git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9627 35acf78f-673a-0410-8e92-d51de3d6d3f4

1 files changed, 846 insertions, 846 deletions

diff --git a/os/ex/ST/lsm6ds0.c b/os/ex/ST/lsm6ds0.c
index caa0d875d..054cca679 100644
--- a/os/ex/ST/lsm6ds0.c
+++ b/os/ex/ST/lsm6ds0.c
@@ -1,846 +1,846 @@
-/*
-    ChibiOS - Copyright (C) 2016 Rocco Marco Guglielmi
-
-    This file is part of ChibiOS.
-
-    ChibiOS 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.
-
-    ChibiOS 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/>.
-	
-*/
-
-/**
- * @file    lsm6ds0.c
- * @brief   LSM6DS0 MEMS interface module code.
- *
- * @addtogroup lsm6ds0
- * @{
- */
-
-#include "hal.h"
-#include "lsm6ds0.h"
-
-/*===========================================================================*/
-/* Driver local definitions.                                                 */
-/*===========================================================================*/
-
-#define  LSM6DS0_ACC_SENS_2G                ((float)0.061f)
-#define  LSM6DS0_ACC_SENS_4G                ((float)0.122f)
-#define  LSM6DS0_ACC_SENS_8G                ((float)0.244f)
-#define  LSM6DS0_ACC_SENS_16G               ((float)0.732f)
-
-#define  LSM6DS0_GYRO_SENS_245DPS           ((float)0.00875f)
-#define  LSM6DS0_GYRO_SENS_500DPS           ((float)0.01750f)
-#define  LSM6DS0_GYRO_SENS_2000DPS          ((float)0.07000f)
-
-#define  LSM6DS0_TEMP_SENS                  ((float)16.0f)
-#define  LSM6DS0_TEMP_SENS_OFF              ((float)25.0f)
-
-#define  LSM6DS0_DI                         ((uint8_t)0xFF)
-#define  LSM6DS0_DI_0                       ((uint8_t)0x01)
-#define  LSM6DS0_DI_1                       ((uint8_t)0x02)
-#define  LSM6DS0_DI_2                       ((uint8_t)0x04)
-#define  LSM6DS0_DI_3                       ((uint8_t)0x08)
-#define  LSM6DS0_DI_4                       ((uint8_t)0x10)
-#define  LSM6DS0_DI_5                       ((uint8_t)0x20)
-#define  LSM6DS0_DI_6                       ((uint8_t)0x40)
-#define  LSM6DS0_DI_7                       ((uint8_t)0x80)
-
-#define  LSM6DS0_AD_0                       ((uint8_t)0x01)
-#define  LSM6DS0_AD_1                       ((uint8_t)0x02)
-#define  LSM6DS0_AD_2                       ((uint8_t)0x04)
-#define  LSM6DS0_AD_3                       ((uint8_t)0x08)
-#define  LSM6DS0_AD_4                       ((uint8_t)0x10)
-#define  LSM6DS0_AD_5                       ((uint8_t)0x20)
-#define  LSM6DS0_AD_6                       ((uint8_t)0x40)
-
-#define  LSM6DS0_RW                         ((uint8_t)0x80)
-
-#define  LSM6DS0_AD_ACT_THS                 ((uint8_t)0x04)
-#define  LSM6DS0_AD_ACT_DUR                 ((uint8_t)0x05)
-#define  LSM6DS0_AD_INT_GEN_CFG_XL          ((uint8_t)0x06)
-#define  LSM6DS0_AD_INT_GEN_THS_X_XL        ((uint8_t)0x07)
-#define  LSM6DS0_AD_INT_GEN_THS_Y_XL        ((uint8_t)0x08)
-#define  LSM6DS0_AD_INT_GEN_THS_Z_XL        ((uint8_t)0x09)
-#define  LSM6DS0_AD_INT_GEN_DUR_XL          ((uint8_t)0x0A)
-#define  LSM6DS0_AD_REFERENCE_G             ((uint8_t)0x0B)
-#define  LSM6DS0_AD_INT_CTRL                ((uint8_t)0x0C)
-#define  LSM6DS0_AD_WHO_AM_I                ((uint8_t)0x0F)
-#define  LSM6DS0_AD_CTRL_REG1_G             ((uint8_t)0x10)
-#define  LSM6DS0_AD_CTRL_REG2_G             ((uint8_t)0x11)
-#define  LSM6DS0_AD_CTRL_REG3_G             ((uint8_t)0x12)
-#define  LSM6DS0_AD_ORIENT_CFG_G            ((uint8_t)0x13)
-#define  LSM6DS0_AD_INT_GEN_SRC_G           ((uint8_t)0x14)
-#define  LSM6DS0_AD_OUT_TEMP_L              ((uint8_t)0x15)
-#define  LSM6DS0_AD_OUT_TEMP_H              ((uint8_t)0x16)
-#define  LSM6DS0_AD_STATUS_REG1             ((uint8_t)0x17)
-#define  LSM6DS0_AD_OUT_X_L_G               ((uint8_t)0x18)
-#define  LSM6DS0_AD_OUT_X_H_G               ((uint8_t)0x19)
-#define  LSM6DS0_AD_OUT_Y_L_G               ((uint8_t)0x1A)
-#define  LSM6DS0_AD_OUT_Y_H_G               ((uint8_t)0x1B)
-#define  LSM6DS0_AD_OUT_Z_L_G               ((uint8_t)0x1C)
-#define  LSM6DS0_AD_OUT_Z_H_G               ((uint8_t)0x1D)
-#define  LSM6DS0_AD_CTRL_REG4               ((uint8_t)0x1E)
-#define  LSM6DS0_AD_CTRL_REG5_XL            ((uint8_t)0x1F)
-#define  LSM6DS0_AD_CTRL_REG6_XL            ((uint8_t)0x20)
-#define  LSM6DS0_AD_CTRL_REG7_XL            ((uint8_t)0x21)
-#define  LSM6DS0_AD_CTRL_REG8               ((uint8_t)0x22)
-#define  LSM6DS0_AD_CTRL_REG9               ((uint8_t)0x23)
-#define  LSM6DS0_AD_CTRL_REG10              ((uint8_t)0x24)
-#define  LSM6DS0_AD_INT_GEN_SRC_XL          ((uint8_t)0x26)
-#define  LSM6DS0_AD_STATUS_REG2             ((uint8_t)0x27)
-#define  LSM6DS0_AD_OUT_X_L_XL              ((uint8_t)0x28)
-#define  LSM6DS0_AD_OUT_X_H_XL              ((uint8_t)0x29)
-#define  LSM6DS0_AD_OUT_Y_L_XL              ((uint8_t)0x2A)
-#define  LSM6DS0_AD_OUT_Y_H_XL              ((uint8_t)0x2B)
-#define  LSM6DS0_AD_OUT_Z_L_XL              ((uint8_t)0x2C)
-#define  LSM6DS0_AD_OUT_Z_H_XL              ((uint8_t)0x2D)
-#define  LSM6DS0_AD_FIFO_CTRL               ((uint8_t)0x2E)
-#define  LSM6DS0_AD_FIFO_SRC                ((uint8_t)0x2F)
-#define  LSM6DS0_AD_INT_GEN_CFG_G           ((uint8_t)0x30)
-#define  LSM6DS0_AD_INT_GEN_THS_XH_G        ((uint8_t)0x31)
-#define  LSM6DS0_AD_INT_GEN_THS_XL_G        ((uint8_t)0x32)
-#define  LSM6DS0_AD_INT_GEN_THS_YH_G        ((uint8_t)0x33)
-#define  LSM6DS0_AD_INT_GEN_THS_YL_G        ((uint8_t)0x34)
-#define  LSM6DS0_AD_INT_GEN_THS_ZH_G        ((uint8_t)0x35)
-#define  LSM6DS0_AD_INT_GEN_THS_ZL_G        ((uint8_t)0x36)
-#define  LSM6DS0_AD_INT_GEN_DUR_G           ((uint8_t)0x37)
-
-#define  LSM6DS0_CTRL_REG1_G_FS_MASK        ((uint8_t)0x18)
-#define  LSM6DS0_CTRL_REG6_XL_FS_MASK       ((uint8_t)0x18)
-
-#define  TO_G                               ((float)0.001f)
-#define  TO_SI                              ((float)0.00981f)
-/*===========================================================================*/
-/* Driver exported variables.                                                */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Driver local variables and types.                                         */
-/*===========================================================================*/
-
-/**
- * @brief   LSM6DS0 address increment mode.
- */
-typedef enum {
-  LSM6DS0_IF_ADD_INC_DIS = 0x00,    /**< Address increment disabled.        */
-  LSM6DS0_IF_ADD_INC_EN = 0x04      /**< Address increment disabled.        */
-}lsm6ds0_id_add_inc_t;
-
-/**
- * @brief   LSM6DS0 gyroscope subsystem sleep mode.
- */
-typedef enum {
-  LSM6DS0_GYRO_SLP_DISABLED = 0x00, /**< Gyroscope in normal mode.          */
-  LSM6DS0_GYRO_SLP_ENABLED  = 0x40  /**< Gyroscope in sleep mode.           */
-}lsm6ds0_gyro_slp_t;
-
-/*===========================================================================*/
-/* Driver local functions.                                                   */
-/*===========================================================================*/
-
-#if (LSM6DS0_USE_I2C) || defined(__DOXYGEN__)
-/**
- * @brief   Reads registers value using I2C.
- * @pre     The I2C interface must be initialized and the driver started.
- * @note    IF_ADD_INC bit must be 1 in CTRL_REG8
- *
- * @param[in] i2cp       pointer to the I2C interface
- * @param[in] sad        slave address without R bit
- * @param[in] reg        first sub-register address
- * @return               the read value.
- */
-uint8_t lsm6ds0I2CReadRegister(I2CDriver *i2cp, lsm6ds0_sad_t sad, uint8_t reg,
-                               msg_t* msgp) {
-  msg_t msg;
-#if defined(STM32F103_MCUCONF)
-  uint8_t rxbuf[2];
-  msg = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 2,
-                                   TIME_INFINITE);
-  if(msgp != NULL){
-    *msgp = msg;
-  }
-  return rxbuf[0];
-#else
-  uint8_t txbuf, rxbuf;
-  txbuf = reg;
-  msg = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, &rxbuf, 1,
-                                        TIME_INFINITE);
-  if(msgp != NULL){
-    *msgp = msg;
-  }
-  return rxbuf;
-#endif
-}
-
-/**
- * @brief   Writes a value into a register using I2C.
- * @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
- * @return               the operation status.
- */
-msg_t lsm6ds0I2CWriteRegister(I2CDriver *i2cp, lsm6ds0_sad_t sad, uint8_t reg,
