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| author | Rocco Marco Guglielmi <roccomarco.guglielmi@live.com> | 2016-09-28 18:12:29 +0000 |
|---|---|---|
| committer | Rocco Marco Guglielmi <roccomarco.guglielmi@live.com> | 2016-09-28 18:12:29 +0000 |
| commit | 3369e1e04c7cb451e6c206ed6b8ab1abda649c24 (patch) | |
| tree | f683ff77f654c441bc0670c6a6fd74b96a98bc3c /os/ex | |
| parent | 73419a9adb4e53396ab43a815b581e0271432a04 (diff) | |
| download | ChibiOS-3369e1e04c7cb451e6c206ed6b8ab1abda649c24.tar.gz ChibiOS-3369e1e04c7cb451e6c206ed6b8ab1abda649c24.tar.bz2 ChibiOS-3369e1e04c7cb451e6c206ed6b8ab1abda649c24.zip | |
Improved LSM6DS0 driver and related demo: added multiple register read/write.
git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9818 35acf78f-673a-0410-8e92-d51de3d6d3f4
Diffstat (limited to 'os/ex')
| -rw-r--r-- | os/ex/ST/lsm6ds0.c | 597 | ||||
| -rw-r--r-- | os/ex/ST/lsm6ds0.h | 18 |
2 files changed, 333 insertions, 282 deletions
diff --git a/os/ex/ST/lsm6ds0.c b/os/ex/ST/lsm6ds0.c index e91781152..e2061b805 100644 --- a/os/ex/ST/lsm6ds0.c +++ b/os/ex/ST/lsm6ds0.c @@ -15,7 +15,7 @@ You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
-
+
*/
/**
@@ -41,22 +41,6 @@ /* 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. */
/*===========================================================================*/
@@ -67,32 +51,19 @@ typedef enum { * @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.
+ * @param[in] i2cp pointer to the I2C interface
+ * @param[in] sad slave address without R bit
+ * @param[in] reg first sub-register address
+ * @param[out] rxbuf pointer to an output buffer
+ * @param[in] n number of consecutive register to read
+ * @return the operation status.
+ * @notapi
*/
-uint8_t lsm6ds0I2CReadRegister(I2CDriver *i2cp, lsm6ds0_sad_t sad, uint8_t reg,
- msg_t* msgp) {
- msg_t msg;
- uint8_t txbuf = reg;
-#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 rxbuf;
- msg = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, &rxbuf, 1,
- TIME_INFINITE);
- if(msgp != NULL){
- *msgp = msg;
- }
- return rxbuf;
-#endif
+msg_t lsm6ds0I2CReadRegister(I2CDriver *i2cp, lsm6ds0_sad_t sad, uint8_t reg,
+ uint8_t* rxbuf, size_t n) {
+
+ return i2cMasterTransmitTimeout(i2cp, sad, ®, 1, rxbuf, n,
+ TIME_INFINITE);
}
/**
@@ -101,17 +72,16 @@ uint8_t lsm6ds0I2CReadRegister(I2CDriver *i2cp, lsm6ds0_sad_t sad, uint8_t reg, *
* @param[in] i2cp pointer to the I2C interface
* @param[in] sad slave address without R bit
- * @param[in] sub sub-register address
- * @param[in] value the value to be written
+ * @param[in] txbuf buffer containing sub-address value in first position
+ * and values to write
+ * @param[in] n size of txbuf less one (not considering the first
+ * element)
* @return the operation status.
