endif /* _LSM303DLHC_H_ */ +/** @} */ + diff --git a/os/various/devices_lib/mems/lsm6ds0.c b/os/various/devices_lib/mems/lsm6ds0.c new file mode 100644 index 0000000..da67f12 --- /dev/null +++ b/os/various/devices_lib/mems/lsm6ds0.c @@ -0,0 +1,184 @@ +/* + Pretty LAYer for ChibiOS/RT - Copyright (C) 2015 Rocco Marco Guglielmi + + This file is part of PLAY for ChibiOS/RT. + + PLAY is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 3 of the License, or + (at your option) any later version. + + PLAY is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see <http://www.gnu.org/licenses/>. +*/ + +/* + Special thanks to Giovanni Di Sirio for teachings, his moral support and + friendship. Note that some or every piece of this file could be part of + the ChibiOS project that is intellectual property of Giovanni Di Sirio. + Please refer to ChibiOS/RT license before use this file. + + For suggestion or Bug report - roccomarco.guglielmi@playembedded.org + */ + +/** + * @file lsm6ds0.c + * @brief LSM6DS0 MEMS interface module through I2C code. + * + * @addtogroup lsm6ds0 + * @{ + */ + +#include "ch.h" +#include "hal.h" + +#include "lsm6ds0.h" + +/*===========================================================================*/ +/* Driver local definitions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver exported variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local variables and types. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local functions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver exported functions. */ +/*===========================================================================*/ + +/** + * @brief Reads a generic sub-register value. + * @pre The I2C interface must be initialized and the driver started. + * + * @param[in] i2cp pointer to the I2C interface + * @param[in] sad slave address without R bit + * @param[in] sub sub-register address + * @param[in] message pointer to message + * @return register value. + */ +uint8_t lsm6ds0ReadRegister(I2CDriver *i2cp, uint8_t sad, uint8_t sub, + msg_t* message) { + + uint8_t txbuf, rxbuf[2]; +#if defined(STM32F103_MCUCONF) + txbuf = LSM303DLHC_SUB_MSB | sub; + if(message != NULL){ + *message = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 2, + TIME_INFINITE); + } + else{ + i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 2, TIME_INFINITE); + } + return rxbuf[0]; +#else + txbuf = sub; + if(message != NULL){ + *message = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 1, + TIME_INFINITE); + } + else{ + i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 1, TIME_INFINITE); + } + return rxbuf[0]; +#endif +} + +/** + * @brief Writes a value into a register. + * @pre The I2C interface must be initialized and the driver started. + * + * @param[in] i2cp pointer to the I2C interface + * @param[in] sad slave address without R bit + * @param[in] sub sub-register address + * @param[in] value the value to be written + * @param[out] message pointer to message + */ +void lsm6ds0WriteRegister(I2CDriver *i2cp, uint8_t sad, uint8_t sub, + uint8_t value, msg_t* message) { + + uint8_t txbuf[2]; + uint8_t rxbuf; + switch (sub) { + default: + /* Reserved register must not be written, according to the datasheet + * this could permanently damage the device. + */ + chDbgAssert(FALSE, "lsm6ds0WriteRegister(), reserved register"); + case LSM6DS0_SUB_WHO_AM_I: + case LSM6DS0_SUB_INT_GEN_SRC_G: + case LSM6DS0_SUB_OUT_TEMP_L: + case LSM6DS0_SUB_OUT_TEMP_H: + case LSM6DS0_SUB_STATUS_REG1: + case LSM6DS0_SUB_OUT_X_L_G: + case LSM6DS0_SUB_OUT_X_H_G: + case LSM6DS0_SUB_OUT_Y_L_G: + case LSM6DS0_SUB_OUT_Y_H_G: + case LSM6DS0_SUB_OUT_Z_L_G: + case LSM6DS0_SUB_OUT_Z_H_G: + case LSM6DS0_SUB_INT_GEN_SRC_XL: + case LSM6DS0_SUB_STATUS_REG2: + case LSM6DS0_SUB_OUT_X_L_XL: + case LSM6DS0_SUB_OUT_X_H_XL: + case LSM6DS0_SUB_OUT_Y_L_XL: + case LSM6DS0_SUB_OUT_Y_H_XL: + case LSM6DS0_SUB_OUT_Z_L_XL: + case LSM6DS0_SUB_OUT_Z_H_XL: + case LSM6DS0_SUB_FIFO_SRC: + /* Read only registers cannot be written, the command is ignored.*/ + return; + case LSM6DS0_SUB_ACT_THS: + case LSM6DS0_SUB_ACT_DUR: + case LSM6DS0_SUB_INT_GEN_CFG_XL: + case LSM6DS0_SUB_INT_GEN_THS_X_XL: + case LSM6DS0_SUB_INT_GEN_THS_Y_XL: + case LSM6DS0_SUB_INT_GEN_THS_Z_XL: + case LSM6DS0_SUB_INT_GEN_DUR_XL: + case LSM6DS0_SUB_REFERENCE_G: + case LSM6DS0_SUB_INT_CTRL: + case LSM6DS0_SUB_CTRL_REG1_G: + case LSM6DS0_SUB_CTRL_REG2_G: + case LSM6DS0_SUB_CTRL_REG3_G: + case LSM6DS0_SUB_ORIENT_CFG_G: + case LSM6DS0_SUB_CTRL_REG4: + case LSM6DS0_SUB_CTRL_REG5_XL: + case LSM6DS0_SUB_CTRL_REG6_XL: + case LSM6DS0_SUB_CTRL_REG7_XL: + case LSM6DS0_SUB_CTRL_REG8: + case LSM6DS0_SUB_CTRL_REG9: + case LSM6DS0_SUB_CTRL_REG10: + case LSM6DS0_SUB_FIFO_CTRL: + case LSM6DS0_SUB_INT_GEN_CFG_G: + case LSM6DS0_SUB_INT_GEN_THS_XH_G: + case LSM6DS0_SUB_INT_GEN_THS_XL_G: + case LSM6DS0_SUB_INT_GEN_THS_YH_G: + case LSM6DS0_SUB_INT_GEN_THS_YL_G: + case LSM6DS0_SUB_INT_GEN_THS_ZH_G: + case LSM6DS0_SUB_INT_GEN_THS_ZL_G: + case LSM6DS0_SUB_INT_GEN_DUR_G: + txbuf[0] = sub; + txbuf[1] = value; + if(message != NULL){ + *message = i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0, + TIME_INFINITE); + } + else{ + i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0, TIME_INFINITE); + } + break; + } +} + +/** @} */ diff --git a/os/various/devices_lib/mems/lsm6ds0.h b/os/various/devices_lib/mems/lsm6ds0.h new file mode 100644 index 0000000..57e2057 --- /dev/null +++ b/os/various/devices_lib/mems/lsm6ds0.h @@ -0,0 +1,482 @@ +/* + Pretty LAYer for ChibiOS/RT - Copyright (C) 2015 Rocco Marco Guglielmi + + This file is part of PLAY for ChibiOS/RT. + + PLAY is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 3 of the License, or + (at your option) any later version. + + PLAY is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see <http://www.gnu.org/licenses/>. +*/ + +/* + Special thanks to Giovanni Di Sirio for teachings, his moral support and + friendship. Note that some or every piece of this file could be part of + the ChibiOS project that is intellectual property of Giovanni Di