-                              uint8_t value) {
-  uint8_t rxbuf;
-  uint8_t txbuf[2];
-  switch (reg) {
-  default:
-    /* Reserved register must not be written, according to the datasheet
-     * this could permanently damage the device.
-     */
-    osalDbgAssert(FALSE, "lsm6ds0WriteRegisterI2C(), reserved register");
-  case LSM6DS0_AD_WHO_AM_I:
-  case LSM6DS0_AD_INT_GEN_SRC_G:
-  case LSM6DS0_AD_OUT_TEMP_L:
-  case LSM6DS0_AD_OUT_TEMP_H:
-  case LSM6DS0_AD_STATUS_REG1:
-  case LSM6DS0_AD_OUT_X_L_G:
-  case LSM6DS0_AD_OUT_X_H_G:
-  case LSM6DS0_AD_OUT_Y_L_G:
-  case LSM6DS0_AD_OUT_Y_H_G:
-  case LSM6DS0_AD_OUT_Z_L_G:
-  case LSM6DS0_AD_OUT_Z_H_G:
-  case LSM6DS0_AD_INT_GEN_SRC_XL:
-  case LSM6DS0_AD_STATUS_REG2:
-  case LSM6DS0_AD_OUT_X_L_XL:
-  case LSM6DS0_AD_OUT_X_H_XL:
-  case LSM6DS0_AD_OUT_Y_L_XL:
-  case LSM6DS0_AD_OUT_Y_H_XL:
-  case LSM6DS0_AD_OUT_Z_L_XL:
-  case LSM6DS0_AD_OUT_Z_H_XL:
-  case LSM6DS0_AD_FIFO_SRC:
-  /* Read only registers cannot be written, the command is ignored.*/
-    return MSG_RESET;
-  case LSM6DS0_AD_ACT_THS:
-  case LSM6DS0_AD_ACT_DUR:
-  case LSM6DS0_AD_INT_GEN_CFG_XL:
-  case LSM6DS0_AD_INT_GEN_THS_X_XL:
-  case LSM6DS0_AD_INT_GEN_THS_Y_XL:
-  case LSM6DS0_AD_INT_GEN_THS_Z_XL:
-  case LSM6DS0_AD_INT_GEN_DUR_XL:
-  case LSM6DS0_AD_REFERENCE_G:
-  case LSM6DS0_AD_INT_CTRL:
-  case LSM6DS0_AD_CTRL_REG1_G:
-  case LSM6DS0_AD_CTRL_REG2_G:
-  case LSM6DS0_AD_CTRL_REG3_G:
-  case LSM6DS0_AD_ORIENT_CFG_G:
-  case LSM6DS0_AD_CTRL_REG4:
-  case LSM6DS0_AD_CTRL_REG5_XL:
-  case LSM6DS0_AD_CTRL_REG6_XL:
-  case LSM6DS0_AD_CTRL_REG7_XL:
-  case LSM6DS0_AD_CTRL_REG8:
-  case LSM6DS0_AD_CTRL_REG9:
-  case LSM6DS0_AD_CTRL_REG10:
-  case LSM6DS0_AD_FIFO_CTRL:
-  case LSM6DS0_AD_INT_GEN_CFG_G:
-  case LSM6DS0_AD_INT_GEN_THS_XH_G:
-  case LSM6DS0_AD_INT_GEN_THS_XL_G:
-  case LSM6DS0_AD_INT_GEN_THS_YH_G:
-  case LSM6DS0_AD_INT_GEN_THS_YL_G:
-  case LSM6DS0_AD_INT_GEN_THS_ZH_G:
-  case LSM6DS0_AD_INT_GEN_THS_ZL_G:
-  case LSM6DS0_AD_INT_GEN_DUR_G:
-    txbuf[0] = reg;
-    txbuf[1] = value;
-    return i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0, TIME_INFINITE);
-    break;
-  }
-}
-#endif /* LSM6DS0_USE_I2C */
-
-/*
- * Interface implementation.
- */
-static size_t acc_get_axes_number(void *ip) {
-
-  osalDbgCheck(ip != NULL);
-  return LSM6DS0_ACC_NUMBER_OF_AXES;
-}
-
-static size_t gyro_get_axes_number(void *ip) {
-
-  osalDbgCheck(ip != NULL);
-  return LSM6DS0_GYRO_NUMBER_OF_AXES;
-}
-
-static size_t sens_get_axes_number(void *ip) {
-  size_t size = 0;
-  
-  osalDbgCheck(ip != NULL);
-  if (((LSM6DS0Driver *)ip)->config->acccfg != NULL)
-	size += acc_get_axes_number(ip);
-  if (((LSM6DS0Driver *)ip)->config->gyrocfg != NULL)
-    size += gyro_get_axes_number(ip);  
-  return size;
-}
-
-static msg_t acc_read_raw(void *ip, int32_t axes[]) {
-  int16_t tmp;
-  osalDbgCheck(((ip != NULL) && (axes != NULL)) &&
-              (((LSM6DS0Driver *)ip)->config->acccfg != NULL));
-  osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),
-              "acc_read_raw(), invalid state");
-
-#if LSM6DS0_USE_I2C
-  osalDbgAssert((((LSM6DS0Driver *)ip)->config->i2cp->state == I2C_READY),
-                "acc_read_raw(), channel not ready");
-#if LSM6DS0_SHARED_I2C
-  i2cAcquireBus(((LSM6DS0Driver *)ip)->config->i2cp);
-  i2cStart(((LSM6DS0Driver *)ip)->config->i2cp,
-           ((LSM6DS0Driver *)ip)->config->i2ccfg);
-#endif /* LSM6DS0_SHARED_I2C */
-  if(((LSM6DS0Driver *)ip)->config->acccfg->axesenabling & LSM6DS0_ACC_AE_X){
-    tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
-                                 ((LSM6DS0Driver *)ip)->config->slaveaddress,
-                                 LSM6DS0_AD_OUT_X_L_XL, NULL);
-    tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
-                                  ((LSM6DS0Driver *)ip)->config->slaveaddress,
-                                  LSM6DS0_AD_OUT_X_H_XL, NULL) << 8;
-    axes[0] = (int32_t)tmp - ((LSM6DS0Driver *)ip)->accbias[0];
-  }
-  if(((LSM6DS0Driver *)ip)->config->acccfg->axesenabling & LSM6DS0_ACC_AE_Y){
-    tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
-                                 ((LSM6DS0Driver *)ip)->config->slaveaddress,
-                                 LSM6DS0_AD_OUT_Y_L_XL, NULL);
-    tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
-                                  ((LSM6DS0Driver *)ip)->config->slaveaddress,
-                                  LSM6DS0_AD_OUT_Y_H_XL, NULL) << 8;
-    axes[1] = (int32_t)tmp - ((LSM6DS0Driver *)ip)->accbias[1];
-  }
-  if(((LSM6DS0Driver *)ip)->config->acccfg->axesenabling & LSM6DS0_ACC_AE_Z){
-    tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
-                                 ((LSM6DS0Driver *)ip)->config->slaveaddress,
-                                 LSM6DS0_AD_OUT_Z_L_XL, NULL);
-    tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
-                                  ((LSM6DS0Driver *)ip)->config->slaveaddress,
-                                  LSM6DS0_AD_OUT_Z_H_XL, NULL) << 8;
-    axes[2] = (int32_t)tmp - ((LSM6DS0Driver *)ip)->accbias[2];
-  }
-#if LSM6DS0_SHARED_I2C
-  i2cReleaseBus(((LSM6DS0Driver *)ip)->config->i2cp);
-#endif /* LSM6DS0_SHARED_I2C */
-#endif /* LSM6DS0_USE_I2C */
-  return MSG_OK;
-}
-
-static msg_t gyro_read_raw(void *ip, int32_t axes[]) {
-  int16_t tmp;
-  osalDbgCheck(((ip != NULL) && (axes != NULL)) &&
-              (((LSM6DS0Driver *)ip)->config->gyrocfg != NULL));
-  osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),
-              "gyro_read_raw(), invalid state");
-
-#if LSM6DS0_USE_I2C
-  osalDbgAssert((((LSM6DS0Driver *)ip)->config->i2cp->state == I2C_READY),
-                "gyro_read_raw(), channel not ready");
-#if LSM6DS0_SHARED_I2C
-  i2cAcquireBus(((LSM6DS0Driver *)ip)->config->i2cp);
-  i2cStart(((LSM6DS0Driver *)ip)->config->i2cp,
-           ((LSM6DS0Driver *)ip)->config->i2ccfg);
-#endif /* LSM6DS0_SHARED_I2C */
-  if(((LSM6DS0Driver *)ip)->config->gyrocfg->axesenabling & LSM6DS0_GYRO_AE_X){
-    tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
-                                 ((LSM6DS0Driver *)ip)->config->slaveaddress,
-                                   LSM6DS0_AD_OUT_X_L_G, NULL);
-    tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
-                                  ((LSM6DS0Driver *)ip)->config->slaveaddress,
-                                    LSM6DS0_AD_OUT_X_H_G, NULL) << 8;
-	axes[0] = (int32_t)tmp - ((LSM6DS0Driver *)ip)->gyrobias[0];
-  }
-  if(((LSM6DS0Driver *)ip)->config->acccfg->axesenabling & LSM6DS0_GYRO_AE_Y){
-    tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
-                                 ((LSM6DS0Driver *)ip)->config->slaveaddress,
-                                   LSM6DS0_AD_OUT_Y_L_G, NULL);
-    tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
-                                  ((LSM6DS0Driver *)ip)->config->slaveaddress,
-                                    LSM6DS0_AD_OUT_Y_H_G, NULL) << 8;
-    axes[1] = (int32_t)tmp - ((LSM6DS0Driver *)ip)->gyrobias[1];
-  }
-  if(((LSM6DS0Driver *)ip)->config->acccfg->axesenabling & LSM6DS0_GYRO_AE_Z){
-    tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
-                                 ((LSM6DS0Driver *)ip)->config->slaveaddress,
-                                   LSM6DS0_AD_OUT_Z_L_G, NULL);
-    tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
-                                  ((LSM6DS0Driver *)ip)->config->slaveaddress,
-                                    LSM6DS0_AD_OUT_Z_H_G, NULL) << 8;
-    axes[2] = (int32_t)tmp - ((LSM6DS0Driver *)ip)->gyrobias[2];
-  }
-#if LSM6DS0_SHARED_I2C
-  i2cReleaseBus(((LSM6DS0Driver *)ip)->config->i2cp);
-#endif /* LSM6DS0_SHARED_I2C */
-#endif /* LSM6DS0_USE_I2C */ 
-  return MSG_OK;
-}
-
-static msg_t sens_read_raw(void *ip, int32_t axes[]) {
-  int32_t* bp = axes;
-  msg_t msg;
-  if (((LSM6DS0Driver *)ip)->config->acccfg != NULL) {
-	msg = acc_read_raw(ip, bp);
-	if(msg != MSG_OK)
-	  return msg;
-	bp += LSM6DS0_ACC_NUMBER_OF_AXES;
-  }
-  if (((LSM6DS0Driver *)ip)->config->gyrocfg != NULL) {
-    msg = gyro_read_raw(ip, bp);
-  }
-  return msg;
-}
-	
-static msg_t acc_read_cooked(void *ip, float axes[]) {