+ * @notapi
*/
-msg_t lsm6ds0I2CWriteRegister(I2CDriver *i2cp, lsm6ds0_sad_t sad, uint8_t reg,
- uint8_t value) {
- uint8_t txbuf[2];
- txbuf[0] = reg;
- txbuf[1] = value;
- return i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, NULL, 0, TIME_INFINITE);
-}
+#define lsm6ds0I2CWriteRegister(i2cp, sad, txbuf, n) \
+ i2cMasterTransmitTimeout(i2cp, sad, txbuf, n + 1, NULL, 0, \
+ TIME_INFINITE)
#endif /* LSM6DS0_USE_I2C */
/*
@@ -134,7 +104,7 @@ static size_t sens_get_axes_number(void *ip) { osalDbgCheck(ip != NULL);
if (((LSM6DS0Driver *)ip)->config->acccfg != NULL)
- size += acc_get_axes_number(ip);
+ size += acc_get_axes_number(ip);
if (((LSM6DS0Driver *)ip)->config->gyrocfg != NULL)
size += gyro_get_axes_number(ip);
return size;
@@ -142,7 +112,8 @@ static size_t sens_get_axes_number(void *ip) { static msg_t acc_read_raw(void *ip, int32_t* axes) {
int16_t tmp;
- msg_t msg = MSG_OK;
+ uint8_t i, buff[2 * LSM6DS0_ACC_NUMBER_OF_AXES];
+ msg_t msg = MSG_OK;
osalDbgCheck(((ip != NULL) && (axes != NULL)) &&
(((LSM6DS0Driver *)ip)->config->acccfg != NULL));
osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),
@@ -156,57 +127,36 @@ static msg_t acc_read_raw(void *ip, int32_t* axes) { i2cStart(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->i2ccfg);
#endif /* LSM6DS0_SHARED_I2C */
- tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
- ((LSM6DS0Driver *)ip)->config->slaveaddress,
- LSM6DS0_AD_OUT_X_L_XL, NULL);
- if (msg != MSG_OK)
- return msg;
- tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
- ((LSM6DS0Driver *)ip)->config->slaveaddress,
- LSM6DS0_AD_OUT_X_H_XL, NULL) << 8;
- if (msg != MSG_OK)
- return msg;
- axes[0] = (int32_t)tmp;
-
- tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
- ((LSM6DS0Driver *)ip)->config->slaveaddress,
- LSM6DS0_AD_OUT_Y_L_XL, NULL);
- if (msg != MSG_OK)
- return msg;
- tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
- ((LSM6DS0Driver *)ip)->config->slaveaddress,
- LSM6DS0_AD_OUT_Y_H_XL, NULL) << 8;
- if (msg != MSG_OK)
- return msg;
- axes[1] = (int32_t)tmp;
-
- tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
- ((LSM6DS0Driver *)ip)->config->slaveaddress,
- LSM6DS0_AD_OUT_Z_L_XL, NULL);
- if (msg != MSG_OK)
- return msg;
- tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
- ((LSM6DS0Driver *)ip)->config->slaveaddress,
- LSM6DS0_AD_OUT_Z_H_XL, NULL) << 8;
- if (msg != MSG_OK)
- return msg;
- axes[2] = (int32_t)tmp;
+ msg = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
+ ((LSM6DS0Driver *)ip)->config->slaveaddress,
+ LSM6DS0_AD_OUT_X_L_XL, buff, 2 * LSM6DS0_ACC_NUMBER_OF_AXES);
#if LSM6DS0_SHARED_I2C
i2cReleaseBus(((LSM6DS0Driver *)ip)->config->i2cp);
#endif /* LSM6DS0_SHARED_I2C */
#endif /* LSM6DS0_USE_I2C */
- return MSG_OK;
+
+ for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) {
+ if(msg == MSG_OK) {
+ tmp = buff[2*i] + (buff[2*i+1] << 8);
+ axes[i] = (int32_t)tmp;
+ }
+ else{
+ axes[i] = 0;
+ }
+ }
+ return msg;
}
static msg_t gyro_read_raw(void *ip, int32_t* axes) {
int16_t tmp;
- msg_t msg = MSG_OK;
+ uint8_t i, buff[2 * LSM6DS0_GYRO_NUMBER_OF_AXES];
+ msg_t msg = MSG_OK;
osalDbgCheck(((ip != NULL) && (axes != NULL)) &&
(((LSM6DS0Driver *)ip)->config->gyrocfg != NULL));
osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),
"gyro_read_raw(), invalid state");
-#if LSM6DS0_USE_I2C
+ #if LSM6DS0_USE_I2C
osalDbgAssert((((LSM6DS0Driver *)ip)->config->i2cp->state == I2C_READY),
"gyro_read_raw(), channel not ready");
#if LSM6DS0_SHARED_I2C
@@ -214,63 +164,41 @@ static msg_t gyro_read_raw(void *ip, int32_t* axes) { i2cStart(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->i2ccfg);
#endif /* LSM6DS0_SHARED_I2C */
- tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