Sirio. + Please refer to ChibiOS/RT license before use this file. + + For suggestion or Bug report - roccomarco.guglielmi@playembedded.org + */ + +/** + * @file lsm6ds0.h + * @brief LSM6DS0 MEMS interface module header. + * + * @{ + */ + +#ifndef _LSM6DS0_H_ +#define _LSM6DS0_H_ + +/*===========================================================================*/ +/* Driver constants. */ +/*===========================================================================*/ + +#define LSM6DS0_ACC_SENS_2G ((float)1671.095f) /*!< Accelerometer sensitivity with 2 G full scale [LSB * s^2 / m] */ +#define LSM6DS0_ACC_SENS_4G ((float)835.547f) /*!< Accelerometer sensitivity with 4 G full scale [LSB * s^2 / m] */ +#define LSM6DS0_ACC_SENS_8G ((float)417.774) /*!< Accelerometer sensitivity with 8 G full scale [LSB * s^2 / m] */ +#define LSM6DS0_ACC_SENS_16G ((float)139.258f) /*!< Accelerometer sensitivity with 16 G full scale [LSB * s^2 / m] */ + +#define LSM6DS0_GYRO_SENS_245DPS ((float)114.286f) /*!< Gyroscope sensitivity with 245 dps full scale [LSB * s / °] */ +#define LSM6DS0_GYRO_SENS_500DPS ((float)57.143f) /*!< Gyroscope sensitivity with 500 dps full scale [LSB * s / °] */ +#define LSM6DS0_GYRO_SENS_2000DPS ((float)14.286f) /*!< Gyroscope sensitivity with 2000 dps full scale [LSB * s / °] */ +/** + * @name LSM6DS0 register names + * @{ + */ +/******************************************************************************/ +/* */ +/* LSM6DS0 on board MEMS */ +/* */ +/******************************************************************************/ +/***************** Bit definition for I2C/SPI communication *****************/ +#define LSM6DS0_SUB ((uint8_t)0x7F) /*!< SUB[6:0] Sub-registers address Mask */ +#define LSM6DS0_SUB_0 ((uint8_t)0x01) /*!< bit 0 */ +#define LSM6DS0_SUB_1 ((uint8_t)0x02) /*!< bit 1 */ +#define LSM6DS0_SUB_2 ((uint8_t)0x08) /*!< bit 3 */ +#define LSM6DS0_SUB_4 ((uint8_t)0x10) /*!< bit 4 */ +#define LSM6DS0_SUB_5 ((uint8_t)0x20) /*!< bit 5 */ +#define LSM6DS0_SUB_6 ((uint8_t)0x40) /*!< bit 6 */ + +#define LSM6DS0_SUB_MSB ((uint8_t)0x80) /*!< Multiple data read\write bit */ + +/***************** Bit definition for Registers Addresses *******************/ +#define LSM6DS0_SUB_ACT_THS ((uint8_t)0x04) /*!< Activity threshold register */ +#define LSM6DS0_SUB_ACT_DUR ((uint8_t)0x05) /*!< Inactivity duration register */ +#define LSM6DS0_SUB_INT_GEN_CFG_XL ((uint8_t)0x06) /*!< Accelerometer interrupt generator configuration register */ +#define LSM6DS0_SUB_INT_GEN_THS_X_XL ((uint8_t)0x07) /*!< Accelerometer X-axis interrupt threshold register */ +#define LSM6DS0_SUB_INT_GEN_THS_Y_XL ((uint8_t)0x08) /*!< Accelerometer Y-axis interrupt threshold register */ +#define LSM6DS0_SUB_INT_GEN_THS_Z_XL ((uint8_t)0x09) /*!< Accelerometer Z-axis interrupt threshold register */ +#define LSM6DS0_SUB_INT_GEN_DUR_XL ((uint8_t)0x0A) /*!< Accelerometer interrupt duration register */ +#define LSM6DS0_SUB_REFERENCE_G ((uint8_t)0x0B) /*!< Gyroscope reference value register for digital high-pass filter */ +#define LSM6DS0_SUB_INT_CTRL ((uint8_t)0x0C) /*!