-  uint32_t i;
-  int32_t raw[LSM6DS0_ACC_NUMBER_OF_AXES];
-  msg_t msg;
-
-  osalDbgCheck(((ip != NULL) && (axes != NULL)) &&
-              (((LSM6DS0Driver *)ip)->config->acccfg != NULL));
-
-  osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),
-              "acc_read_cooked(), invalid state");
-
-  msg = acc_read_raw(ip, raw);
-  for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES ; i++){
-    axes[i] = raw[i] * ((LSM6DS0Driver *)ip)->accsensitivity[i];
-    if(((LSM6DS0Driver *)ip)->config->acccfg->unit == LSM6DS0_ACC_UNIT_G){
-      axes[i] *= TO_G;
-    }
-    else if(((LSM6DS0Driver *)ip)->config->acccfg->unit == LSM6DS0_ACC_UNIT_SI){
-      axes[i] *= TO_SI;
-    }
-  }
-  return msg;
-}
-
-static msg_t gyro_read_cooked(void *ip, float axes[]) {
-  uint32_t i;
-  int32_t raw[LSM6DS0_GYRO_NUMBER_OF_AXES];
-  msg_t msg;
-
-  osalDbgCheck(((ip != NULL) && (axes != NULL)) &&
-              (((LSM6DS0Driver *)ip)->config->gyrocfg != NULL));
-
-  osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),
-              "gyro_read_cooked(), invalid state");
-
-  msg = gyro_read_raw(ip, raw);
-  for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES ; i++){
-    axes[i] = raw[i] * ((LSM6DS0Driver *)ip)->gyrosensitivity[i];
-  }
-  return msg;
-}
-
-static msg_t sens_read_cooked(void *ip, float axes[]) {
-  float* bp = axes;
-  msg_t msg;
-  if (((LSM6DS0Driver *)ip)->config->acccfg != NULL) {
-	msg = acc_read_cooked(ip, bp);
-	if(msg != MSG_OK)
-	  return msg;
-	bp += LSM6DS0_ACC_NUMBER_OF_AXES;
-  }
-  if (((LSM6DS0Driver *)ip)->config->gyrocfg != NULL) {
-    msg = gyro_read_cooked(ip, bp);
-  }
-  return msg;
-}
-
-static msg_t gyro_sample_bias(void *ip) {
-  uint32_t i, j;
-  int32_t raw[LSM6DS0_GYRO_NUMBER_OF_AXES];
-  int32_t buff[LSM6DS0_GYRO_NUMBER_OF_AXES] = {0, 0, 0};
-  msg_t msg;
-
-  osalDbgCheck(ip != NULL);
-
-  osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),
-                "sample_bias(), invalid state");
-
-  for(i = 0; i < LSM6DS0_GYRO_BIAS_ACQ_TIMES; i++){
-    msg = gyro_read_raw(ip, raw);
-	if(msg != MSG_OK)
-	  return msg;
-    for(j = 0; j < LSM6DS0_GYRO_NUMBER_OF_AXES; j++){
-      buff[j] += raw[j];
-    }
-    osalThreadSleepMicroseconds(LSM6DS0_GYRO_BIAS_SETTLING_uS);
-  }
-
-  for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++){
-    ((LSM6DS0Driver *)ip)->gyrobias[i] = buff[i] / LSM6DS0_GYRO_BIAS_ACQ_TIMES;
-  }
-  return msg;
-}
-
-static msg_t acc_set_bias(void *ip, int32_t *bp) {
-  uint32_t i;
-  
-  osalDbgCheck((ip != NULL) && (bp !=NULL));
-
-  osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY) ||
-                (((LSM6DS0Driver *)ip)->state == LSM6DS0_STOP),
-                "acc_set_bias(), invalid state");
-  
-  for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) {
-    ((LSM6DS0Driver *)ip)->accbias[i] = bp[i];
-  }
-  return MSG_OK;
-}
-
-static msg_t gyro_set_bias(void *ip, int32_t *bp) {
-  uint32_t i;
-  
-  osalDbgCheck((ip != NULL) && (bp !=NULL));
-
-  osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY) ||
-                (((LSM6DS0Driver *)ip)->state == LSM6DS0_STOP),
-                "gyro_set_bias(), invalid state");
-  
-  for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) {
-    ((LSM6DS0Driver *)ip)->gyrobias[i] = bp[i];
-  }
-  return MSG_OK;
-}
-
-static msg_t acc_reset_bias(void *ip) {
-  uint32_t i;
-
-  osalDbgCheck(ip != NULL);
-
-  osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY) ||
-                (((LSM6DS0Driver *)ip)->state == LSM6DS0_STOP),
-              "acc_reset_bias(), invalid state");
-
-  for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
-    ((LSM6DS0Driver *)ip)->accbias[i] = 0;
-  return MSG_OK;
-}
-
-static msg_t gyro_reset_bias(void *ip) {
-  uint32_t i;
-
-  osalDbgCheck(ip != NULL);
-
-  osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY) ||
-                (((LSM6DS0Driver *)ip)->state == LSM6DS0_STOP),
-              "gyro_reset_bias(), invalid state");
-
-  for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++)
-    ((LSM6DS0Driver *)ip)->gyrobias[i] = 0;
-  return MSG_OK;
-}
-
-static msg_t acc_set_sensivity(void *ip, float *sp) {
-  uint32_t i;
-  
-  osalDbgCheck((ip != NULL) && (sp !=NULL));
-
-  osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),
-                "acc_set_sensivity(), invalid state");
-  
-  for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) {
-    ((LSM6DS0Driver *)ip)->accsensitivity[i] = sp[i];
-  }
-  return MSG_OK;
-}
-
-static msg_t gyro_set_sensivity(void *ip, float *sp) {
-  uint32_t i;
-  
-  osalDbgCheck((ip != NULL) && (sp !=NULL));
-
-  osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),
-                "gyro_set_sensivity(), invalid state");
-  
-  for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) {
-    ((LSM6DS0Driver *)ip)->gyrosensitivity[i] = sp[i];
-  }
-  return MSG_OK;
-}
-
-static msg_t acc_reset_sensivity(void *ip) {
-  uint32_t i;
-
-  osalDbgCheck(ip != NULL);
-
-  osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),
-                "acc_reset_sensivity(), invalid state");
-
-  if(((LSM6DS0Driver *)ip)->config->acccfg->fullscale == LSM6DS0_ACC_FS_2G)
-    for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
-      ((LSM6DS0Driver *)ip)->accsensitivity[i] = LSM6DS0_ACC_SENS_2G;
-  else if(((LSM6DS0Driver *)ip)->config->acccfg->fullscale == LSM6DS0_ACC_FS_4G)
-	for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
-      ((LSM6DS0Driver *)ip)->accsensitivity[i] = LSM6DS0_ACC_SENS_4G;
-  else if(((LSM6DS0Driver *)ip)->config->acccfg->fullscale == LSM6DS0_ACC_FS_8G)
-	for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
-      ((LSM6DS0Driver *)ip)->accsensitivity[i] = LSM6DS0_ACC_SENS_8G;
-  else if(((LSM6DS0Driver *)ip)->config->acccfg->fullscale == LSM6DS0_ACC_FS_16G)
-	for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
-      ((LSM6DS0Driver *)ip)->accsensitivity[i] = LSM6DS0_ACC_SENS_16G;
-  else {
-    osalDbgAssert(FALSE, "reset_sensivity(), accelerometer full scale issue");
-    return MSG_RESET;
-  }
-  return MSG_OK;
-}
-
-static msg_t gyro_reset_sensivity(void *ip) {
-  uint32_t i;
-
-  osalDbgCheck(ip != NULL);
-
-  osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),
-                "gyro_reset_sensivity(), invalid state");
-
-  if(((LSM6DS0Driver *)ip)->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_245DSP)
-    for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
-      ((LSM6DS0Driver *)ip)->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_245DPS;
-  else if(((LSM6DS0Driver *)ip)->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_500DSP)
-	for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
-      ((LSM6DS0Driver *)ip)->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_500DPS;
-  else if(((LSM6DS0Driver *)ip)->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_2000DSP)
-	for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
-      ((LSM6DS0Driver *)ip)->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_2000DPS;
-  else {
-    osalDbgAssert(FALSE, "reset_sensivity(), gyroscope full scale issue");
-    return MSG_RESET;
-  }
-  return MSG_OK;
-}
-
-static msg_t sens_get_temperature(void *ip, float* tempp) {
-  int16_t temp;
-#if LSM6DS0_USE_I2C
-  osalDbgAssert((((LSM6DS0Driver *)ip)->config->i2cp->state == I2C_READY),
-                "gyro_read_raw(), channel not ready");
-#if LSM6DS0_SHARED_I2C
-  i2cAcquireBus(((LSM6DS0Driver *)ip)->config->i2cp);
-  i2cStart(((LSM6DS0Driver *)ip)->config->i2cp,
-           ((LSM6DS0Driver *)ip)->config->i2ccfg);
-#endif /* LSM6DS0_SHARED_I2C */
-  temp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
-                                ((LSM6DS0Driver *)ip)->config->slaveaddress,
-                                  LSM6DS0_AD_OUT_TEMP_L, NULL);
-  temp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
-                                 ((LSM6DS0Driver *)ip)->config->slaveaddress,
-                                   LSM6DS0_AD_OUT_TEMP_H, NULL) << 8;
-#if LSM6DS0_SHARED_I2C
-  i2cReleaseBus(((LSM6DS0Driver *)ip)->config->i2cp);
-#endif /* LSM6DS0_SHARED_I2C */
-#endif /* LSM6DS0_USE_I2C */
-  *tempp = ((float)temp / LSM6DS0_TEMP_SENS) + LSM6DS0_TEMP_SENS_OFF;