- ((LSM6DS0Driver *)ip)->config->slaveaddress,
- LSM6DS0_AD_OUT_X_L_G, NULL);
- if (msg != MSG_OK)
- return msg;
- tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
- ((LSM6DS0Driver *)ip)->config->slaveaddress,
- LSM6DS0_AD_OUT_X_H_G, NULL) << 8;
- if (msg != MSG_OK)
- return msg;
- axes[0] = (int32_t)tmp;
-
- tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
- ((LSM6DS0Driver *)ip)->config->slaveaddress,
- LSM6DS0_AD_OUT_Y_L_G, NULL);
- if (msg != MSG_OK)
- return msg;
- tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
- ((LSM6DS0Driver *)ip)->config->slaveaddress,
- LSM6DS0_AD_OUT_Y_H_G, NULL) << 8;
- if (msg != MSG_OK)
- return msg;
- axes[1] = (int32_t)tmp;
-
- tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
- ((LSM6DS0Driver *)ip)->config->slaveaddress,
- LSM6DS0_AD_OUT_Z_L_G, NULL);
- if (msg != MSG_OK)
- return msg;
- tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
- ((LSM6DS0Driver *)ip)->config->slaveaddress,
- LSM6DS0_AD_OUT_Z_H_G, NULL) << 8;
- if (msg != MSG_OK)
- return msg;
- axes[2] = (int32_t)tmp;
+ msg = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
+ ((LSM6DS0Driver *)ip)->config->slaveaddress,
+ LSM6DS0_AD_OUT_X_L_G, buff, 2 * LSM6DS0_GYRO_NUMBER_OF_AXES);
#if LSM6DS0_SHARED_I2C
i2cReleaseBus(((LSM6DS0Driver *)ip)->config->i2cp);
#endif /* LSM6DS0_SHARED_I2C */
-#endif /* LSM6DS0_USE_I2C */
- return MSG_OK;
+#endif /* LSM6DS0_USE_I2C */
+
+ for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) {
+ if(msg == MSG_OK) {
+ tmp = buff[2*i] + (buff[2*i+1] << 8);
+ axes[i] = (int32_t)tmp;
+ }
+ else{
+ axes[i] = 0;
+ }
+ }
+ return msg;
}
static msg_t sens_read_raw(void *ip, int32_t axes[]) {
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;
+ 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];
@@ -304,7 +232,7 @@ static msg_t gyro_read_cooked(void *ip, float axes[]) { msg = gyro_read_raw(ip, raw);
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES ; i++){
axes[i] = raw[i] * ((LSM6DS0Driver *)ip)->gyrosensitivity[i];
- axes[i] -= ((LSM6DS0Driver *)ip)->gyrobias[i];
+ axes[i] -= ((LSM6DS0Driver *)ip)->gyrobias[i];
}
return msg;
}
@@ -313,10 +241,10 @@ 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;
+ 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);
@@ -327,7 +255,7 @@ static msg_t sens_read_cooked(void *ip, float axes[]) { 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};
+ float buff[LSM6DS0_GYRO_NUMBER_OF_AXES] = {0.0f, 0.0f, 0.0f};
msg_t msg;
osalDbgCheck(ip != NULL);
@@ -337,8 +265,8 @@ static msg_t gyro_sample_bias(void *ip) { for(i = 0; i < LSM6DS0_GYRO_BIAS_ACQ_TIMES; i++){
msg = gyro_read_raw(ip, raw);
- if(msg != MSG_OK)
- return msg;
+ if(msg != MSG_OK)
+ return msg;
for(j = 0; j < LSM6DS0_GYRO_NUMBER_OF_AXES; j++){
buff[j] += raw[j];
}
@@ -347,7 +275,7 @@ static msg_t gyro_sample_bias(void *ip) { for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++){
((LSM6DS0Driver *)ip)->gyrobias[i] = buff[i] / LSM6DS0_GYRO_BIAS_ACQ_TIMES;
- ((LSM6DS0Driver *)ip)->gyrobias[i] *= ((LSM6DS0Driver *)ip)->gyrosensitivity[i];
+ ((LSM6DS0Driver *)ip)->gyrobias[i] *= ((LSM6DS0Driver *)ip)->gyrosensitivity[i];
}
return msg;
}
@@ -392,7 +320,7 @@ static msg_t acc_reset_bias(void *ip) { "acc_reset_bias(), invalid state");
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
- ((LSM6DS0Driver *)ip)->accbias[i] = 0;
+ ((LSM6DS0Driver *)ip)->accbias[i] = 0.0f;
return MSG_OK;
}
@@ -406,7 +334,7 @@ static msg_t gyro_reset_bias(void *ip) { "gyro_reset_bias(), invalid state");
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++)
- ((LSM6DS0Driver *)ip)->gyrobias[i] = 0;
+ ((LSM6DS0Driver *)ip)->gyrobias[i] = 0.0f;
return MSG_OK;
}