< INT pin control register */ +#define LSM6DS0_SUB_WHO_AM_I ((uint8_t)0x0F) /*!< Who_AM_I register */ +#define LSM6DS0_SUB_CTRL_REG1_G ((uint8_t)0x10) /*!< Gyroscope control register 1 */ +#define LSM6DS0_SUB_CTRL_REG2_G ((uint8_t)0x11) /*!< Gyroscope control register 2 */ +#define LSM6DS0_SUB_CTRL_REG3_G ((uint8_t)0x12) /*!< Gyroscope control register 3 */ +#define LSM6DS0_SUB_ORIENT_CFG_G ((uint8_t)0x13) /*!< Gyroscope sign and orientation register */ +#define LSM6DS0_SUB_INT_GEN_SRC_G ((uint8_t)0x14) /*!< Gyroscope interrupt source register */ +#define LSM6DS0_SUB_OUT_TEMP_L ((uint8_t)0x15) /*!< Temperature data output low register */ +#define LSM6DS0_SUB_OUT_TEMP_H ((uint8_t)0x16) /*!< Temperature data output high register */ +#define LSM6DS0_SUB_STATUS_REG1 ((uint8_t)0x17) /*!< Status register 1 */ +#define LSM6DS0_SUB_OUT_X_L_G ((uint8_t)0x18) /*!< Gyroscope X-axis low output register */ +#define LSM6DS0_SUB_OUT_X_H_G ((uint8_t)0x19) /*!< Gyroscope X-axis high output register */ +#define LSM6DS0_SUB_OUT_Y_L_G ((uint8_t)0x1A) /*!< Gyroscope Y-axis low output register */ +#define LSM6DS0_SUB_OUT_Y_H_G ((uint8_t)0x1B) /*!< Gyroscope Y-axis high output register */ +#define LSM6DS0_SUB_OUT_Z_L_G ((uint8_t)0x1C) /*!< Gyroscope Z-axis low output register */ +#define LSM6DS0_SUB_OUT_Z_H_G ((uint8_t)0x1D) /*!< Gyroscope Z-axis high output register */ +#define LSM6DS0_SUB_CTRL_REG4 ((uint8_t)0x1E) /*!< Control register 4 */ +#define LSM6DS0_SUB_CTRL_REG5_XL ((uint8_t)0x1F) /*!< Accelerometer Control Register 5 */ +#define LSM6DS0_SUB_CTRL_REG6_XL ((uint8_t)0x20) /*!< Accelerometer Control Register 6 */ +#define LSM6DS0_SUB_CTRL_REG7_XL ((uint8_t)0x21) /*!< Accelerometer Control Register 7 */ +#define LSM6DS0_SUB_CTRL_REG8 ((uint8_t)0x22) /*!< Control register 8 */ +#define LSM6DS0_SUB_CTRL_REG9 ((uint8_t)0x23) /*!< Control register 9 */ +#define LSM6DS0_SUB_CTRL_REG10 ((uint8_t)0x24) /*!< Control register 10 */ +#define LSM6DS0_SUB_INT_GEN_SRC_XL ((uint8_t)0x26) /*!< Accelerometer interrupt source register */ +#define LSM6DS0_SUB_STATUS_REG2 ((uint8_t)0x27) /*!< Status register */ +#define LSM6DS0_SUB_OUT_X_L_XL ((uint8_t)0x28) /*!< Accelerometer X-axis low output register */ +#define LSM6DS0_SUB_OUT_X_H_XL ((uint8_t)0x29) /*!< Accelerometer X-axis high output register */ +#define LSM6DS0_SUB_OUT_Y_L_XL ((uint8_t)0x2A) /*!< Accelerometer Y-axis low output register */ +#define LSM6DS0_SUB_OUT_Y_H_XL ((uint8_t)0x2B) /*!< Accelerometer Y-axis high output register */ +#define LSM6DS0_SUB_OUT_Z_L_XL ((uint8_t)0x2C) /*!< Accelerometer Z-axis low output register */ +#define LSM6DS0_SUB_OUT_Z_H_XL ((uint8_t)0x2D) /*!< Accelerometer Z-axis high output register */ +#define LSM6DS0_SUB_FIFO_CTRL ((uint8_t)0x2E) /*!< FIFO control register */ +#define LSM6DS0_SUB_FIFO_SRC ((uint8_t)0x2F) /*!< FIFO status control register */ +#define LSM6DS0_SUB_INT_GEN_CFG_G ((uint8_t)0x30) /*!< Gyroscope interrupt generator configuration register */ +#define LSM6DS0_SUB_INT_GEN_THS_XH_G ((uint8_t)0x31) /*!