-  return MSG_OK;
-}
-
-static const struct BaseSensorVMT vmt_basesensor = {
-  sens_get_axes_number, sens_read_raw, sens_read_cooked
-};
-
-static const struct BaseGyroscopeVMT vmt_basegyroscope = {
-  gyro_get_axes_number, gyro_read_raw, gyro_read_cooked,
-  gyro_sample_bias, gyro_set_bias, gyro_reset_bias,
-  gyro_set_sensivity, gyro_reset_sensivity
-};
-
-static const struct BaseAccelerometerVMT vmt_baseaccelerometer = {
-  acc_get_axes_number, acc_read_raw, acc_read_cooked,
-  acc_set_bias, acc_reset_bias, acc_set_sensivity, acc_reset_sensivity
-};
-
-static const struct LSM6DS0ACCVMT vmt_lsm6ds0acc = {
-  acc_get_axes_number, acc_read_raw, acc_read_cooked,
-  acc_set_bias, acc_reset_bias, acc_set_sensivity, acc_reset_sensivity
-};
-
-static const struct LSM6DS0GYROVMT vmt_lsm6ds0gyro = {
-  gyro_get_axes_number, gyro_read_raw, gyro_read_cooked,
-  gyro_sample_bias, gyro_set_bias, gyro_reset_bias,
-  gyro_set_sensivity, gyro_reset_sensivity, sens_get_temperature
-};
-
-/*===========================================================================*/
-/* Driver exported functions.                                                */
-/*===========================================================================*/
-
-/**
- * @brief   Initializes an instance.
- *
- * @param[out] devp     pointer to the @p LSM6DS0Driver object
- *
- * @init
- */
-void lsm6ds0ObjectInit(LSM6DS0Driver *devp) {
-  uint32_t i;
-  devp->vmt_basesensor = &vmt_basesensor;
-  devp->vmt_baseaccelerometer = &vmt_baseaccelerometer;
-  devp->vmt_basegyroscope = &vmt_basegyroscope;
-  devp->vmt_lsm6ds0acc = &vmt_lsm6ds0acc;
-  devp->vmt_lsm6ds0gyro = &vmt_lsm6ds0gyro;
-  devp->config = NULL;
-  for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
-    devp->accbias[i] = 0;
-  for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++)
-    devp->gyrobias[i] = 0;
-  devp->state  = LSM6DS0_STOP;
-}
-
-/**
- * @brief   Configures and activates LSM6DS0 Complex Driver peripheral.
- *
- * @param[in] devp      pointer to the @p LSM6DS0Driver object
- * @param[in] config    pointer to the @p LSM6DS0Config object
- *
- * @api
- */
-void lsm6ds0Start(LSM6DS0Driver *devp, const LSM6DS0Config *config) {
-  uint32_t i;
-  osalDbgCheck((devp != NULL) && (config != NULL));
-
-  osalDbgAssert((devp->state == LSM6DS0_STOP) || (devp->state == LSM6DS0_READY),
-              "lsm6ds0Start(), invalid state");			  
-
-  devp->config = config;
-
-#if LSM6DS0_USE_I2C
-#if	LSM6DS0_SHARED_I2C
-  i2cAcquireBus((devp)->config->i2cp);
-#endif /* LSM6DS0_SHARED_I2C */
-  i2cStart((devp)->config->i2cp,
-           (devp)->config->i2ccfg);
-  if((devp)->config->acccfg != NULL) {
-    lsm6ds0I2CWriteRegister(devp->config->i2cp,
-                            devp->config->slaveaddress,
-                            LSM6DS0_AD_CTRL_REG5_XL,
-                            devp->config->acccfg->decmode |
-                            devp->config->acccfg->axesenabling);
-    lsm6ds0I2CWriteRegister(devp->config->i2cp,
-                            devp->config->slaveaddress,
-                            LSM6DS0_AD_CTRL_REG6_XL,
-                            devp->config->acccfg->outdatarate |
-                            devp->config->acccfg->fullscale );
-  }
-  if((devp)->config->gyrocfg != NULL) {
-    lsm6ds0I2CWriteRegister(devp->config->i2cp,
-                            devp->config->slaveaddress,
-                            LSM6DS0_AD_CTRL_REG1_G,
-                            devp->config->gyrocfg->fullscale |
-                            devp->config->gyrocfg->outdatarate);
-    lsm6ds0I2CWriteRegister(devp->config->i2cp,
-                            devp->config->slaveaddress,
-                            LSM6DS0_AD_CTRL_REG2_G,
-                            devp->config->gyrocfg->outsel);
-    lsm6ds0I2CWriteRegister(devp->config->i2cp,
-                            devp->config->slaveaddress,
-                            LSM6DS0_AD_CTRL_REG3_G,
-                            devp->config->gyrocfg->hpfenable |
-                            devp->config->gyrocfg->lowmodecfg |
-                            devp->config->gyrocfg->hpcfg);
-    lsm6ds0I2CWriteRegister(devp->config->i2cp,
-                            devp->config->slaveaddress,
-                            LSM6DS0_AD_CTRL_REG4,
-                            devp->config->gyrocfg->axesenabling);
-    lsm6ds0I2CWriteRegister(devp->config->i2cp,
-                            devp->config->slaveaddress,
-                            LSM6DS0_AD_CTRL_REG9,
-                            LSM6DS0_GYRO_SLP_DISABLED);
-  }
-  lsm6ds0I2CWriteRegister(devp->config->i2cp,
-                          devp->config->slaveaddress,
-                          LSM6DS0_AD_CTRL_REG8,
-                          devp->config->endianness |
-                          devp->config->blockdataupdate);
-#if	LSM6DS0_SHARED_I2C
-  i2cReleaseBus((devp)->config->i2cp);
-#endif /* LSM6DS0_SHARED_I2C */  
-#endif /* LSM6DS0_USE_I2C */
-  /* Storing sensitivity information according to full scale value */
-  if((devp)->config->acccfg != NULL) {
-    if(devp->config->acccfg->fullscale == LSM6DS0_ACC_FS_2G)
-      for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
-        devp->accsensitivity[i] = LSM6DS0_ACC_SENS_2G;
-    else if(devp->config->acccfg->fullscale == LSM6DS0_ACC_FS_4G)
-      for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
-        devp->accsensitivity[i] = LSM6DS0_ACC_SENS_4G;
-    else if(devp->config->acccfg->fullscale == LSM6DS0_ACC_FS_8G)
-      for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
-        devp->accsensitivity[i] = LSM6DS0_ACC_SENS_8G;
-    else if(devp->config->acccfg->fullscale == LSM6DS0_ACC_FS_16G)
-      for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
-        devp->accsensitivity[i] = LSM6DS0_ACC_SENS_16G;
-    else
-      osalDbgAssert(FALSE, "lsm6ds0Start(), accelerometer full scale issue");
-  }
-  if((devp)->config->gyrocfg != NULL) {
-    if(devp->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_245DSP)
-      for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++)
-        devp->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_245DPS;
-    else if(devp->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_500DSP)
-      for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++)
-        devp->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_500DPS;
-    else if(devp->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_2000DSP)
-      for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++)
-        devp->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_2000DPS;
-    else
-      osalDbgAssert(FALSE, "lsm6ds0Start(), gyroscope full scale issue");
-  }
-  /* This is the Gyroscope transient recovery time */
-  osalThreadSleepMilliseconds(5);
-
-  devp->state = LSM6DS0_READY;
-} 
-
-/**
- * @brief   Deactivates the LSM6DS0 Complex Driver peripheral.
- *
- * @param[in] devp       pointer to the @p LSM6DS0Driver object
- *
- * @api
- */
-void lsm6ds0Stop(LSM6DS0Driver *devp) {
-
-  osalDbgCheck(devp != NULL);
-
-  osalDbgAssert((devp->state == LSM6DS0_STOP) || (devp->state == LSM6DS0_READY),
-                "lsm6ds0Stop(), invalid state");
-
-#if (LSM6DS0_USE_I2C)
-  if (devp->state == LSM6DS0_STOP) {
-#if	LSM6DS0_SHARED_I2C
-    i2cAcquireBus((devp)->config->i2cp);
-    i2cStart((devp)->config->i2cp,
-             (devp)->config->i2ccfg);
-#endif /* LSM6DS0_SHARED_I2C */
-    if((devp)->config->acccfg != NULL) {
-      lsm6ds0I2CWriteRegister(devp->config->i2cp,
-                              devp->config->slaveaddress,
-                              LSM6DS0_AD_CTRL_REG6_XL,
-                              LSM6DS0_ACC_ODR_PD);
-    }
-    if((devp)->config->gyrocfg != NULL) {
-      lsm6ds0I2CWriteRegister(devp->config->i2cp,
-                              devp->config->slaveaddress,
-                              LSM6DS0_AD_CTRL_REG9,
-                              LSM6DS0_GYRO_SLP_ENABLED);
-    }
-    i2cStop((devp)->config->i2cp);
-#if	LSM6DS0_SHARED_I2C
-    i2cReleaseBus((devp)->config->i2cp);
-#endif /* LSM6DS0_SHARED_I2C */    
-  }			  
-#endif /* LSM6DS0_USE_I2C */
-  devp->state = LSM6DS0_STOP;
-}
-/** @} */
+/*