@@ -450,16 +378,16 @@ static msg_t acc_reset_sensivity(void *ip) { for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
((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++)
+ 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++)
+ 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++)
+ 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");
+ osalDbgAssert(FALSE, "acc_reset_sensivity(), accelerometer full scale issue");
return MSG_RESET;
}
return MSG_OK;
@@ -477,13 +405,13 @@ static msg_t gyro_reset_sensivity(void *ip) { for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
((LSM6DS0Driver *)ip)->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_245DPS;
else if(((LSM6DS0Driver *)ip)->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_500DPS)
- for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
+ for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
((LSM6DS0Driver *)ip)->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_500DPS;
else if(((LSM6DS0Driver *)ip)->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_2000DPS)
- for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
+ for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
((LSM6DS0Driver *)ip)->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_2000DPS;
else {
- osalDbgAssert(FALSE, "reset_sensivity(), gyroscope full scale issue");
+ osalDbgAssert(FALSE, "gyro_reset_sensivity(), gyroscope full scale issue");
return MSG_RESET;
}
return MSG_OK;
@@ -491,7 +419,7 @@ static msg_t gyro_reset_sensivity(void *ip) { static msg_t acc_set_full_scale(void *ip, lsm6ds0_acc_fs_t fs) {
float newfs, scale;
- uint8_t i, cr;
+ uint8_t i, cr[2];
msg_t msg;
if(fs == LSM6DS0_ACC_FS_2G) {
@@ -503,7 +431,7 @@ static msg_t acc_set_full_scale(void *ip, lsm6ds0_acc_fs_t fs) { else if(fs == LSM6DS0_ACC_FS_8G) {
newfs = LSM6DS0_ACC_8G;
}
- else if(fs == LSM6DS0_ACC_FS_16G) {
+ else if(fs == LSM6DS0_ACC_FS_16G) {
newfs = LSM6DS0_ACC_16G;
}
else {
@@ -514,33 +442,52 @@ static msg_t acc_set_full_scale(void *ip, lsm6ds0_acc_fs_t fs) { scale = newfs / ((LSM6DS0Driver *)ip)->accfullscale;
((LSM6DS0Driver *)ip)->accfullscale = newfs;
+#if LSM6DS0_SHARED_I2C
+ i2cAcquireBus(((LSM6DS0Driver *)ip)->config->i2cp);
+ i2cStart(((LSM6DS0Driver *)ip)->config->i2cp,
+ ((LSM6DS0Driver *)ip)->config->i2ccfg);
+#endif /* LSM6DS0_SHARED_I2C */
+
/* Updating register.*/
- cr = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
+ msg = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->slaveaddress,
- LSM6DS0_AD_CTRL_REG6_XL, &msg);
- if(msg != MSG_OK)
+ LSM6DS0_AD_CTRL_REG6_XL, &cr[1], 1);
+#if LSM6DS0_SHARED_I2C
+ i2cReleaseBus(((LSM6DS0Driver *)ip)->config->i2cp);
+#endif /* LSM6DS0_SHARED_I2C */
+ if(msg != MSG_OK)
return msg;
-
- cr &= ~(LSM6DS0_CTRL_REG6_XL_FS_MASK);
- cr |= fs;
+
+ cr[0] = LSM6DS0_AD_CTRL_REG6_XL;
+ cr[1] &= ~(LSM6DS0_CTRL_REG6_XL_FS_MASK);
+ cr[1] |= fs;
+
+#if LSM6DS0_SHARED_I2C
+ i2cAcquireBus(((LSM6DS0Driver *)ip)->config->i2cp);
+ i2cStart(((LSM6DS0Driver *)ip)->config->i2cp,
+ ((LSM6DS0Driver *)ip)->config->i2ccfg);
+#endif /* LSM6DS0_SHARED_I2C */
+
msg = lsm6ds0I2CWriteRegister(((LSM6DS0Driver *)ip)->config->i2cp,
- ((LSM6DS0Driver *)ip)->config->slaveaddress,
- LSM6DS0_AD_CTRL_REG6_XL, cr);
- if(msg != MSG_OK)
+ ((LSM6DS0Driver *)ip)->config->slaveaddress, cr, 1);
+#if LSM6DS0_SHARED_I2C
+ i2cReleaseBus(((LSM6DS0Driver *)ip)->config->i2cp);
+#endif /* LSM6DS0_SHARED_I2C */
+ if(msg != MSG_OK)
return msg;
-
+
/* Scaling sensitivity and bias. Re-calibration is suggested anyway. */
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) {
((LSM6DS0Driver *)ip)->accsensitivity[i] *= scale;
((LSM6DS0Driver *)ip)->accbias[i] *= scale;
}
}
- return MSG_OK;