< Gyroscope X-axis low interrupt generator threshold registers */ +#define LSM6DS0_SUB_INT_GEN_THS_XL_G ((uint8_t)0x32) /*!< Gyroscope X-axis high interrupt generator threshold registers */ +#define LSM6DS0_SUB_INT_GEN_THS_YH_G ((uint8_t)0x33) /*!< Gyroscope Y-axis low interrupt generator threshold registers */ +#define LSM6DS0_SUB_INT_GEN_THS_YL_G ((uint8_t)0x34) /*!< Gyroscope Y-axis high interrupt generator threshold registers */ +#define LSM6DS0_SUB_INT_GEN_THS_ZH_G ((uint8_t)0x35) /*!< Gyroscope Z-axis low interrupt generator threshold registers */ +#define LSM6DS0_SUB_INT_GEN_THS_ZL_G ((uint8_t)0x36) /*!< Gyroscope Z-axis high interrupt generator threshold registers */ +#define LSM6DS0_SUB_INT_GEN_DUR_G ((uint8_t)0x37) /*!< Gyroscope interrupt generator duration register */ + +/** @} */ + +/*===========================================================================*/ +/* Driver pre-compile time settings. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver data structures and types. */ +/*===========================================================================*/ + +/** + * @name Generic LSM6DS0 data structures and types + * @{ + */ + +/** + * @brief Accelerometer and Gyroscope Slave Address + */ +typedef enum { + LSM6DS0_SAD_GND = 0x6A, /*!< LSM6DS0 Slave Address when SA1 is to GND */ + LSM6DS0_SAD_VCC = 0x6B /*!< LSM6DS0 Slave Address when SA1 is to VCC */ +}LSM6DS0_SAD_t; + +/** + * @brief Accelerometer and Gyroscope Block Data Update + */ +typedef enum +{ + LSM6DS0_BDU_CONTINOUS = 0x00, /*!< Continuos Update */ + LSM6DS0_BDU_BLOCKED = 0x40 /*!< Single Update: output registers not updated until MSB and LSB reading */ +}LSM6DS0_BDU_t; + +/** + * @brief Accelerometer and Gyroscope Endianness + */ +typedef enum +{ + LSM6DS0_END_LITTLE = 0x00, /*!< Little Endian: data LSB @ lower address */ + LSM6DS0_END_BIG = 0x20 /*!< Big Endian: data MSB @ lower address */ +}LSM6DS0_END_t; +/** @} */ + +/** + * @name Accelerometer data structures and types + * @{ + */ + +/** + * @brief Accelerometer Decimation Mode + */ +typedef enum { + LSM6DS0_ACC_DEC_DISABLED = 0x00, /*!< NO decimation */ + LSM6DS0_ACC_DEC_X2 = 0x40, /*!< Decimation update every 2 sample */ + LSM6DS0_ACC_DEC_X4 = 0x80, /*!< Decimation update every 4 sample */ + LSM6DS0_ACC_DEC_X8 = 0xC0 /*!< Decimation update every 8 sample */ +}LSM6DS0_ACC_DEC_t; + +/** + * @brief Accelerometer Axes Enabling + */ +typedef enum{ + LSM6DS0_ACC_AE_DISABLED = 0x00, /*!< Axes all 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 & Y axes enabled */ + LSM6DS0_ACC_AE_Z = 0x20, /*!< Only Z-axis enabled */ + LSM6DS0_ACC_AE_XZ = 0x28, /*!< X & Z axes enabled */ + LSM6DS0_ACC_AE_YZ = 0x30, /*!< Y & Z axes enabled */ + LSM6DS0_ACC_AE_XYZ = 0x38 /*!< All axes enabled */ +}LSM6DS0_ACC_AE_t; + +/** + * @brief Accelerometer Output Data Rate + */ +typedef enum { + LSM6DS0_ACC_ODR_PD = 0x00, /*!< Power down */ + LSM6DS0_ACC_ODR_10Hz = 0x20, /*!< Output Data Rate = 10 Hz */ + LSM6DS0_ACC_ODR_50Hz = 0x40, /*!