+    ChibiOS - Copyright (C) 2016 Rocco Marco Guglielmi

+

+    This file is part of ChibiOS.

+

+    ChibiOS 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.

+

+    ChibiOS 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/>.

+	

+*/

+

+/**

+ * @file    lsm6ds0.c

+ * @brief   LSM6DS0 MEMS interface module code.

+ *

+ * @addtogroup lsm6ds0

+ * @{

+ */

+

+#include "hal.h"

+#include "lsm6ds0.h"

+

+/*===========================================================================*/

+/* Driver local definitions.                                                 */

+/*===========================================================================*/

+

+#define  LSM6DS0_ACC_SENS_2G                ((float)0.061f)

+#define  LSM6DS0_ACC_SENS_4G                ((float)0.122f)

+#define  LSM6DS0_ACC_SENS_8G                ((float)0.244f)

+#define  LSM6DS0_ACC_SENS_16G               ((float)0.732f)

+

+#define  LSM6DS0_GYRO_SENS_245DPS           ((float)0.00875f)

+#define  LSM6DS0_GYRO_SENS_500DPS           ((float)0.01750f)

+#define  LSM6DS0_GYRO_SENS_2000DPS          ((float)0.07000f)

+

+#define  LSM6DS0_TEMP_SENS                  ((float)16.0f)

+#define  LSM6DS0_TEMP_SENS_OFF              ((float)25.0f)

+

+#define  LSM6DS0_DI                         ((uint8_t)0xFF)

+#define  LSM6DS0_DI_0                       ((uint8_t)0x01)

+#define  LSM6DS0_DI_1                       ((uint8_t)0x02)

+#define  LSM6DS0_DI_2                       ((uint8_t)0x04)

+#define  LSM6DS0_DI_3                       ((uint8_t)0x08)

+#define  LSM6DS0_DI_4                       ((uint8_t)0x10)

+#define  LSM6DS0_DI_5                       ((uint8_t)0x20)

+#define  LSM6DS0_DI_6                       ((uint8_t)0x40)

+#define  LSM6DS0_DI_7                       ((uint8_t)0x80)

+

+#define  LSM6DS0_AD_0                       ((uint8_t)0x01)

+#define  LSM6DS0_AD_1                       ((uint8_t)0x02)

+#define  LSM6DS0_AD_2                       ((uint8_t)0x04)

+#define  LSM6DS0_AD_3                       ((uint8_t)0x08)

+#define  LSM6DS0_AD_4                       ((uint8_t)0x10)

+#define  LSM6DS0_AD_5                       ((uint8_t)0x20)

+#define  LSM6DS0_AD_6                       ((uint8_t)0x40)

+

+#define  LSM6DS0_RW                         ((uint8_t)0x80)

+

+#define  LSM6DS0_AD_ACT_THS                 ((uint8_t)0x04)

+#define  LSM6DS0_AD_ACT_DUR                 ((uint8_t)0x05)

+#define  LSM6DS0_AD_INT_GEN_CFG_XL          ((uint8_t)0x06)

+#define  LSM6DS0_AD_INT_GEN_THS_X_XL        ((uint8_t)0x07)

+#define  LSM6DS0_AD_INT_GEN_THS_Y_XL        ((uint8_t)0x08)

+#define  LSM6DS0_AD_INT_GEN_THS_Z_XL        ((uint8_t)0x09)

+#define  LSM6DS0_AD_INT_GEN_DUR_XL          ((uint8_t)0x0A)

+#define  LSM6DS0_AD_REFERENCE_G             ((uint8_t)0x0B)

+#define  LSM6DS0_AD_INT_CTRL                ((uint8_t)0x0C)

+#define  LSM6DS0_AD_WHO_AM_I                ((uint8_t)0x0F)

+#define  LSM6DS0_AD_CTRL_REG1_G             ((uint8_t)0x10)

+#define  LSM6DS0_AD_CTRL_REG2_G             ((uint8_t)0x11)

+#define  LSM6DS0_AD_CTRL_REG3_G             ((uint8_t)0x12)

+#define  LSM6DS0_AD_ORIENT_CFG_G            ((uint8_t)0x13)

+#define  LSM6DS0_AD_INT_GEN_SRC_G           ((uint8_t)0x14)

+#define  LSM6DS0_AD_OUT_TEMP_L              ((uint8_t)0x15)

+#define  LSM6DS0_AD_OUT_TEMP_H              ((uint8_t)0x16)

+#define  LSM6DS0_AD_STATUS_REG1             ((uint8_t)0x17)

+#define  LSM6DS0_AD_OUT_X_L_G               ((uint8_t)0x18)

+#define  LSM6DS0_AD_OUT_X_H_G               ((uint8_t)0x19)

+#define  LSM6DS0_AD_OUT_Y_L_G               ((uint8_t)0x1A)

+#define  LSM6DS0_AD_OUT_Y_H_G               ((uint8_t)0x1B)

+#define  LSM6DS0_AD_OUT_Z_L_G               ((uint8_t)0x1C)

+#define  LSM6DS0_AD_OUT_Z_H_G               ((uint8_t)0x1D)

+#define  LSM6DS0_AD_CTRL_REG4               ((uint8_t)0x1E)

+#define  LSM6DS0_AD_CTRL_REG5_XL            ((uint8_t)0x1F)

+#define  LSM6DS0_AD_CTRL_REG6_XL            ((uint8_t)0x20)

+#define  LSM6DS0_AD_CTRL_REG7_XL            ((uint8_t)0x21)

+#define  LSM6DS0_AD_CTRL_REG8               ((uint8_t)0x22)

+#define  LSM6DS0_AD_CTRL_REG9               ((uint8_t)0x23)

+#define  LSM6DS0_AD_CTRL_REG10              ((uint8_t)0x24)

+#define  LSM6DS0_AD_INT_GEN_SRC_XL          ((uint8_t)0x26)

+#define  LSM6DS0_AD_STATUS_REG2             ((uint8_t)0x27)

+#define  LSM6DS0_AD_OUT_X_L_XL              ((uint8_t)0x28)

+#define  LSM6DS0_AD_OUT_X_H_XL              ((uint8_t)0x29)

+#define  LSM6DS0_AD_OUT_Y_L_XL              ((uint8_t)0x2A)

+#define  LSM6DS0_AD_OUT_Y_H_XL              ((uint8_t)0x2B)

+#define  LSM6DS0_AD_OUT_Z_L_XL              ((uint8_t)0x2C)

+#define  LSM6DS0_AD_OUT_Z_H_XL              ((uint8_t)0x2D)

+#define  LSM6DS0_AD_FIFO_CTRL               ((uint8_t)0x2E)

+#define  LSM6DS0_AD_FIFO_SRC                ((uint8_t)0x2F)

+#define  LSM6DS0_AD_INT_GEN_CFG_G           ((uint8_t)0x30)

+#define  LSM6DS0_AD_INT_GEN_THS_XH_G        ((uint8_t)0x31)

+#define  LSM6DS0_AD_INT_GEN_THS_XL_G        ((uint8_t)0x32)

+#define  LSM6DS0_AD_INT_GEN_THS_YH_G        ((uint8_t)0x33)

+#define  LSM6DS0_AD_INT_GEN_THS_YL_G        ((uint8_t)0x34)

+#define  LSM6DS0_AD_INT_GEN_THS_ZH_G        ((uint8_t)0x35)

+#define  LSM6DS0_AD_INT_GEN_THS_ZL_G        ((uint8_t)0x36)

+#define  LSM6DS0_AD_INT_GEN_DUR_G           ((uint8_t)0x37)

+

+#define  LSM6DS0_CTRL_REG1_G_FS_MASK        ((uint8_t)0x18)

+#define  LSM6DS0_CTRL_REG6_XL_FS_MASK       ((uint8_t)0x18)

+

+#define  TO_G                               ((float)0.001f)

+#define  TO_SI                              ((float)0.00981f)

+/*===========================================================================*/

+/* Driver exported variables.                                                */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Driver local variables and types.                                         */

+/*===========================================================================*/

+

+/**

+ * @brief   LSM6DS0 address increment mode.

+ */

+typedef enum {

+  LSM6DS0_IF_ADD_INC_DIS = 0x00,    /**< Address increment disabled.        */

+  LSM6DS0_IF_ADD_INC_EN = 0x04      /**< Address increment disabled.        */

+}lsm6ds0_id_add_inc_t;

+

+/**

+ * @brief   LSM6DS0 gyroscope subsystem sleep mode.

+ */

+typedef enum {

+  LSM6DS0_GYRO_SLP_DISABLED = 0x00, /**< Gyroscope in normal mode.          */

+  LSM6DS0_GYRO_SLP_ENABLED  = 0x40  /**< Gyroscope in sleep mode.           */

+}lsm6ds0_gyro_slp_t;

+

+/*===========================================================================*/

+/* Driver local functions.                                                   */

+/*===========================================================================*/

+

+#if (LSM6DS0_USE_I2C) || defined(__DOXYGEN__)

+/**

+ * @brief   Reads registers value using I2C.

+ * @pre     The I2C interface must be initialized and the driver started.

+ * @note    IF_ADD_INC bit must be 1 in CTRL_REG8

+ *

+ * @param[in] i2cp       pointer to the I2C interface

+ * @param[in] sad        slave address without R bit

+ * @param[in] reg        first sub-register address

+ * @return               the read value.

+ */

+uint8_t lsm6ds0I2CReadRegister(I2CDriver *i2cp, lsm6ds0_sad_t sad, uint8_t reg,

+                               msg_t* msgp) {

+  msg_t msg;

+#if defined(STM32F103_MCUCONF)

+  uint8_t rxbuf[2];

+  msg = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 2,

+                                   TIME_INFINITE);

+  if(msgp != NULL){

+    *msgp = msg;

+  }

+  return rxbuf[0];

+#else

+  uint8_t txbuf, rxbuf;

+  txbuf = reg;

+  msg = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, &rxbuf, 1,

+                                        TIME_INFINITE);

+  if(msgp != NULL){

+    *msgp = msg;

+  }

+  return rxbuf;

+#endif

+}

+

+/**

+ * @brief   Writes a value into a register using I2C.