+ return msg;
}
static msg_t gyro_set_full_scale(void *ip, lsm6ds0_gyro_fs_t fs) {
float newfs, scale;
- uint8_t i, cr;
+ uint8_t i, cr[2];
msg_t msg;
if(fs == LSM6DS0_GYRO_FS_245DPS) {
@@ -559,29 +506,51 @@ static msg_t gyro_set_full_scale(void *ip, lsm6ds0_gyro_fs_t fs) { if(newfs != ((LSM6DS0Driver *)ip)->gyrofullscale) {
scale = newfs / ((LSM6DS0Driver *)ip)->gyrofullscale;
((LSM6DS0Driver *)ip)->gyrofullscale = newfs;
+
+#if LSM6DS0_SHARED_I2C
+ i2cAcquireBus(((LSM6DS0Driver *)ip)->config->i2cp);
+ i2cStart(((LSM6DS0Driver *)ip)->config->i2cp,
+ ((LSM6DS0Driver *)ip)->config->i2ccfg);
+#endif /* LSM6DS0_SHARED_I2C */
/* Updating register.*/
- cr = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
+ msg = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->slaveaddress,
- LSM6DS0_AD_CTRL_REG1_G, &msg);
- if(msg != MSG_OK)
+ LSM6DS0_AD_CTRL_REG1_G, &cr[1], 1);
+
+#if LSM6DS0_SHARED_I2C
+ i2cReleaseBus(((LSM6DS0Driver *)ip)->config->i2cp);
+#endif /* LSM6DS0_SHARED_I2C */
+ if(msg != MSG_OK)
return msg;
-
- cr &= ~(LSM6DS0_CTRL_REG1_G_FS_MASK);
- cr |= fs;
+
+ cr[0] = LSM6DS0_AD_CTRL_REG1_G;
+ cr[1] &= ~(LSM6DS0_CTRL_REG1_G_FS_MASK);
+ cr[1] |= fs;
+
+#if LSM6DS0_SHARED_I2C
+ i2cAcquireBus(((LSM6DS0Driver *)ip)->config->i2cp);
+ i2cStart(((LSM6DS0Driver *)ip)->config->i2cp,
+ ((LSM6DS0Driver *)ip)->config->i2ccfg);
+#endif /* LSM6DS0_SHARED_I2C */
+
msg = lsm6ds0I2CWriteRegister(((LSM6DS0Driver *)ip)->config->i2cp,
- ((LSM6DS0Driver *)ip)->config->slaveaddress,
- LSM6DS0_AD_CTRL_REG1_G, cr);
- if(msg != MSG_OK)
- return msg;
+ ((LSM6DS0Driver *)ip)->config->slaveaddress,
+ cr, 1);
+#if LSM6DS0_SHARED_I2C
+ i2cReleaseBus(((LSM6DS0Driver *)ip)->config->i2cp);
+#endif /* LSM6DS0_SHARED_I2C */
+ if(msg != MSG_OK)
+ return msg;
+
/* Scaling sensitivity and bias. Re-calibration is suggested anyway. */
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) {
((LSM6DS0Driver *)ip)->gyrosensitivity[i] *= scale;
((LSM6DS0Driver *)ip)->gyrobias[i] *= scale;
}
- }
- return MSG_OK;
+ }
+ return msg;
}
static const struct BaseSensorVMT vmt_basesensor = {
@@ -631,9 +600,9 @@ void lsm6ds0ObjectInit(LSM6DS0Driver *devp) { devp->vmt_lsm6ds0gyro = &vmt_lsm6ds0gyro;
devp->config = NULL;
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
- devp->accbias[i] = 0;
+ devp->accbias[i] = 0.0f;
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++)
- devp->gyrobias[i] = 0;
+ devp->gyrobias[i] = 0.0f;
devp->state = LSM6DS0_STOP;
}
@@ -647,147 +616,210 @@ void lsm6ds0ObjectInit(LSM6DS0Driver *devp) { */
void lsm6ds0Start(LSM6DS0Driver *devp, const LSM6DS0Config *config) {
uint32_t i;
- uint8_t cr;
- osalDbgCheck((devp != NULL) && (config != NULL));
+ uint8_t cr[5];
+ osalDbgCheck((devp != NULL) && (config != NULL) &&
+ ((devp->config->acccfg != NULL) ||
+ (devp->config->gyrocfg != NULL)));
osalDbgAssert((devp->state == LSM6DS0_STOP) || (devp->state == LSM6DS0_READY),
- "lsm6ds0Start(), invalid state");
+ "lsm6ds0Start(), invalid state");
devp->config = config;
+ /* Control register 8 configuration block.*/
+ {
+ cr[0] = LSM6DS0_AD_CTRL_REG8;
+ cr[1] = LSM6DS0_CTRL_REG8_IF_ADD_INC;
+#if LSM6DS0_USE_ADVANCED || defined(__DOXYGEN__)
+ cr[1] |= devp->config->endianness | devp->config->blockdataupdate;
+#endif
+ }
#if LSM6DS0_USE_I2C
-#if LSM6DS0_SHARED_I2C
+#if LSM6DS0_SHARED_I2C
i2cAcquireBus((devp)->config->i2cp);
#endif /* LSM6DS0_SHARED_I2C */
- i2cStart((devp)->config->i2cp,
- (devp)->config->i2ccfg);
+
+ i2cStart((devp)->config->i2cp, (devp)->config->i2ccfg);
+ lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
+ cr, 1);
+
+#if LSM6DS0_SHARED_I2C
+ i2cReleaseBus((devp)->config->i2cp);
+#endif /* LSM6DS0_SHARED_I2C */
+#endif /* LSM6DS0_USE_I2C */