< Output Data Rate = 50 Hz */ + LSM6DS0_ACC_ODR_119Hz = 0x60, /*!< Output Data Rate = 119 Hz */ + LSM6DS0_ACC_ODR_238Hz = 0x80, /*!< Output Data Rate = 238 Hz */ + LSM6DS0_ACC_ODR_476Hz = 0xA0, /*!< Output Data Rate = 476 Hz */ + LSM6DS0_ACC_ODR_952Hz = 0xC0 /*!< Output Data Rate = 952 Hz */ +}LSM6DS0_ACC_ODR_t; + +/** + * @brief Accelerometer Full Scale + */ +typedef enum { + LSM6DS0_ACC_FS_2G = 0x00, /*!< ±2 g m/s^2 */ + LSM6DS0_ACC_FS_4G = 0x10, /*!< ±4 g m/s^2 */ + LSM6DS0_ACC_FS_8G = 0x18, /*!< ±8 g m/s^2 */ + LSM6DS0_ACC_FS_16G = 0x08 /*!< ±16 g m/s^2 */ +}LSM6DS0_ACC_FS_t; + +/** + * @brief Accelerometer Antialiasing filter Bandwidth Selection + */ +typedef enum { + LSM6DS0_ACC_BW_408Hz = 0x00, /*!< AA filter bandwidth = 408 Hz */ + LSM6DS0_ACC_BW_211Hz = 0x01, /*!< AA filter bandwidth = 211 Hz */ + LSM6DS0_ACC_BW_105Hz = 0x02, /*!< AA filter bandwidth = 105 Hz */ + LSM6DS0_ACC_BW_50Hz = 0x03, /*!< AA filter bandwidth = 50 Hz */ + LSM6DS0_ACC_BW_ACCORDED = 0x04, /*!< AA filter bandwidth chosen by ODR selection */ +}LSM6DS0_ACC_BW_t; + +/** + * @brief Accelerometer High Resolution mode + */ +typedef enum +{ + LSM6DS0_ACC_HR_Disabled = 0x00, /*!< High resolution output mode disabled, FDS bypassed */ + LSM6DS0_ACC_HR_EN_9 = 0xC4, /*!< High resolution output mode enabled, LP cutoff = ODR/9, FDS enabled */ + LSM6DS0_ACC_HR_EN_50 = 0x84, /*!< High resolution output mode enabled, LP cutoff = ODR/50, FDS enabled */ + LSM6DS0_ACC_HR_EN_100 = 0xA4, /*!< High resolution output mode enabled, LP cutoff = ODR/100, FDS enabled */ + LSM6DS0_ACC_HR_EN_400 = 0xE4, /*!< High resolution output mode enabled, LP cutoff = ODR/400, FDS enabled */ +}LSM6DS0_ACC_HR_t; + +/** + * @brief HP filter for interrupt + */ +typedef enum +{ + LSM6DS0_ACC_HPIS1_BYPASSED = 0x00, /*!< High-pass filter bypassed */ + LSM6DS0_ACC_HPIS1_ENABLED = 0x01 /*!< High-pass filter enabled for accelerometer interrupt function on interrupt */ +}LSM6DS0_ACC_HPIS1_t; + +/** + * @brief Accelerometer configuration structure. + */ +typedef struct { + + /** + * @brief LSM6DS0 Slave Address + */ + LSM6DS0_SAD_t slaveaddress; + /** + * @brief Accelerometer Decimation Mode + */ + LSM6DS0_ACC_DEC_t decimation; + /** + * @brief Accelerometer Output Data Rate + */ + LSM6DS0_ACC_ODR_t outputdatarate; + /** + * @brief Accelerometer Antialiasing filter Bandwidth Selection + */ + LSM6DS0_ACC_BW_t bandwidth; + /** + * @brief Accelerometer Full Scale + */ + LSM6DS0_ACC_FS_t fullscale; + /** + * @brief Accelerometer Axes Enabling + */ + LSM6DS0_ACC_AE_t axesenabling; + /** + * @brief Accelerometer High Resolution mode + */ + LSM6DS0_ACC_HR_t highresmode; + /** + * @brief HP filter for interrupt + */ + LSM6DS0_ACC_HPIS1_t hpfirq; + /** + * @brief LSM6DS0 Endianness + */ + LSM6DS0_END_t endianess; + /** + * @brief LSM6DS0 Block Data Update + */ + LSM6DS0_BDU_t blockdataupdate; +} LSM6DS0_ACC_Config; +/** @} */ + +/** + * @name Gyroscope data structures and types + * @{ + */ + +/** + * @brief Gyroscope Output Data Rate + */ +typedef enum { + LSM6DS0_GYRO_ODR_PD = 0x00, /*!