+ * @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

+ * @return               the operation status.

+ */

+msg_t lsm6ds0I2CWriteRegister(I2CDriver *i2cp, lsm6ds0_sad_t sad, uint8_t reg,

+                              uint8_t value) {

+  uint8_t rxbuf;

+  uint8_t txbuf[2];

+  switch (reg) {

+  default:

+    /* Reserved register must not be written, according to the datasheet

+     * this could permanently damage the device.

+     */

+    osalDbgAssert(FALSE, "lsm6ds0WriteRegisterI2C(), reserved register");

+  case LSM6DS0_AD_WHO_AM_I:

+  case LSM6DS0_AD_INT_GEN_SRC_G:

+  case LSM6DS0_AD_OUT_TEMP_L:

+  case LSM6DS0_AD_OUT_TEMP_H:

+  case LSM6DS0_AD_STATUS_REG1:

+  case LSM6DS0_AD_OUT_X_L_G:

+  case LSM6DS0_AD_OUT_X_H_G:

+  case LSM6DS0_AD_OUT_Y_L_G:

+  case LSM6DS0_AD_OUT_Y_H_G:

+  case LSM6DS0_AD_OUT_Z_L_G:

+  case LSM6DS0_AD_OUT_Z_H_G:

+  case LSM6DS0_AD_INT_GEN_SRC_XL:

+  case LSM6DS0_AD_STATUS_REG2:

+  case LSM6DS0_AD_OUT_X_L_XL:

+  case LSM6DS0_AD_OUT_X_H_XL:

+  case LSM6DS0_AD_OUT_Y_L_XL:

+  case LSM6DS0_AD_OUT_Y_H_XL:

+  case LSM6DS0_AD_OUT_Z_L_XL:

+  case LSM6DS0_AD_OUT_Z_H_XL:

+  case LSM6DS0_AD_FIFO_SRC:

+  /* Read only registers cannot be written, the command is ignored.*/

+    return MSG_RESET;

+  case LSM6DS0_AD_ACT_THS:

+  case LSM6DS0_AD_ACT_DUR:

+  case LSM6DS0_AD_INT_GEN_CFG_XL:

+  case LSM6DS0_AD_INT_GEN_THS_X_XL:

+  case LSM6DS0_AD_INT_GEN_THS_Y_XL:

+  case LSM6DS0_AD_INT_GEN_THS_Z_XL:

+  case LSM6DS0_AD_INT_GEN_DUR_XL:

+  case LSM6DS0_AD_REFERENCE_G:

+  case LSM6DS0_AD_INT_CTRL:

+  case LSM6DS0_AD_CTRL_REG1_G:

+  case LSM6DS0_AD_CTRL_REG2_G:

+  case LSM6DS0_AD_CTRL_REG3_G:

+  case LSM6DS0_AD_ORIENT_CFG_G:

+  case LSM6DS0_AD_CTRL_REG4:

+  case LSM6DS0_AD_CTRL_REG5_XL:

+  case LSM6DS0_AD_CTRL_REG6_XL:

+  case LSM6DS0_AD_CTRL_REG7_XL:

+  case LSM6DS0_AD_CTRL_REG8:

+  case LSM6DS0_AD_CTRL_REG9:

+  case LSM6DS0_AD_CTRL_REG10:

+  case LSM6DS0_AD_FIFO_CTRL:

+  case LSM6DS0_AD_INT_GEN_CFG_G:

+  case LSM6DS0_AD_INT_GEN_THS_XH_G:

+  case LSM6DS0_AD_INT_GEN_THS_XL_G:

+  case LSM6DS0_AD_INT_GEN_THS_YH_G:

+  case LSM6DS0_AD_INT_GEN_THS_YL_G:

+  case LSM6DS0_AD_INT_GEN_THS_ZH_G:

+  case LSM6DS0_AD_INT_GEN_THS_ZL_G:

+  case LSM6DS0_AD_INT_GEN_DUR_G:

+    txbuf[0] = reg;

+    txbuf[1] = value;

+    return i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0, TIME_INFINITE);

+    break;

+  }

+}

+#endif /* LSM6DS0_USE_I2C */

+

+/*

+ * Interface implementation.

+ */

+static size_t acc_get_axes_number(void *ip) {

+

+  osalDbgCheck(ip != NULL);

+  return LSM6DS0_ACC_NUMBER_OF_AXES;

+}

+

+static size_t gyro_get_axes_number(void *ip) {

+

+  osalDbgCheck(ip != NULL);

+  return LSM6DS0_GYRO_NUMBER_OF_AXES;

+}

+

+static size_t sens_get_axes_number(void *ip) {

+  size_t size = 0;

+  

+  osalDbgCheck(ip != NULL);

+  if (((LSM6DS0Driver *)ip)->config->acccfg != NULL)

+	size += acc_get_axes_number(ip);

+  if (((LSM6DS0Driver *)ip)->config->gyrocfg != NULL)

+    size += gyro_get_axes_number(ip);  

+  return size;

+}

+

+static msg_t acc_read_raw(void *ip, int32_t axes[]) {

+  int16_t tmp;

+  osalDbgCheck(((ip != NULL) && (axes != NULL)) &&

+              (((LSM6DS0Driver *)ip)->config->acccfg != NULL));

+  osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),

+              "acc_read_raw(), invalid state");

+

+#if LSM6DS0_USE_I2C

+  osalDbgAssert((((LSM6DS0Driver *)ip)->config->i2cp->state == I2C_READY),

+                "acc_read_raw(), channel not ready");

+#if LSM6DS0_SHARED_I2C

+  i2cAcquireBus(((LSM6DS0Driver *)ip)->config->i2cp);

+  i2cStart(((LSM6DS0Driver *)ip)->config->i2cp,

+           ((LSM6DS0Driver *)ip)->config->i2ccfg);

+#endif /* LSM6DS0_SHARED_I2C */

+  if(((LSM6DS0Driver *)ip)->config->acccfg->axesenabling & LSM6DS0_ACC_AE_X){

+    tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,

+                                 ((LSM6DS0Driver *)ip)->config->slaveaddress,

+                                 LSM6DS0_AD_OUT_X_L_XL, NULL);

+    tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,

+                                  ((LSM6DS0Driver *)ip)->config->slaveaddress,

+                                  LSM6DS0_AD_OUT_X_H_XL, NULL) << 8;

+    axes[0] = (int32_t)tmp - ((LSM6DS0Driver *)ip)->accbias[0];

+  }

+  if(((LSM6DS0Driver *)ip)->config->acccfg->axesenabling & LSM6DS0_ACC_AE_Y){

+    tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,

+                                 ((LSM6DS0Driver *)ip)->config->slaveaddress,

+                                 LSM6DS0_AD_OUT_Y_L_XL, NULL);

+    tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,

+                                  ((LSM6DS0Driver *)ip)->config->slaveaddress,

+                                  LSM6DS0_AD_OUT_Y_H_XL, NULL) << 8;

+    axes[1] = (int32_t)tmp - ((LSM6DS0Driver *)ip)->accbias[1];

+  }

+  if(((LSM6DS0Driver *)ip)->config->acccfg->axesenabling & LSM6DS0_ACC_AE_Z){

+    tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,

+                                 ((LSM6DS0Driver *)ip)->config->slaveaddress,

+                                 LSM6DS0_AD_OUT_Z_L_XL, NULL);

+    tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,

+                                  ((LSM6DS0Driver *)ip)->config->slaveaddress,

+                                  LSM6DS0_AD_OUT_Z_H_XL, NULL) << 8;

+    axes[2] = (int32_t)tmp - ((LSM6DS0Driver *)ip)->accbias[2];

+  }

+#if LSM6DS0_SHARED_I2C

+  i2cReleaseBus(((LSM6DS0Driver *)ip)->config->i2cp);

+#endif /* LSM6DS0_SHARED_I2C */

+#endif /* LSM6DS0_USE_I2C */

+  return MSG_OK;

+}

+

+static msg_t gyro_read_raw(void *ip, int32_t axes[]) {

+  int16_t tmp;

+  osalDbgCheck(((ip != NULL) && (axes != NULL)) &&

+              (((LSM6DS0Driver *)ip)->config->gyrocfg != NULL));

+  osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),

+              "gyro_read_raw(), invalid state");

+

+#if LSM6DS0_USE_I2C

+  osalDbgAssert((((LSM6DS0Driver *)ip)->config->i2cp->state == I2C_READY),

+                "gyro_read_raw(), channel not ready");

+#if LSM6DS0_SHARED_I2C

+  i2cAcquireBus(((LSM6DS0Driver *)ip)->config->i2cp);

+  i2cStart(((LSM6DS0Driver *)ip)->config->i2cp,

+           ((LSM6DS0Driver *)ip)->config->i2ccfg);

+#endif /* LSM6DS0_SHARED_I2C */

+  if(((LSM6DS0Driver *)ip)->config->gyrocfg->axesenabling & LSM6DS0_GYRO_AE_X){

+    tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,

+                                 ((LSM6DS0Driver *)ip)->config->slaveaddress,

+                                   LSM6DS0_AD_OUT_X_L_G, NULL);

+    tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,

+                                  ((LSM6DS0Driver *)ip)->config->slaveaddress,

+                                    LSM6DS0_AD_OUT_X_H_G, NULL) << 8;

+	axes[0] = (int32_t)tmp - ((LSM6DS0Driver *)ip)->gyrobias[0];

+  }

+  if(((LSM6DS0Driver *)ip)->config->acccfg->axesenabling & LSM6DS0_GYRO_AE_Y){

+    tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,

+                                 ((LSM6DS0Driver *)ip)->config->slaveaddress,

+                                   LSM6DS0_AD_OUT_Y_L_G, NULL);

+    tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,

+                                  ((LSM6DS0Driver *)ip)->config->slaveaddress,

+                                    LSM6DS0_AD_OUT_Y_H_G, NULL) << 8;

+    axes[1] = (int32_t)tmp - ((LSM6DS0Driver *)ip)->gyrobias[1];

+  }

+  if(((LSM6DS0Driver *)ip)->config->acccfg->axesenabling & LSM6DS0_GYRO_AE_Z){

+    tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,

+                                 ((LSM6DS0Driver *)ip)->config->slaveaddress,

+                                   LSM6DS0_AD_OUT_Z_L_G, NULL);