if((devp)->config->acccfg != NULL) {
+
+ cr[0] = LSM6DS0_AD_CTRL_REG5_XL;
+
/* Control register 5 configuration block.*/
{
- cr = LSM6DS0_CTRL_REG5_XL_XEN_XL | LSM6DS0_CTRL_REG5_XL_YEN_XL |
- LSM6DS0_CTRL_REG5_XL_ZEN_XL;
+ cr[1] = LSM6DS0_CTRL_REG5_XL_XEN_XL | LSM6DS0_CTRL_REG5_XL_YEN_XL |
+ LSM6DS0_CTRL_REG5_XL_ZEN_XL;
#if LSM6DS0_ACC_USE_ADVANCED || defined(__DOXYGEN__)
- cr |= devp->config->acccfg->decmode;
-
+ cr[1] |= devp->config->acccfg->decmode;
#endif
- lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
- LSM6DS0_AD_CTRL_REG5_XL, cr);
}
+
/* Control register 6 configuration block.*/
{
- cr = devp->config->acccfg->outdatarate |
- devp->config->acccfg->fullscale;
- lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
- LSM6DS0_AD_CTRL_REG6_XL, cr);
+ cr[2] = devp->config->acccfg->outdatarate |
+ devp->config->acccfg->fullscale;
}
+#if LSM6DS0_USE_I2C
+#if LSM6DS0_SHARED_I2C
+ i2cAcquireBus((devp)->config->i2cp);
+ i2cStart((devp)->config->i2cp, (devp)->config->i2ccfg);
+#endif /* LSM6DS0_SHARED_I2C */
+
+ lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
+ cr, 2);
+
+#if LSM6DS0_SHARED_I2C
+ i2cReleaseBus((devp)->config->i2cp);
+#endif /* LSM6DS0_SHARED_I2C */
+#endif /* LSM6DS0_USE_I2C */
}
+
if((devp)->config->gyrocfg != NULL) {
+
+ cr[0] = LSM6DS0_AD_CTRL_REG1_G;
+
/* Control register 1 configuration block.*/
{
- cr = devp->config->gyrocfg->fullscale |
- devp->config->gyrocfg->outdatarate;
+ cr[1] = devp->config->gyrocfg->fullscale |
+ devp->config->gyrocfg->outdatarate;
#if LSM6DS0_GYRO_USE_ADVANCED || defined(__DOXYGEN__)
- cr |= devp->config->acccfg->decmode;
-
+ cr[1] |= devp->config->acccfg->decmode;
#endif
- lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
- LSM6DS0_AD_CTRL_REG1_G, cr);
}
/* Control register 2 configuration block.*/
{
- cr = 0;
+ cr[2] = 0;
#if LSM6DS0_GYRO_USE_ADVANCED || defined(__DOXYGEN__)
- cr |= devp->config->gyrocfg->outsel;
-
+ cr[2] |= devp->config->gyrocfg->outsel;
#endif
- lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
- LSM6DS0_AD_CTRL_REG2_G, cr);
}
/* Control register 3 configuration block.*/
{
- cr = 0;
+ cr[3] = 0;
#if LSM6DS0_GYRO_USE_ADVANCED || defined(__DOXYGEN__)
- cr |= devp->config->gyrocfg->hpfenable |
- devp->config->gyrocfg->lowmodecfg |
- devp->config->gyrocfg->hpcfg;
-
+ cr[3] |= devp->config->gyrocfg->hpfenable |
+ devp->config->gyrocfg->lowmodecfg |
+ devp->config->gyrocfg->hpcfg;
#endif
- lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
- LSM6DS0_AD_CTRL_REG3_G, cr);
}
/* Control register 4 configuration block.*/
{
- cr = LSM6DS0_CTRL_REG4_XEN_G | LSM6DS0_CTRL_REG4_YEN_G |
- LSM6DS0_CTRL_REG4_ZEN_G;
- lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
- LSM6DS0_AD_CTRL_REG4, cr);
+ cr[4] = LSM6DS0_CTRL_REG4_XEN_G | LSM6DS0_CTRL_REG4_YEN_G |
+ LSM6DS0_CTRL_REG4_ZEN_G;
}
+#if LSM6DS0_USE_I2C
+#if LSM6DS0_SHARED_I2C
+ i2cAcquireBus((devp)->config->i2cp);
+ i2cStart((devp)->config->i2cp, (devp)->config->i2ccfg);
+#endif /* LSM6DS0_SHARED_I2C */
+ lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
+ cr, 4);
+
+#if LSM6DS0_SHARED_I2C
+ i2cReleaseBus((devp)->config->i2cp);
+#endif /* LSM6DS0_SHARED_I2C */
+#endif /* LSM6DS0_USE_I2C */
+
+ cr[0] = LSM6DS0_AD_CTRL_REG9;
/* Control register 9 configuration block.*/
{
- cr = LSM6DS0_GYRO_SLP_DISABLED;
- lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
- LSM6DS0_AD_CTRL_REG9, cr);
+ cr[1] = 0;
}
- }
+#if LSM6DS0_USE_I2C
+#if LSM6DS0_SHARED_I2C
+ i2cAcquireBus((devp)->config->i2cp);
+ i2cStart((devp)->config->i2cp, (devp)->config->i2ccfg);
+#endif /* LSM6DS0_SHARED_I2C */
- /* Control register 8 configuration block.*/
- {
- cr = 0;
-#if LSM6DS0_USE_ADVANCED || defined(__DOXYGEN__)