< Power down */ + LSM6DS0_GYRO_ODR_14_9Hz_CO_5Hz = 0x20, /*!< Output Data Rate = 14.9 Hz, CutOff = 5Hz */ + LSM6DS0_GYRO_ODR_59_5Hz_CO_16Hz = 0x40, /*!< Output Data Rate = 59.5 Hz, CutOff = 16Hz */ + LSM6DS0_GYRO_ODR_119Hz_CO_14Hz = 0x60, /*!< Output Data Rate = 119 Hz, CutOff = 14Hz */ + LSM6DS0_GYRO_ODR_119Hz_CO_31Hz = 0x61, /*!< Output Data Rate = 119 Hz, CutOff = 31Hz */ + LSM6DS0_GYRO_ODR_238Hz_CO_14Hz = 0x80, /*!< Output Data Rate = 238 Hz, CutOff = 14Hz */ + LSM6DS0_GYRO_ODR_238Hz_CO_29Hz = 0x81, /*!< Output Data Rate = 328 Hz, CutOff = 29Hz */ + LSM6DS0_GYRO_ODR_238Hz_CO_63Hz = 0x82, /*!< Output Data Rate = 238 Hz, CutOff = 63Hz */ + LSM6DS0_GYRO_ODR_238Hz_CO_78Hz = 0x83, /*!< Output Data Rate = 476 Hz, CutOff = 78Hz */ + LSM6DS0_GYRO_ODR_476Hz_CO_21Hz = 0xA0, /*!< Output Data Rate = 476 Hz, CutOff = 21Hz */ + LSM6DS0_GYRO_ODR_476Hz_CO_28Hz = 0xA1, /*!< Output Data Rate = 238 Hz, CutOff = 28Hz */ + LSM6DS0_GYRO_ODR_476Hz_CO_57Hz = 0xA2, /*!< Output Data Rate = 476 Hz, CutOff = 57Hz */ + LSM6DS0_GYRO_ODR_476Hz_CO_100Hz = 0xA3, /*!< Output Data Rate = 476 Hz, CutOff = 100Hz */ + LSM6DS0_GYRO_ODR_952Hz_CO_33Hz = 0xC0, /*!< Output Data Rate = 952 Hz, CutOff = 33Hz */ + LSM6DS0_GYRO_ODR_952Hz_CO_40Hz = 0xC1, /*!< Output Data Rate = 952 Hz, CutOff = 40Hz */ + LSM6DS0_GYRO_ODR_952Hz_CO_58Hz = 0xC2, /*!< Output Data Rate = 952 Hz, CutOff = 58Hz */ + LSM6DS0_GYRO_ODR_952Hz_CO_100Hz = 0xC3 /*!< Output Data Rate = 952 Hz, CutOff = 100Hz */ +}LSM6DS0_GYRO_ODR_t; + +/** + * @brief Gyroscope Full Scale + */ +typedef enum { + LSM6DS0_GYRO_FS_245DSP = 0x00, /*!< ±245 degrees per second */ + LSM6DS0_GYRO_FS_500DSP = 0x08, /*!< ±500 degrees per second */ + LSM6DS0_GYRO_FS_2000DSP = 0x18 /*!< ±2000 degrees per second */ +}LSM6DS0_GYRO_FS_t; + +/** + * @brief Gyroscope Output Selection + */ +typedef enum { + LSM6DS0_GYRO_OUT_SEL_BYPASS = 0x00, /*!< Output not filtered */ + LSM6DS0_GYRO_OUT_SEL_FILTERED = 0x01, /*!< Output filtered */ +}LSM6DS0_GYRO_OUT_SEL_t; + +/** + * @brief Gyroscope Interrupt Selection + */ +typedef enum { + LSM6DS0_GYRO_INT_SEL_BYPASS = 0x00, /*!< Interrupt generator signal not filtered */ + LSM6DS0_GYRO_INT_SEL_FILTERED = 0x08, /*!< Interrupt generator signal filtered */ +}LSM6DS0_GYRO_INT_SEL_t; + +/** + * @brief Gyroscope Low Power Mode + */ +typedef enum { + LSM6DS0_GYRO_LP_MODE_HIGH_PERFORMANCE = 0x00, /*!< High performance */ + LSM6DS0_GYRO_LP_MODE_LOW_POWER = 0x80, /*!< Low power */ +}LSM6DS0_GYRO_LP_MODE_t; + +/** + * @brief Gyroscope High Pass Filter Cutoff Selection + */ +typedef enum { + LSM6DS0_GYRO_HPCF_DISABLED = 0x00, /*!< HP filter disabled */ + LSM6DS0_GYRO_HPCF_0 = 0x40, /*!< Config 0 refer to table 48 of DOcID025604 Rev 3 */ + LSM6DS0_GYRO_HPCF_1 = 0x41, /*!< Config 1 refer to table 48 of DOcID025604 Rev 3 */ + LSM6DS0_GYRO_HPCF_2 = 0x42, /*!< Config 2 refer to table 48 of DOcID025604 Rev 3 */ + LSM6DS0_GYRO_HPCF_3 = 0x43, /*!< Config 3 refer to table 48 of DOcID025604 Rev 3 */ + LSM6DS0_GYRO_HPCF_4 = 0x44, /*!< Config 4 refer to table 48 of DOcID025604 Rev 3 */ + LSM6DS0_GYRO_HPCF_5 = 0x45, /*!