+    tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,

+                                  ((LSM6DS0Driver *)ip)->config->slaveaddress,

+                                    LSM6DS0_AD_OUT_Z_H_G, NULL) << 8;

+    axes[2] = (int32_t)tmp - ((LSM6DS0Driver *)ip)->gyrobias[2];

+  }

+#if LSM6DS0_SHARED_I2C

+  i2cReleaseBus(((LSM6DS0Driver *)ip)->config->i2cp);

+#endif /* LSM6DS0_SHARED_I2C */

+#endif /* LSM6DS0_USE_I2C */ 

+  return MSG_OK;

+}

+

+static msg_t sens_read_raw(void *ip, int32_t axes[]) {

+  int32_t* bp = axes;

+  msg_t msg;

+  if (((LSM6DS0Driver *)ip)->config->acccfg != NULL) {

+	msg = acc_read_raw(ip, bp);

+	if(msg != MSG_OK)

+	  return msg;

+	bp += LSM6DS0_ACC_NUMBER_OF_AXES;

+  }

+  if (((LSM6DS0Driver *)ip)->config->gyrocfg != NULL) {

+    msg = gyro_read_raw(ip, bp);

+  }

+  return msg;

+}

+	

+static msg_t acc_read_cooked(void *ip, float axes[]) {

+  uint32_t i;

+  int32_t raw[LSM6DS0_ACC_NUMBER_OF_AXES];

+  msg_t msg;

+

+  osalDbgCheck(((ip != NULL) && (axes != NULL)) &&

+              (((LSM6DS0Driver *)ip)->config->acccfg != NULL));

+

+  osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),

+              "acc_read_cooked(), invalid state");

+

+  msg = acc_read_raw(ip, raw);

+  for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES ; i++){

+    axes[i] = raw[i] * ((LSM6DS0Driver *)ip)->accsensitivity[i];

+    if(((LSM6DS0Driver *)ip)->config->acccfg->unit == LSM6DS0_ACC_UNIT_G){

+      axes[i] *= TO_G;

+    }

+    else if(((LSM6DS0Driver *)ip)->config->acccfg->unit == LSM6DS0_ACC_UNIT_SI){

+      axes[i] *= TO_SI;

+    }

+  }

+  return msg;

+}

+

+static msg_t gyro_read_cooked(void *ip, float axes[]) {

+  uint32_t i;

+  int32_t raw[LSM6DS0_GYRO_NUMBER_OF_AXES];

+  msg_t msg;

+

+  osalDbgCheck(((ip != NULL) && (axes != NULL)) &&

+              (((LSM6DS0Driver *)ip)->config->gyrocfg != NULL));

+

+  osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),

+              "gyro_read_cooked(), invalid state");

+

+  msg = gyro_read_raw(ip, raw);

+  for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES ; i++){

+    axes[i] = raw[i] * ((LSM6DS0Driver *)ip)->gyrosensitivity[i];

+  }

+  return msg;

+}

+

+static msg_t sens_read_cooked(void *ip, float axes[]) {

+  float* bp = axes;

+  msg_t msg;

+  if (((LSM6DS0Driver *)ip)->config->acccfg != NULL) {

+	msg = acc_read_cooked(ip, bp);

+	if(msg != MSG_OK)

+	  return msg;

+	bp += LSM6DS0_ACC_NUMBER_OF_AXES;

+  }

+  if (((LSM6DS0Driver *)ip)->config->gyrocfg != NULL) {

+    msg = gyro_read_cooked(ip, bp);

+  }

+  return msg;

+}

+

+static msg_t gyro_sample_bias(void *ip) {

+  uint32_t i, j;

+  int32_t raw[LSM6DS0_GYRO_NUMBER_OF_AXES];

+  int32_t buff[LSM6DS0_GYRO_NUMBER_OF_AXES] = {0, 0, 0};

+  msg_t msg;

+

+  osalDbgCheck(ip != NULL);

+

+  osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),

+                "sample_bias(), invalid state");

+

+  for(i = 0; i < LSM6DS0_GYRO_BIAS_ACQ_TIMES; i++){

+    msg = gyro_read_raw(ip, raw);

+	if(msg != MSG_OK)

+	  return msg;

+    for(j = 0; j < LSM6DS0_GYRO_NUMBER_OF_AXES; j++){

+      buff[j] += raw[j];

+    }

+    osalThreadSleepMicroseconds(LSM6DS0_GYRO_BIAS_SETTLING_uS);

+  }

+

+  for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++){

+    ((LSM6DS0Driver *)ip)->gyrobias[i] = buff[i] / LSM6DS0_GYRO_BIAS_ACQ_TIMES;

+  }

+  return msg;

+}

+

+static msg_t acc_set_bias(void *ip, int32_t *bp) {

+  uint32_t i;

+  

+  osalDbgCheck((ip != NULL) && (bp !=NULL));

+

+  osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY) ||

+                (((LSM6DS0Driver *)ip)->state == LSM6DS0_STOP),

+                "acc_set_bias(), invalid state");

+  

+  for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) {

+    ((LSM6DS0Driver *)ip)->accbias[i] = bp[i];

+  }

+  return MSG_OK;

+}

+

+static msg_t gyro_set_bias(void *ip, int32_t *bp) {

+  uint32_t i;

+  

+  osalDbgCheck((ip != NULL) && (bp !=NULL));

+

+  osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY) ||

+                (((LSM6DS0Driver *)ip)->state == LSM6DS0_STOP),

+                "gyro_set_bias(), invalid state");

+  

+  for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) {

+    ((LSM6DS0Driver *)ip)->gyrobias[i] = bp[i];

+  }

+  return MSG_OK;

+}

+

+static msg_t acc_reset_bias(void *ip) {

+  uint32_t i;

+

+  osalDbgCheck(ip != NULL);

+

+  osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY) ||

+                (((LSM6DS0Driver *)ip)->state == LSM6DS0_STOP),

+              "acc_reset_bias(), invalid state");

+

+  for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)

+    ((LSM6DS0Driver *)ip)->accbias[i] = 0;

+  return MSG_OK;

+}

+

+static msg_t gyro_reset_bias(void *ip) {

+  uint32_t i;

+

+  osalDbgCheck(ip != NULL);

+

+  osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY) ||

+                (((LSM6DS0Driver *)ip)->state == LSM6DS0_STOP),

+              "gyro_reset_bias(), invalid state");

+

+  for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++)

+    ((LSM6DS0Driver *)ip)->gyrobias[i] = 0;

+  return MSG_OK;

+}

+

+static msg_t acc_set_sensivity(void *ip, float *sp) {

+  uint32_t i;

+  

+  osalDbgCheck((ip != NULL) && (sp !=NULL));

+

+  osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),

+                "acc_set_sensivity(), invalid state");

+  

+  for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) {

+    ((LSM6DS0Driver *)ip)->accsensitivity[i] = sp[i];

+  }

+  return MSG_OK;

+}

+

+static msg_t gyro_set_sensivity(void *ip, float *sp) {

+  uint32_t i;

+  

+  osalDbgCheck((ip != NULL) && (sp !=NULL));

+

+  osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),

+                "gyro_set_sensivity(), invalid state");

+  

+  for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) {

+    ((LSM6DS0Driver *)ip)->gyrosensitivity[i] = sp[i];

+  }

+  return MSG_OK;

+}

+

+static msg_t acc_reset_sensivity(void *ip) {

+  uint32_t i;

+

+  osalDbgCheck(ip != NULL);

+

+  osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),

+                "acc_reset_sensivity(), invalid state");

+

+  if(((LSM6DS0Driver *)ip)->config->acccfg->fullscale == LSM6DS0_ACC_FS_2G)

+    for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)

+      ((LSM6DS0Driver *)ip)->accsensitivity[i] = LSM6DS0_ACC_SENS_2G;

+  else if(((LSM6DS0Driver *)ip)->config->acccfg->fullscale == LSM6DS0_ACC_FS_4G)

+	for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)

+      ((LSM6DS0Driver *)ip)->accsensitivity[i] = LSM6DS0_ACC_SENS_4G;

+  else if(((LSM6DS0Driver *)ip)->config->acccfg->fullscale == LSM6DS0_ACC_FS_8G)

+	for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)

+      ((LSM6DS0Driver *)ip)->accsensitivity[i] = LSM6DS0_ACC_SENS_8G;

+  else if(((LSM6DS0Driver *)ip)->config->acccfg->fullscale == LSM6DS0_ACC_FS_16G)

+	for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)

+      ((LSM6DS0Driver *)ip)->accsensitivity[i] = LSM6DS0_ACC_SENS_16G;

+  else {

+    osalDbgAssert(FALSE, "reset_sensivity(), accelerometer full scale issue");

+    return MSG_RESET;

+  }

+  return MSG_OK;

+}

+

+static msg_t gyro_reset_sensivity(void *ip) {

+  uint32_t i;

+

+  osalDbgCheck(ip != NULL);

+

+  osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),

+                "gyro_reset_sensivity(), invalid state");

+

+  if(((LSM6DS0Driver *)ip)->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_245DSP)

+    for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)

+      ((LSM6DS0Driver *)ip)->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_245DPS;

+  else if(((LSM6DS0Driver *)ip)->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_500DSP)

+	for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)

+      ((LSM6DS0Driver *)ip)->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_500DPS;

+  else if(((LSM6DS0Driver *)ip)->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_2000DSP)

+	for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)

+      ((LSM6DS0Driver *)ip)->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_2000DPS;

+  else {

+    osalDbgAssert(FALSE, "reset_sensivity(), gyroscope full scale issue");

+    return MSG_RESET;

+  }

+  return MSG_OK;

+}

+

+static msg_t sens_get_temperature(void *ip, float* tempp) {

+  int16_t temp;

+#if LSM6DS0_USE_I2C

+  osalDbgAssert((((LSM6DS0Driver *)ip)->config->i2cp->state == I2C_READY),

+                "gyro_read_raw(), channel not ready");

+#if LSM6DS0_SHARED_I2C

+  i2cAcquireBus(((LSM6DS0Driver *)ip)->config->i2cp);