- cr |= devp->config->endianness | devp->config->blockdataupdate;
-#endif
lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
- LSM6DS0_AD_CTRL_REG8, cr);
- }
-#if LSM6DS0_SHARED_I2C
- i2cReleaseBus((devp)->config->i2cp);
-#endif /* LSM6DS0_SHARED_I2C */
+ cr, 1);
+
+#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)
+ 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;
- devp->accfullscale = LSM6DS0_ACC_2G;
+ if((devp)->config->acccfg->bias == NULL)
+ devp->accsensitivity[i] = LSM6DS0_ACC_SENS_2G;
+ else
+ devp->accsensitivity[i] = devp->config->acccfg->sensitivity[i];
}
- else if(devp->config->acccfg->fullscale == LSM6DS0_ACC_FS_4G)
- for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++){
- devp->accsensitivity[i] = LSM6DS0_ACC_SENS_4G;
- devp->accfullscale = LSM6DS0_ACC_4G;
+ devp->accfullscale = LSM6DS0_ACC_2G;
+ }
+ else if(devp->config->acccfg->fullscale == LSM6DS0_ACC_FS_4G) {
+ for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) {
+ if((devp)->config->acccfg->bias == NULL)
+ devp->accsensitivity[i] = LSM6DS0_ACC_SENS_4G;
+ else
+ devp->accsensitivity[i] = devp->config->acccfg->sensitivity[i];
}
- else if(devp->config->acccfg->fullscale == LSM6DS0_ACC_FS_8G)
- for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++){
- devp->accsensitivity[i] = LSM6DS0_ACC_SENS_8G;
- devp->accfullscale = LSM6DS0_ACC_8G;
+ devp->accfullscale = LSM6DS0_ACC_4G;
+ }
+ else if(devp->config->acccfg->fullscale == LSM6DS0_ACC_FS_8G) {
+ for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) {
+ if((devp)->config->acccfg->bias == NULL)
+ devp->accsensitivity[i] = LSM6DS0_ACC_SENS_8G;
+ else
+ devp->accsensitivity[i] = devp->config->acccfg->sensitivity[i];
}
- else if(devp->config->acccfg->fullscale == LSM6DS0_ACC_FS_16G)
- for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++){
- devp->accsensitivity[i] = LSM6DS0_ACC_SENS_16G;
- devp->accfullscale = LSM6DS0_ACC_16G;
+ devp->accfullscale = LSM6DS0_ACC_8G;
+ }
+ else if(devp->config->acccfg->fullscale == LSM6DS0_ACC_FS_16G) {
+ for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) {
+ if((devp)->config->acccfg->bias == NULL)
+ devp->accsensitivity[i] = LSM6DS0_ACC_SENS_16G;
+ else
+ devp->accsensitivity[i] = devp->config->acccfg->sensitivity[i];
}
+ devp->accfullscale = LSM6DS0_ACC_16G;
+ }
else
osalDbgAssert(FALSE, "lsm6ds0Start(), accelerometer full scale issue");
}
+
if((devp)->config->gyrocfg != NULL) {
- if(devp->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_245DPS)
+ if(devp->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_245DPS) {
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) {
- devp->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_245DPS;
- devp->gyrofullscale = LSM6DS0_GYRO_245DPS;
+ if((devp)->config->acccfg->bias == NULL)
+ devp->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_245DPS;
+ else
+ devp->gyrosensitivity[i] = devp->config->gyrocfg->sensitivity[i];
}
- else if(devp->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_500DPS)
+ devp->gyrofullscale = LSM6DS0_GYRO_245DPS;
+ }
+ else if(devp->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_500DPS) {
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) {
- devp->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_500DPS;
- devp->gyrofullscale = LSM6DS0_GYRO_500DPS;
+ if((devp)->config->acccfg->bias == NULL)
+ devp->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_500DPS;
+ else
+ devp->gyrosensitivity[i] = devp->config->gyrocfg->sensitivity[i];
}
- else if(devp->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_2000DPS)
+ devp->gyrofullscale = LSM6DS0_GYRO_500DPS;
+ }
+ else if(devp->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_2000DPS) {