< Config 5 refer to table 48 of DOcID025604 Rev 3 */ + LSM6DS0_GYRO_HPCF_6 = 0x46, /*!< Config 6 refer to table 48 of DOcID025604 Rev 3 */ + LSM6DS0_GYRO_HPCF_7 = 0x47, /*!< Config 7 refer to table 48 of DOcID025604 Rev 3 */ + LSM6DS0_GYRO_HPCF_8 = 0x48, /*!< Config 8 refer to table 48 of DOcID025604 Rev 3 */ + LSM6DS0_GYRO_HPCF_9 = 0x49, /*!< Config 9 refer to table 48 of DOcID025604 Rev 3 */ + LSM6DS0_GYRO_HPCF_10 = 0x4A /*!< Config 10 refer to table 48 of DOcID025604 Rev 3 */ +}LSM6DS0_GYRO_HPCF_t; + +/** + * @brief Gyroscope Axes Enabling + */ +typedef enum{ + LSM6DS0_GYRO_AE_DISABLED = 0x00, /*!< Axes all 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 & Y axes enabled */ + LSM6DS0_GYRO_AE_Z = 0x20, /*!< Only Z-axis enabled */ + LSM6DS0_GYRO_AE_XZ = 0x28, /*!< X & Z axes enabled */ + LSM6DS0_GYRO_AE_YZ = 0x30, /*!< Y & Z axes enabled */ + LSM6DS0_GYRO_AE_XYZ = 0x38 /*!< All axes enabled */ +}LSM6DS0_GYRO_AE_t; + +/** + * @brief Gyroscope Decimation Mode + */ +typedef enum { + LSM6DS0_GYRO_DEC_DISABLED = 0x00, /*!< NO decimation */ + LSM6DS0_GYRO_DEC_X2 = 0x40, /*!< Decimation update every 2 sample */ + LSM6DS0_GYRO_DEC_X4 = 0x80, /*!< Decimation update every 4 sample */ + LSM6DS0_GYRO_DEC_X8 = 0xC0 /*!< Decimation update every 8 sample */ +}LSM6DS0_GYRO_DEC_t; + +/** + * @brief Gyroscope Sleep Mode + */ +typedef enum { + LSM6DS0_GYRO_SLP_DISABLED = 0x00, /*!< Gyroscope sleep mode disabled */ + LSM6DS0_GYRO_SLP_ENABLED = 0x40 /*!< Gyroscope sleep mode enabled */ +}LSM6DS0_GYRO_SLP_t; +/** + * @brief Gyroscope configuration structure. + */ +typedef struct { + /** + * @brief LSM6DS0 Slave Address + */ + LSM6DS0_SAD_t slaveaddress; + /** + * @brief Gyroscope Output Data Rate + */ + LSM6DS0_GYRO_ODR_t outputdatarate; + /** + * @brief Gyroscope Full Scale + */ + LSM6DS0_GYRO_FS_t fullscale; + /** + * @brief Gyroscope Output Selection + */ + LSM6DS0_GYRO_OUT_SEL_t outputselect; + /** + * @brief Gyroscope Interrupt Selection + */ + LSM6DS0_GYRO_INT_SEL_t irqselect; + /** + * @brief Gyroscope Low Power Mode + */ + LSM6DS0_GYRO_LP_MODE_t lowpowermode; + /** + * @brief Gyroscope High Pass Filter Cutoff Selection + */ + LSM6DS0_GYRO_HPCF_t HPCfrequency; + /** + * @brief Gyroscope Axes Enabling + */ + LSM6DS0_GYRO_AE_t axesenabling; + /** + * @brief Gyroscope Decimation Mode + */ + LSM6DS0_GYRO_DEC_t decimation; + /** + * @brief LSM6DS0 Endianness + */ + LSM6DS0_END_t endianess; + /** + * @brief LSM6DS0 Block Data Update + */ + LSM6DS0_BDU_t blockdataupdate; +} LSM6DS0_GYRO_Config; +/** @} */ +/*===========================================================================*/ +/* Driver macros. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +#ifdef __cplusplus +extern "C" { +#endif + + uint8_t lsm6ds0ReadRegister(I2CDriver *i2cp, uint8_t sad, uint8_t sub, + msg_t* message); + void lsm6ds0WriteRegister(I2CDriver *i2cp, uint8_t sad, uint8_t sub, + uint8_t value, msg_t* message); +#ifdef __cplusplus +} +#endif + +#endif /* _LSM6DS0_H_ */ + +/** @} */ |