+  i2cStart(((LSM6DS0Driver *)ip)->config->i2cp,

+           ((LSM6DS0Driver *)ip)->config->i2ccfg);

+#endif /* LSM6DS0_SHARED_I2C */

+  temp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,

+                                ((LSM6DS0Driver *)ip)->config->slaveaddress,

+                                  LSM6DS0_AD_OUT_TEMP_L, NULL);

+  temp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,

+                                 ((LSM6DS0Driver *)ip)->config->slaveaddress,

+                                   LSM6DS0_AD_OUT_TEMP_H, NULL) << 8;

+#if LSM6DS0_SHARED_I2C

+  i2cReleaseBus(((LSM6DS0Driver *)ip)->config->i2cp);

+#endif /* LSM6DS0_SHARED_I2C */

+#endif /* LSM6DS0_USE_I2C */

+  *tempp = ((float)temp / LSM6DS0_TEMP_SENS) + LSM6DS0_TEMP_SENS_OFF;

+  return MSG_OK;

+}

+

+static const struct BaseSensorVMT vmt_basesensor = {

+  sens_get_axes_number, sens_read_raw, sens_read_cooked

+};

+

+static const struct BaseGyroscopeVMT vmt_basegyroscope = {

+  gyro_get_axes_number, gyro_read_raw, gyro_read_cooked,

+  gyro_sample_bias, gyro_set_bias, gyro_reset_bias,

+  gyro_set_sensivity, gyro_reset_sensivity

+};

+

+static const struct BaseAccelerometerVMT vmt_baseaccelerometer = {

+  acc_get_axes_number, acc_read_raw, acc_read_cooked,

+  acc_set_bias, acc_reset_bias, acc_set_sensivity, acc_reset_sensivity

+};

+

+static const struct LSM6DS0ACCVMT vmt_lsm6ds0acc = {

+  acc_get_axes_number, acc_read_raw, acc_read_cooked,

+  acc_set_bias, acc_reset_bias, acc_set_sensivity, acc_reset_sensivity

+};

+

+static const struct LSM6DS0GYROVMT vmt_lsm6ds0gyro = {

+  gyro_get_axes_number, gyro_read_raw, gyro_read_cooked,

+  gyro_sample_bias, gyro_set_bias, gyro_reset_bias,

+  gyro_set_sensivity, gyro_reset_sensivity, sens_get_temperature

+};

+

+/*===========================================================================*/

+/* Driver exported functions.                                                */

+/*===========================================================================*/

+

+/**

+ * @brief   Initializes an instance.

+ *

+ * @param[out] devp     pointer to the @p LSM6DS0Driver object

+ *

+ * @init

+ */

+void lsm6ds0ObjectInit(LSM6DS0Driver *devp) {

+  uint32_t i;

+  devp->vmt_basesensor = &vmt_basesensor;

+  devp->vmt_baseaccelerometer = &vmt_baseaccelerometer;

+  devp->vmt_basegyroscope = &vmt_basegyroscope;

+  devp->vmt_lsm6ds0acc = &vmt_lsm6ds0acc;

+  devp->vmt_lsm6ds0gyro = &vmt_lsm6ds0gyro;

+  devp->config = NULL;

+  for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)

+    devp->accbias[i] = 0;

+  for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++)

+    devp->gyrobias[i] = 0;

+  devp->state  = LSM6DS0_STOP;

+}

+

+/**

+ * @brief   Configures and activates LSM6DS0 Complex Driver peripheral.

+ *

+ * @param[in] devp      pointer to the @p LSM6DS0Driver object

+ * @param[in] config    pointer to the @p LSM6DS0Config object

+ *

+ * @api

+ */

+void lsm6ds0Start(LSM6DS0Driver *devp, const LSM6DS0Config *config) {

+  uint32_t i;

+  osalDbgCheck((devp != NULL) && (config != NULL));

+

+  osalDbgAssert((devp->state == LSM6DS0_STOP) || (devp->state == LSM6DS0_READY),

+              "lsm6ds0Start(), invalid state");			  

+

+  devp->config = config;

+

+#if LSM6DS0_USE_I2C

+#if	LSM6DS0_SHARED_I2C

+  i2cAcquireBus((devp)->config->i2cp);

+#endif /* LSM6DS0_SHARED_I2C */

+  i2cStart((devp)->config->i2cp,

+           (devp)->config->i2ccfg);

+  if((devp)->config->acccfg != NULL) {

+    lsm6ds0I2CWriteRegister(devp->config->i2cp,

+                            devp->config->slaveaddress,

+                            LSM6DS0_AD_CTRL_REG5_XL,

+                            devp->config->acccfg->decmode |

+                            devp->config->acccfg->axesenabling);

+    lsm6ds0I2CWriteRegister(devp->config->i2cp,

+                            devp->config->slaveaddress,

+                            LSM6DS0_AD_CTRL_REG6_XL,

+                            devp->config->acccfg->outdatarate |

+                            devp->config->acccfg->fullscale );

+  }

+  if((devp)->config->gyrocfg != NULL) {

+    lsm6ds0I2CWriteRegister(devp->config->i2cp,

+                            devp->config->slaveaddress,

+                            LSM6DS0_AD_CTRL_REG1_G,

+                            devp->config->gyrocfg->fullscale |

+                            devp->config->gyrocfg->outdatarate);

+    lsm6ds0I2CWriteRegister(devp->config->i2cp,

+                            devp->config->slaveaddress,

+                            LSM6DS0_AD_CTRL_REG2_G,

+                            devp->config->gyrocfg->outsel);

+    lsm6ds0I2CWriteRegister(devp->config->i2cp,

+                            devp->config->slaveaddress,

+                            LSM6DS0_AD_CTRL_REG3_G,

+                            devp->config->gyrocfg->hpfenable |

+                            devp->config->gyrocfg->lowmodecfg |

+                            devp->config->gyrocfg->hpcfg);

+    lsm6ds0I2CWriteRegister(devp->config->i2cp,

+                            devp->config->slaveaddress,

+                            LSM6DS0_AD_CTRL_REG4,

+                            devp->config->gyrocfg->axesenabling);

+    lsm6ds0I2CWriteRegister(devp->config->i2cp,

+                            devp->config->slaveaddress,

+                            LSM6DS0_AD_CTRL_REG9,

+                            LSM6DS0_GYRO_SLP_DISABLED);

+  }

+  lsm6ds0I2CWriteRegister(devp->config->i2cp,

+                          devp->config->slaveaddress,

+                          LSM6DS0_AD_CTRL_REG8,

+                          devp->config->endianness |

+                          devp->config->blockdataupdate);

+#if	LSM6DS0_SHARED_I2C

+  i2cReleaseBus((devp)->config->i2cp);

+#endif /* LSM6DS0_SHARED_I2C */  

+#endif /* LSM6DS0_USE_I2C */

+  /* Storing sensitivity information according to full scale value */

+  if((devp)->config->acccfg != NULL) {

+    if(devp->config->acccfg->fullscale == LSM6DS0_ACC_FS_2G)

+      for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)

+        devp->accsensitivity[i] = LSM6DS0_ACC_SENS_2G;

+    else if(devp->config->acccfg->fullscale == LSM6DS0_ACC_FS_4G)

+      for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)

+        devp->accsensitivity[i] = LSM6DS0_ACC_SENS_4G;

+    else if(devp->config->acccfg->fullscale == LSM6DS0_ACC_FS_8G)

+      for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)

+        devp->accsensitivity[i] = LSM6DS0_ACC_SENS_8G;

+    else if(devp->config->acccfg->fullscale == LSM6DS0_ACC_FS_16G)

+      for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)

+        devp->accsensitivity[i] = LSM6DS0_ACC_SENS_16G;

+    else

+      osalDbgAssert(FALSE, "lsm6ds0Start(), accelerometer full scale issue");

+  }

+  if((devp)->config->gyrocfg != NULL) {

+    if(devp->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_245DSP)

+      for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++)

+        devp->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_245DPS;

+    else if(devp->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_500DSP)

+      for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++)

+        devp->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_500DPS;

+    else if(devp->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_2000DSP)

+      for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++)

+        devp->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_2000DPS;

+    else

+      osalDbgAssert(FALSE, "lsm6ds0Start(), gyroscope full scale issue");

+  }

+  /* This is the Gyroscope transient recovery time */

+  osalThreadSleepMilliseconds(5);

+

+  devp->state = LSM6DS0_READY;

+} 

+

+/**

+ * @brief   Deactivates the LSM6DS0 Complex Driver peripheral.

+ *

+ * @param[in] devp       pointer to the @p LSM6DS0Driver object

+ *

+ * @api

+ */

+void lsm6ds0Stop(LSM6DS0Driver *devp) {

+

+  osalDbgCheck(devp != NULL);

+

+  osalDbgAssert((devp->state == LSM6DS0_STOP) || (devp->state == LSM6DS0_READY),

+                "lsm6ds0Stop(), invalid state");

+

+#if (LSM6DS0_USE_I2C)

+  if (devp->state == LSM6DS0_STOP) {

+#if	LSM6DS0_SHARED_I2C

+    i2cAcquireBus((devp)->config->i2cp);

+    i2cStart((devp)->config->i2cp,

+             (devp)->config->i2ccfg);

+#endif /* LSM6DS0_SHARED_I2C */

+    if((devp)->config->acccfg != NULL) {

+      lsm6ds0I2CWriteRegister(devp->config->i2cp,

+                              devp->config->slaveaddress,

+                              LSM6DS0_AD_CTRL_REG6_XL,

+                              LSM6DS0_ACC_ODR_PD);

+    }

+    if((devp)->config->gyrocfg != NULL) {

+      lsm6ds0I2CWriteRegister(devp->config->i2cp,

+                              devp->config->slaveaddress,

+                              LSM6DS0_AD_CTRL_REG9,

+                              LSM6DS0_GYRO_SLP_ENABLED);

+    }

+    i2cStop((devp)->config->i2cp);

+#if	LSM6DS0_SHARED_I2C

+    i2cReleaseBus((devp)->config->i2cp);

+#endif /* LSM6DS0_SHARED_I2C */    

+  }			  

+#endif /* LSM6DS0_USE_I2C */

+  devp->state = LSM6DS0_STOP;

+}

+/** @} */