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) {
- devp->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_2000DPS;
- devp->gyrofullscale = LSM6DS0_GYRO_2000DPS;
+ if((devp)->config->acccfg->bias == NULL)
+ devp->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_2000DPS;
+ else
+ devp->gyrosensitivity[i] = devp->config->gyrocfg->sensitivity[i];
}
+ devp->gyrofullscale = LSM6DS0_GYRO_2000DPS;
+ }
else
osalDbgAssert(FALSE, "lsm6ds0Start(), gyroscope full scale issue");
}
@@ -805,37 +837,56 @@ void lsm6ds0Start(LSM6DS0Driver *devp, const LSM6DS0Config *config) { * @api
*/
void lsm6ds0Stop(LSM6DS0Driver *devp) {
+ uint8_t cr[2];
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
+ if (devp->state == LSM6DS0_READY) {
+ if((devp)->config->acccfg != NULL) {
+ cr[0] = LSM6DS0_AD_CTRL_REG6_XL;
+ /* Control register 6 configuration block.*/
+ {
+ cr[1] = 0;
+ }
+#if LSM6DS0_USE_I2C
+#if LSM6DS0_SHARED_I2C
i2cAcquireBus((devp)->config->i2cp);
- i2cStart((devp)->config->i2cp,
- (devp)->config->i2ccfg);
+ 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);
+
+ lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
+ cr, 1);
+
+#if LSM6DS0_SHARED_I2C
+ i2cReleaseBus((devp)->config->i2cp);
+#endif /* LSM6DS0_SHARED_I2C */
+#endif /* LSM6DS0_USE_I2C */
}
if((devp)->config->gyrocfg != NULL) {
- lsm6ds0I2CWriteRegister(devp->config->i2cp,
- devp->config->slaveaddress,
- LSM6DS0_AD_CTRL_REG9,
- LSM6DS0_GYRO_SLP_ENABLED);
+ cr[0] = LSM6DS0_AD_CTRL_REG9;
+ /* Control register 9 configuration block.*/
+ {
+ cr[1] = LSM6DS0_CTRL_REG9_SLEEP_G;
}
+#if LSM6DS0_USE_I2C
+#if LSM6DS0_SHARED_I2C
+ i2cAcquireBus((devp)->config->i2cp);
+ i2cStart((devp)->config->i2cp, (devp)->config->i2ccfg);
+#endif /* LSM6DS0_SHARED_I2C */
+
+ lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
+ cr, 1);
+
i2cStop((devp)->config->i2cp);
-#if LSM6DS0_SHARED_I2C
+#if LSM6DS0_SHARED_I2C
i2cReleaseBus((devp)->config->i2cp);
-#endif /* LSM6DS0_SHARED_I2C */
- }
+#endif /* LSM6DS0_SHARED_I2C */
#endif /* LSM6DS0_USE_I2C */
+ }
+ }
devp->state = LSM6DS0_STOP;
}
/** @} */
diff --git a/os/ex/ST/lsm6ds0.h b/os/ex/ST/lsm6ds0.h index 27d913265..dfb0a7c3d 100644 --- a/os/ex/ST/lsm6ds0.h +++ b/os/ex/ST/lsm6ds0.h @@ -15,7 +15,7 @@ You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
-
+
*/
/**
@@ -41,7 +41,7 @@ /**
* @brief LSM6DS0 driver version string.
*/
-#define EX_LSM6DS0_VERSION "1.0.2"
+#define EX_LSM6DS0_VERSION "1.0.3"
/**
* @brief LSM6DS0 driver version major number.
@@ -56,7 +56,7 @@ /**
* @brief LSM6DS0 driver version patch number.
*/
-#define EX_LSM6DS0_PATCH 2
+#define EX_LSM6DS0_PATCH 3
/** @} */
/**
@@ -441,11 +441,11 @@ typedef struct { /**
* @brief LSM6DS0 accelerometer initial sensitivity.
*/
- float sensitivity[LSM6DS0_ACC_NUMBER_OF_AXES];
+ float* sensitivity;
/**
* @brief LSM6DS0 accelerometer initial bias.
*/
- float bias[LSM6DS0_ACC_NUMBER_OF_AXES];
+ float* bias;
/**
* @brief LSM6DS0 accelerometer subsystem full scale.
*/
@@ -548,11 +548,11 @@ typedef struct { /**
* @brief LSM6DS0 gyroscope initial sensitivity.
*/
- float sensitivity[LSM6DS0_ACC_NUMBER_OF_AXES];
+ float* sensitivity;
/**
* @brief LSM6DS0 gyroscope initial bias.
*/
- float bias[LSM6DS0_ACC_NUMBER_OF_AXES];
+ float* bias;
/**
* @brief LSM6DS0 gyroscope subsystem full scale.
*/
@@ -578,7 +578,7 @@ typedef struct { * @brief LSM6DS0 gyroscope subsystem high pass filter configuration.
*/
lsm6ds0_gyro_hpcf_t hpcfg;
- #endif /* LSM6DS0_GYRO_USE_ADVANCED */
+ #endif /* LSM6DS0_GYRO_USE_ADVANCED */
} LSM6DS0GyroConfig;
/** @} */
@@ -785,7 +785,7 @@ struct LSM6DS0Driver { */
#define gyroscopeSetFullScale(ip, fs) \
(ip)->vmt_lsm6ds0gyro->set_full_scale(ip, fs)
-
+
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
|